CN216508577U - Intelligent robot chassis and intelligent robot - Google Patents
Intelligent robot chassis and intelligent robot Download PDFInfo
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- CN216508577U CN216508577U CN202122928153.0U CN202122928153U CN216508577U CN 216508577 U CN216508577 U CN 216508577U CN 202122928153 U CN202122928153 U CN 202122928153U CN 216508577 U CN216508577 U CN 216508577U
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Abstract
The utility model discloses an intelligent robot chassis and an intelligent robot, wherein the chassis comprises a frame, a front axle assembly, a steering assembly, a control assembly and a rear axle assembly, wherein the front axle assembly and the steering assembly are both arranged at the front end of the frame, and the rear axle assembly is arranged at the rear end of the frame; the front axle components are arranged at the front end of the frame in a bilateral symmetry manner and comprise two front wheels, two steering knuckles, a lower plate and a lower rotating plate; the horizontal direction of each steering knuckle is connected with the corresponding front wheel through a steering shaft, two ends of each steering knuckle in the vertical direction are connected with a bearing seat and connected with a lower plate and a lower rotating plate through the bearing seats, and the front end and the rear end of the lower plate are connected with the front end of the frame through rubber springs. The front axle assembly and the rear axle assembly are all provided with non-independent suspensions, the front end of the frame is connected with the lower plate, the rear end of the frame is connected with the lower frame through rubber springs, on one hand, the occupied space is small, the height of a chassis bottom plate can be reduced, and on the other hand, the rubber shock absorber can reduce the amplitude so as not to influence other electric control elements due to vibration.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an intelligent robot chassis and an intelligent robot.
Background
In the prior art, the chassis of the intelligent robot is various, basically meets the function, but still has some defects. The chassis of the robot adopts a suspension to cause the chassis to be too high, the load is insufficient, the stability when the chassis passes through an uneven road surface is poor, the damping effect is poor, the stable movement of the robot cannot be ensured, and other electric control elements are influenced by vibration.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to overcome the disadvantages of the prior art, and provides an intelligent robot chassis and an intelligent robot, so as to solve the problems set forth in the foregoing technical background.
In order to achieve the purpose, the utility model is realized by the following technical scheme:
an intelligent robot chassis comprises a frame, a front axle assembly, a steering assembly, a control assembly and a rear axle assembly, wherein the front axle assembly and the steering assembly are both arranged at the front end of the frame;
the front axle components are arranged at the front end of the frame in a bilateral symmetry manner and comprise two front wheels, two steering knuckles, four bearing seats, a lower plate and a lower rotating plate;
the horizontal direction of each steering knuckle is respectively connected with the corresponding front wheel through a steering shaft, two ends of each steering knuckle in the vertical direction are respectively connected with a bearing seat, and the lower rotating plate is arranged above the lower plate in parallel; the bearing seat connected above each steering knuckle is connected with one corresponding end of the lower rotating plate, and the bearing seat connected below each steering knuckle is connected with one corresponding side of the lower rotating plate; the front end and the rear end of the lower plate are connected with the front end of the frame through rubber springs.
In the technical scheme, the steering assembly comprises a steering knuckle bearing, a steering gear, a spline coupler, a rotating shaft, a front encoder, a speed reducer, a steering motor, a speed reducer fixing frame and a cushion block;
the steering motor is connected with the speed reducer, the speed reducer is fixedly mounted on the lower plate through a speed reducer fixing frame, an output hollow shaft of the speed reducer is arranged on the rotating shaft in a penetrating mode, one end of the rotating shaft penetrating through the speed reducer is connected with the front encoder, the other end of the rotating shaft is connected with a spline coupler, the spline coupler is connected with an input shaft of the steering gear, the lower end of the steering gear is connected with a cushion block, the cushion block is connected with the lower plate, the horizontal two ends of the steering gear are respectively connected with a steering gear joint bearing, each steering gear joint bearing is connected with a steering joint bearing corresponding to the steering gear joint bearing, and each steering joint bearing is connected with a hole end of a steering knuckle on one side corresponding to the steering joint bearing.
