CN216507782U - Small-size chassis and robot - Google Patents

Abstract

The small chassis comprises a bottom plate, a front driven wheel, a rear driven wheel and driving wheels, wherein the front driven wheel is vibrationally installed and connected to one end of the bottom plate and symmetrically arranged on two sides of the bottom plate; the robot includes a small chassis. The application provides a small-size chassis has only adopted a back from the driving wheel for the vibration only can take place once for the end of back from the driving wheel when small-size chassis strides across the obstacle, thereby solved six wheels effectively and leaded to six too many or the too fast technical problem of frequency of number of times of round chassis vibration, be favorable to promoting the stability of small-size chassis in the motion process.

Description

Small-size chassis and robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a small chassis and a robot.

Background

With the development of artificial intelligence technology, the trend of adopting the food delivery robot to replace waiters to deliver food in the catering industry gradually becomes, the adoption of the food delivery robot can save labor cost, avoid cross infection and be favorable for improving the sanitary quality of food.

The existing meal delivery robot is generally configured with a six-wheel chassis, the six-wheel chassis usually includes two driving wheels, two front driven wheels and two rear driven wheels, wherein three groups of wheels of the two front driven wheels, the two driving wheels and the two rear driven wheels are sequentially arranged from front to back at intervals, when the six-wheel chassis spans an obstacle perpendicular to the central axis of the chassis, such as: when the cable laid on the ground is used, the six-wheel chassis vibrates for three times, and when the cable spanned by the six-wheel chassis is not perpendicularly intersected with the central axis of the chassis, the six-wheel chassis vibrates for six times, and the vibration frequency caused by the same wheel set is very high, so that the food delivery stability of the food delivery robot is directly influenced.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a small chassis and a robot, which comprises but is not limited to solving the technical problem that six wheels cause too many times or too fast frequency of vibration of a six-wheel chassis.

In order to achieve the above object, the present application adopts a technical solution that is a small chassis, including:

a base plate;

the front driven wheels are vibrationally installed and connected to one end part of the bottom plate and are symmetrically arranged on two sides of the bottom plate;

a rear driven wheel vibratably mounted to the other end portion of the base plate and disposed near or along a center line of the base plate; and

and the driving wheels are vibrationally installed and connected on the bottom plate, symmetrically arranged on two sides of the bottom plate and positioned between the front driven wheel and the rear driven wheel.

In one embodiment, the compact chassis further comprises:

a first shock absorbing suspension connecting the base plate and the rear driven wheel.

In one embodiment, the first shock absorbing suspension comprises:

the first fixed seat is fixedly connected to the bottom plate, and a cavity is formed inside the first fixed seat;

the vibrating sliding block is vertically and slidably arranged in the cavity of the first fixed seat, and the rear driven wheel is fixedly connected with the vibrating sliding block; and

and the first elastic piece is accommodated in the cavity of the first fixed seat, and two ends of the first elastic piece are respectively abutted against the first fixed seat and the vibration sliding block.

In one embodiment, an oilless bushing is arranged in the cavity of the first fixed seat, and the vibration sliding block is slidably arranged in the oilless bushing.

In one embodiment, the compact chassis further comprises:

the shock absorption column is arranged on the bottom plate; and

the top plate is arranged at the top end of the shock absorption column.

In one embodiment, the shock absorbing column includes:

the flange seat is fixedly connected to the bottom plate;

one end of the lock sleeve is slidably arranged in the inner cavity of the flange seat;

one end of the supporting rod is fixedly connected to the top plate, and the other end of the supporting rod is fixedly connected to the other end of the lock sleeve; and

one end of the second elastic piece is contained in the lock sleeve and is abutted against the lock sleeve, and the other end of the second elastic piece extends out of the lock sleeve and penetrates through the inner cavity of the flange seat to be abutted against the bottom plate.

In one embodiment, the shock absorbing column further comprises:

one end of the limiting part is limited at the bottom side of the bottom plate, and the other end of the limiting part penetrates through the bottom plate, the flange seat and the lock sleeve in sequence and then is fixedly connected to the supporting rod.

