WO2020151537A1 - Châssis de robot et robot - Google Patents

Châssis de robot et robot Download PDF

Info

Publication number
WO2020151537A1
WO2020151537A1 PCT/CN2020/072118 CN2020072118W WO2020151537A1 WO 2020151537 A1 WO2020151537 A1 WO 2020151537A1 CN 2020072118 W CN2020072118 W CN 2020072118W WO 2020151537 A1 WO2020151537 A1 WO 2020151537A1
Authority
WO
WIPO (PCT)
Prior art keywords
layer
disk body
robot
robot chassis
driving wheel
Prior art date
Application number
PCT/CN2020/072118
Other languages
English (en)
Chinese (zh)
Inventor
谢耿勋
王辉
王重山
Original Assignee
北京海益同展信息科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京海益同展信息科技有限公司 filed Critical 北京海益同展信息科技有限公司
Publication of WO2020151537A1 publication Critical patent/WO2020151537A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels

Definitions

  • the present disclosure relates to the field of robotics technology, in particular to a robot chassis and a robot.
  • the robot chassis is a key part of controlling the robot's movement, and has a decisive influence on the robot's passability, stability, safety and walking posture.
  • Classified by movement mode robot chassis are generally divided into wheeled chassis, crawler chassis, legged chassis, snake-shaped chassis, etc.
  • the wheeled chassis has become the preferred method of movement for mobile robots due to its easy control, low cost, and high motion efficiency.
  • part of the robot wheeled chassis adopts a three-wheel structure of two driving wheels and a follower wheel.
  • This method has a simple structure, does not cause the driving wheels to hang in the air, and has high reliability, but the structure is stable. Poor sex, easy to fall when encountering external force, it is not suitable for high center of gravity robots.
  • the purpose of the present disclosure is to provide a robot chassis and a robot having the robot chassis.
  • a first aspect of the present disclosure provides a robot chassis, including: a first layer of disk body; a drive wheel mounting structure hinged to the first layer of disk body; a drive wheel assembly, including a drive wheel and a drive connected to the drive wheel A driving mechanism, wherein the driving wheel assembly is mounted on the driving wheel mounting structure; a second layer of disk body is spaced from the first layer of disk body and relatively fixedly arranged above the first layer of disk body; and A shock mechanism, the upper end of the shock absorption mechanism is hinged with the second-layer disc body, and the lower end of the shock absorption mechanism is hinged with the drive wheel mounting structure.
  • the two drive wheel mounting structures are respectively hinged on the left and right sides of the first layer of the disk body; the two drive wheel assemblies are respectively mounted on the two drive wheel mounting structures; two Each of the damping mechanisms is arranged corresponding to the two driving wheel mounting structures, and the lower end of each damping mechanism is hinged with the corresponding driving wheel mounting structure.
  • the robot chassis includes a follower wheel, and the follower wheel is disposed on the first-layer disk body.
  • the robot chassis includes four of the following wheels, and the four following wheels include two front wheels arranged on the front of the first layer of the disc body and The two rear wheels at the rear of the disc body, the drive wheel is located between the front wheel and the rear wheel.
  • the four follow-up wheels are arranged at four corners of the first layer of the disk body.
  • each of the driving wheel assemblies is correspondingly provided with two parallel damping mechanisms.
  • the driving wheel mounting structure includes: a connecting rod including a first arm and a second arm arranged at an angle to the first arm, and an end of the first arm away from the second arm is connected to The first layer disc body is hinged; and a mounting plate is fixedly connected with the second arm, and the driving mechanism is mounted on the mounting plate.
  • the robot chassis includes a detection and control device, and the detection and control device is disposed between the first-layer disk body and the second-layer disk body.
  • the detection control device includes a motor driver, a controller, and/or a signal detector.
  • the robot chassis further includes a battery and a third-layer disk body, the third-layer disk body is spaced from the second-layer disk body and is relatively fixedly disposed above the second-layer disk body , The battery is arranged between the second-layer disk body and the third-layer disk body.
  • a second aspect of the present disclosure provides a robot including the robot chassis of the first aspect of the present disclosure.
  • the first-layer disc body, the second-layer disc body, the shock absorption mechanism and the drive wheel mounting structure are connected together, which is beneficial to increase the robot’s ability to pass through uneven roads with a simple shock absorption design.
  • Stability The space between the first layer of the disk body and the second layer of disk body can arrange the component parts of the robot, which is beneficial to realize the layered arrangement of the parts of the robot and improve the safety of the robot.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a robot chassis according to an embodiment of the disclosure.
  • Fig. 2 is a schematic rear view of the structure of the robot chassis of the embodiment shown in Fig. 1.
  • Fig. 3 is a schematic bottom view of the structure of the robot chassis of the embodiment shown in Fig. 1.
  • Fig. 4 is a schematic diagram of a rear view of the robot chassis of the embodiment shown in Fig. 1 with some structures removed.
  • orientation words such as “front, back, up, down, left, right”, “horizontal, vertical, vertical, horizontal” and “top, bottom”, etc. indicate the orientation Or positional relationship is usually based on the positional or positional relationship shown in the drawings, only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise stated, these positional words do not indicate or imply the pointed device or element It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the protection scope of the present disclosure; the orientation word “inside and outside” refers to the inside and outside relative to the contour of each component itself.
