CN114275075A - Sectional type universal chassis suitable for wheeled robot and robot - Google Patents
Sectional type universal chassis suitable for wheeled robot and robot Download PDFInfo
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- CN114275075A CN114275075A CN202011043511.3A CN202011043511A CN114275075A CN 114275075 A CN114275075 A CN 114275075A CN 202011043511 A CN202011043511 A CN 202011043511A CN 114275075 A CN114275075 A CN 114275075A
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- 230000008878 coupling Effects 0.000 claims abstract description 6
- 238000010168 coupling process Methods 0.000 claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 claims abstract description 6
- 238000013016 damping Methods 0.000 claims description 53
- 239000000725 suspension Substances 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 10
- 230000002146 bilateral effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model provides a general chassis of sectional type and robot suitable for wheeled robot, this chassis includes front axle, bottom plate subassembly and coupling assembling, and coupling assembling includes universal axostylus axostyle mounting bracket, universal bearing and universal axostylus axostyle, and universal axostylus axostyle mounting bracket is fixed with the front axle, and universal bearing is fixed with the bottom plate subassembly, and universal axostylus axostyle's one end is articulated with universal axostylus axostyle mounting bracket, and the other end is installed on universal bearing. Through dividing into front axle and bottom plate subassembly two parts with the chassis, wherein universal axostylus axostyle's one end is passed through universal axostylus axostyle mounting bracket and is articulated with the front axle, the other end through with fix an unrestricted omnidirectional rotation's on the bottom plate subassembly universal bearing installation, thereby be in the same place the assembly of two parts, it can ensure when the robot moves, the bottom plate subassembly gives the power transmission of front axle equidirectional not, make the front axle part can be around the unrestricted omnidirectional rotation of universal axostylus axostyle and universal bearing's tie point, can obtain better obstacle crossing effect under most scenes through this kind of mode, in order to satisfy the suitability of many scenes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a sectional type universal chassis suitable for a wheeled robot and the robot.
Background
In the related technology in the market at present, the chassis structure of a general wheeled robot is designed in an integrated mode, is limited by an internal structure and cannot be completely and independently suspended, and at the moment, the wheeled robot is very easy to have the phenomenon that a driving wheel or a universal wheel is suspended when a single side is over-barrier. In addition, the chassis structure of the integrated robot is complex, and the adaptability of multiple scenes is difficult to meet.
Disclosure of Invention
One of the purposes of the present invention is to provide a sectional type universal chassis for a wheeled robot, which can satisfy the applicability of multiple scenes, while avoiding the disadvantages of the prior art.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a general chassis of sectional type suitable for wheeled robot, includes front axle, bottom plate subassembly and coupling assembling, coupling assembling includes universal axostylus axostyle mounting bracket, universal bearing and universal axostylus axostyle, universal axostylus axostyle mounting bracket with the front axle is fixed, universal bearing with the bottom plate subassembly is fixed, the one end of universal axostylus axostyle with universal axostylus axostyle mounting bracket is articulated, the other end of universal axostylus axostyle is installed universal bearing is last. Through dividing into front axle and bottom plate subassembly two parts with the chassis, wherein universal axostylus axostyle's one end is passed through universal axostylus axostyle mounting bracket and is articulated with the front axle, the other end is through fixing the installation of an unrestricted omnidirectional rotation's on the bottom plate subassembly universal bearing, thereby with two parts assembly together, it can ensure that the robot moves in the time of, the bottom plate subassembly gives the power transmission of front axle equidirectional not, make the front axle part can be around the unrestricted omnidirectional rotation of universal axostylus axostyle and universal bearing's tie point, can obtain better obstacle crossing effect under most scenes through this kind of mode, like robot unilateral obstacle crossing, the bilateral boss in ground etc. in order to satisfy the suitability of many scenes.
Furthermore, the automobile front axle assembly further comprises a front vibration damping assembly, and two ends of the front vibration damping assembly are hinged to the front axle and the bottom plate assembly respectively. Preceding damping subassembly can cooperate the universal shaft pole to satisfy two main motions under the scene transform: when the obstacle crossing is carried out on one side, the whole front axle forms a lever by taking the connecting point of the universal shaft rod and the universal bearing as a fulcrum, and the front vibration damping assembly absorbs vibration caused by the side surface swing of the front axle; and when the two sides of the front axle are over obstacles, the front axle and the bottom plate component form a lever by taking the connecting point of the universal shaft rod and the universal bearing as a fulcrum, and the front vibration damping component absorbs the vertical vibration of the front axle. The lever type vibration damping system of the front axle enables the mobile robot to isolate vibration when crossing obstacles, so that the vibration is absorbed by the front axle and cannot be transmitted to the whole chassis, and the whole robot is protected to the maximum extent.