In one embodiment, the compact chassis further comprises:

and second damping suspensions which are arranged on two side parts of the bottom plate, wherein one end part of each second damping suspension is connected with the driving wheel in an installing way, and the other end part of each second damping suspension is connected with the front driven wheel in an installing way.

In one embodiment, the second shock absorbing suspension comprises:

the second fixed seat is fixedly connected to the bottom plate;

the first connecting rod is rotatably connected to one end of the second fixed seat, and one end of the first connecting rod is connected with the driving wheel in an installing manner;

the second connecting rod is rotatably connected to the other end of the second fixed seat, and one end of the second connecting rod is connected with the front driven wheel in an installing mode; and

and the elastic shock absorber is arranged on the second fixed seat in a spanning mode, and two ends of the elastic shock absorber are respectively rotatably connected with the other end of the first connecting rod and the other end of the second connecting rod.

The application also provides a robot, which comprises the small chassis.

The application provides a small-size chassis and robot's beneficial effect lies in:

1) only one rear driven wheel is adopted, so that the end of the rear driven wheel can vibrate only once when the small chassis crosses obstacles, the technical problem that six wheels cause excessive vibration times or too high frequency of the six-wheel chassis is effectively solved, and the stability of the small chassis in the motion process is favorably improved;

2) the shock absorption columns are adopted to replace rigid support columns, so that vibration energy generated by the bottom plate can be absorbed when the bottom plate vibrates, and the vibration energy is prevented or reduced from being transmitted to the top plate.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a perspective view of a compact chassis provided by an embodiment of the present application;

FIG. 2 is a schematic sectional view taken along line I-I of FIG. 1;

FIG. 3 is a schematic longitudinal cross-sectional view of a first shock absorbing suspension in a small chassis provided in an embodiment of the present application;

FIG. 4 is a schematic longitudinal section of a shock absorbing column in a compact chassis provided in an embodiment of the present application;

fig. 5 is a schematic right view of a robot disc provided in an embodiment of the present application.

The figures are numbered:

1-robot, 10-small chassis, 20-frame support;

11-bottom plate, 12-preceding driven wheel, 13-following driven wheel, 14-driving wheel, 15-first shock attenuation suspension, 16-roof, 17-shock attenuation post, 18-second shock attenuation suspension, 131-mount pad, 151-first fixing base, 152-vibration slider, 153-first elastic component, 154-oil-free bush, 155-suspension support, 171-flange seat, 172-lock cover, 173-bracing piece, 174-second elastic component, 175-catch, 176-locating piece, 181-second fixing base, 182-first connecting rod, 183-second connecting rod, 184-elastic shock absorber, 1510-cavity, 1521-slider body, 1522-extension, 1721-first installation cavity, 1722-second installation cavity.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It should be noted that: when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly connected to the other element. When an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element.

The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience of description only and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore are not to be construed as limiting the patent, the particular meaning of which terms will be understood by those skilled in the art as appropriate.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The application firstly proposes a small chassis implementation protection scheme:

referring to fig. 1 and 2, the present application provides a compact chassis 10 including a base plate 11, a front driven wheel 12, a rear driven wheel 13, and a driving wheel 14; wherein, the front driven wheel 12 is connected to one end of the bottom plate 11 in a vibration-mounting way and is symmetrically arranged at two sides of the bottom plate 11; a rear driven wheel 13 is vibrationally mounted and connected to the other end of the base plate 11 and is disposed near or along the center line of the base plate 11; the driving wheels 14 are vibrationally mounted on the base plate 11 and symmetrically arranged on both sides of the base plate 11, and the driving wheels 14 are located between the front driven wheels 12 and the rear driven wheels 13.

Specifically, the front driven wheel 12 and the rear driven wheel 13 are universal wheels, respectively, and the driving wheel 14 is a wheel having a hub motor.

The small-size chassis 10 that this application embodiment provided has only adopted one back from driving wheel 13 (have and only), makes the small-size chassis 10 cross the obstacle when back from the place end of driving wheel 13 and can only take place once and vibrate, thereby has solved six wheels effectively and has leaded to the too many or too fast technical problem of frequency of six rounds of chassis vibrations, is favorable to promoting the stability of small-size chassis 10 in the motion process.

