CN220391346U - Chassis and mobile device - Google Patents

Abstract

The embodiment of the application provides a chassis and mobile device relates to handling device technical field, wherein, the chassis includes: the first frame body, the second frame body and the wheel bridge; a first driving wheel mounting part and a second driving wheel mounting part are respectively arranged on two sides of the first frame body; the second frame body is rotationally connected to the first frame body along a first rotating shaft, the wheel bridge is rotationally connected to the first frame body along a second rotating shaft, the first rotating shaft and the second rotating shaft extend horizontally, and the second rotating shaft and the first rotating shaft form a preset included angle; the two ends of the wheel bridge are respectively provided with a first rotating wheel installation part and a second rotating wheel installation part, the first rotating wheel installation part and the second rotating wheel installation part are respectively positioned at two sides of the second rotating shaft, and a third rotating wheel installation part and a fourth rotating wheel installation part are arranged on the second frame body at intervals.

Description

Chassis and mobile device

Technical Field

The application relates to the technical field of handling devices, in particular to a chassis and a mobile device.

Background

Mobile devices are also commonly referred to as mobile robots. The mobile device generally comprises a chassis, a walking module, a sensor, a controller and the like. The moving device can support the moving device by means of a certain number of rotating wheels and drive the moving device to move and turn by means of driving wheels.

In the related art, the mobile device generally cannot allow a larger unbalanced load of the goods, otherwise, the mobile device is easy to deviate, and the mobile device can topple when serious. As the application of mobile devices in logistics storage and transportation fields becomes wider, the goods carried by the mobile devices also show diversified trends, and how to improve the anti-overturning capability of the mobile devices is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The embodiment of the application provides a chassis and a mobile device, which are used for solving the problem of how to improve the anti-overturning capability of the mobile device.

In a first aspect, embodiments of the present application provide a chassis.

The chassis provided by the embodiment of the application comprises: the first frame body, the second frame body and the wheel bridge; a first driving wheel mounting part and a second driving wheel mounting part are respectively arranged on two sides of the first frame body; the second frame body is rotationally connected with the first frame body along a first rotating shaft, the wheel bridge is rotationally connected with the first frame body along a second rotating shaft, the first rotating shaft and the second rotating shaft extend horizontally, and the second rotating shaft and the first rotating shaft form a preset included angle; the two ends of the wheel bridge are respectively provided with a first rotating wheel installation part and a second rotating wheel installation part, the first rotating wheel installation part and the second rotating wheel installation part are respectively positioned at two sides of the second rotating shaft, and a third rotating wheel installation part and a fourth rotating wheel installation part are arranged on the second frame body at intervals.

Optionally, the chassis further comprises a load applying assembly; the load applying assembly comprises a first support, a second support, a guide rod and an elastic piece; the first support is connected with the first frame body and is arranged on one side of the first rotating shaft, which is close to the second frame body; the second support includes first side fender and second side fender, first side fender is located the second side keeps off the top, guide arm one end with first side fender is connected, the other end with the second side keeps off and is connected, first support is equipped with the perforation, the guide arm wears to locate the perforation, first support is located first side fender with between the second side fender, the elastic component wears to locate outside the guide arm, and press from both sides in first side fender with between the first support.

Optionally, the guide rod and the hole wall of the perforation have a gap in a direction towards the first rotating shaft.

Optionally, the load applying assembly further includes a sleeve, the sleeve is sleeved outside the guide rod, and the elastic member is sleeved outside the sleeve.

Optionally, a flange disc is arranged at one end, close to the first support, of the sleeve, and one end, close to the first support, of the elastic piece is abutted to the flange disc.

Optionally, the load applying assembly further includes a first spacer and a second spacer, the first spacer and the second spacer are both sleeved outside the guide rod, the first spacer is disposed between the elastic member and the first support, and the second spacer is disposed between the first support and the second side rail.

Optionally, the chassis further includes a first limiter and a second limiter, the first limiter and the second limiter are both disposed on the wheel axle, the first limiter and the second limiter are respectively disposed on two sides of the second rotating shaft, the first limiter is disposed along a first rotating direction of the wheel axle and is spaced by a first distance from the first frame body, the second limiter is disposed along a second rotating direction of the wheel axle and is spaced by a second distance from the first frame body, and the second rotating direction is opposite to the first rotating direction.

In a second aspect, embodiments of the present application provide a mobile device.

