CN221091040U - Self-adaptive mobile chassis - Google Patents
Self-adaptive mobile chassis Download PDFInfo
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- CN221091040U CN221091040U CN202323171775.9U CN202323171775U CN221091040U CN 221091040 U CN221091040 U CN 221091040U CN 202323171775 U CN202323171775 U CN 202323171775U CN 221091040 U CN221091040 U CN 221091040U
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- bottom plate
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- chassis
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- universal wheel
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- 239000000725 suspension Substances 0.000 claims abstract description 20
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model discloses a self-adaptive movable chassis which comprises a bottom plate, first universal wheels arranged on two sides of the front end of the bottom plate, second universal wheels arranged on two sides of the rear end of the bottom plate and driving wheels arranged on two sides of the middle of the bottom plate, wherein suspension mounting seats are arranged on the bottom plate at positions corresponding to the driving wheels, the driving wheels are arranged on the suspension mounting seats in a lifting manner, and a constant force elastic assembly is arranged between the driving wheels and the suspension mounting seats. The self-adaptive movable chassis improves the ground grabbing capability, avoids walking skidding, and greatly enhances the climbing capability and obstacle surmounting capability.
Description
Technical Field
The utility model relates to the technical field of mobile chassis, in particular to a self-adaptive mobile chassis.
Background
The most used chassis of robots used indoors, such as service robots, inspection robots and the like, is the middle driving wheel, and the six-wheel differential chassis of the front universal wheel and the rear universal wheel, and the six wheels bear load together on the same plane, so that the grip force of the driving wheels is very small, and a slipping phenomenon often occurs; because the front and the rear are universal wheels, the chassis has little obstacle crossing capability; such a chassis is therefore very demanding in terms of use space and very limited in terms of application.
A mobile chassis of prior application number 202222189712.5 comprising: the device comprises a bottom plate, first universal wheels arranged on two sides of the front end of the bottom plate, second universal wheels arranged on two sides of the rear end of the bottom plate and driving wheels arranged on two sides of the middle of the bottom plate, wherein suspended directional wheels are arranged between the first universal wheels on two sides of the bottom plate, and the distance from the lowest point of each suspended directional wheel to the bottom plate is smaller than the distance from the lowest point of the driving wheels to the bottom plate. The mobile chassis has the following defects: firstly, the driving wheel, the first universal wheel and the second universal wheel are fixed on the same plane to bear load together, so that the ground grabbing force of the driving wheel is small, and a slipping phenomenon is often caused; secondly, only the front end is provided with a suspended directional wheel, and the rear end is not provided, so that the front end can also slip when passing through an uneven road surface; third, the unsettled directional wheel of front end is located the rear of first universal wheel, when meeting the condition of bank slope, unsettled directional wheel can not contact the bank slope in order to guide the chassis to cross the bank slope at first.
Disclosure of utility model
The utility model aims to solve the technical problem of overcoming the defects of the prior art and providing the self-adaptive mobile chassis which can improve the ground grabbing capability, avoid walking and slipping, greatly enhance the climbing capability and the obstacle surmounting capability.
In order to solve the technical problems, the utility model adopts the following technical scheme:
The utility model provides a self-adaptation removes chassis, includes the bottom plate, locates the first universal wheel of bottom plate front end both sides, locates the second universal wheel of bottom plate rear end both sides and locates the drive wheel of bottom plate middle part both sides, the bottom plate all is equipped with the suspension mount pad in the position that each drive wheel corresponds, the drive wheel goes up and down to set up on the suspension mount pad, be equipped with constant force elastic component between drive wheel and the suspension mount pad.
As a further improvement of the above technical scheme:
The front end of the bottom plate is provided with a first directional wheel, the rear end of the bottom plate is provided with a second directional wheel, the distance from the lowest point of the first directional wheel to the bottom plate is smaller than the distance from the lowest point of the first universal wheel to the bottom plate, and the distance from the lowest point of the second directional wheel to the bottom plate is smaller than the distance from the lowest point of the second universal wheel to the bottom plate.
The first steering wheel is positioned in the middle of the front end of the bottom plate and in front of the first universal wheel.
The second orientation wheel is positioned in the middle of the rear end of the bottom plate and in front of the second universal wheel.
The first universal wheel and the second universal wheel are flat and tall.
The suspension mounting seat is detachably mounted on the bottom plate.
The suspension mounting seat is mounted on the bottom plate through bolts.
The hanging installation seat is provided with a vertical chute, and the driving wheel is arranged in the vertical chute in a sliding way.
The top end of the constant force elastic component is hinged with the suspension mounting seat, and the bottom end of the constant force elastic component is connected with the driving wheel.
And each suspension mounting seat is provided with a driving assembly, and the driving assemblies are correspondingly connected with the driving wheels and are used for driving the driving wheels to rotate.
Compared with the prior art, the utility model has the advantages that:
According to the self-adaptive movable chassis, the driving wheels can adaptively grab the ground under the action of the constant force elastic component, so that the ground grabbing capacity is improved, walking and slipping are avoided, and the climbing capacity and obstacle surmounting capacity are greatly improved.