Optionally, referring to fig. 2, as an embodiment of the small chassis provided by the present application, the small chassis 10 further includes a first shock-absorbing suspension 15, and the first shock-absorbing suspension 15 connects the base plate 11 and the rear driven wheel 13. Specifically, first shock attenuation suspension 15 has buffering shock-absorbing function, and the driven wheel 13 of back passes through first shock attenuation suspension 15 erection joint on bottom plate 11, can reduce the vibration range of driven wheel 13 of back in the motion process effectively, is favorable to promoting the stability of small-size chassis 10 in the motion process.

Optionally, referring to fig. 2 and fig. 3, as an embodiment of the small chassis provided by the present application, the first shock absorbing suspension 15 includes a first fixed seat 151, a vibration sliding block 152, and a first elastic member 153; wherein, the first fixing seat 151 is fastened on the bottom plate 11, and a cavity 1510 is formed inside the first fixing seat 151; the vibrating sliding block 152 is vertically and slidably arranged in the cavity 1510 of the first fixed seat 151, and the rear driven wheel 13 is fixedly connected with the vibrating sliding block 152; the first elastic element 153 is accommodated in the cavity 1510 of the first fixing base 151, and two ends of the first elastic element 153 are respectively abutted to the first fixing base 151 and the vibrating slider 152. Specifically, the cavity 1510 penetrates through the bottom wall of the first fixing base 151, that is, an opening is formed on the bottom wall of the first fixing base 151, the first elastic member 153 may be a spring, an elastic body, or a wave-shaped elastic sheet, etc., the first elastic member 153 is placed into the cavity 1510 from the opening of the first fixing base 151, and the axis of the first elastic member 153 is parallel to the axis of the cavity 1510, the vibration slider 152 includes a slider body 1521 and a protrusion 1522, wherein the slider body 1521 is accommodated in the cavity 1510 and can slide up and down along the cavity 1510, and can push the first elastic element 153 to compress in the cavity 1510, the protrusion portion 1522 extends from the end surface of the slider body 1521 facing away from the first elastic element 153 in the direction away from the first elastic element 153, the protrusion portion 1522 can extend out of the outer side of the first fixed seat 151, the extending part 1522 is fastened and connected with the mounting seat 131 of the rear driven wheel 13, and the cross-sectional area of the extending part 1522 is smaller than that of the slider body 1521; in this embodiment, the first fixing seat 151 may be directly fastened to the bottom plate 11, or fastened to the bottom plate 11 through the suspension bracket 155, when the first fixing seat 151 is directly fastened to the bottom plate 11, a first avoiding hole is formed on the bottom plate 11, the first fixing seat 151 is fastened to the bottom plate 11, an opening of the first fixing seat 151 is coaxial with the first avoiding hole, a bore diameter of the first avoiding hole is smaller than a bore diameter of the opening of the first fixing seat 151, a cross section of the slider body 1521 is matched with the opening of the first fixing seat 151, a cross section of the protruding portion 1522 is matched with the first avoiding hole, the slider body 1521 is limited in the cavity 1510 by the bottom plate 11, so as to limit the first elastic member 153 in the cavity 1510, the protruding portion 1522 penetrates through the first avoiding hole and then is fastened to the mounting seat 131 of the rear driven wheel 13, when the first fixing seat 151 is fastened to the bottom plate 11 through the suspension bracket 155, an avoiding position is arranged at the end part of the bottom plate 11, the rear driven wheel 13 is accommodated in the avoiding position, the suspension bracket 155 is arranged above the avoiding position in a spanning mode, two ends of the suspension bracket 155 are fixedly connected to the bottom plate 11, a second avoiding hole is arranged in the middle of the suspension bracket 155, the first fixing seat 151 is fixedly connected to the middle of the suspension bracket 155, the opening of the first fixing seat 151 is coaxial with the second avoiding hole, the aperture of the second avoiding hole is smaller than the aperture of the opening of the first fixing seat 151, the size of the cross section of the sliding block body 1521 is matched with the size of the opening of the first fixing seat 151, the size of the cross section of the extending part 1522 is matched with the size of the second avoiding hole, the sliding block body 1521 is limited in the cavity 1510 by the suspension bracket 155, so that the first elastic part 153 is also limited in the cavity 1510, the extending part 1522 penetrates through the second avoiding hole and then is fixedly connected with the mounting seat 131 of the rear driven wheel 13, so that the rear driven wheel 13 can be given a cushioning effect by the first elastic member 153.

