CN217532982U - Drive arrangement, removal chassis and intelligent robot - Google Patents

Abstract

The embodiment of the disclosure discloses a driving device, a mobile chassis and an intelligent robot. The driving device is applied to a mobile chassis and comprises: a drive assembly; the mounting rack is fixedly connected with a chassis frame in the mobile chassis; the first connecting piece is detachably connected with the mounting frame and can move along a second direction parallel to the first direction, and the first direction is the direction of the pressing force of the driving assembly on the ground; the spring is arranged along the second direction, the first end of the spring is pressed against the driving component, and the second end of the spring is pressed against the first connecting piece; the retaining member, retaining member and first connecting piece can be dismantled and be connected to lock first connecting piece in the mounting bracket. The embodiment of the disclosure can realize the adjustment of the driving force of the mobile chassis so as to meet the requirements on the driving force of the mobile chassis in different scenes.

Description

Drive arrangement, removal chassis and intelligent robot

Technical Field

The utility model relates to the technical field of intelligent equipment, especially, relate to a drive arrangement, removal chassis and intelligent robot.

Background

At present, the application of intelligent robot is more and more extensive, and intelligent robot generally includes the removal chassis. For the mobile chassis, the weight of the load carried by the mobile chassis is often different when the mobile chassis is used in different scenes, and accordingly, the driving force required by the mobile chassis is different in different scenes, and how to adjust the driving force of the mobile chassis is an urgent problem to be solved for those skilled in the art.

Disclosure of Invention

The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides a driving device, a mobile chassis and an intelligent robot.

According to an aspect of the embodiments of the present disclosure, there is provided a driving apparatus applied to a mobile chassis, including:

a drive assembly;

the mounting rack is fixedly connected with a chassis frame in the mobile chassis;

the first connecting piece is mounted on the mounting frame and can move along a second direction parallel to a first direction, and the first direction is the direction of the pressing force of the driving assembly on the ground;

the spring is arranged along the second direction, a first end of the spring is pressed against the driving assembly, and a second end of the spring is pressed against the first connecting piece;

the retaining member, the retaining member with the connection can be dismantled to first connecting piece, with first connecting piece lock in the mounting bracket.

In an optional example, the driving assembly has a first groove along the second direction, and the driving device further includes:

the first guide shaft penetrates through the first connecting piece and the spring, and the first end of the first guide shaft is arranged in the first groove;

the driving assembly is fixedly connected with the first end of the first guide shaft through the second connecting piece;

the first limiting baffle is arranged at the second end of the first guide shaft.

In one optional example, the driving device further comprises:

a linear bearing assembly disposed along a third direction parallel to the first direction, the linear bearing assembly mounted to the mounting bracket;

the second guide shaft penetrates through the linear bearing assembly, and the first end of the second guide shaft is abutted against the driving assembly;

and the second limiting baffle is arranged at the second end of the second guide shaft.

In an alternative example, the drive arrangement comprises at least two first guide assemblies and at least two second guide assemblies; wherein,

each first guide assembly comprises a first guide shaft, a second connecting piece and a first limit baffle which are correspondingly arranged;

each second guide assembly comprises one linear bearing assembly, one second guide shaft and one second limit baffle plate which are correspondingly arranged;

all guide assemblies in the drive are symmetrically distributed relative to the mounting frame.

In one optional example, the driving device further comprises:

the shaft sleeve is sleeved between the first guide shaft and the first connecting piece.

In an alternative example, the drive arrangement comprises at least two adjustment structures; wherein,

each adjusting structure comprises a first connecting piece, a spring and a locking piece which are correspondingly arranged;

all the adjustment structures in the drive are evenly distributed relative to the mounting.

In one alternative example of this, the user may,

the drive assembly includes:

a speed reducer;

the speed reducer is mounted on the speed reducer mounting seat, a second groove is formed in the speed reducer mounting seat along the second direction, and the first end of the spring is placed in the second groove and abuts against the bottom wall of the second groove;

and/or the presence of a gas in the atmosphere,

the first connecting piece is provided with a third groove along the second direction, and the second end of the spring is arranged in the third groove and is pressed against the bottom wall of the third groove.

In one alternative example of this, the user may,

the first connecting piece is a compression nut, and the locking piece is a locking nut;

and/or the presence of a gas in the gas,

the spring is a pressure spring.

According to another aspect of the disclosed embodiments, there is provided a mobile chassis including the above-described drive device.

According to still another aspect of an embodiment of the present disclosure, there is provided an intelligent robot including the above mobile chassis.