In the technical scheme, the rear axle assembly comprises two rear wheels, two longitudinal aluminum profiles, two transverse aluminum profiles and an electric rear axle, the two longitudinal aluminum profiles and the two transverse aluminum profiles form a square lower frame, the electric rear axle is fixed on the square lower frame, the square lower frame is connected with the rear end of the frame through a plurality of rubber springs, and the left shaft end and the right shaft end of the electric rear axle are respectively connected with the rear wheels corresponding to the electric rear axle.
In the technical scheme, the control assembly comprises a control lower shell, a battery, a main control module, a rear wheel driver and a steering motor driver, wherein the control lower shell is arranged on the frame, and the battery, the main control module, the rear wheel driver and the steering motor driver are all fixed in the control lower shell;
the main control module is respectively electrically connected with the rear wheel driver, the steering motor driver and the front encoder, the rear wheel driver is electrically connected with a rear axle motor of the electric rear axle, and the steering motor driver is electrically connected with the steering motor.
The utility model also provides an intelligent robot, which comprises the intelligent robot chassis.
Compared with the prior art, the utility model has the beneficial effects that:
1. the angle position of the front wheel of the chassis of the robot and the speed of the rear wheel accord with the Ackerman corner theory, so that the additional resistance generated on the running of the robot by the road surface during steering is avoided, the tire is prevented from being worn too fast, the front wheel and the rear wheel can be ensured to roll purely during steering, the steering force is reduced, and the power of a motor is reduced;
2. front axle subassembly, rear axle subassembly all adopt non-independent suspension, all are connected through rubber spring between frame front end and hypoplastron, frame rear end and the underframe, and occupation space is little on the one hand can reduce chassis bottom plate height, and on the other hand rubber shock absorber can reduce the amplitude in order to avoid influencing other automatically controlled components because of the vibration.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a schematic structural view of the vehicle frame of the present invention;
FIG. 4 is a schematic illustration of the connection of the front axle assembly and the steering assembly of the present invention;
FIG. 5 is a front elevational view of the front axle assembly and steering assembly of the present invention as coupled;
FIG. 6 is a top plan view of the connection of the front axle assembly and the steering assembly of the present invention;
FIG. 7 is a schematic diagram of the relative positions of the lower plate and the speed reducer fixing frame according to the present invention;
FIG. 8 is a schematic structural view of a rear axle assembly of the present invention;
FIG. 9 is a schematic structural diagram of a control assembly according to the present invention;
in the figure, 1, a frame; 1.1, long industrial aluminum profile; 1.2, short industrial aluminum profile; 1.3, wide industrial aluminum profile; 1.4, three-dimensional connecting blocks; 2. a front axle assembly; 2.1, front wheels; 2.2, a steering knuckle; 2.3, bearing seats; 2.4, lower plate; 2.5, a lower rotating plate; 2.6, a front fixing plate; 2.7, a rear plate; 3. a steering assembly; 3.1, a steering knuckle bearing; 3.2, a steering gear knuckle bearing; 3.3, a steering gear; 3.4, spline coupling; 3.5, a rotating shaft; 3.6, a front encoder; 3.7, a front encoder fixing plate; 3.8, a speed reducer; 3.9, a steering motor; 3.10, a reducer fixing frame; 3.11, cushion blocks; 4. a control component; 4.1, controlling the lower shell; 4.2, a battery; 4.3, a main control module; 4.4, rear wheel drive; 4.5, a steering motor driver; 5. a rear axle assembly; 5.1, a rear wheel; 5.2, longitudinal aluminum profiles; 5.3, a transverse aluminum profile; 5.4, an electric rear axle; 5.5, a rear axle fixing plate; 6. a rubber spring.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The utility model is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1 to 9, the utility model provides an intelligent robot chassis, which comprises a frame 1, a front axle assembly 2, a steering assembly 3, a control assembly 4 and a rear axle assembly 5, wherein the front axle assembly 2 and the steering assembly 3 are both installed at the front end of the frame 1, the rear axle assembly 5 is installed at the rear end of the frame 1, and the control assembly 4 is installed on the frame 1 and used for controlling the security robot chassis;
referring to fig. 3, the frame 1 is made of industrial aluminum profiles, and comprises a long industrial aluminum profile 1.1, a short industrial aluminum profile 1.2 and a wide industrial aluminum profile 1.3, the long industrial aluminum profile 1.1, the short industrial aluminum profile 1.2 and the wide industrial aluminum profile 1.3 form a convex-shaped frame, and the long industrial aluminum profile 1.1 and the short industrial aluminum profile 1.2 are connected or connected through a three-dimensional connecting block 1.4; the long industrial aluminum profile 1.1 and the wide industrial aluminum profile 1.3 are connected by holes. The frame is characterized in that a plurality of rubber springs 6 are arranged below the frame 1, the front end (the convex part of the convex frame) of the frame 1 is connected with the front axle assembly 1 through the plurality of rubber springs 6, and the rear end (the end part far away from the convex part of the convex frame) of the frame 3 is connected with the rear axle assembly 5 through the plurality of rubber springs 6.