Alternatively, referring to fig. 3, as an embodiment of the compact chassis provided by the present application, an oilless bushing 154 is disposed in the cavity 1510 of the first fixing base 151, and the vibration slider 152 is slidably disposed in the oilless bushing 154. Specifically, the oilless bushing 154 is cylindrical, and is a high-force brass bearing lubricated by oil grooves; the outer wall of the oilless bushing 154 is in interference fit with the inner wall of the first fixed seat 151, the slider body 1521 and the first elastic piece 153 of the vibration slider 152 are accommodated in the cylinder cavity of the oilless bushing 154, and the side wall of the slider body 1521 is in clearance fit with the inner wall of the oilless bushing 154. Can enough improve the wearability of first fixing base 151 through oil-free bush 154, be favorable to prolonging the life of first fixing base 151, can promote the smoothness degree of vibration slider 152 motion again, be favorable to reducing the wearing and tearing of vibration slider 152.

Optionally, referring to fig. 1 and 2, as an embodiment of the small chassis provided by the present application, the small chassis 10 further includes a top plate 16 and a shock-absorbing column 17, wherein the shock-absorbing column 17 is disposed on the bottom plate 11, and the top plate 16 is disposed at a top end of the shock-absorbing column 17. Specifically, roof 16 and bottom plate 11 parallel arrangement, form the internally mounted region who supplies small-size chassis 10 between roof 16 and the bottom plate 11, shock-absorbing column 17 is vertical setting, the bottom fastening connection of shock-absorbing column 17 is on the top surface of bottom plate 11, the top fastening connection of shock-absorbing column 17 is on the bottom surface of roof 16, shock-absorbing column 17 can be elastomer or elastic shock absorber etc. has the shock attenuation buffer function, can be when bottom plate 11 produces the vibration, absorb the vibration energy that bottom plate 11 produced, avoid or reduce this vibration energy transmission to influence the part of installing on roof 16.

Alternatively, referring to fig. 4, as an embodiment of the small chassis provided by the present application, the shock absorbing column 17 includes a flange seat 171, a lock sleeve 172, a support rod 173, and a second elastic member 174; wherein, the flange seat 171 is fastened on the bottom plate 11; one end of the lock sleeve 172 is slidably arranged in the inner cavity of the flange seat 171; one end of the support rod 173 is tightly connected to the top plate 16, and the other end of the support rod 173 is tightly connected to the other end of the lock sleeve 172; one end of the second elastic member 174 is received in the lock sleeve 172 and abuts against the lock sleeve 172, and the other end of the second elastic member 174 protrudes outside the lock sleeve 172 and abuts against the bottom plate 11 through the inner cavity of the flange seat 171. Specifically, the flange seat 171 is fastened to the top surface of the bottom plate 11 by screws, and the axial direction of the inner cavity of the flange seat 171 is perpendicular to the bottom plate 11; the top of the lock sleeve 172 is provided with a first mounting cavity 1721, the first mounting cavity 1721 penetrates through the end face of the top end of the lock sleeve 172, an opening is formed on the end face of the top end of the lock sleeve 172, the side wall of the first mounting cavity 1721 is provided with an internal thread, the outer wall of the bottom end of the support rod 173 is provided with an external thread, the bottom end of the support rod 173 passes through the opening of the first mounting cavity 1721 and is screwed into the first mounting cavity 1721 to form a tight connection with the lock sleeve 172, and in order to prevent the support rod 173 and the lock sleeve 172 from being loosened during use, the support rod 173 is further locked on the lock sleeve 172 through the lock ring 175, the bottom of the lock sleeve 172 is provided with a second mounting cavity 1722, the second mounting cavity 1722 penetrates through the end face of the bottom end of the lock sleeve 172, an opening is formed on the end face of the bottom end of the lock sleeve 172, the top end of the second elastic member 174 extends into the second mounting cavity 1722 from the opening of the second mounting cavity 1722 and abuts against the top wall of the second mounting cavity 1722, the bottom end of the second elastic element 174 is exposed at the bottom side of the lock sleeve 172 and extends into the inner cavity of the flange seat 171 to abut against the top surface of the bottom plate 11; when the bottom plate 11 or the top plate 16 vibrates, the supporting rod 173 drives the locking sleeve 172 to vertically slide in the inner cavity of the flange seat 171 in a reciprocating manner, the locking sleeve 172 extrudes the second elastic member 174 in the downward sliding process, the second elastic member 174 absorbs kinetic energy through elastic deformation of the second elastic member, the downward movement amplitude of the locking sleeve 172 and the supporting rod 173 is reduced, and therefore a damping and buffering effect is achieved on the top plate 16.

