CN219115608U - Bevel differential structure robot chassis - Google Patents
Bevel differential structure robot chassis Download PDFInfo
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- CN219115608U CN219115608U CN202223407202.7U CN202223407202U CN219115608U CN 219115608 U CN219115608 U CN 219115608U CN 202223407202 U CN202223407202 U CN 202223407202U CN 219115608 U CN219115608 U CN 219115608U
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Abstract
The utility model provides a bevel differential structure robot chassis, comprising: the arm assembly is connected with the vehicle body and is respectively positioned at two sides of the vehicle body; the wheel assemblies are respectively connected with the arm assemblies and positioned at two sides of the vehicle body; one end of the first transmission shaft passes through the vehicle body and is connected with the arm assembly on one side; one end of the second transmission shaft penetrates through the vehicle body to be connected with the arm assembly on the other side; the gear assembly is arranged between the first transmission shaft and the second transmission shaft. The chassis structure ensures the balance of the vehicle body through pure mechanical bevel gear transmission, reduces the requirement on control, and has lower cost and relatively simple overall structure. In addition, real-time response can be achieved, and delay in active control is avoided. Furthermore, the chassis structure can realize iterative widening or edge narrowing of the vehicle body by increasing or reducing the number of the transmission shafts, so that the applicability and variability of the whole structure are wider.
Description
Technical Field
The utility model relates to a chassis, in particular to a bevel differential structure robot chassis.
Background
The application of robots has been related to various fields, and as the application breadth and depth of robots are increased, the requirements for robots are also increasing.
Most of the prior chassis of the robot uses damping springs or other active damping forms such as motors and the like to meet the requirements of the concave-convex ground, but the two damping forms have certain limitations on generality, and when the universality of the structure is increased, the required chassis structure can complicate the whole structure, thereby leading to the increase of production cost and maintenance cost. In addition, with a stable structure in the form of a motor, the control of the overall structure and the software control of the motor are relatively more demanding.
In addition, the variability of the two vehicle bodies has certain defects, the vehicle bodies cannot be enlarged or reduced in equal proportion, and various customized chassis cannot be met.
Disclosure of Invention
The technical problems to be solved by the utility model are as follows: aiming at the technical defects of the robot chassis, the robot chassis with the bevel differential structure is provided.
In order to solve the technical problems, the utility model provides a bevel differential structure robot chassis, which comprises: the arm assembly is connected with the vehicle body and is respectively positioned at two sides of the vehicle body; the wheel assemblies are respectively connected with the arm assemblies and positioned at two sides of the vehicle body; one end of the first transmission shaft passes through the vehicle body and is connected with the arm assembly on one side; one end of the second transmission shaft penetrates through the vehicle body to be connected with the arm assembly on the other side; the gear assembly is arranged between the first transmission shaft and the second transmission shaft.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the gear assembly comprises a first gear, a second gear, a third gear and a fourth gear, the first gear is sleeved on the other end of the first transmission shaft, the second gear is sleeved on the other end of the second transmission shaft, the third gear is respectively meshed with the first gear and the second gear, and the fourth gear is respectively meshed with the first gear and the second gear.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the first gear, the second gear, the third gear and the fourth gear form a quadrilateral structure.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the centers of the third gear and the fourth gear are connected through a connecting seat.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the force arm assembly comprises two groups of force arm pairs, the two groups of force arm pairs are respectively positioned at two sides of the vehicle body, each group of force arm pairs comprises a main force arm and a combined force arm, and the combined force arm is rotationally connected with the main force arm.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: one end of the first transmission shaft is rotationally connected with one main force arm, and one end of the second transmission shaft is rotationally connected with the other main force arm.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the wheel assembly comprises two groups of wheels, the two groups of wheels are respectively positioned at two sides of the vehicle body, each group of wheels comprises a front wheel, a middle wheel and a rear wheel, the front wheel and the middle wheel are respectively connected at two ends of a combined arm of force, and the rear wheel is connected with a main arm of force.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the arm of force subassembly includes two swing arms, and two swing arms are located the both sides of automobile body respectively.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: one end of the first transmission shaft is rotationally connected with one swing arm, and one end of the second transmission shaft is rotationally connected with the other swing arm.
