CN217074581U - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
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- CN217074581U CN217074581U CN202220056420.1U CN202220056420U CN217074581U CN 217074581 U CN217074581 U CN 217074581U CN 202220056420 U CN202220056420 U CN 202220056420U CN 217074581 U CN217074581 U CN 217074581U
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Abstract
The application discloses robot chassis and robot, robot chassis includes: a chassis frame; two drive wheels; two driven wheels; each driven wheel comprises a first wheel body, a second wheel body and a wheel frame, the radial size of the first wheel body is larger than that of the second wheel body, and the first wheel body and the second wheel body rotate around a first central axis when the chassis framework is in a linear motion state; under chassis skeleton is in the state of turn to the motion, first wheel body and second wheel body rotate around first central axis, and first wheel body rotates around second central axis, and the second wheel body rotates around third central axis. The robot chassis of the application does not need to consider the change of the required space size when the driven wheel turns to the motion. Simultaneously, the driven wheel can greatly reduce the friction force generated when the driven wheel moves left and right under the double-movement condition of the rotation of the revolution frame, and the chassis of the robot can perform steering movement conveniently.
Description
Technical Field
The present application relates to the field of robot manufacturing technologies, and in particular, to a robot chassis and a robot having the same.
Background
In the prior art, a conventional universal wheel or a Mecanum wheel is generally adopted as a driven wheel of a robot chassis.
However, in the driven wheel of the robot in the prior art, the top of the conventional universal wheel needs to be fixed in the installation process, so that the universal wheel is difficult to assemble and disassemble in subsequent maintenance, meanwhile, when the robot turns in the movement process, the conventional universal wheel needs tires to revolve along the central axis while rotating, and under the influence of the revolution movement radius, the revolution movement space needed when the robot turns is enlarged along with the enlargement of the revolution radius. This makes the space required for its motion great, influences other components and parts installation. Compared with a driving wheel, the conventional universal wheel is smaller in general size, when a step or other obstacles are met, the front wheel can smoothly pass through the obstacle due to the larger diameter, and the universal wheel cannot pass through the obstacle due to the smaller diameter, so that the overall passing performance of the robot is affected.
The mecanum wheel has a complex overall structure, high maintenance costs and a significant increase in weight of a single wheel as the size increases. Meanwhile, the robot chassis is limited by the structure of the Mecanum wheel, has strict requirements on an application scene road, and cannot meet the universality of the robot chassis on the road surface.
SUMMERY OF THE UTILITY MODEL
An object of this application is to provide a robot chassis and robot's new technical scheme, can solve the required space of driven round of turning motion of robot among the prior art at least great, and the complicated scheduling problem of structure.
According to a first aspect of the application, there is provided a robot chassis comprising: a chassis frame; the two driving wheels are arranged on two opposite sides of the bottom of the chassis framework; the two driven wheels are arranged on two opposite sides of the bottom of the chassis framework, the two driven wheels and the two driving wheels are arranged at intervals, and the two driving wheels face the forward direction of the chassis framework so as to drive the driven wheels to rotate; each driven wheel comprises a first wheel body, a second wheel body and a wheel frame, the first wheel body and the second wheel body are sleeved on the wheel frame, the radial size of the first wheel body is larger than that of the second wheel body, and the first wheel body and the second wheel body rotate around a first central axis when the chassis framework is in a linear motion state; when the chassis framework is in a steering motion state, the first wheel body and the second wheel body rotate around the first central axis, the first wheel body rotates around the second central axis, and the second wheel body rotates around the third central axis.
Optionally, the driven wheel further comprises: the connecting disc and the support that turns to, the connecting disc cover is established in the wheel frame, turn to the support and establish the radial both sides of wheel frame, the both ends that turn to the support set up first pivot and second pivot respectively, first wheel body with the second wheel body respectively with turn to in the support first pivot with the second pivot is connected.
Optionally, when the chassis frame is in a linear motion state, the first wheel body and the second wheel body both rotate synchronously with the wheel frame, and an axis of the wheel frame is the first central axis.
Optionally, when the chassis frame is in a steering motion state, the first wheel body and the second wheel body rotate around the first central axis, and at the same time, the first wheel body rotates around the first rotating shaft of the steering bracket, an axis of the first rotating shaft is the second central axis, the second wheel body rotates around the second rotating shaft of the steering bracket, and an axis of the second rotating shaft is the third central axis.
Optionally, the first wheel body includes a plurality of first ring bodies, and the plurality of first ring bodies are arranged along the circumferential direction of the wheel frame and form the first wheel body.