Optionally, referring to fig. 4, as an embodiment of the small chassis provided by the present application, the shock absorbing column 17 further includes a limiting member 176, one end of the limiting member 176 is limited at the bottom side of the bottom plate 11, and the other end of the limiting member 176 passes through the bottom plate 11, the flange seat 171 and the lock sleeve 172 in sequence and then is fastened to the supporting rod 173. Specifically, there is a dividing wall between the first mounting chamber 1721 and the second mounting chamber 1722 of the lock sleeve 172, through holes are respectively arranged on the bottom plate 11 and the partition wall, a threaded hole is arranged on the end surface of the bottom end of the supporting rod 173, the limiting member 176 can be a screw or a bolt, etc., after the threaded end of the limiting member 176 sequentially passes through the through hole of the bottom plate 11, the inner cavity of the flange seat 171 and the through hole of the partition wall of the lock sleeve 172, extend into the first mounting cavity 1721 and then are screwed into the threaded hole of the support rod 173 to realize the fastening connection with the support rod 173, the head of the limiting member 176 is clamped on the bottom surface of the bottom plate 11 under the elastic force of the second elastic member 174, therefore, the limit member 176 is in threaded connection with the support rod 173, so that the pretightening force of the second elastic member 174 can be adjusted, and the lock sleeve 172 is prevented from being accidentally separated from the inner cavity of the flange seat 171 or the support rod 173 is prevented from being inclined due to excessively severe vibration. In addition, a buffer washer can be sleeved on the limiting member 176, and the buffer washer is located between the head of the limiting member 176 and the bottom surface of the bottom plate 11, so that the head of the limiting member 176 is effectively prevented from directly impacting the bottom plate 11 to generate noise or cause abrasion of the bottom plate 11 and the noise.

Optionally, referring to fig. 1, as an embodiment of the small chassis provided by the present application, the small chassis 10 further includes second shock-absorbing suspensions 18, the second shock-absorbing suspensions 18 are mounted on two side portions of the base plate 11, one end portion of the second shock-absorbing suspension 18 is mounted and connected to the driving wheel 14, and the other end portion of the second shock-absorbing suspension 18 is mounted and connected to the front driven wheel 12. Specifically, the second damping suspension 18 has a damping function, and the driving wheel 14 and the front driven wheel 12 are mounted and connected on the bottom plate 11 through the second damping suspension 18, so that the vibration amplitude of the driving wheel 14 and the front driven wheel 12 in the motion process can be effectively reduced, and the stability of the small chassis 10 in the motion process can be improved.