  • the robot chassis mainly includes a first layer disc body 1, a driving wheel mounting structure, a driving wheel assembly, a second layer disc body 2, a shock absorption mechanism 5, and a follower wheel 9.
  • the driving wheel installation structure is hinged to the first layer of the disk body 1.
  • the driving wheel assembly includes a driving wheel 8 and a driving mechanism 7 drivingly connected with the driving wheel 8.
  • the driving wheel assembly is mounted on the driving wheel mounting structure.
  • the second layer disk body 2 is spaced from the first layer disk body 1 and is relatively fixedly arranged above the first layer disk body 1.
  • the upper end of the damping mechanism 5 is hinged with the second-layer disk body 2, and the lower end of the damping mechanism 5 is hinged with the driving wheel mounting structure.
  • the robot chassis of the embodiment of the present disclosure through the matching connection of the first-layer disc body 1, the second-layer disc body 2, the shock absorption mechanism 5, and the drive wheel mounting structure, facilitates the simple shock absorption design to increase the number of robots passing through uneven roads.
  • the stability The space between the first layer of the disk body 1 and the second layer of the disk body 2 of the robot chassis can arrange the component parts of the robot, which is beneficial to realize the layered arrangement of the robot parts and improve the safety of the robot.
  • two drive wheel mounting structures are respectively hinged on the left and right sides of the first layer of disk body 1; two drive wheel assemblies are respectively mounted on the two drive wheel mounting structures ; Two damping mechanisms 5 are respectively arranged corresponding to the two driving wheel mounting structures, and the lower end of each damping mechanism 5 is hinged with the corresponding driving wheel mounting structure.
  • the two driving wheels 8 are driven by their respective driving mechanisms 7, and the driving wheels of the robot move and the steering control is flexible, and the stability and flexibility of the robot chassis can be taken into account with fewer driving wheel components.
  • the robot chassis includes a follower wheel 9, and the follower wheel 9 is arranged on the first layer of the disk body 1.
  • the provision of the follower wheel 9 can realize the stable walking of the robot chassis while reducing the number of driving wheels 8, which is beneficial to reduce the cost of the robot.
  • the follower wheel 9 is, for example, a universal wheel, which can enhance the mobility of the robot chassis.
  • the robot chassis includes four follower wheels 9.
  • the four follow-up wheels 9 include two front wheels arranged at the front of the first layer disc body 1 and two rear wheels arranged at the rear of the first layer disc body 1.
  • the driving wheel 8 is located between the front wheel and the rear wheel. between.
  • the four follower wheels 9 are, for example, respectively arranged at the four corners of the first layer of the disk body 1. The above arrangement of the follower wheel 9 is beneficial to maximize the supporting area of the robot chassis, thereby helping to improve the stability of the robot chassis.
  • each drive wheel assembly is provided with two parallel damping mechanisms 5 corresponding to each other.
  • the driving wheel mounting structure mainly includes a connecting rod 4 and a mounting plate 6.
  • the connecting rod 4 includes a first arm and a second arm arranged at an angle to the first arm, and an end of the first arm away from the second arm is hingedly connected to the first layer disc body 1.
  • the mounting plate 6 is fixedly connected with the second arm, for example, fixedly connected by a screw connection.
  • the driving mechanism 7 is installed on the mounting plate 6.
  • each driving wheel mounting structure includes two connecting rods 4 to make the driving wheel mounting structure more stable.
  • the robot chassis includes a detection control device, and the detection control device is disposed between the first layer disk body 1 and the second layer disk body 2.
  • the detection control device includes at least one of a motor driver 10, a controller, and a signal detector.
  • the detection control device is arranged separately from the driving part of the robot chassis, which is beneficial to improve the safety of the robot.
  • the robot chassis further includes a battery 11 and a third-layer disk body 3.
  • the third-layer disk body 3 and the second-layer disk body 2 are spaced apart and relatively fixedly arranged on the Above the second-layer disk body 2, the battery 11 is arranged between the second-layer disk body 2 and the third layer disk body 3.
  • the battery 11 is, for example, a quick-change battery. Arranging the battery 11 between the third-layer chassis 3 and the second-layer chassis 1 is beneficial to prevent mutual influence and interference between the battery 11 and other components, and is beneficial to improve the safety of the robot.
  • the embodiments of the present disclosure also provide a robot, which includes the aforementioned robot chassis.
  • the robot of the embodiment of the present disclosure has the same advantages as the robot chassis of the embodiment of the present disclosure.
  • the robot chassis provided by the embodiments of the present disclosure has a three-layer structure.
  • the robot chassis includes three layers of disk bodies arranged at regular intervals from bottom to top, namely the first layer disk body 1, the second layer disk body 2 located in the middle layer, and the third layer disk body located on the uppermost layer. 3.
  • the shape of each layer of the disc body 1 can be set according to needs, and each disc body as a whole can be round, square, rounded square, etc.
  • the disc surface of the disc body can be flat, or it can be provided with upper protrusions, Depression or step, etc.
  • the third-layer disk body 3 includes a stepped portion.
  • Various holes, grooves, etc. can also be provided on each disk body as required.
  • the disc body and the disc body can be connected by a plurality of uprights. The connection between the disc body and the upright column may be threaded connection, welding, etc., for example.