In the embodiment of the disclosure, when the driving force of the movable chassis needs to be adjusted, the connection between the first connecting piece and the locking piece can be firstly released, and then the position of the first connecting piece is adjusted along the second direction. After the spring is adjusted to a certain proper length, the first connecting piece and the locking piece can be used for locking the first connecting piece on the mounting rack so as to avoid the position of the first connecting piece relative to the mounting rack from shifting. Therefore, by adopting the driving device in the embodiment of the disclosure, the length of the spring can be changed by changing the position of the first connecting piece, so that the adjustment of the driving force of the movable chassis can be conveniently and reliably realized, the requirements on the driving force of the movable chassis under different scenes can be further met, and the position of the first connecting piece can be locked after the driving force is adjusted in place, so that the adverse effect caused by the position shifting of the first connecting piece can be avoided.

The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally indicate like parts or steps.

Fig. 1 is a schematic structural diagram of a driving device provided in an embodiment of the present disclosure at a viewing angle.

Fig. 2 is a schematic structural diagram of a driving device provided in an embodiment of the present disclosure from another viewing angle.

Fig. 3 is a schematic structural diagram of a driving device provided in an embodiment of the disclosure in a further view angle.

Fig. 4 is a schematic structural diagram of a driving device provided in an embodiment of the present disclosure at a further viewing angle.

Fig. 5 isbase:Sub>A sectional viewbase:Sub>A-base:Sub>A of the driving apparatus of fig. 4.

Fig. 6 is a schematic view of a mobile chassis provided by embodiments of the present disclosure.

Detailed Description

Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.

Referring to fig. 1 to 6, schematic structural diagrams of a driving device provided by an embodiment of the present disclosure are shown. As shown in fig. 1 to 6, a driving apparatus is applied to a moving chassis, the driving apparatus including:

a drive assembly 10;

the mounting rack 20 is fixedly connected with a chassis frame 30 in the mobile chassis;

the first connecting piece 40, the first connecting piece 40 is mounted on the mounting rack 20, the first connecting piece 40 can move along the second direction parallel to the first direction, the first direction is the direction of the pressing force of the driving assembly 10 on the ground;

the spring 50 is arranged along the second direction, a first end of the spring 50 is pressed against the driving assembly 10, and a second end of the spring 50 is pressed against the first connecting piece 40;

and a locker 60, the locker 60 being detachably coupled to the first connector 40 to lock the first connector 40 to the mounting bracket 20.

Alternatively, the drive assembly 10 may include a drive wheel 101, a motor 103, a reducer 104, and a reducer mount 105; the motor 103 is used for driving the driving wheel 101 to rotate, and the rotation of the driving wheel 101 can realize the movement of a moving chassis to which the driving device is applied, so that the movement of the intelligent robot comprising the moving chassis is realized; the reduction gear 104 is mounted on the reduction gear mounting base 105, and the reduction gear 104 may be provided as a reduction gear transmission between the motor 103 and the drive wheel 101.

Alternatively, as shown in fig. 1, 2 and 6, the mounting bracket 20 may be a bent plate-shaped structure, as shown in fig. 6, the chassis frame 20 may be a structure formed by welding a plurality of square steel tubes, the mounting bracket 20 may be disposed above the chassis frame 20 (relative to the normal use state of the driving device), and the mounting bracket 20 and the chassis frame 30 may be fixedly connected by screwing (i.e., screwing), welding, riveting or other means known to those skilled in the art.

Alternatively, the first connecting member 40 may be mounted to the mounting bracket 20 by a threaded connection, a sliding connection (i.e., a sliding connection), or other means known to those skilled in the art, provided that the first connecting member 40 is movable in a second direction parallel to the first direction. It should be noted that the ground-contacting structural component of the driving assembly 10 is specifically the driving wheel 101, and therefore, the first direction is specifically a direction of a pressing force of the driving wheel 101 on the ground, for example, a direction indicated by an arrow J1 in fig. 1, and correspondingly, the second direction may be specifically a direction indicated by an arrow J2 in fig. 1.

Alternatively, the spring 50 may be a compression spring or an air spring. Since the first end (e.g., the lower end shown in fig. 1) of the spring 50 is pressed against the driving assembly 10 and the second end (e.g., the upper end shown in fig. 1) of the spring 50 is pressed against the first connecting member 40, an interaction force exists between the first end of the spring 50 and the driving assembly 10, an interaction force also exists between the second end of the spring 50 and the first connecting member 40, and due to the change in length of the spring 50, the interaction force between the first end of the spring 50 and the driving assembly 10 changes, and the interaction force between the second end of the spring 50 and the first connecting member 40 also changes.