Referring to fig. 4 to 7, the front axle assembly 2 is symmetrically arranged at the front end of the frame 1, and includes two front wheels 2.1, two steering knuckles 2.2, a four-axle bearing seat 2.3, a lower plate 2.4, a lower rotating plate 2.5, a front fixed plate 2.6 and a rear plate 2.7;
each steering knuckle 2.2 is connected with a corresponding front wheel 2.1 in the horizontal direction through a steering shaft, two ends of each steering knuckle 2.2 in the vertical direction are connected with a bearing seat 2.3, and a lower rotating plate 2.5 is arranged above a lower plate 2.4 in parallel; a bearing seat 2.3 connected above each steering knuckle 2.2 is connected with one corresponding end of a lower rotating plate 2.5, and a bearing seat 2.3 connected below each steering knuckle 2.2 is connected with one corresponding side of a lower plate 2.4;
the front end of the lower plate 2.4 is connected with the front fixing plate 2.6 through a rubber spring 6, the rear end of the lower plate 2.4 is connected with the rear plate 2.7 through two rubber springs 6, and the front fixing plate 2.6 and the rear plate 2.7 are both connected with the front end of the frame 1.
Furthermore, the upper and lower hole ends of each steering knuckle 2.2 in the vertical direction are connected with the matching holes of the corresponding bearing seat 2.3 axle center hole, the upper and lower ends of the left and right steering knuckles are respectively connected with the lower plate 2.4 and the lower rotating plate 2.5 through the bearing seats to form a four-bar mechanism, so that the left and right front wheels can be steered according to a certain proportion when steering, the front wheels do rolling motion around the steering center without sliding, the tire abrasion can be reduced, and the steering is stable. Furthermore, the positions of the horizontal direction tie rod holes (shaft holes) of the two steering knuckles 2.2 are simulated through movement, the steering angle of the front wheel basically accords with the Ackerman corner theory during steering, and the front wheel rolls purely, so that the steering force is reduced, and the power of the motor is reduced.
Referring to fig. 4, the steering assembly 3 includes a steering knuckle bearing 3.1, a steering gear knuckle bearing 3.2, a steering gear 3.3, a spline coupler 3.4, a rotating shaft 3.5, a front encoder 3.6, a front encoder fixing plate 3.7, a reducer 3.8, a steering motor 3.9, a reducer fixing frame 3.10 and a cushion block 3.11;
a steering motor 3.9 is connected with a speed reducer 3.8 through a flange, the steering motor 3.9 is fixed on a frame 1 through a steering motor fixing frame, the speed reducer 3.8 is fixedly arranged on a lower plate 2.4 through a speed reducer fixing frame 3.10, an output hollow shaft of the speed reducer 3.8 is arranged on a rotating shaft 3.5 (the rotating shaft 3.5 is used for inputting the torque output by the speed reducer 3.8 to a steering gear 2.4) in a penetrating way, one end of the rotating shaft 3.5 penetrating through the speed reducer 3.8 is connected with a front encoder 3.6, the front encoder 3.6 records the angle output by the speed reducer 3.8, the front encoder 3.6 is fixed on a shell arranged on the speed reducer 3.8 through a front encoder fixing plate 3.7, the other end of the rotating shaft 3.5 is connected with a spline coupler 3.4, the spline coupler 3.4 is connected with an input shaft of the steering gear 3.3, the lower end of the steering gear 3.3 is connected with a cushion block 3.11, the 3.11 is connected with the lower plate 2.4, the steering gear 3.3 is respectively connected with a steering gear joint bearing 3.2, the two horizontal ends of the steering gear 3.3 are respectively connected with a steering gear joint bearing 3.2, each steering gear 3, and each steering gear is corresponding to the joint bearing of each steering gear 3.2, each knuckle bearing 3.1 is connected to the bore end of the knuckle 2.2 on the side corresponding to it.