Optionally, referring to fig. 2, as an embodiment of the small chassis provided by the present application, the second shock absorbing suspension 18 includes a second fixing seat 181, a first link 182, a second link 183, and an elastic shock absorber 184; wherein, the second fixing seat 181 is fastened on the bottom plate 11; the first link 182 is in a T-shaped structure, the first link 182 is rotatably connected to one end of the second fixing seat 181, and one end of the first link 182 is connected to the driving wheel 14; the second connecting rod 183 is bent in an L shape, the second connecting rod 183 is rotatably connected to the other end of the second fixed seat 181, and one end of the second connecting rod 183 is connected to the front driven wheel 12; the elastic damper 184 is disposed over the second fixing seat 181 in a straddling manner, and both ends of the elastic damper 184 are rotatably connected to the other end of the first link 182 and the other end of the second link 183, respectively. Specifically, the second fixing base 181 is plate-shaped and vertically fixed on the top surface of the side portion of the base plate 11, the rod body of the first link 182 is rotatably connected to the rear end portion of the second fixing base 181, the bottom end of the first link 182 is mounted and connected to the inner side of the driving wheel 14, the top end of the first link 182 is rotatably connected to the elastic shock absorber 184, the rod body of the second link 183 is rotatably connected to the front end portion of the second fixing base 181, the bottom end of the second link 183 is bent inward from the side portion of the base plate 11 for mounting and connecting to the mounting base of the front driven wheel 12, the top end of the second link 183 is rotatably connected to the elastic shock absorber 184, the elastic shock absorber 184 may be a spring shock absorber or a cement shock absorber, and the like, when the driving wheel 14 and the front driven wheel 12 vibrate up and down during the movement, the first link 182 and the second link 183 respectively swing back and forth around the two rotating shafts on the second fixing base 181 to compress or stretch the elastic shock absorber 184, at this time, the elastic damper 184 can convert kinetic energy into deformation energy by elastic deformation thereof, thereby damping vibration of the driving wheel 14 and the front driven wheel 12, so that the small-sized chassis 10 is more stable during movement.

The present application also provides a preferred collective embodiment protection for small chassis:

referring to fig. 1 to 4, as a specific embodiment of the small chassis provided by the present application, the small chassis 10 includes a bottom plate 11, two front driven wheels 12, one rear driven wheel 13, two driving wheels 14, a first shock absorbing suspension 15, a top plate 16, three shock absorbing columns 17 and two second shock absorbing suspensions 18, wherein the two front driven wheels 12 are mounted on a front end portion of the bottom plate 11, and the two front driven wheels 12 are symmetrically disposed on opposite sides of a center line of the bottom plate 11, so that supporting effects obtained on left and right sides of a front end of the small chassis 10 can be consistent, which is beneficial to improving stability of the small chassis 10 during movement and fluency during steering; the rear driven wheels 13 are mounted and connected to the rear end of the base plate 11, the rear driven wheels 13 are arranged close to or along the center line of the base plate 11 and form an equilateral triangle structure with the two front driven wheels 12, the base plate 11 can be stably supported, and only one rear driven wheel 13 is arranged, so that the end of the rear driven wheel 13 can vibrate once when the small chassis 10 crosses obstacles, and the technical problem that six wheels cause too many times of vibration of a six-wheel chassis or too fast frequency is effectively solved; the two driving wheels 14 are mounted and connected on the bottom plate 11, the two driving wheels 14 are symmetrically arranged on two opposite sides of the central line of the bottom plate 11 and are positioned between the two front driven wheels 12 and the rear driven wheels 13, and the two driving wheels are used for driving the small chassis 10 to move; the first shock absorption suspension 15 comprises a first fixed seat 151, a vibration sliding block 152, a first elastic part 153 and an oil-free bushing 154, the first fixed seat 151 is fastened and connected on the bottom plate 11, a cavity 1510 is formed inside the first fixed seat 151, the oil-free bushing 154 is accommodated in the cavity 1510, the outer wall of the oil-free bushing 154 is in interference fit with the inner wall of the first fixed seat 151, the vibration sliding block 152 is vertically and slidably arranged in a barrel cavity of the oil-free bushing 154, so that the wear resistance of the first fixed seat 151 can be improved through the oil-free bushing 154, the service life of the first fixed seat 151 can be prolonged, the smoothness of the movement of the vibration sliding block 152 can be improved, the rear driven wheel 13 is fastened and connected with the vibration sliding block 152, the first elastic part 153 is accommodated in the barrel cavity of the oil-free bushing 154, two ends of the first elastic part 153 are respectively abutted against the first fixed seat 151 and the vibration sliding block 152, and a shock absorption effect can be formed on the rear driven wheel 13 through the first elastic part 153, the vibration amplitude of the rear driven wheel 13 in the motion process is effectively reduced, and the stability of the small chassis 10 in the motion process is favorably improved; the top plate 16 is installed and connected on the top side of the bottom plate 11, and an internal installation area for the small-sized chassis 10 is formed between the top plate 16 and the bottom plate 11; three shock absorbing columns 17 are respectively arranged close to the two front driven wheels 12 and the rear driven wheels 13, two shock absorbing columns 17 close to the two front driven wheels 12 are symmetrically arranged at two opposite sides of the central line of the bottom plate 11, the other shock absorbing column 17 close to the rear driven wheel 13 is arranged at the inner side of the rear driven wheel 13 and is positioned on the central line of the bottom plate 11, each shock absorbing column 17 comprises a flange seat 171, a lock sleeve 172, a supporting rod 173, a second elastic piece 174, a lock ring 175 and a limiting piece 176, the flange seat 171 is fixedly connected on the bottom plate 11, the bottom end part of the lock sleeve 172 is slidably arranged in the inner cavity of the flange seat 171, the top end of the supporting rod 173 is fixedly connected on the top plate 16, the bottom end of the supporting rod 173 is fixedly connected on the top end part of the lock sleeve 172, in order to prevent the supporting rod 173 from being loosened from the lock sleeve 172 in use, the supporting rod 173 is further locked on the lock sleeve 172 through the bottom end part of the lock ring 175, the top end of the second elastic element 174 is accommodated in the lock sleeve 172 and abuts against the lock sleeve 172, the bottom end of the second elastic element 174 extends outside the lock sleeve 172 and passes through the inner cavity of the flange seat 171 to abut against the bottom plate 11, the bottom end of the limiting element 176 is limited at the bottom side of the bottom plate 11, the top end of the limiting element 176 sequentially passes through the bottom plate 11, the flange seat 171 and the lock sleeve 172 and then is fastened and connected to the bottom end of the support rod 173, so that the pre-tightening force of the second elastic element 174 can be adjusted, and the lock sleeve 172 can be prevented from accidentally separating from the inner cavity of the flange seat 171 due to excessive vibration, when the bottom plate 11 or the top plate 16 vibrates, the support rod 173 drives the lock sleeve 172 to vertically reciprocate in the inner cavity of the flange seat 171, the lock sleeve 172 can extrude the second elastic element 174 in the downward sliding process, the second elastic element 174 absorbs kinetic energy through elastic deformation of the second elastic element, and the downward movement range of the lock sleeve 172 and the support rod 173 is reduced, thereby providing a shock absorbing and cushioning effect to the top plate 16; the two second shock absorption suspensions 18 are respectively installed and connected on two side portions of the bottom plate 11, the second shock absorption suspension 18 comprises a second fixing seat 181, a first connecting rod 182, a second connecting rod 183 and an elastic shock absorber 184, the second fixing seat 181 is tightly and fixedly connected on the bottom plate 11, the first connecting rod 182 is rotatably connected on the rear end portion of the second fixing seat 181, the bottom end of the first connecting rod 182 is connected with the driving wheel 14, the second connecting rod 183 is rotatably connected on the front end portion of the second fixing seat 181, the bottom end of the second connecting rod 183 is connected with the front driven wheel 12, the elastic shock absorber 184 spans above the second fixing seat 181, and two ends of the elastic shock absorber 184 are respectively rotatably connected with the top end of the first connecting rod 182 and the top end of the second connecting rod 183, when the driving wheel 14 and the front driven wheel 12 vibrate up and down during the movement, the first connecting rod 182 and the second connecting rod 183 respectively swing back and forth around two rotating shafts on the second fixing seat 181, to compress or stretch the elastic damper 184, at this time, the elastic damper 184 can convert kinetic energy into deformation energy through its elastic deformation, thereby buffering the vibration of the driving wheel 14 and the front driven wheel 12, so that the small chassis 10 is more stable during the movement.