The mobile device provided by the embodiment of the application comprises: first drive wheel, second drive wheel, first runner, second runner, third runner, fourth runner and the arbitrary chassis that this application embodiment provided, first drive wheel is located first drive wheel installation department, the second drive wheel is located second drive wheel installation department, first runner is located first runner installation department, the second runner is located second runner installation department, the third runner is located third runner installation department, the fourth runner is located fourth runner installation department.

Optionally, the mobile device further comprises a first rotary drive and a second rotary drive; the first rotary driver and the second rotary driver are respectively arranged on the chassis, the first rotary driver is in driving connection with the first driving wheel, and the second rotary driver is in driving connection with the second driving wheel.

Optionally, the first rotating wheel, the second rotating wheel, the third rotating wheel and the fourth rotating wheel are universal wheels.

The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:

in an embodiment of the present application, the first driving wheel mounting portion and the second driving wheel mounting portion are used for providing a first driving wheel and a second driving wheel, respectively; the first rotating wheel installation part, the second rotating wheel installation part, the third rotating wheel installation part and the fourth rotating wheel installation part are respectively used for setting the first rotating wheel, the second rotating wheel, the third rotating wheel and the fourth rotating wheel. In this way, when the mobile device provided with the chassis runs on an uneven bearing surface, the second frame body can rotate around the first rotating shaft relative to the first frame body, and the wheel bridge can rotate around the second rotating shaft relative to the first frame body, so that the mobile device provided with the chassis can adapt to bearing surfaces with various shapes. In addition, the first driving wheel, the second driving wheel, the third rotating wheel and the fourth rotating wheel can play a supporting role on the chassis, and the unbalanced load bearing capacity of the mobile device can be improved, so that the anti-overturning capacity of the mobile device provided with the chassis is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.

Fig. 1 is a schematic diagram of a mobile device configured with a chassis according to an embodiment of the present application;

FIG. 2 is a partial schematic view of the mobile device shown in FIG. 1;

fig. 3 is a schematic view of the mobile device shown in fig. 1.

Reference numerals illustrate:

10-a mobile device; 100-chassis; 110-a first frame; 120-a second frame; 121-a first rotating shaft; 130-wheel axles; 131-a second rotating shaft; 132-a first stop; 133-a second stop; 140-a load applying assembly; 141-a first support; 142-a second support; 1421-first side stop; 1422-second side gear; 143-a guide rod; 144-elastic members; 145-a sleeve; 1451-flange plate; 146-first gasket; 147-a second gasket; 210-a first drive wheel; 220-a second drive wheel; 230-a first wheel; 240-a second wheel; 250-third wheel; 260-fourth wheel; 310-a first rotary drive; 320-a second rotary drive.

Detailed Description

For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the description of the present application, 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 directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Furthermore, although terms used in the present application are selected from publicly known and commonly used terms, some terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein.

Furthermore, it is required that the present application be understood, not simply by the actual terms used but by the meaning of each term lying within.

The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

The embodiment of the application provides a chassis. Referring to fig. 1 to 3, a chassis 100 provided in an embodiment of the present application includes: first frame 110, second frame 120, and wheel axle 130.

The first frame 110 is provided at both sides thereof with a first driving wheel mounting portion and a second driving wheel mounting portion, respectively. Wherein the first driving wheel mounting portion is used for providing the first driving wheel 210, and the second driving wheel mounting portion is used for providing the second driving wheel 220. For example, if the rotation speed of the first driving wheel 210 and the rotation speed of the second driving wheel 220 are identical, the moving device 10 provided with the chassis 100 may move straight. If the rotational speed of the first driving wheel 210 is greater than the rotational speed of the second driving wheel 220, the moving device 10 provided with the chassis 100 is deflected in a direction approaching the second driving wheel 220. If the rotation speed of the first driving wheel 210 is smaller than that of the second driving wheel 220, the moving device 10 provided with the chassis 100 is deflected in a direction approaching the first driving wheel 210.

The second frame 120 is rotatably connected to the first frame 110 along a first rotation axis 121. In other words, the second frame 120 may rotate along the first rotation axis 121 relative to the first frame 110. The axle 130 is rotatably connected to the first frame 110 along a second rotation axis 131. In other words, the axle 130 can rotate along the second rotation axis 131 relative to the first frame 110. The first rotating shaft 121 and the second rotating shaft 131 extend horizontally, and the second rotating shaft 131 forms a preset included angle with the first rotating shaft 121. The two ends of the wheel bridge 130 are respectively provided with a first wheel mounting part and a second wheel mounting part, and the first wheel mounting part and the second wheel mounting part are respectively positioned at two sides of the second rotating shaft 131. The second frame 120 is provided with a third wheel mounting portion and a fourth wheel mounting portion at intervals.