The bevel differential structure robot chassis provided by the utility model can also have the following characteristics: the wheel assembly comprises two groups of wheels, the two groups of wheels are respectively positioned at two sides of the vehicle body, each group of wheels comprises a front wheel and a rear wheel, and the front wheel and the rear wheel are respectively connected at two ends of the swing arm.
The utility model has the beneficial effects that:
in the bevel differential structure robot chassis, the chassis comprises a vehicle body, a force arm assembly, a wheel assembly, a first transmission shaft, a second transmission shaft and a gear assembly. The arm of force subassembly is connected with the automobile body, and is located the both sides of automobile body, and wheel subassembly is connected with the arm of force subassembly, also is located the both sides of automobile body. One end of the first transmission shaft penetrates through the vehicle body to be connected with the arm assembly on one side of the vehicle body, one end of the second transmission shaft penetrates through the arm assembly on the other side of the vehicle body to be connected, and the wheel assembly is located between the first transmission shaft and the second transmission shaft. Based on the chassis structure, when the wheel assembly on one side of the vehicle body is positioned in the concave-convex state, the transmission shaft on the side is driven to rotate by the arm assembly on the side, and then the wheel assembly on the other side is transmitted to the transmission shaft on the other side by the gear assembly, so that the wheel assembly on the other side and the wheel assembly on the other side are reversely rotated, and the balance of the vehicle body is ensured. Therefore, the chassis structure is driven by the pure mechanical bevel gear, so that the precision is high, and the chassis structure is more stable and durable. And the requirement on control is reduced, the cost is lower, and the whole structure is relatively simple. In addition, the transmission can be transmitted to the transmission shaft on the other side from the transmission shaft on one side through the gear assembly, so that real-time response is realized, and delay in active control is avoided. Furthermore, the chassis structure can realize iterative widening or edge narrowing of the vehicle body by increasing or reducing the number of the transmission shafts, so that the applicability and variability of the whole structure are wider.
In addition, the gear assembly comprises a first gear, a second gear, a third gear and a fourth gear, wherein the first gear is connected with the first transmission shaft, the second gear is connected with the second transmission shaft, the third gear is respectively meshed with the first gear and the second gear, and the fourth gear is respectively meshed with the first gear and the second gear, so that real-time response of wheels on two sides can be realized through gear transmission. In addition, the gear can bear large torque transmission and can be used for a large-load robot chassis.
In addition, the first gear, the second gear, the third gear and the fourth gear form a quadrilateral structure, the first gear and the second gear are positioned on two opposite sides, and the wheel on one side can rotate and the wheel on the other side can rotate reversely, so that the balance of the vehicle body is ensured.
In addition, the chassis structure can be applied to four-wheel robots and six-wheel robots, has no requirement on the number of wheel assemblies, and has stronger applicability. When the force arm assembly is applied to a six-wheeled robot, the force arm assembly comprises a combined force arm and a main force arm; when the arm assembly is applied to a four-wheel robot, the arm assembly is two swing arms; the six-wheel robot or the four-wheel robot is characterized in that one ends of the first transmission shaft and the second transmission shaft are in rotary connection, so that the chassis structure has fewer fixed points for rotation and transmission, and the later maintenance is relatively simple.
Drawings
Fig. 1 is a schematic structural view of a bevel differential structure robot chassis in the first embodiment;
FIG. 2 is a schematic view of the structure of the transmission assembly in the first embodiment;
fig. 3 is a schematic structural view of a bevel differential structure robot chassis in the second embodiment.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clear, the utility model 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 for purposes of illustration only and are not intended to limit the scope of the utility model.
The bevel differential structure robot chassis is applied to a wheel robot and is of a chassis structure of the wheel robot.
Example 1
In this embodiment, the bevel differential structure robot chassis is applied to a six-wheeled robot, which is a chassis of the six-wheeled robot.
As shown in fig. 1 to 2, the bevel differential robot chassis of the present embodiment includes a chassis body 10, a moment arm assembly, a first transmission shaft 30, a second transmission shaft 40, a wheel assembly, and a gear assembly.
The vehicle body 10 is a chassis vehicle body of the robot, and is of a quadrilateral frame structure, the width of the bottom plate is larger than that of the top plate, and two ends of the two side plates are respectively connected with one end of the top plate and one end of the bottom plate.