  • the robot chassis includes two drive wheel assemblies, two drive wheel mounting structures corresponding to the two drive wheel assemblies, and two sets of damping mechanisms 5.
  • the driving wheels 8 of the two driving wheel assemblies are symmetrically arranged in the middle of the left and right sides of the first layer of disk body 1.
  • Each damping mechanism 5 includes two damping mechanisms 5 arranged on the front and rear sides of the corresponding driving wheel 8.
  • the upper end of each damping mechanism 5 is hinged with the bottom of the second-layer disk body 2, and the lower end of each damping mechanism 5 is hinged with the corresponding drive wheel mounting structure.
  • each damping mechanism 5 includes a retractable guide post and a spring arranged outside the guide post. The spring of the damping mechanism 5 can be compressed or stretched in the extension direction of the guide post.
  • Each drive wheel mounting structure includes two connecting rods 4 arranged side by side and spaced apart and a mounting plate 6 fixedly connected to the two connecting rods 4.
  • Each of the two links 4 includes a first arm and a second arm arranged at an angle to the first arm.
  • the top end of the first arm is hinged with the first layer of the disk body, for example, the hinge can be realized by a bearing.
  • the lower end of the first arm is fixed to the first end of the second arm, the second arm is arranged substantially horizontally, and the mounting plate 6 is fixedly installed on the two second arms of the two connecting rods 4 substantially horizontally.
  • the drive mechanism 7 is, for example, a servo motor.
  • the driving mechanism 7 is fixedly installed on the corresponding mounting plate 6. As shown in FIGS. 1 to 4, the driving mechanism 7 is located below the first layer of the disk body 1.
  • the driving wheel 8 is mounted on the output shaft of the driving mechanism 7 so that the driving mechanism 7 can drive the driving wheel 8 to rotate.
  • the robot chassis includes four follow-up wheels 9.
  • the four follow-up wheels 9 are all universal wheels, which are respectively arranged at the four corners of the first layer of the disk body 1.
  • the four corners of the first-layer disk body 1 are rounded corners.
  • the detection control device is arranged under the second-layer disc body 2 and includes a motor driver 10, a controller and a signal detector.
  • the battery 11 is a quick-change battery, and the quick-change battery is arranged under the second-layer disk body 2 and the third-layer disk body 3. As shown in Figure 2, on the opposite surfaces of the second layer of the disk body 2 and the third layer of disk body 3 are each provided with two angular mounting parts, the four angular parts limit the installation space of the quick change battery, quick change The battery can be pulled out and installed on the four angular mounting parts.
  • the working principle of the robot chassis is explained as follows:
  • the first layer of the robot chassis is equipped with 6 wheels, and the four rounded corners are the follower wheels 9, which can maximize the supporting area and improve the stability of the robot. .
  • Two driving wheels 8 are installed on the left and right sides of the middle of the robot chassis. In the free state, the driving wheel 8 will be lower than the four follower wheels 9 under the action of the spring of the damping mechanism 5.
  • the spring of the damping mechanism 5 will be compressed until the follower wheel 9 and the drive wheel 8 are on the same plane.
  • the driving wheel 8 When the robot is walking, if it encounters uneven ground, through the adjustment effect of the damping mechanism 5, the driving wheel 8 can be in constant contact with the ground, thereby providing sufficient friction to ensure the normal running of the robot.
  • the two driving wheels 8 are driven by independent driving mechanisms. By changing the speed and steering of the left and right driving wheels 8, the forward, backward, and steering functions of the robot can be realized. Since the driving wheel 8 is in the middle position of the robot chassis, the robot can realize the rotation with the robot body as the center. Therefore, the turning radius of the robot is small, or even zero.
  • the actuator of the robot chassis including: a driving wheel 8, a follower wheel 9, a servo motor, a shock absorption mechanism 5, and a connecting rod 4;
  • a detection control device including a motor driver 10, a controller, and a signal detector;
  • a quick-change battery below the third layer disk body 3 is a quick-change battery.
  • the robot chassis of the above embodiments of the present disclosure and the robot with the robot chassis have at least one of the following advantages:
  • the execution device, the detection control device and the battery 11 of the chassis are physically separated by the three-layer disk body, which is beneficial to improve the safety of the robot.
  • the robot chassis can be designed to have a smaller turning radius, so that the robot has strong flexibility.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un châssis de robot et un robot. Le châssis de robot comprend : une première couche de corps de mandrin (1) ; une structure de montage de roue d'entraînement articulée sur la première couche de corps de mandrin (1) ; un composant de roue d'entraînement comprenant une roue d'entraînement (8) et un mécanisme d'entraînement (7) en liaison d'entraînement avec la roue d'entraînement (8), le composant de roue d'entraînement étant monté sur la structure de montage de roue d'entraînement ; une seconde couche de corps de mandrin (2) espacée de la première couche de corps de mandrin (1) et disposée de manière relativement fixe au-dessus de la première couche de corps de mandrin (1) ; et un mécanisme d'amortissement (5), dont l'extrémité supérieure est articulée avec la seconde couche de corps de mandrin (2) et dont l'extrémité inférieure est articulée avec la structure de montage de roue d'entraînement.
PCT/CN2020/072118 2019-01-24 2020-01-15 Châssis de robot et robot WO2020151537A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910067407.9 2019-01-24
CN201910067407.9A CN109591913B (zh) 2019-01-24 2019-01-24 机器人底盘和机器人