Optionally, the second wheel body comprises a plurality of second ring bodies, and the plurality of second ring bodies are arranged along the circumferential direction of the wheel frame and form the second wheel body; wherein the radial dimension of the first ring body is greater than the radial dimension of the second ring body.
Optionally, a motor is arranged on the chassis frame, the motor is connected with the driving wheel, and the radial size of the driving wheel is the same as that of the driven wheel.
Optionally, the robot chassis further comprises: the hydraulic spring and the longitudinal swing arm are respectively arranged on the chassis framework to form a longitudinal swing arm rear suspension, and the longitudinal swing arm rear suspension is connected with the driven wheel to form a chassis rear suspension.
Optionally, the chassis frame is formed by welding a plurality of rectangular tubes.
According to a second aspect of the present application, there is provided a robot comprising a robot chassis as described in the above embodiments.
According to the utility model discloses robot chassis, every is followed the driving wheel and is included first wheel body and second wheel body, and the radial dimension of first wheel body is greater than the radial dimension of second wheel body, and under chassis skeleton is in linear motion's state, first wheel body and second wheel body all only revolved around first the central axis, accomplish chassis linear motion. When the chassis frame is in a state of steering motion, the first wheel body and the second wheel body can rotate around the second central axis and the third central axis respectively while revolving around the first central axis. Through the revolution of first wheel body and second wheel body and rotation alright be as the diaxon motion of the horizontal direction from the driving wheel, realize the steering motion of chassis skeleton, do not have as the revolution radius of whole driven wheel, when realizing the chassis motion of robot, required installation space and the self size from the driving wheel unanimous can, need not to consider the change of required space size when turning to the motion from the driving wheel. Simultaneously, the driven wheel can greatly reduce the friction force generated when the driven wheel moves left and right under the double-movement condition of the rotation of the revolution frame, and the chassis of the robot can perform steering movement conveniently.
Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural view of a robot chassis of the present invention;
fig. 2 is a side view of the robot chassis of the present invention;
figure 3 is yet another side view of the robot chassis of the present invention;
figure 4 is another side view of the robot chassis of the present invention;
fig. 5 is a schematic structural view of a driven wheel of the robot chassis of the present invention;
fig. 6 is a cross-sectional view of the driven wheel of the robot chassis of the present invention.
Reference numerals:
a robot chassis 100;
a chassis frame 10;
a drive wheel 20;
a driven wheel 30; the first wheel body 31; a second wheel body 32; a wheel frame 33; a connecting disc 34; a steering bracket 35; a second central axis 36; the third central axis 37;
a hydraulic spring 41; a longitudinal swing arm 42.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The robot chassis 100 according to the embodiment of the present invention is described in detail below with reference to the drawings.
As shown in fig. 1 to 6, a robot chassis 100 according to an embodiment of the present invention includes a chassis frame 10, two driving wheels 20, and two driven wheels 30.
Specifically, two drive wheels 20 are provided on opposite sides of the bottom of the chassis frame 10. Two driven wheels 30 are arranged on two opposite sides of the bottom of the chassis frame 10, the two driven wheels 30 are arranged at intervals from the two driving wheels 20, and the two driving wheels 20 face the advancing direction of the chassis frame 10 to drive the driven wheels 30 to rotate. Each driven wheel 30 includes a first wheel body 31, a second wheel body 32 and a wheel frame 33, the first wheel body 31 and the second wheel body 32 are all sleeved on the wheel frame 33, and when the chassis frame 10 is in a linear motion state, the first wheel body 31 and the second wheel body 32 both rotate around a first central axis. In a state where the chassis frame 10 is in steering motion, the first wheel 31 rotates about the second central axis 36, and the second wheel 32 rotates about the third central axis 37 while the first wheel 31 and the second wheel 32 rotate about the first central axis.
In other words, referring to fig. 1 to 4, a robot chassis 100 according to an embodiment of the present invention is mainly composed of a chassis frame 10, two driving wheels 20, and two driven wheels 30. Wherein two driving wheels 20 are installed at opposite sides of the bottom of the chassis frame 10. Two driven wheels 30 are mounted on opposite sides of the bottom of the chassis frame 10. The two driven wheels 30 are spaced apart from the two driving wheels 20 on the chassis frame 10, and the two driving wheels 20 face the forward direction of the chassis frame 10, and the two driving wheels 20 serve as front wheels of the robot chassis 100. The two driven wheels 30 are used as rear wheels of the robot chassis 100, and the driven wheels 30 can be driven to rotate by the rotation of the driving wheels 20, so that the robot chassis 100 can move.