Alternatively, the first connecting member 40 may be a compression nut, the locking member 60 may be a locking nut, and the locking of the first connecting member 40 relative to the mounting frame 20 can be conveniently and reliably achieved through the matching connection of the compression nut and the locking nut, and of course, the first connecting member 40 and the locking member 60 may also be in other structural forms to achieve the detachable connection of the first connecting member 40 and the locking member 60 through other manners besides the screwing manner, so as to achieve the locking of the first connecting member 40 relative to the mounting frame 20.

Alternatively, in the case where the first connecting member 40 is a compression nut, a flat surface may be provided on the compression nut to facilitate rotation of the compression nut by a wrench.

In the embodiment of the present disclosure, when the driving force of the mobile chassis needs to be adjusted, the connection between the first connecting member 40 and the locking member 60 may be released first, and then the position of the first connecting member 40 is adjusted along the second direction, because the first end of the spring 50 abuts against the driving assembly 10, and the second end of the spring 50 abuts against the first connecting member 40, as the position of the first connecting member 40 changes, the length of the spring 50 also changes, the acting force applied to the driving assembly 10 by the spring 50 also changes, and the acting force applied to the ground by the mobile chassis also changes, thereby adjusting the driving force of the mobile chassis. After the spring 50 is adjusted to a suitable length, the first connecting member 40 may be coupled to the locking member 60 to lock the first connecting member 40 to the mounting frame 20 to prevent the first connecting member 40 from shifting in position relative to the mounting frame 20. It can be seen that, with the driving device in the embodiment of the present disclosure, the length of the spring 50 can be changed by changing the position of the first connecting member 40, so that the adjustment of the driving force of the mobile chassis can be conveniently and reliably realized, and further, the requirements on the driving force of the mobile chassis under different scenes can be met, and after the driving force is adjusted in place, the position of the first connecting member 40 can be locked, so as to avoid adverse effects caused by the position play of the first connecting member 40.

In an alternative example, the driving assembly 10 has a first groove along the second direction, and the driving device further includes:

a first guide shaft 65, the first guide shaft 65 is arranged through the first connecting piece 40 and the spring 50, and a first end (the left end shown in fig. 5) of the first guide shaft 65 is arranged in the first groove;

a second connector 70, through which the driving assembly 10 is fixedly connected to the first end (the left end shown in fig. 5) of the first guide shaft 65;

and a first limit stopper 75, the first limit stopper 75 being attached to a second end (right end shown in fig. 5) of the first guide shaft 65.

Alternatively, as shown in fig. 5, a first groove opened along the second direction may be specifically disposed at a right end of the reducer mounting seat 105 in the driving assembly 10, the second connector 70 may be a connection screw, and the reducer mounting seat 105 may be fixedly connected to a left end of the first guide shaft 65 by the connection screw. Of course, the second connector 70 may also be another structural member capable of achieving a connecting function, so as to achieve the fixed connection between the reducer mounting seat 105 and the left end of the first guide shaft 65 through other manners besides the screwing manner.

Alternatively, the first limit stop 70 may be mounted to the right end of the first guide shaft 65 by welding, riveting, screwing, or other means known to those skilled in the art.

In the embodiment of the present disclosure, since the first guide shaft 65 is disposed through the first connecting element 40 and the spring 50, and the first end of the first guide shaft 65 is fixed to the driving assembly 10, the first guide shaft 65 can play a guiding role to ensure that the first connecting element 40 moves along the second direction as much as possible, and the spring 50 stretches along the second direction as much as possible. Because the first limit baffle 75 is installed at the second end of the first guide shaft 65, if the first guide shaft 65 moves a certain distance leftward, the first limit baffle 75 can be blocked by the right end of the first connecting member 40, and the first guide shaft 65 cannot move leftward continuously, so that the first guide shaft 65 can be prevented from being disengaged from the first connecting member 40.

In an alternative example, the driving device further includes:

a linear bearing assembly 80, the linear bearing assembly 80 being disposed in a third direction parallel to the first direction, the linear bearing assembly 80 being mounted to the mounting bracket 20;

a second guide shaft 85, the second guide shaft 85 is disposed through the linear bearing assembly 80, and a first end (a left end shown in fig. 5) of the second guide shaft 85 is pressed against the driving assembly 10;

and a second limit fence 90, the second limit fence 90 being attached to a second end (right end shown in fig. 5) of the second guide shaft 85.