Referring to fig. 8, the rear axle assembly 5 includes two rear wheels 5.1, two longitudinal aluminum profiles 5.2, two transverse aluminum profiles 5.3, an electric rear axle 5.4 and two rear axle fixing plates 5.5, the two longitudinal aluminum profiles 5.2 and the two transverse aluminum profiles 5.3 form a square lower frame, the electric rear axle 5.4 is fixed on the square lower frame, the square lower frame is connected with the rear end of the frame 1 through a plurality of rubber springs 6, and further, both ends of each transverse aluminum profile 5.3 are connected with the frame 1 through a rubber spring 6.
Every rear axle fixed plate 5.5 is fixed on a vertical aluminium alloy 5.2 to be connected with vertical aluminium alloy 5.2 and form the quad slit, axle head passes square hole respectively about electronic rear axle 5.4 and connects rear wheel 5.1 corresponding with it.
The electric rear axle 5.4 comprises a rear axle motor, the rear axle motor is provided with a speed reducer, a brake device and a differential mechanism, the rear axle motor is connected with the speed reducer through the brake device, the speed reducer is connected with the differential mechanism, and the left and right shaft ends of the differential mechanism are respectively connected with a rear wheel 5.1; the rear axle motor 5.4 is provided with a speed reducer, a brake and a differential mechanism, can ensure large torque output, has a braking function, the speed of the rear wheel 5.1 basically accords with the Ackerman corner theory when the rear axle motor turns, and the rear wheel 5.1 rolls purely to reduce the steering force, thereby reducing the power of the motor.
Referring to fig. 9, the control assembly 4 includes a control lower shell 4.1, a battery 4.2, a main control module 4.3, a rear wheel driver 4.4 and a steering motor driver 4.5, the control lower shell 4.1 is mounted on the frame 1, and the battery 4.2, the main control module 4.3, the rear wheel driver 4.4 and the steering motor driver 4.5 are all fixed in the control lower shell 4.1; the main control module 4.3 is respectively electrically connected with a rear wheel driver 4.4, a steering motor driver 4.5 and a front encoder 3.6, the rear wheel driver 4.4 is electrically connected with a rear axle motor of the electric rear axle 5.4, and the steering motor driver 4.5 is electrically connected with a steering motor 3.9.
As another embodiment, the present embodiment is an intelligent robot, including the intelligent robot chassis described above.
The utility model has the following advantages: the angle position of the front wheel 2.1 and the speed of the rear wheel 5.1 of the robot chassis accord with the Ackerman corner theory, the additional resistance generated on the running of the robot by the road surface during steering is avoided, the tire abrasion is avoided being too fast, the pure rolling of the front wheel 2.1 and the rear wheel 5.1 during steering can be ensured, the steering force is reduced, and the power of a motor is reduced; front axle subassembly and rear axle subassembly all adopt non-independent suspension, all are connected through rubber spring 6 between 1 front end of frame and hypoplastron 2.4, 1 rear end of frame and the underframe, and occupation space on the one hand can reduce chassis bottom plate height for a short time, and on the other hand rubber shock absorber can reduce the amplitude in order to avoid influencing other automatically controlled components because of the vibration.
The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the utility model, and these changes and modifications are all within the scope of the utility model.