As shown in fig. 1 and 5, each driven wheel 30 is mainly composed of a first wheel body 31, a second wheel body 32 and a wheel frame 33, wherein the first wheel body 31 and the second wheel body 32 are both mounted on the wheel frame 33, and the radial dimension of the first wheel body 31 is larger than that of the second wheel body 32. The wheel frame 33 is a circular hub. When the chassis frame 10 is in a state of linear motion, both the first wheel 31 and the second wheel 32 revolve around the first central axis to complete the chassis linear motion. While the first wheel 31 and the second wheel 32 revolve around the first central axis in the state where the undercarriage frame 10 is in the turning motion, referring to fig. 6, the first wheel 31 and the second wheel 32 may rotate around the second central axis 36 and the third central axis 37, respectively. The chassis frame 10 can be moved in two axes in the horizontal direction of the driven wheel 30 by the revolution and rotation of the first wheel 31 and the second wheel 32, and the turning movement is realized, and the revolution radius of the driven wheel 30 as a whole does not exist, so that the required installation space is the same as the size of the driven wheel 30 when the robot chassis 100 is moved, and the change of the required space size when the driven wheel 30 is turned is not required to be considered. Meanwhile, under the condition of double movement of rotation of the revolution frame, the driven wheel 30 can greatly reduce the friction force generated when the driven wheel 30 moves left and right, and the robot chassis 100 can conveniently perform steering movement.
It should be noted that, in the conventional universal wheel in the prior art, the tire needs to revolve along the central axis while rotating, and under the influence of the revolution movement radius, the revolution movement space required when the robot completes the steering movement increases with the increase of the revolution radius. When the robot chassis 100 of the present application is turning, the two-axis motion in the horizontal direction as the driven wheel 30 can be completed by the revolution and the rotation of the large and small wheels (the first wheel 31 and the second wheel 32), and there is no revolution radius as the whole omni wheel (the driven wheel 30), so when the robot chassis 100 is moving, the required installation space is consistent with the size of the installation space itself, and the change of the required space size during the turning motion need not be considered.
The overall structure of the mecanum wheel in the prior art is more complex, and when the robot chassis 100 turns, a large included angle exists between the surface wheel and the main body movement direction, so that the sliding friction is large and easy to wear. The driven wheel 30 is simpler in structure, easy to assemble and maintain and lighter in overall mass. And the direction of motion of the surface wheel of the driven wheel 30 is almost the same as that of the main body, the ratio of the rolling friction is high, the surface wheel is not easy to wear, and the service life is long.
According to an embodiment of the present invention, as shown in fig. 5, the driven wheel 30 further includes: connecting disc 34 and steering support 35, connecting disc 34 cover is established in wheel frame 33, and steering support 35 sets up the radial both sides at wheel frame 33, and the both ends of steering support 35 are provided with first pivot and second pivot respectively. The first wheel 31 and the second wheel 32 are respectively connected with a first rotating shaft and a second rotating shaft in a steering support 35. When the chassis frame 10 is in a linear motion state, the first wheel body 31 and the second wheel body 32 both rotate synchronously with the wheel frame 33, and the axis of the wheel frame 33 is a first central axis. That is, when the robot chassis 100 moves linearly, the first wheel 31 and the second wheel 32 rotate simultaneously with the driven wheel 30 (rear wheel) and the front wheel (driving wheel 20). At this time, the first wheel body 31 and the second wheel body 32 of the omni wheel (the driven wheel 30) are stationary with respect to the wheel frame 33, and the large steering wheel (the first wheel body 31) and the small steering wheel (the second wheel body 32) only perform circular motion, referred to as revolution, along the central axis of the omni wheel (the driven wheel 30) (the central axis can be understood as the first central axis of the wheel frame 33), thereby completing the chassis linear motion.
When the chassis frame 10 is in a steering motion state, the first wheel 31 and the second wheel 32 rotate around the first central axis, and at the same time, the first wheel 31 rotates around the first rotating shaft turning to the bracket 35, the axis of the first rotating shaft is the second central axis 36, the second wheel 32 rotates around the second rotating shaft turning to the bracket 35, and the axis of the second rotating shaft is the third central axis 37.