It should be noted that, the first rotation shaft 121 and the second rotation shaft 131 shown in fig. 1 are for facilitating understanding of the drawn virtual axes by those skilled in the art. In other words, the first and second shafts 121 and 131 have no physical structure, and a person skilled in the art can understand the "shaft" based on common general knowledge in the art, and will not be explained one by one.

In this way, in the embodiment of the present application, the first and second driving wheel mounting portions are used to provide the first and second driving wheels 210 and 220, respectively; the first, second, third and fourth wheel mounting portions are for providing the first, second, third and fourth wheels 230, 240, 250 and 260, respectively. In this way, when the mobile device 10 provided with the chassis 100 travels on an uneven bearing surface, the second frame 120 may rotate about the first rotation axis 121 relative to the first frame 110, and the wheel bridge 130 may rotate about the second rotation axis 131 relative to the first frame 110, so that the mobile device 10 provided with the chassis 100 may adapt to bearing surfaces of various shapes. In addition, the first, second, third and fourth wheels 210, 220, 250, 260 may support the chassis 100, and may increase the ability of the mobile device 10 to withstand unbalanced loads to increase the anti-capsizing ability of the mobile device 10 configured with the chassis 100.

Referring to fig. 1, in some embodiments, the included angle of the first rotation shaft 121 and the second rotation shaft 131 may be 90 degrees. In other words, the first rotation shaft 121 is perpendicular to the second rotation shaft 131. Of course, in other embodiments, the included angle between the first rotation axis 121 and the second rotation axis 131 may be other angles, which are not listed here.

Referring to fig. 1 and 2, in some embodiments, the chassis 100 may further include a load application assembly 140. The load applying assembly 140 may include a first support 141, a second support 142, a guide rod 143, and a resilient member 144. The first support 141 is connected to the first frame 110, and the first support 141 is disposed on a side of the first rotating shaft 121 near the second frame 120. The second support 142 may include a first side stop 1421 and a second side stop 1422, the first side stop 1421 being located above the second side stop 1422. One end of the guide rod 143 is connected to the first side block 1421, and the other end is connected to the second side block 1422. The first support 141 is provided with a through hole, the guide rod 143 is arranged through the through hole, the first support 141 is positioned between the first side block 1421 and the second side block 1422, and the elastic piece 144 is arranged outside the guide rod 143 in a penetrating manner and is clamped between the first side block 1421 and the first support 141.

Referring to fig. 2, the vertical downward force applied to the second support 142 may be applied to the first support 141 via the elastic member 144, and then the force may be transferred to the first driving wheel 210 disposed at the first driving wheel mounting portion and the second driving wheel 220 disposed at the second driving wheel mounting portion, so as to raise the wheel pressures of the first driving wheel 210 and the second driving wheel 220, and thus the effect of raising the grip force of the first driving wheel 210 and the second driving wheel 220 may be achieved.

In some embodiments, the guide rod 143 has a gap with the wall of the hole in a direction toward the first rotation axis 121. In this way, the guide rod 143 may not collide with the perforated hole wall during the rotation of the second frame 120 relative to the first frame 110.

In some embodiments, the load applying assembly 140 may further include a sleeve 145, the sleeve 145 being sleeved outside the guide rod 143, and the elastic member 144 being sleeved outside the sleeve 145. In this way, the gap between the guide rod 143 and the elastic member 144 can be canceled out by the sleeve 145 provided between the guide rod 143 and the elastic member 144.

In some embodiments, a flange 1451 is provided at an end of the sleeve 145 adjacent to the first support 141, and an end of the elastic member 144 adjacent to the first support 141 abuts against the flange 1451, so that the sleeve 145 is prevented from moving up and down.

In some embodiments, the load applying assembly 140 may further include a first shim 146 and a second shim 147. The first gasket 146 and the second gasket 147 are both sleeved outside the guide rod 143, the first gasket 146 is arranged between the elastic member 144 and the first support 141, and the second gasket 147 is arranged between the first support 141 and the second side block 1422. Thus, when the second frame 120 rotates downward with respect to the first frame 110, the first support 141 may abut against the first spacer 146, thereby limiting a limit position of the downward rotation of the second frame 120. In the case that the second housing 120 is rotated upward with respect to the first housing 110, the first support 141 may abut against the second spacer 147, thereby restricting the limit position of the upward rotation of the second housing 120.