According to the self-adaptive mobile chassis, as the distance from the lowest point of the first directional wheel to the bottom plate is smaller than the distance from the lowest point of the first universal wheel to the bottom plate, the distance from the lowest point of the second directional wheel to the bottom plate is smaller than the distance from the lowest point of the second universal wheel to the bottom plate, so that all directional wheels are not grounded under the condition of a flat road surface, and friction force is prevented from being increased on the flat road surface; when the situation of the bank slope is met, the first directional wheel and the second directional wheel are contacted with the bank slope, and the chassis is guided to pass the bank slope.
According to the self-adaptive movable chassis, when the situation of the bank slope is met, the first steering wheel contacts the bank slope earlier than the first universal wheel, and the first steering wheel is lifted in advance, so that the first universal wheel can smoothly pass over the bank slope.
According to the self-adaptive movable chassis, when the situation of the bank slope is met, the second directional wheel contacts the bank slope earlier than the second universal wheel, and the second directional wheel is lifted in advance, so that the second universal wheel can smoothly pass over the bank slope.
According to the self-adaptive movable chassis, the hanging installation seat is detachably arranged on the bottom plate, so that the hanging installation seat and the driving wheel are convenient to integrally disassemble and assemble.
Drawings
Fig. 1 is a schematic perspective view of an adaptive mobile chassis according to the present utility model.
Fig. 2 is a schematic diagram of the front view of the adaptive mobile chassis of the present utility model.
Fig. 3 is a schematic side view of the adaptive mobile chassis of the present utility model.
The reference numerals in the drawings denote:
1. A bottom plate; 2. a first universal wheel; 3. a second universal wheel; 4. a driving wheel; 5. hanging a mounting seat; 51. a vertical chute; 6. a constant force elastic component; 7. a first steering wheel; 8. a second orientation wheel; 9. and a drive assembly.
Detailed Description
The utility model will be described in further detail with reference to the drawings and the specific examples.
In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify 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 therefore should not be construed as limiting 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" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the 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 according to the specific circumstances.
Fig. 1 to 3 show an embodiment of the self-adaptive mobile chassis of the present utility model, which includes a base plate 1, first universal wheels 2 disposed on two sides of a front end of the base plate 1, second universal wheels 3 disposed on two sides of a rear end of the base plate 1, and driving wheels 4 disposed on two sides of a middle portion of the base plate 1, suspension mounting seats 5 are disposed on the base plate 1 at positions corresponding to the driving wheels 4, the driving wheels 4 are disposed on the suspension mounting seats 5 in a lifting manner, and a constant force elastic assembly 6 is disposed between the driving wheels 4 and the suspension mounting seats 5.
The self-adaptive movable chassis has the advantages that the driving wheel 4 can adaptively grip the ground under the action of the constant force elastic component 6, the ground gripping capacity is improved, walking slipping is avoided, and the climbing capacity and obstacle surmounting capacity are greatly improved.
Further, in this embodiment, the front end of the base plate 1 is provided with a first directional wheel 7, the rear end of the base plate 1 is provided with a second directional wheel 8, the distance from the lowest point of the first directional wheel 7 to the base plate 1 is smaller than the distance from the lowest point of the first universal wheel 2 to the base plate, and the distance from the lowest point of the second directional wheel 8 to the base plate 1 is smaller than the distance from the lowest point of the second universal wheel 3 to the base plate.
Since the distance from the lowest point of the first directional wheel 7 to the bottom plate 1 is smaller than the distance from the lowest point of the first universal wheel 2 to the bottom plate, the distance from the lowest point of the second directional wheel 8 to the bottom plate 1 is smaller than the distance from the lowest point of the second universal wheel 3 to the bottom plate, and thus, the directional wheels are not grounded under the condition of a flat road surface, and friction force is prevented from being increased on the flat road surface; when the situation of the bank slope is met, the first directional wheel 7 and the second directional wheel 8 are contacted with the bank slope, and the chassis is guided to pass the bank slope.
Further, in the present embodiment, the first orientation wheel 7 is located in the middle of the front end of the base plate 1 and in front of the first universal wheel 2. I.e. the forefront side of the first steering wheel 7 is located forward of the forefront side of the first castor 2 in the direction of advance of the base plate 1. Thus, when the first directional wheel 7 contacts the bank slope earlier than the first universal wheel 2 when the bank slope is met, the first directional wheel is lifted in advance, and the first universal wheel 2 can smoothly pass over the bank slope.
Further, in the present embodiment, the second orientation wheel 8 is located in the middle of the rear end of the base plate 1 and in front of the second universal wheel 3. I.e. the foremost side of the second orienting wheel 8 is located forward of the foremost side of the second castor 3 in the direction of advance of the base plate 1. Thus, when the situation of the bank slope is met, the second directional wheel 8 contacts the bank slope earlier than the second universal wheel 3, and is lifted in advance, so that the second universal wheel 3 can smoothly pass over the bank slope.