That is, as shown in fig. 5 and 6, when the robot chassis 100 needs to perform a steering motion, the front wheels (driving wheels 20) are driven by the motor to perform a differential motion in the left and right directions, and the omni wheels (driven wheels 30) need to move in the left and right directions. At this time, the large turning wheel (the first wheel body 31) and the small turning wheel (the second wheel body 32) perform revolution motion along the central axis of the omnidirectional wheel and simultaneously perform rotation motion along the central axis of the small turning wheel with respect to the first rotating shaft and the second rotating shaft at both sides of the wheel frame 33, so that the friction force generated when the omnidirectional wheel moves left and right is greatly reduced under the dual motion of revolution and rotation, and the turning motion of the entire robot chassis 100 is realized.
According to an embodiment of the present invention, referring to fig. 1 and 5, the first wheel body 31 includes a plurality of first ring bodies, and the plurality of first ring bodies are arranged along a circumferential direction of the wheel frame 33 and form the first wheel body 31. The second wheel body 32 includes a plurality of second ring bodies arranged along the circumferential direction of the wheel frame 33 and forming the second wheel body 32. Wherein the radial dimension of the first ring body is greater than the radial dimension of the second ring body. The plurality of first rings and the plurality of second rings may form the first wheels 31 and the second wheels 32 with different radial dimensions, so as to better realize the steering motion of the robot chassis 100.
In some embodiments of the present invention, referring to fig. 1 to 4, a motor is disposed on the chassis frame 10, the motor is connected to the driving wheels 20, and the two driving wheels 20 are driven by two motors respectively. The radial dimension of the drive pulley 20 is the same as or similar to the radial dimension of the driven pulley 30. Compared to the prior art, the conventional universal wheel is generally small in size, and the radial size of the driving wheel 20 is far larger than that of the driven wheel 30. When meeting steps or other obstacles, the front wheels can smoothly pass through the obstacle due to large diameter, and the universal wheels cannot pass through the obstacle due to small diameter, so that the overall passing performance of the robot is influenced. The diameter of the omnidirectional wheel (driven wheel 30) is close to that of the driving wheel 20, so that the omnidirectional wheel cannot pass through the obstacle due to the fact that the diameter of the driven wheel 30 is too small when the omnidirectional wheel passes through the obstacle, and the universality of the robot chassis 100 on the road surface is met.
According to an embodiment of the present invention, the robot chassis 100 further comprises: the hydraulic spring 41 and the longitudinal swing arm 42 are respectively arranged on the chassis framework 10 to form a longitudinal swing arm rear suspension, and the longitudinal swing arm rear suspension is connected with the driven wheel 30 to form a chassis rear suspension. The chassis frame 10 is formed by welding a plurality of rectangular pipes.
In other words, as shown in fig. 1 to 4, the robot chassis 100 further includes a hydraulic spring 41 and a longitudinal swing arm 42, wherein the hydraulic spring 41 and the longitudinal swing arm 42 are respectively mounted on the chassis frame 10 to form a longitudinal swing arm rear suspension. The hydraulic spring 41 has a good damping effect. The trailing arm rear suspension is connected to the driven wheel 30 and may constitute a chassis rear suspension. Thus, the mounting bolts of the driven wheel 30 of the present application are located on its sides, which is easier to assemble and maintain than the upside mounting of conventional universal wheels. The chassis frame 10 is formed by welding a plurality of rectangular pipes. The rectangular pipe can be made of Q235 material, and the strength requirement of the chassis framework 10 is met.
Of course, other configurations of the robot chassis 100 and its operating principles are understood and can be implemented by those skilled in the art, and are not described in detail in this application.
In summary, according to the robot chassis 100 of the embodiment of the present invention, each driven wheel 30 includes the first wheel body 31 and the second wheel body 32, the radial dimension of the first wheel body 31 is greater than the radial dimension of the second wheel body 32, and when the chassis frame 10 is in the state of linear motion, the first wheel body 31 and the second wheel body 32 both revolve around the first central axis to complete the chassis linear motion. In the state where the undercarriage frame 10 is in the steering motion, the first wheel 31 and the second wheel 32 may rotate about the second central axis 36 and the third central axis 37, respectively, while the first wheel 31 and the second wheel 32 revolve around the first central axis. The chassis frame 10 can be moved in two axes in the horizontal direction of the driven wheel 30 by the revolution and rotation of the first wheel 31 and the second wheel 32, and the turning movement is realized, and the revolution radius of the driven wheel 30 as a whole does not exist, so that the required installation space is the same as the size of the driven wheel 30 when the robot chassis 100 is moved, and the change of the required space size when the driven wheel 30 is turned is not required to be considered. Meanwhile, under the condition of double movement of rotation of the revolution frame, the driven wheel 30 can greatly reduce the friction force generated when the driven wheel 30 moves left and right, and the robot chassis 100 can conveniently perform steering movement.