The force arm assembly comprises two groups of force arm pairs, the two groups of force arm pairs are respectively arranged on two sides of the vehicle body 10, the structures, positions and connection relations of the two groups of force arm pairs are the same, and one of the two groups of force arm pairs is taken as an example for elaboration.
Each set of force arm pairs includes a primary force arm 21 and a combined force arm 22. The middle of the combined force arm 22 is rotationally connected with one end of the main force arm 21 through a combined force arm rotating shaft 23. One end of the combined force arm rotating shaft 23 is fixedly connected with the combined force arm 22, and the other end passes through the main force arm 21 and can rotate around the main force arm 21.
One end of the first transmission shaft 30 is connected to the vehicle body 10 through a first bearing housing 31 and a first bearing housing 32.
The first bearing block 31 is fixed on a side plate of one side of the vehicle body 10, and one end of the first transmission shaft 30 passes through the first bearing block 31 to be connected with the main force arm 21. One end of the first drive shaft 30 is rotatable within a first bearing housing 31.
The first bearing housing 32 is fixed to the lower surface of the roof of the vehicle body 10, and the other end of the first drive shaft 30 passes through the first bearing housing 32 and is rotatable within the first bearing housing 32.
One end of the second transmission shaft 40 is connected to the vehicle body 10 through a second bearing housing 41 and a second bearing housing 42.
The second bearing block 41 is fixed on the side plate on the other side of the vehicle body 10, and one end of the second transmission shaft 40 passes through the second bearing block 41 to be connected with the main force arm 21 on the other side. One end of the second drive shaft 40 is rotatable within a second bearing housing 41.
The second bearing housing 42 is fixed to the lower surface of the roof of the vehicle body 10 with a certain distance from the first bearing housing 32. The other end of the second transmission shaft 40 passes through the second bearing housing 42 and is rotatable within the second bearing housing 42.
The gear assembly is disposed between the first bearing housing 32 and the second bearing housing 42. Comprising a first gear 51, a second gear 52, a third gear 53, a fourth gear 54 and a connecting seat 55. The first gear 51, the second gear 52, the third gear 53 and the fourth gear 54 form a quadrilateral structure, wherein the first gear 51 and the second gear 52 are positioned on two opposite sides; the third gear 53 and the fourth gear 54 are located on opposite sides.
The connection seat 55 is fixed to the lower surface of the roof of the vehicle body 10 between the first bearing housing 32 and the second bearing housing 42, and both ends thereof extend downward, respectively.
The center of the first gear 51 is sleeved on one end of the first transmission shaft 30 penetrating through the first bearing seat 32, and can rotate under the driving of the first transmission shaft 30.
The second gear 52 is centrally sleeved on one end of the second transmission shaft 40 passing through the second bearing seat 42, and can rotate under the drive of the second transmission shaft 40.
The center of the third gear 53 is rotatably connected to one end of the connection seat 55 extending downward, and is engaged with the first gear 51 and the second gear 52, respectively.
The center of the fourth gear 54 is rotatably connected to the other end of the connection seat 55 extending downward, and is engaged with the first gear 51 and the second gear 52, respectively.
The wheel assembly comprises two groups of wheels which are respectively arranged at two sides of the vehicle body 10 and respectively connected with two groups of force arms. The two sets of wheels have the same structure, position and connection relationship, and one pair of the wheels is taken as an example for detailed explanation.
Each set of wheels includes a front wheel 61, an intermediate wheel 62 and a rear wheel 63. Wherein, the front wheel 61 and the middle wheel 62 are respectively connected with two ends of the combined force arm 22. The rear wheel 63 is attached to the other end of the main arm 21.
The working principle of the bevel differential structure robot chassis is as follows:
when the wheel assembly on one side of the first transmission shaft 30 is located on the concave-convex surface, the main force arm 21 on the side rotates to drive the first transmission shaft 30 to rotate, and then drives the first gear 51 to rotate. When the first gear 51 rotates anticlockwise, the third gear 53 rotates clockwise, and the fourth gear 54 rotates anticlockwise, so that the second gear 52 moves clockwise opposite to the first gear 51, and drives the second transmission shaft 40 to rotate clockwise, so that the main force arms at two sides rotate oppositely, and the balance operation of the vehicle body 10 is maintained.