Publications (1)

Publication Number Publication Date
WO2020151537A1 true WO2020151537A1 (fr) 2020-07-30

Family

ID=65965336

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/072118 WO2020151537A1 (fr) 2019-01-24 2020-01-15 Châssis de robot et robot

Country Status (2)

Country Link
CN (1) CN109591913B (fr)
WO (1) WO2020151537A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111806597A (zh) * 2020-08-21 2020-10-23 黑龙江瑞物科技有限公司 一种agv智能移动底盘
CN113263909A (zh) * 2021-05-31 2021-08-17 东风资产管理有限公司 一种四轮独立减震、转向及驱动的轮式机器人底盘
CN115489610A (zh) * 2021-06-17 2022-12-20 北京有竹居网络技术有限公司 底盘组件和机器人

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109591913B (zh) * 2019-01-24 2020-02-07 北京海益同展信息科技有限公司 机器人底盘和机器人
CN110435786B (zh) * 2019-08-15 2024-04-30 纳恩博（北京）科技有限公司 机器人及其底盘
CN111114669B (zh) * 2020-01-10 2024-07-16 京东科技信息技术有限公司 底盘和机器人
CN212399661U (zh) * 2020-04-29 2021-01-26 北京海益同展信息科技有限公司 一种机器人底盘及机器人
CN112678087A (zh) * 2020-12-31 2021-04-20 深圳市普渡科技有限公司 一种移动机器人及其行走机构
CN112874646A (zh) * 2021-01-27 2021-06-01 特斯联科技集团有限公司 消毒机器人底盘

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006046406B3 (de) * 2006-09-29 2008-02-07 P & F Brother Industrial Corp. Fahrzeug
JP2009214732A (ja) * 2008-03-11 2009-09-24 Honda Motor Co Ltd 車両用サスペンション装置
CN106564047A (zh) * 2016-10-20 2017-04-19 上海思岚科技有限公司 一种可避震的通用移动机器人底盘
CN107672398A (zh) * 2017-08-17 2018-02-09 宁波市智能制造产业研究院 一种六轮agv避震底盘
CN207291555U (zh) * 2017-08-17 2018-05-01 宁波市智能制造产业研究院 一种六轮agv避震底盘
CN109591913A (zh) * 2019-01-24 2019-04-09 北京海益同展信息科技有限公司 机器人底盘和机器人