It is noted that, for example, the elastic member 144 may be a cylindrical spring. Of course, in other embodiments, the elastic member 144 may be made of any other material capable of being elastically deformed, which is not illustrated herein. It should be noted that, in other embodiments, an elastic element similar to the elastic member 144 may be disposed between the first support 141 and the second side block 1422. It is further noted that, for example, the first spacer 146 and the second spacer 147 may be elastic spacers. For example, the first and second gaskets 146 and 147 may be made of polyurethane. Of course, in other embodiments, the first spacer 146 and the second spacer 147 may not have elasticity. For example, the first gasket 146 and the second gasket 147 may be common metal gaskets.

Referring to fig. 1, in some embodiments, the chassis 100 may further include a first stop 132 and a second stop 133. The first limiter 132 and the second limiter 133 are both disposed on the wheel axle 130, the first limiter 132 and the second limiter 133 are respectively disposed on two sides of the second rotating shaft 131, the first limiter 132 is spaced from the first frame 110 by a first distance along a first rotation direction of the wheel axle 130, and the second limiter 133 is spaced from the first frame 110 by a second distance along a second rotation direction of the wheel axle 130, wherein the second rotation direction is opposite to the first rotation direction. In this way, when the wheel axle 130 rotates in the first rotational direction to the first limit position, the first stopper 132 can abut against the first frame 110, thereby restricting the wheel axle 130 from continuing to rotate in the first rotational direction. When the axle 130 rotates in the second rotational direction to the second limit position, the second stopper 133 can abut against the first frame 110, thereby restricting the axle 130 from continuing to rotate in the second rotational direction. So that the effect of limiting the rotation angle of the wheel axle 130 can be achieved.

The embodiment of the application provides a mobile device. Referring to fig. 1, a mobile device 10 provided in an embodiment of the present application includes: the first drive wheel 210, the second drive wheel 220, the first runner 230, the second runner 240, the third runner 250, the fourth runner 260, and any of the chassis 100 provided in the embodiments of the present application. The first driving wheel 210 is disposed at a first driving wheel mounting portion, the second driving wheel 220 is disposed at a second driving wheel mounting portion, the first rotating wheel 230 is disposed at a first rotating wheel mounting portion, the second rotating wheel 240 is disposed at a second rotating wheel mounting portion, the third rotating wheel 250 is disposed at a third rotating wheel mounting portion, and the fourth rotating wheel 260 is disposed at a fourth rotating wheel mounting portion.

In some embodiments, the mobile device 10 may also include a first rotary drive 310 and a second rotary drive 320. The first rotary driver 310 and the second rotary driver 320 are respectively provided on the chassis 100, the first rotary driver 310 is in driving connection with the first driving wheel 210, and the second rotary driver 320 is in driving connection with the second driving wheel 220. Illustratively, the first rotary driver 310 and the second rotary driver 320 may be devices capable of outputting a rotational driving force, such as a rotary electric machine, a hydraulic motor, or an air motor.

In some embodiments, the first wheel 230, the second wheel 240, the third wheel 250, and the fourth wheel 260 are universal wheels. It should be noted that the universal wheel refers to a rotating wheel with a wheel body capable of rotating along a vertical axis. Those skilled in the art can directly purchase the universal wheels from the corresponding suppliers or arrange the first, second, third and fourth wheels 230, 240, 250, 260 in a manner similar to the construction of the universal wheels in the related art, and thus, specific constructions of the first, second, third and fourth wheels 230, 240, 250, 260 will not be explained herein. Of course, in other embodiments, the first wheel 230, the second wheel 240, the third wheel 250, and the fourth wheel 260 may be wheels of other configurations, which are not illustrated herein.

In some embodiments, the second frame 120 may be provided with two mounting plates, respectively, and the third and fourth wheels 250 and 260 may be provided with two mounting plates, respectively. In this way, by arranging the third rotating wheel 250 and the fourth rotating wheel 260 on the mounting plate, the third rotating wheel 250 and the fourth rotating wheel 260 can lift the auxiliary supporting force for the second frame 120, so as to lift the unbalanced load bearing capacity of the mobile device 10 in the left-right direction, and further prevent the mobile device 10 from overturning under unbalanced stress.