On the basis of the above content, the present application also proposes a robot implementation protection scheme:

referring to fig. 1 and 5, the robot 1 provided by the present application includes a small chassis 10 according to the above embodiment. Specifically, to accommodate different dispensing tasks, the robot 1 may further include a body mount 20, the body mount 20 being securely attached to the top plate 16 of the compact chassis 10, and various items may be carried by the body mount 20.

The robot 1 that this application embodiment provided has adopted small-size chassis 10, has reduced a back from driving wheel 13 to the number of times that makes small-size chassis 10 take place the vibration when strideing across the obstacle reduces or the frequency reduces, has solved six wheels effectively and has leaded to the too many or too fast technical problem of frequency of six rounds of chassis vibrations, is favorable to promoting the stability of robot 1 in the motion process.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A compact chassis, comprising:

a base plate;

the front driven wheels are vibrationally installed and connected to one end part of the bottom plate and are symmetrically arranged on two sides of the bottom plate;

a rear driven wheel vibratably mounted to the other end portion of the base plate and disposed near or along a center line of the base plate; and

and the driving wheels are vibrationally installed and connected on the bottom plate, symmetrically arranged on two sides of the bottom plate and positioned between the front driven wheel and the rear driven wheel.

2. The miniature chassis of claim 1, further comprising:

a first shock absorbing suspension connecting the base plate and the rear driven wheel.

3. The small chassis of claim 2, wherein the first shock absorbing suspension comprises:

the first fixed seat is fixedly connected to the bottom plate, and a cavity is formed inside the first fixed seat;

the vibrating sliding block is vertically and slidably arranged in the cavity of the first fixed seat, and the rear driven wheel is fixedly connected with the vibrating sliding block; and

and the first elastic piece is accommodated in the cavity of the first fixed seat, and two ends of the first elastic piece are respectively abutted against the first fixed seat and the vibration sliding block.

4. The compact chassis of claim 3, wherein the cavity of the first mounting seat has an oilless bushing disposed therein, and the vibrating slide is slidably disposed within the oilless bushing.

5. The compact chassis of any of claims 1 to 4, further comprising:

the shock absorption column is arranged on the bottom plate; and

the top plate is arranged at the top end of the shock absorption column.

6. The compact chassis of claim 5, wherein the shock absorbing column comprises:

the flange seat is fixedly connected to the bottom plate;

one end of the lock sleeve is slidably arranged in the inner cavity of the flange seat;

one end of the supporting rod is fixedly connected to the top plate, and the other end of the supporting rod is fixedly connected to the other end of the lock sleeve; and

one end of the second elastic piece is contained in the lock sleeve and is abutted against the lock sleeve, and the other end of the second elastic piece extends out of the lock sleeve and penetrates through the inner cavity of the flange seat to be abutted against the bottom plate.

7. The compact chassis of claim 6, wherein the shock strut further comprises:

one end of the limiting part is limited at the bottom side of the bottom plate, and the other end of the limiting part penetrates through the bottom plate, the flange seat and the lock sleeve in sequence and then is fixedly connected to the supporting rod.

8. The miniature chassis of claim 5, further comprising:

and the second damping suspension frames are arranged on two side parts of the bottom plate, one end parts of the second damping suspension frames are connected with the driving wheel in an installing way, and the other end parts of the second damping suspension frames are connected with the front driven wheel in an installing way.

9. The small chassis of claim 8, wherein the second shock absorbing suspension comprises:

the second fixed seat is fixedly connected to the bottom plate;

the first connecting rod is rotatably connected to one end of the second fixed seat, and one end of the first connecting rod is connected with the driving wheel in an installing manner;

the second connecting rod is rotatably connected to the other end of the second fixed seat, and one end of the second connecting rod is connected with the front driven wheel in an installing mode; and

and the elastic shock absorber is arranged on the second fixed seat in a spanning mode, and two ends of the elastic shock absorber are respectively rotatably connected with the other end of the first connecting rod and the other end of the second connecting rod.

10. A robot comprising a mini-chassis according to any one of claims 1 to 9.

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