< example two >
In this embodiment, the bevel differential structure robot chassis is applied to a four-wheeled robot, and is a chassis of the four-wheeled robot.
As shown in fig. 3, the bevel differential robot chassis of this embodiment includes a chassis body, a moment arm assembly, a first transmission shaft, a second transmission shaft, a wheel assembly, and a gear assembly. In this embodiment, the chassis body, the first transmission shaft, the second transmission shaft and the gear assembly are the same as those in the first embodiment, and in this embodiment, the description is omitted, and only the wheel assembly and the arm assembly with different structures are described.
The arm assembly includes two swing arms 71, the two swing arms 71 being located on either side of the body 10.
One end of the first transmission shaft 30 passes through the first bearing housing 31 to be connected to the swing arm 71 on one side. One end of the first drive shaft 30 is rotatable within a first bearing housing 31.
One end of the second transmission shaft 40 passes through the second bearing housing 41 to be connected with the swing arm 71 on the other side. One end of the second drive shaft 40 is rotatable within a second bearing housing 41.
The wheel assembly includes a front wheel 81 and a rear wheel 82. The front wheel 81 and the rear wheel 82 are connected to the front and rear ends of the swing arm 71, respectively.
The working principle of the bevel differential structure robot chassis is as follows:
when the wheel assembly on one side of the first transmission shaft 30 is located on the concave-convex surface, the swing arm 71 on the side rotates to drive the first transmission shaft 30 to rotate, and then drives the first gear 51 to rotate. When the first gear 51 rotates anticlockwise, the third gear 53 rotates clockwise, and the fourth gear 54 rotates anticlockwise, so that the second gear 52 moves clockwise opposite to the first gear 51, and drives the second transmission shaft 40 to rotate clockwise, so that the main force arms at two sides rotate oppositely, and the balance operation of the vehicle body 10 is maintained.
In the bevel differential structure robot chassis according to the above embodiment, the chassis includes a vehicle body, a moment arm assembly, a wheel assembly, a first transmission shaft, a second transmission shaft, and a gear assembly. The arm of force subassembly is connected with the automobile body, and is located the both sides of automobile body, and wheel subassembly is connected with the arm of force subassembly, also is located the both sides of automobile body. One end of the first transmission shaft penetrates through the vehicle body to be connected with the arm assembly on one side of the vehicle body, one end of the second transmission shaft penetrates through the arm assembly on the other side of the vehicle body to be connected, and the wheel assembly is located between the first transmission shaft and the second transmission shaft. Based on the chassis structure, when the wheel assembly on one side of the vehicle body is positioned in the concave-convex state, the transmission shaft on the side is driven to rotate by the arm assembly on the side, and then the wheel assembly on the other side is transmitted to the transmission shaft on the other side by the gear assembly, so that the wheel assembly on the other side and the wheel assembly on the other side are reversely rotated, and the balance of the vehicle body is ensured. Therefore, the chassis structure is driven by the pure mechanical bevel gear, so that the precision is high, and the chassis structure is more stable and durable. And the control requirement is reduced, the cost is lower, and the whole structure is relatively simple. In addition, the transmission can be transmitted to the transmission shaft on the other side from the transmission shaft on one side through the gear assembly, so that real-time response is realized, and delay in active control is avoided. Furthermore, the chassis structure can realize iterative widening or edge narrowing of the vehicle body by increasing or reducing the number of the transmission shafts, so that the applicability and variability of the whole structure are wider.
In addition, the gear assembly comprises a first gear, a second gear, a third gear and a fourth gear, wherein the first gear is connected with the first transmission shaft, the second gear is connected with the second transmission shaft, the third gear is respectively meshed with the first gear and the second gear, and the fourth gear is respectively meshed with the first gear and the second gear, so that real-time response of wheels on two sides can be realized through gear transmission. In addition, the gear can bear large torque transmission and can be used for a large-load robot chassis.
In addition, the first gear, the second gear, the third gear and the fourth gear form a quadrilateral structure, the first gear and the second gear are positioned on two opposite sides, and the wheel on one side can rotate and the wheel on the other side can rotate reversely, so that the balance of the vehicle body is ensured.