It should be noted that the linear bearing assembly 80 is a linear motion system for linear travel in cooperation with a cylindrical shaft, and the linear bearing assembly 80 may be mounted to the mounting bracket 20 in a manner commonly used by those skilled in the art. Alternatively, the linear axis assembly 80 may be disposed along the direction indicated by the arrow J3 in fig. 5 (i.e., the third direction), and the left end of the linear axis assembly 80 may be pressed against the reducer mount 105 in the drive assembly 10.

Alternatively, the second limit stop 90 may be mounted to the right end of the second guide shaft 85 by welding, riveting, screwing, or other means known to those skilled in the art.

In the embodiment of the present disclosure, since the second guide shaft 85 is inserted into the linear bearing assembly 80 disposed along the direction indicated by the arrow J3, the guide effect can be further improved by the arrangement of the second guide shaft 85 and the linear bearing assembly 80. Because the second limit baffle 90 is installed at the right end of the second guide shaft 85, if the second guide shaft 85 moves a certain distance leftward, the second limit baffle 90 can be blocked by the right end of the linear axis assembly 80, and the second guide shaft 85 cannot move leftward, so that the second guide shaft 85 can be prevented from being disengaged from the linear axis assembly 80.

In an alternative example, the drive arrangement comprises at least two first guide assemblies and at least two second guide assemblies; wherein,

each first guide assembly comprises a first guide shaft 65, a second connecting piece 70 and a first limit baffle 75 which are correspondingly arranged;

each second guide assembly comprises a linear bearing assembly 80, a second guide shaft 85 and a second limit baffle 90 which are correspondingly arranged;

all the guide assemblies in the drive are symmetrically distributed with respect to the mounting 20.

Alternatively, as shown in fig. 1, 2, and 6, in the driving device, the number of the first guide assemblies may be two, the number of the second guide assemblies may also be two, the two first guide assemblies may be respectively disposed on two sides of the mounting bracket 20, and the two second guide assemblies may also be respectively disposed on two sides of the mounting bracket 20.

In the embodiment of the disclosure, through the setting of a plurality of direction subassemblies, can play better direction effect to, because all direction subassemblies are for mounting bracket 20 symmetric distribution, can guarantee the atress on the mounting bracket 20 as far as possible like this even.

In an alternative example, the driving device further includes:

a shaft sleeve 95 (see fig. 5), the shaft sleeve 95 is sleeved between the first guide shaft 65 and the first connecting member 40.

Alternatively, the sleeve 95 may be made of a wear resistant material, in which case the sleeve 95 may also be referred to as a wear resistant sleeve.

In the embodiment of the present disclosure, through the arrangement of the shaft sleeve 95, the wear of the first guide shaft 65 can be reduced, so that the service life of the first guide shaft 65 is prolonged.

In an alternative example, the drive arrangement comprises at least two adjustment structures; wherein,

each adjusting structure comprises a first connecting piece 40, a spring 50 and a locking piece 60 which are correspondingly arranged;

all the adjustment structures in the drive are evenly distributed relative to the mounting 20.

Alternatively, as shown in fig. 1, 2 and 6, in the driving device, the number of the adjusting structures may be two, and the two adjusting structures may be separately disposed on two sides of the mounting frame 20.

In the embodiment of the present disclosure, through the arrangement of the plurality of adjusting structures, and all the adjusting structures are uniformly distributed relative to the mounting frame 20, so that the uniform stress on the mounting frame 20 can be ensured as much as possible.

In one alternative example of this, the user may,

the drive assembly 10 includes:

a speed reducer 104;

the speed reducer mounting base 105, the speed reducer 104 is mounted on the speed reducer mounting base 105, the speed reducer mounting base 105 is provided with a second groove along the second direction, and the first end (the left end shown in fig. 5) of the spring 50 is arranged in the second groove and is pressed against the bottom wall of the second groove;

and/or the presence of a gas in the gas,

the first connecting member 40 is provided with a third groove along the second direction, and a second end (a right end shown in fig. 5) of the spring 50 is disposed in the third groove and presses against a bottom wall of the third groove.

Alternatively, the reducer 104 may be mounted to the reducer mount 105 by bolting, snapping, or other means known to those skilled in the art.

In the embodiment of the disclosure, through the arrangement of the second groove and the third groove, the second groove can limit the first end of the spring 50, and the third groove can limit the second end of the spring 50, so that the position deviation (i.e., the deviation from the second direction) of the spring 50 can be avoided as much as possible.

The embodiment of the disclosure also provides a mobile chassis which comprises the driving device. The specific embodiment of the driving device can be obtained by referring to the above description, and is not described herein again.

