CN219618864U

CN219618864U - Chassis structure for family accompanying robot and robot

Info

Publication number: CN219618864U
Application number: CN202320620267.5U
Authority: CN
Inventors: 曲元震
Original assignee: Senlikang Technology Beijing Co ltd
Current assignee: Senlikang Technology Beijing Co ltd
Priority date: 2023-03-27
Filing date: 2023-03-27
Publication date: 2023-09-01
Anticipated expiration: 2033-03-27

Abstract

The utility model relates to a chassis structure for a family companion robot, comprising: a support plate assembly; a drive wheel suspension system mounted within the support plate assembly; the driving wheel is rotatably arranged on the driving wheel suspension system. The structure of the utility model can relieve the problems that the existing robot chassis has poor ditch climbing and bank passing capability and is easy to shake even when the ground is not at ordinary times to cause planting.

Description

Chassis structure for family accompanying robot and robot

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a chassis structure for a family accompanying robot and the robot.

Background

Currently, the robot industry is rising, and mobile robots are gradually applied to various service fields. The walking of the mobile robot is completed through wheel groups in a robot chassis, and the robot chassis determines the walking stability of the robot. In practical application, if the floor in the home has joints and small protruding barriers, the driving wheels at two sides are easy to suspend and slip, even the robot is unstable to walk and the toppling accident occurs.

Disclosure of Invention

The utility model aims to solve the technical problems that: the chassis structure for the household accompanying robot and the robot are provided for solving the defect of the capacity of the robot chassis passing the threshold in the prior art.

The technical scheme adopted for solving the technical problems is as follows:

a chassis structure for a home companion robot, comprising:

a support plate assembly;

a drive wheel suspension system mounted within the support plate assembly;

and the driving wheel is rotatably arranged on the driving wheel suspension system.

Preferably, the chassis structure for a home companion robot of the present utility model further includes at least one universal wheel mounted at the bottom of the support plate assembly.

Preferably, the chassis structure for a home companion robot of the present utility model, the driving wheel suspension system includes:

the swing arm is rotatably arranged on the support plate assembly;

the mounting seat is mounted at the first end of the swing arm and used for mounting the driving wheel;

and one end of the elastic piece is connected with the second end of the swing arm, and the other end of the elastic piece is connected with the supporting plate assembly and is used for enabling the first end of the swing arm to have downward swinging acting force.

Preferably, the chassis structure for a home accompanying robot of the present utility model, the support plate assembly includes an upper support plate and a lower support plate;

the two sides of the lower supporting plate are provided with gaps for accommodating driving wheels;

the driving wheel suspension system also comprises a U-shaped frame and a hook; the U-shaped frame is fixed at one end of the gap and used for supporting the swing arm; the hook is fixed at the other end of the gap;

the swing arm is installed on the U-shaped frame through the pivot, elastic component one end is fixed the second end of swing arm, the other end with the couple is fixed.

Preferably, in the chassis structure for the home accompanying robot, the elastic piece is a tension spring.

Preferably, the chassis structure for the family accompanying robot is characterized in that the swing arm is L-shaped, a through hole is formed in the corner of the swing arm, a bearing is arranged in the through hole, the rotating shaft is arranged in the bearing, and the bearing is limited in the through hole through a clamp spring.

Preferably, in the chassis structure for a home accompanying robot, a hole site is formed in the upper portion of the swing arm, hooks are arranged at two ends of the tension spring, and the two ends of the tension spring are respectively hooked at the hole site of the upper portion of the swing arm and the end portions of the hooks.

Preferably, in the chassis structure for the home accompanying robot, the upper support plate is connected with the lower support plate through the upright post, the upper support plate is provided with a hole site for radar fixed installation, and the battery box is positioned between the lower support plate and the upper support plate.

Preferably, in the chassis structure for a home accompanying robot of the present utility model, the number of the universal wheels is 4, the universal wheels are uniformly distributed around the support plate assembly, and the universal wheels are connected to the support plate assembly through universal wheel mounting seats.