In addition, in a case where the mobile device 10 is required to travel forward of the first frame 110, the first rotary actuator 310 and the second rotary actuator 320 may be rotated forward synchronously, as shown in fig. 1 and 3. In the case where it is necessary to drive the moving device 10 to travel rearward of the first frame 110, the first rotary actuator 310 and the second rotary actuator 320 may be reversely rotated in synchronization. In the case where it is necessary to drive the moving device 10 to turn toward the left side of the first frame 110, the rotation speed of the first rotary driver 310 may be made smaller than that of the second rotary driver 320. In the case where it is required to drive the moving device 10 to turn toward the right side of the first frame 110, the rotation speed of the first rotary driver 310 may be made greater than that of the second rotary driver 320. Of course, in other embodiments, the mobile device 10 may be moved forward and backward and turned by referring to other schemes in the related art, and will not be described herein.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the embodiments of the application, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. A chassis, comprising: a first frame (110), a second frame (120) and a wheel axle (130);

a first driving wheel installation part and a second driving wheel installation part are respectively arranged on two sides of the first frame body (110);

the second frame body (120) is rotatably connected to the first frame body (110) along a first rotating shaft (121), the wheel axle (130) is rotatably connected to the first frame body (110) along a second rotating shaft (131), the first rotating shaft (121) and the second rotating shaft (131) horizontally extend, and the second rotating shaft (131) and the first rotating shaft (121) form a preset included angle;

the two ends of the wheel bridge (130) are respectively provided with a first rotating wheel installation part and a second rotating wheel installation part, the first rotating wheel installation part and the second rotating wheel installation part are respectively positioned at two sides of the second rotating shaft (131), and a third rotating wheel installation part and a fourth rotating wheel installation part are arranged on the second frame body (120) at intervals.

2. The chassis of claim 1, further comprising a load application assembly (140); the load applying assembly (140) comprises a first support (141), a second support (142), a guide rod (143) and an elastic member (144);

the first support (141) is connected with the first frame body (110), and the first support (141) is arranged on one side of the first rotating shaft (121) close to the second frame body (120);

the second support (142) is including first side fender (1421) and second side fender (1422), first side fender (1421) is located second side fender (1422) top, guide arm (143) one end with first side fender (1421) is connected, the other end with second side fender (1422) is connected, first support (141) are equipped with the perforation, guide arm (143) are worn to locate the perforation, first support (141) are located first side fender (1421) with between second side fender (1422), elastic component (144) are worn to locate outside guide arm (143), and press from both sides in first side fender (1421) with between first support (141).

3. Chassis according to claim 2, characterized in that the guide rod (143) has a clearance with the perforated hole wall in the direction towards the first rotation axis (121).

4. The chassis of claim 2, wherein the load applying assembly (140) further comprises a sleeve (145), the sleeve (145) is sleeved outside the guide rod (143), and the elastic member (144) is sleeved outside the sleeve (145).

5. Chassis according to claim 4, characterized in that the end of the sleeve (145) close to the first support (141) is provided with a flange (1451), and the end of the elastic element (144) close to the first support (141) is in abutment with the flange (1451).

6. The chassis of claim 2, wherein the load applying assembly (140) further comprises a first spacer (146) and a second spacer (147), the first spacer (146) and the second spacer (147) are both sleeved outside the guide rod (143), the first spacer (146) is disposed between the elastic member (144) and the first support (141), and the second spacer (147) is disposed between the first support (141) and the second side rail (1422).

7. The chassis according to claim 1, further comprising a first limiter (132) and a second limiter (133), wherein the first limiter (132) and the second limiter (133) are both disposed on the axle (130), the first limiter (132) and the second limiter (133) are respectively disposed on two sides of the second rotating shaft (131), the first limiter (132) is spaced from the first frame (110) by a first distance along a first rotation direction of the axle (130), and the second limiter (133) is spaced from the first frame (110) by a second distance along a second rotation direction of the axle (130), the second rotation direction being opposite to the first rotation direction.

8. A mobile device, comprising: the chassis of any of claims 1 to 7, a first drive wheel (210), a second drive wheel (220), a first wheel (230), a second wheel (240), a third wheel (250), a fourth wheel (260), the first drive wheel (210) being provided at the first drive wheel mounting, the second drive wheel (220) being provided at the second drive wheel mounting, the first wheel (230) being provided at the first wheel mounting, the second wheel (240) being provided at the second wheel mounting, the third wheel (250) being provided at the third wheel mounting, the fourth wheel (260) being provided at the fourth wheel mounting.

9. The mobile device of claim 8, further comprising a first rotary drive (310) and a second rotary drive (320); the first rotary driver (310) and the second rotary driver (320) are respectively arranged on the chassis, the first rotary driver (310) is in driving connection with the first driving wheel (210), and the second rotary driver (320) is in driving connection with the second driving wheel (220).

10. The mobile device of claim 8, wherein the first wheel (230), the second wheel (240), the third wheel (250), and the fourth wheel (260) are universal wheels.