Further, in the present embodiment, the first universal wheel 2 and the second universal wheel 3 are flat. In this way, in the case of a flat road surface, the floor 1 can be placed in a horizontal state.
Further, in the present embodiment, the suspension mount 5 is detachably mounted on the base plate 1. The hanging installation seat 5 and the driving wheel 4 are convenient to be integrally disassembled and assembled.
Further, in the present embodiment, the suspension mount 5 is mounted on the base plate 1 by bolts. Simple structure, easy dismounting.
Further, in this embodiment, the suspension mounting seat 5 is provided with a vertical chute 51, and the driving wheel 4 is slidably disposed in the vertical chute 51. The vertical chute 51 guides the lifting motion of the driving wheel 4, and improves the stability of the driving wheel 4 in lifting.
Further, in this embodiment, the top end of the constant force elastic component 6 is hinged to the suspension mount 5, and the bottom end is connected to the driving wheel 4.
The driving wheel 4 is connected with the constant force elastic component 6, can float up and down, and ensures that the driving wheel 4 can effectively contact with the ground when encountering the convex-concave ground, and the constant force elastic component 6 also ensures that the gripping force of the driving wheel 4 and the ground is constant, so that the chassis is suitable for walking on the uneven convex-concave ground without slipping.
Further, in this embodiment, each suspension mounting seat 5 is provided with a driving assembly 9, and the driving assembly 9 is correspondingly connected with the driving wheel 4 and is used for driving the driving wheel 4 to rotate. Each drive wheel 4 is individually driven by a respective drive assembly 9 to facilitate cornering.
While the utility model has been described in terms of preferred embodiments, it is not intended to be limiting. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art, or equivalent embodiments with equivalent variations can be made, without departing from the scope of the utility model. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present utility model shall fall within the scope of the technical solution of the present utility model.
Claims (10)
1. The utility model provides a self-adaptation removes chassis, includes bottom plate (1), locates first universal wheel (2) of bottom plate (1) front end both sides, locates second universal wheel (3) of bottom plate (1) rear end both sides and locates drive wheel (4) of bottom plate (1) middle part both sides, its characterized in that: the base plate (1) is provided with hanging installation seats (5) at positions corresponding to the driving wheels (4), the driving wheels (4) are arranged on the hanging installation seats (5) in a lifting mode, and a constant force elastic assembly (6) is arranged between the driving wheels (4) and the hanging installation seats (5).
2. The adaptive mobility chassis of claim 1, wherein: the front end of bottom plate (1) is equipped with first directional wheel (7), the rear end of bottom plate (1) is equipped with second directional wheel (8), the distance of the minimum of first directional wheel (7) bottom plate (1) is less than the distance of the minimum of first universal wheel (2) bottom plate (1), the distance of the minimum of second directional wheel (8) bottom plate (1) is less than the distance of the minimum of second universal wheel (3) bottom plate (1).
3. The adaptive mobility chassis of claim 2, wherein: the first steering wheel (7) is positioned in the middle of the front end of the bottom plate (1) and in front of the first universal wheel (2).
4. The adaptive mobility chassis of claim 2, wherein: the second orientation wheel (8) is positioned in the middle of the rear end of the bottom plate (1) and in front of the second universal wheel (3).
5. The adaptive mobility chassis of claim 1, wherein: the first universal wheel (2) and the second universal wheel (3) are flat.
6. The adaptive mobility chassis of any one of claims 1 to 5, wherein: the hanging installation seat (5) is detachably installed on the bottom plate (1).
7. The adaptive mobility chassis of claim 6, wherein: the hanging installation seat (5) is installed on the bottom plate (1) through bolts.
8. The adaptive mobility chassis of any one of claims 1 to 5, wherein: the suspension installation seat (5) is provided with a vertical chute (51), and the driving wheel (4) is slidably arranged in the vertical chute (51).
9. The adaptive mobility chassis of any one of claims 1 to 5, wherein: the top end of the constant force elastic component (6) is hinged with the hanging installation seat (5), and the bottom end of the constant force elastic component is connected with the driving wheel (4).
10. The adaptive mobility chassis of any one of claims 1 to 5, wherein: each suspension mounting seat (5) is provided with a driving assembly (9), and the driving assemblies (9) are correspondingly connected with the driving wheels (4) and are used for driving the driving wheels (4) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323171775.9U CN221091040U (en) | 2023-11-22 | 2023-11-22 | Self-adaptive mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323171775.9U CN221091040U (en) | 2023-11-22 | 2023-11-22 | Self-adaptive mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221091040U true CN221091040U (en) | 2024-06-07 |
Family
ID=91309564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323171775.9U Active CN221091040U (en) | 2023-11-22 | 2023-11-22 | Self-adaptive mobile chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221091040U (en) |
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2023
- 2023-11-22 CN CN202323171775.9U patent/CN221091040U/en active Active
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