Alternatively, as shown in fig. 6, the mobile chassis may include a chassis frame 30, two drives, and four universal wheels 98; wherein, the two driving devices can be used for realizing the movement of the moving chassis; four universal wheels 98 may be used to carry the load weight of the moving chassis and effect steering of the moving chassis. In the embodiment of the present disclosure, the driving force of the moving chassis is adjustable, and the moving chassis is provided with a suspension damping structure (which specifically includes a spring 50), the driving wheel 101 can be pressed on the ground all the time, and the obstacle-crossing and threshold-crossing capability of the moving chassis is strong.

The embodiment of the present disclosure further provides an intelligent robot, which includes the above mobile chassis. The specific implementation process of the mobile chassis can be implemented by referring to the above description, and is not described herein again. Due to the fact that the mobile chassis has the technical effects, the intelligent robot comprising the mobile chassis also has corresponding technical effects.

The basic principles of the present disclosure have been described above in connection with specific embodiments, but it should be noted that advantages, effects, and the like, mentioned in the present disclosure are only examples and not limitations, and should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.

It should be noted that in the apparatus and device of the present disclosure, the components may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims (10)

1. A drive device for a mobile chassis, comprising:

a drive assembly (10);

the mounting rack (20) is fixedly connected with a chassis frame (30) in the mobile chassis;

a first connector (40), the first connector (40) being mounted to the mounting bracket (20), the first connector (40) being movable in a second direction parallel to a first direction, the first direction being the direction of the pressing force of the drive assembly (10) against the ground;

a spring (50), wherein the spring (50) is arranged along the second direction, a first end of the spring (50) is pressed against the driving component (10), and a second end of the spring (50) is pressed against the first connecting piece (40);

a retaining member (60), the retaining member (60) being detachably connected to the first connector (40) to lock the first connector (40) to the mounting bracket (20).

2. The drive arrangement according to claim 1, characterized in that the drive assembly (10) is provided with a first recess along the second direction, the drive arrangement further comprising:

the first guide shaft (65), the first guide shaft (65) penetrates through the first connecting piece (40) and the spring (50), and the first end of the first guide shaft (65) is placed in the first groove;

the driving assembly (10) is fixedly connected with the first end of the first guide shaft (65) through the second connecting piece (70);

a first limit stop (75), the first limit stop (75) mounted to a second end of the first guide shaft (65).

3. The drive device according to claim 2, further comprising:

a linear bearing assembly (80), the linear bearing assembly (80) being disposed along a third direction parallel to the first direction, the linear bearing assembly (80) being mounted to the mounting bracket (20);

the second guide shaft (85), the second guide shaft (85) is arranged in the linear bearing assembly (80) in a penetrating way, and the first end of the second guide shaft (85) is pressed against the driving assembly (10);

and the second limit baffle (90) is arranged at the second end of the second guide shaft (85).

4. The drive of claim 3, wherein the drive comprises at least two first guide assemblies and at least two second guide assemblies; wherein,

each first guide assembly comprises a first guide shaft (65), a second connecting piece (70) and a first limit baffle (75) which are correspondingly arranged;

each second guide assembly comprises a linear bearing assembly (80), a second guide shaft (85) and a second limit baffle (90) which are correspondingly arranged;

all guide assemblies in the drive are symmetrically distributed relative to the mounting frame (20).

5. The drive device according to claim 2, further comprising:

the shaft sleeve (95) is sleeved between the first guide shaft (65) and the first connecting piece (40).

6. The drive arrangement of claim 1, comprising at least two adjustment structures; wherein,

each adjusting structure comprises a first connecting piece (40), a spring (50) and a locking piece (60) which are correspondingly arranged;

all the adjustment structures in the drive are evenly distributed relative to the mounting frame (20).

7. The drive device according to claim 1,

the drive assembly (10) comprises:

a speed reducer (104);

the speed reducer mounting seat (105), the speed reducer (104) is mounted on the speed reducer mounting seat (105), a second groove is formed in the speed reducer mounting seat (105) along the second direction, and the first end of the spring (50) is arranged in the second groove and abuts against the bottom wall of the second groove;

and/or the presence of a gas in the atmosphere,

the first connecting piece (40) is provided with a third groove along the second direction, and the second end of the spring (50) is arranged in the third groove and is pressed against the bottom wall of the third groove.

8. The drive device according to any one of claims 1 to 7,

the first connecting piece (40) is a compression nut, and the locking piece (60) is a locking nut;

and/or the presence of a gas in the gas,

the spring (50) is a compression spring.

9. A mobile chassis, characterized in that it comprises a drive device according to any one of claims 1 to 8.

10. An intelligent robot comprising the mobile chassis of claim 9.

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