A robot has the chassis structure.

The beneficial effects of the utility model are as follows:

can alleviate current robot chassis and can not cross the bank or cross the poor problem of planting that leads to of bank stability, rock easily when unstable ground.

Drawings

The technical scheme of the utility model is further described below with reference to the accompanying drawings and examples.

Fig. 1 is a schematic view of a chassis structure for a home companion robot according to an embodiment of the present utility model;

fig. 2 is a schematic view of a chassis structure swing arm mounting structure for a home companion robot according to an embodiment of the present utility model;

FIG. 3 is a schematic illustration of the structural assembly of a drive wheel suspension system according to an embodiment of the present utility model;

FIG. 4 is an exploded view of the drive wheel suspension system of an embodiment of the present utility model.

The reference numerals in the figures are:

1. support plate assembly

2. Driving wheel suspension system

3. Driving wheel

4 universal wheel

5. Battery box

11. Upper supporting plate

12. Lower support plate

13. Upright post

21. Swing arm

22. Mounting base

23. Elastic piece

24 U-shaped frame

25. Hook

26. Rotating shaft

27. Bearing

28. Clamp spring

41 universal wheel mount.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.

The technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings in combination with embodiments.

Examples

The present embodiment provides a chassis structure for a home companion robot, as shown in fig. 1, including:

a support plate assembly 1;

a drive wheel suspension 2 mounted within the support plate assembly 1;

a drive wheel 3 rotatably mounted on said drive wheel suspension 2.

According to the chassis structure for the family accompanying robot, due to the fact that the driving wheel suspension system 2 is arranged on the supporting plate assembly 1, the driving wheel 3 can sink when being suspended by a ridge, contact with the ground is kept, and the phenomenon of suspended slipping is avoided.

Preferably, the chassis structure for a home companion robot of the present embodiment further includes at least one universal wheel 4 mounted at the bottom of the support plate assembly 1, as shown in fig. 1 and 2. The universal wheel 4 can provide necessary balance for the robot.

Preferably, the chassis structure for a home companion robot of the present embodiment, as shown in fig. 3 and 4, the driving wheel suspension system 2 includes:

a swing arm 21 rotatably mounted on the support plate assembly 1;

a mounting seat 22 mounted at a first end of the swing arm 21 for mounting the driving wheel 3;

and one end of the elastic member 23 is connected with the second end of the swing arm 21, and the other end of the elastic member is connected with the support plate assembly 1, so that the first end of the swing arm 21 has a downward swinging acting force.

The support plate assembly 1 comprises an upper support plate 11 and a lower support plate 12;

the lower support plate 12 has a gap on both sides for accommodating the driving wheel 3;

the driving wheel suspension system 2 further comprises a U-shaped frame 24 and a hook 25; the U-shaped frame 24 is fixed at one end of the gap and is used for supporting the swing arm 21; the hook 25 is fixed at the other end of the gap;

the swing arm 21 is mounted on the U-shaped frame 24 through a rotating shaft 26, one end of the elastic piece 23 is fixed at the second end of the swing arm 21, and the other end of the elastic piece is fixed with the hook 25.

The elastic member 23 is a tension spring.

The swing arm 21 is L-shaped, a through hole is formed in the corner of the swing arm 21, a bearing 27 is arranged in the through hole, the rotating shaft 26 is installed in the bearing 27, and the bearing 27 is limited in the through hole through a clamp spring 28.

The upper part of the swing arm 21 is provided with a hole site, two ends of the tension spring are provided with hooks, and two ends of the tension spring are respectively hooked at the hole site of the upper part of the swing arm 21 and the end part of the hook 25.

The structural advantages of the driving wheel suspension system 2 of the present embodiment are: a swing arm structure having a long lateral length is used, and can be disposed in a narrow space between the upper support plate 11 and the lower support plate 12. The tension spring is simple in installation structure and convenient to assemble.