According to a second aspect of the present application, there is also provided a robot comprising the robot chassis 100 of the above-described embodiment. Because according to the utility model discloses robot chassis 100 has above-mentioned technological effect, consequently, according to the utility model discloses the robot of embodiment also should have corresponding technological effect. That is, in the robot of the present application, when the robot chassis 100 is used to realize the movement of the robot chassis 100, the required installation space may be the same as the size of the driven wheel 30 itself, and the change of the required space size when the driven wheel 30 is moved in a turning direction does not need to be considered. Meanwhile, the driven wheel 30 of the present application can greatly reduce the friction force when the driven wheel 30 moves left and right under the dual movement of the revolution frame rotation, which is convenient for the robot chassis 100 to perform steering movement.
Of course, other structures of the robot and the working principle thereof can be understood and realized by those skilled in the art, and are not described in detail in the application.
Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.
Claims (10)
1. A robot chassis, comprising:
a chassis frame;
the two driving wheels are arranged on two opposite sides of the bottom of the chassis framework;
the two driven wheels are arranged on two opposite sides of the bottom of the chassis framework, the two driven wheels and the two driving wheels are arranged at intervals, and the two driving wheels face the forward direction of the chassis framework so as to drive the driven wheels to rotate; each driven wheel comprises a first wheel body, a second wheel body and a wheel frame, the first wheel body and the second wheel body are sleeved on the wheel frame, the radial size of the first wheel body is larger than that of the second wheel body, and the first wheel body and the second wheel body rotate around a first central axis when the chassis framework is in a linear motion state; when the chassis framework is in a steering motion state, the first wheel body and the second wheel body rotate around the first central axis, the first wheel body rotates around the second central axis, and the second wheel body rotates around the third central axis.
2. The robot chassis of claim 1, wherein the driven wheel further comprises: the connecting disc and the support that turns to, the connecting disc cover is established in the wheel frame, turn to the support and establish the radial both sides of wheel frame, the both ends that turn to the support set up first pivot and second pivot respectively, first wheel body with the second wheel body respectively with turn to in the support first pivot with the second pivot is connected.
3. The robot chassis of claim 2, wherein the first wheel body and the second wheel body both rotate synchronously with the wheel frame in a state where the chassis frame is in linear motion, and an axis of the wheel frame is the first central axis.
4. The robot chassis of claim 2, wherein when the chassis frame is in a steering motion, the first wheel body and the second wheel body rotate around the first central axis, the first wheel body rotates around the first rotating shaft of the steering bracket, the axis of the first rotating shaft is the second central axis, the second wheel body rotates around the second rotating shaft of the steering bracket, and the axis of the second rotating shaft is the third central axis.
5. The robot chassis of claim 2, wherein the first wheel body comprises a plurality of first ring bodies arranged along a circumferential direction of the wheel frame and forming the first wheel body.
6. The robot chassis of claim 5, wherein the second wheel body comprises a plurality of second ring bodies arranged along a circumferential direction of the wheel frame and forming the second wheel body; wherein the radial dimension of the first ring body is greater than the radial dimension of the second ring body.
7. The robot chassis of claim 1, wherein a motor is disposed on the chassis frame, the motor is connected to the driving wheel, and a radial dimension of the driving wheel is the same as a radial dimension of the driven wheel.
8. The robot chassis of claim 1, further comprising: the hydraulic spring and the longitudinal swing arm are respectively arranged on the chassis framework to form a longitudinal swing arm rear suspension, and the longitudinal swing arm rear suspension is connected with the driven wheel to form a chassis rear suspension.
9. The robot chassis of claim 1, wherein the chassis skeleton is formed by welding a plurality of rectangular tubes.
10. A robot, characterized in that it comprises a robot chassis according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220056420.1U CN217074581U (en) | 2022-01-11 | 2022-01-11 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220056420.1U CN217074581U (en) | 2022-01-11 | 2022-01-11 | Robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217074581U true CN217074581U (en) | 2022-07-29 |
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ID=82543449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220056420.1U Active CN217074581U (en) | 2022-01-11 | 2022-01-11 | Robot chassis and robot |
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| Country | Link |
|---|---|
| CN (1) | CN217074581U (en) |
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2022
- 2022-01-11 CN CN202220056420.1U patent/CN217074581U/en active Active
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