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206155615U (zh) * 2016-10-27 2017-05-10 北京伊娃机器人科技有限公司 一种机器人底盘以及具有该底盘的机器人
CN108944308A (zh) * 2017-06-20 2018-12-07 北京猎户星空科技有限公司 用于行走装置的悬挂机构和具有其的行走机器人
CN207808961U (zh) * 2018-01-29 2018-09-04 北京金万象智能科技有限公司 一种机器人减震结构
CN208409857U (zh) * 2018-06-13 2019-01-22 浙江大华技术股份有限公司 一种减震组件、底盘和小车
CN208376915U (zh) * 2018-06-28 2019-01-15 苏州冠卓自动化科技有限公司 一种用于洁净室环境监测的小车底盘
CN108973569A (zh) * 2018-08-07 2018-12-11 苏州博众机器人有限公司 一种移动底盘及服务机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006046406B3 (de) * 2006-09-29 2008-02-07 P & F Brother Industrial Corp. Fahrzeug
JP2009214732A (ja) * 2008-03-11 2009-09-24 Honda Motor Co Ltd 車両用サスペンション装置
CN106564047A (zh) * 2016-10-20 2017-04-19 上海思岚科技有限公司 一种可避震的通用移动机器人底盘
CN107672398A (zh) * 2017-08-17 2018-02-09 宁波市智能制造产业研究院 一种六轮agv避震底盘
CN207291555U (zh) * 2017-08-17 2018-05-01 宁波市智能制造产业研究院 一种六轮agv避震底盘
CN109591913A (zh) * 2019-01-24 2019-04-09 北京海益同展信息科技有限公司 机器人底盘和机器人

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111806597A (zh) * 2020-08-21 2020-10-23 黑龙江瑞物科技有限公司 一种agv智能移动底盘
CN113263909A (zh) * 2021-05-31 2021-08-17 东风资产管理有限公司 一种四轮独立减震、转向及驱动的轮式机器人底盘
CN115489610A (zh) * 2021-06-17 2022-12-20 北京有竹居网络技术有限公司 底盘组件和机器人

Also Published As

Publication number Publication date
CN109591913A (zh) 2019-04-09
CN109591913B (zh) 2020-02-07

Similar Documents

Publication Publication Date Title
WO2020151537A1 (fr) Châssis de robot et robot
CN110962955B (zh) 一种用于星球探测的少驱动轮腿式复合机器人
WO2021219015A1 (fr) Châssis de robot et robot
US11945527B2 (en) Planetary wheel type obstacle crossing robot
WO2021175042A1 (fr) Dispositif de suspension, dispositif d'amortissement de suspension et châssis bionique à six roues
WO2018133191A1 (fr) Véhicule à châssis
CN111619296B (zh) 一种轮系运动装置用悬挂系统、汽车
WO2022105624A1 (fr) Appareil de suspension indépendante capable de maintenir une largeur de voie spécifique
CN110510029B (zh) 麦克纳姆轮双联支链腿及全向移动调姿平台
CN107902006A (zh) 轮腿式全地形主/被动姿态调整机器人
CN112092552B (zh) 具有伸缩摇臂悬架的无人车底盘结构
CN213473334U (zh) 一种应急救援无人车
WO2018121078A1 (fr) Plateforme mobile
CN112092553A (zh) 一种零转弯半径抗震性强的底盘
CN216185444U (zh) 一种四驱四转的机器人轮系结构
CN109703654B (zh) 一种具有自平衡能力的移动机器人
CN107697181B (zh) 水平阴角攀爬机器人
CN207875808U (zh) 一种可越障的爬壁机器人
CN107128381B (zh) 一种球形机器人
CN112977664B (zh) 多级串联可扩展式干粘附轮足爬壁机器人及其运动方法
CN213501683U (zh) 一种零转弯半径抗震性强的底盘
CN111348123B (zh) 一种室内导航移动机器人
CN210478384U (zh) 一种灵活转向的机器人减震底盘
CN112896367A (zh) 一种可在舵轮和万向轮间切换的机器人底盘
TWI622518B (zh) Intelligent electric balance car and its intelligent control device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20745737

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 17/11/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 20745737

Country of ref document: EP

Kind code of ref document: A1