Preferably, in the chassis structure for a home accompanying robot of this embodiment, as shown in fig. 1 and 2, an upper support plate 11 is connected with a lower support plate 12 through a column 13, a hole site for radar fixing installation is left on the upper support plate 11, and a battery case 5 is located between the lower support plate 12 and the upper support plate 11. This structure facilitates assembly of the support plate assembly 1 and facilitates installation of the battery pack and radar.

Preferably, in the chassis structure for a home companion robot of this embodiment, as shown in fig. 1 and 2, the number of universal wheels 4 is 4, and the universal wheels 4 are uniformly distributed around the support plate assembly 1, and are connected to the support plate assembly 1 through universal wheel mounting seats 41. The combination of 4 universal wheels 4 can provide enough balance of the robot and enough supporting points when the robot passes over uneven pavement, so that the balance of the robot is improved.

The embodiment provides a robot having the chassis structure as described above.

With the above-described preferred embodiments according to the present utility model as a teaching, the worker skilled in the art could make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of claims.

Claims

1. A chassis structure for a home companion robot, comprising:

a support plate assembly (1);

a drive wheel suspension system (2) mounted within the support plate assembly (1);

a driving wheel (3) rotatably mounted on the driving wheel suspension system (2);

the drive wheel suspension system (2) comprises:

a swing arm (21) rotatably mounted on the support plate assembly (1);

the mounting seat (22) is mounted at the first end of the swing arm (21) and is used for loading the driving wheel (3);

an elastic piece (23), one end of which is connected with the second end of the swing arm (21), and the other end of which is connected with the supporting plate component (1) and is used for enabling the first end of the swing arm (21) to have downward swinging acting force;

the support plate assembly (1) comprises an upper support plate (11) and a lower support plate (12);

the two sides of the lower supporting plate (12) are provided with gaps for accommodating driving wheels (3);

the driving wheel suspension system (2) further comprises a U-shaped frame (24) and a hook (25); the U-shaped frame (24) is fixed at one end of the gap and is used for supporting the swing arm (21); the hook (25) is fixed at the other end of the gap;

the swing arm (21) is installed on the U-shaped frame (24) through a rotating shaft (26), one end of the elastic piece (23) is fixed at the second end of the swing arm (21), and the other end of the elastic piece is fixed with the hook (25).

2. Chassis structure for a home companion robot according to claim 1, characterized in that it further comprises at least one universal wheel (4) mounted at the bottom of the support plate assembly (1).

3. Chassis structure for a home companion robot according to claim 1, characterized in that the elastic element (23) is a tension spring.

4. A chassis structure for a home companion robot according to claim 3, characterized in that the swing arm (21) is L-shaped, a through hole is provided at a corner of the swing arm (21), a bearing (27) is provided in the through hole, the rotating shaft (26) is mounted in the bearing (27), and the bearing (27) is limited in the through hole by a snap spring (28).

5. The chassis structure for a home accompanying robot according to claim 4, wherein the swing arm (21) has a hole at an upper portion thereof, hooks are provided at both ends of the tension spring, and both ends of the tension spring are hooked at the hole at the upper portion of the swing arm (21) and the hook (25) end portions, respectively.

6. Chassis structure for a home companion robot according to any of claims 1-5, characterized in that the upper support plate (11) is connected to the lower support plate (12) by means of uprights (13), the upper support plate (11) leaving a hole site for radar fixation, and the battery compartment (5) is located between the lower support plate (12) and the upper support plate (11).

7. Chassis structure for a home companion robot according to claim 2, characterized in that the number of universal wheels (4) is 4, evenly distributed around the support plate assembly (1), the universal wheels (4) being connected to the support plate assembly (1) by means of universal wheel mounts (41).

8. A robot having a chassis structure as claimed in any one of claims 1 to 7.