In addition, the chassis structure can be applied to four-wheel robots and six-wheel robots, has no requirement on the number of wheel assemblies, and has stronger applicability. When the force arm assembly is applied to a six-wheeled robot, the force arm assembly comprises a combined force arm and a main force arm; when the arm assembly is applied to a four-wheel robot, the arm assembly is two swing arms; the six-wheel robot or the four-wheel robot is characterized in that one ends of the first transmission shaft and the second transmission shaft are in rotary connection, so that the chassis structure has fewer fixed points for rotation and transmission, and the later maintenance is relatively simple.
Furthermore, the first transmission shaft and the second transmission shaft are arranged at the top of the vehicle body 10, so that the internal space of the vehicle body can be saved, the vehicle body space can be utilized to a greater extent, and more iterative external loading space can be provided.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, given that such modifications and variations of the present application are within the scope of the claims hereof, as well as the equivalents thereof, such modifications and variations are intended to be included herein.
Claims (10)
1. A bevel differential structured robot chassis, comprising:
the vehicle body is provided with a plurality of wheels,
the arm of force assembly is connected with the car body and is respectively positioned at two sides of the car body;
the wheel assemblies are respectively connected with the force arm assemblies and are positioned on two sides of the vehicle body;
one end of the first transmission shaft penetrates through the vehicle body to be connected with the arm assembly on one side;
one end of the second transmission shaft penetrates through the vehicle body to be connected with the arm assembly on the other side;
the gear assembly is arranged between the first transmission shaft and the second transmission shaft.
2. The bevel differential structured robot chassis according to claim 1, wherein:
the gear assembly comprises a first gear, a second gear, a third gear and a fourth gear,
the first gear is sleeved on the other end of the first transmission shaft,
the second gear is sleeved on the other end of the second transmission shaft,
the third gear is meshed with the first gear and the second gear respectively,
the fourth gear is meshed with the first gear and the second gear respectively.
3. The bevel differential structured robot chassis according to claim 2, wherein:
the first gear, the second gear, the third gear and the fourth gear form a quadrilateral structure.
4. The bevel differential structured robot chassis according to claim 2, wherein:
the centers of the third gear and the fourth gear are connected through a connecting seat.
5. The bevel differential structured robot chassis according to claim 1, wherein:
the force arm assembly comprises two groups of force arm pairs which are respectively positioned at two sides of the vehicle body,
each set of the force arm pairs comprises a main force arm and a combined force arm,
the combined force arm is rotationally connected with the main force arm.
6. The bevel differential structured robot chassis according to claim 5, wherein:
one end of the first transmission shaft is rotationally connected with one main force arm,
one end of the second transmission shaft is rotationally connected with the other main force arm.
7. The bevel differential structured robot chassis according to claim 5, wherein:
the wheel assembly comprises two groups of wheels which are respectively positioned at two sides of the vehicle body,
each set of wheels comprises a front wheel, a middle wheel and a rear wheel,
the front wheel and the middle wheel are respectively connected with the two ends of the combined force arm,
the rear wheel is connected with the main force arm.
8. The bevel differential structured robot chassis according to claim 1, wherein:
the arm of force subassembly includes two swing arms, two the swing arm is located respectively the both sides of automobile body.
9. The bevel differential structured robot chassis according to claim 8, wherein:
one end of the first transmission shaft is rotationally connected with one swing arm,
one end of the second transmission shaft is rotatably connected with the other swinging arm.
10. The bevel differential structured robot chassis according to claim 8, wherein:
the wheel assembly comprises two groups of wheels which are respectively positioned at two sides of the vehicle body,
each set of said wheels comprises a front wheel and a rear wheel,
the front wheel and the rear wheel are respectively connected with two ends of the swing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223407202.7U CN219115608U (en) | 2022-12-19 | 2022-12-19 | Bevel differential structure robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223407202.7U CN219115608U (en) | 2022-12-19 | 2022-12-19 | Bevel differential structure robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219115608U true CN219115608U (en) | 2023-06-02 |
Family
ID=86532790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223407202.7U Active CN219115608U (en) | 2022-12-19 | 2022-12-19 | Bevel differential structure robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219115608U (en) |
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2022
- 2022-12-19 CN CN202223407202.7U patent/CN219115608U/en active Active
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