Claims (5)
1. The intelligent robot chassis is characterized by comprising a frame (1), a front axle assembly (2), a steering assembly (3), a control assembly (4) and a rear axle assembly (5), wherein the front axle assembly (2) and the steering assembly (3) are both arranged at the front end of the frame (1), the rear axle assembly (5) is arranged at the rear end of the frame (1), and the control assembly (4) is arranged on the frame (1);
the front axle assembly (2) is arranged at the front end of the frame (1) in a bilateral symmetry manner and comprises two front wheels (2.1), two steering knuckles (2.2), a four-axle bearing seat (2.3), a lower plate (2.4) and a lower rotating plate (2.5);
the horizontal direction of each steering knuckle (2.2) is respectively connected with the corresponding front wheel (2.1) through a steering shaft, two ends of each steering knuckle (2.2) in the vertical direction are respectively connected with a bearing seat (2.3), and the lower rotating plate (2.5) is arranged above the lower plate (2.4) in parallel; a bearing seat (2.3) connected above each steering knuckle (2.2) is connected with one corresponding end of a lower rotating plate (2.5), and a bearing seat (2.3) connected below each steering knuckle (2.2) is connected with one corresponding side of the lower plate (2.4); the front end and the rear end of the lower plate (2.4) are connected with the front end of the frame (1) through rubber springs (6).
2. The intelligent robot chassis is characterized in that the steering assembly (3) comprises a steering knuckle bearing (3.1), a steering gear knuckle bearing (3.2), a steering gear (3.3), a spline coupler (3.4), a rotating shaft (3.5), a front encoder (3.6), a speed reducer (3.8), a steering motor (3.9), a speed reducer fixing frame (3.10) and a cushion block (3.11);
the steering motor (3.9) is connected with a speed reducer (3.8), the speed reducer (3.8) is fixedly arranged on the lower plate (2.4) through a speed reducer fixing frame (3.10), an output hollow shaft of the speed reducer (3.8) is arranged on the rotating shaft (3.5) in a penetrating way, one end of the rotating shaft (3.5) penetrating through the speed reducer (3.8) is connected with a front encoder (3.6), the other end of the rotating shaft (3.5) is connected with a spline coupler (3.4), the spline coupler (3.4) is connected with an input shaft of a steering gear (3.3), the lower end of the steering gear (3.3) is connected with a cushion block (3.11), the cushion block (3.11) is connected with a lower plate (2.4), the horizontal two ends of the steering gear (3.3) are respectively connected with a steering gear joint bearing (3.2), each steering gear joint bearing (3.2) is connected with a corresponding steering joint bearing (3.1), and each steering joint bearing (3.1) is connected with the hole end of the steering knuckle (2.2) on one side corresponding to the steering gear joint bearing.
3. The intelligent robot chassis according to claim 2, wherein the rear axle assembly (5) comprises two rear wheels (5.1), two longitudinal aluminum profiles (5.2), two transverse aluminum profiles (5.3) and an electric rear axle (5.4), the two longitudinal aluminum profiles (5.2) and the two transverse aluminum profiles (5.3) form a square lower frame, the electric rear axle (5.4) is fixed on the square lower frame, the square lower frame is connected with the rear end of the frame (1) through a plurality of rubber springs (6), and the left and right axle ends of the electric rear axle (5.4) are respectively connected with the corresponding rear wheels (5.1).
4. The intelligent robot chassis according to claim 3, wherein the control assembly (4) comprises a control lower shell (4.1), a battery (4.2), a main control module (4.3), a rear wheel driver (4.4) and a steering motor driver (4.5), the control lower shell (4.1) is mounted on the frame (1), and the battery (4.2), the main control module (4.3), the rear wheel driver (4.4) and the steering motor driver (4.5) are all fixed in the control lower shell (4.1);
the main control module (4.3) is respectively electrically connected with the rear wheel driver (4.4), the steering motor driver (4.5) and the front encoder (3.6), the rear wheel driver (4.4) is electrically connected with the rear axle motor of the electric rear axle (5.4), and the steering motor driver (4.5) is electrically connected with the steering motor (3.9).
5. An intelligent robot comprising the intelligent robot chassis of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122928153.0U CN216508577U (en) | 2021-11-26 | 2021-11-26 | Intelligent robot chassis and intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122928153.0U CN216508577U (en) | 2021-11-26 | 2021-11-26 | Intelligent robot chassis and intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216508577U true CN216508577U (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122928153.0U Active CN216508577U (en) | 2021-11-26 | 2021-11-26 | Intelligent robot chassis and intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216508577U (en) |
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2021
- 2021-11-26 CN CN202122928153.0U patent/CN216508577U/en active Active
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