Furthermore, the front vibration damping assemblies are arranged in two numbers, and the two front vibration damping assemblies are symmetrically distributed on two sides of the universal shaft rod. Preceding damping subassembly sets up two to symmetric distribution makes it under the condition that has the absorption vibration, can also guarantee the stability of motion in-process in the both sides of cardan shaft pole.
Furthermore, the two ends of the front vibration damping assembly are respectively hinged with a first mounting frame and a second mounting frame, the first mounting frame is fixed with the front axle, and the second mounting frame is fixed with the bottom plate assembly. The two ends of the front vibration damping assembly are respectively hinged with the front axle through the first mounting frame, and the second mounting frame is hinged with the bottom plate assembly to achieve mounting.
Further, the second mounting frame is higher than the first mounting frame, or the second mounting frame is lower than the first mounting frame, so that the front vibration damping assembly is obliquely arranged. Enabling the second mounting frame to be higher than the first mounting frame or lower than the first mounting frame so as to enable the front vibration damping assembly to be in an inclined state; in the two main motion processes of unilateral obstacle crossing or bilateral obstacle crossing, the front axle can generate an inclined state around the connecting point of the universal shaft rod and the universal bearing, and the contraction of the front vibration damping assembly in the inclined state is matched with the inclined motion of the front axle, so that the front axle can be better damped, and the universal shaft rod is matched to meet the two main motions under the scene change.
Furthermore, the front axle includes front axle bottom plate, preceding universal wheel mounting bracket and preceding universal wheel, preceding universal wheel mounting bracket with the front axle bottom plate is fixed, preceding universal wheel is installed on the preceding universal wheel mounting bracket. The front universal wheel is arranged on the front axle bottom plate through a front universal wheel mounting frame.
Further, the bottom plate assembly comprises a bottom plate and a wheel train suspension device installed on the bottom plate.
Further, train linkage includes in-wheel motor, member, back damping subassembly, back universal wheel mounting bracket and back universal wheel, the one end of member pass through wheel hub pressing member with in-wheel motor connects, the middle part of member articulates there is the supporting seat, the supporting seat with the bottom plate is fixed, the other end of member with back damping subassembly's one end is articulated, the other end of back damping subassembly with back universal wheel mounting bracket is articulated, back universal wheel mounting bracket articulates there is the universal wheel articulated frame, the universal wheel articulated frame with the bottom plate is fixed, the back universal wheel is installed on the back universal wheel mounting bracket. Wherein wheel hub motor is as the drive wheel, wheel hub motor compresses tightly the front end assembly of piece and member through wheel hub, and form the shape unanimous with wheel hub motor main shaft, the member middle part is articulated through supporting seat and bottom plate, the member rear end is articulated with back damping subassembly, back damping subassembly is articulated with back universal wheel mounting bracket, back universal wheel mounting bracket forms the train suspension through universal wheel articulated frame and bottom plate are articulated, unsettled phenomenon when this train suspension can avoid drive wheel and back universal wheel to hinder more: when the driving wheel is lifted over the obstacle, the rod piece takes a hinged point hinged with the supporting seat as a fulcrum to form a lever, and the rear end of the rod piece compresses the rear vibration damping assembly downwards to prevent the rear universal wheel from suspending; the same reason is that when the rear universal wheel hinders more and lifts up, the drive wheel receives a decurrent power and prevents it unsettled, and this modular design also is favorable to suspension's training simultaneously, adapts to different scene changes.
Further, the rod piece is arranged in a Z shape. The rod piece is arranged in a Z shape, a space is reserved between the rear half section of the rod piece and the bottom plate, and the rear vibration damping assembly is convenient to mount.
The invention also aims to avoid the defects in the prior art and provide a robot, which uses the sectional type universal chassis suitable for the wheeled robot, and the robot is divided into a front axle and a bottom plate assembly, wherein one end of a universal shaft rod is hinged with the front axle through a universal shaft rod mounting frame, and the other end of the universal shaft rod is mounted with an unlimited omnidirectional rotating universal bearing fixed on the bottom plate assembly, so that the two parts are assembled together.
The invention has the beneficial effects that: the invention relates to a sectional type universal chassis suitable for a wheeled robot and the robot, wherein the sectional type universal chassis suitable for the wheeled robot comprises a front axle, a bottom plate assembly and a connecting assembly, the connecting assembly comprises a universal shaft rod mounting frame, a universal bearing and a universal shaft rod, the universal shaft rod mounting frame is fixed with the front axle, the universal bearing is fixed with the bottom plate assembly, one end of the universal shaft rod is hinged with the universal shaft rod mounting frame, and the other end of the universal shaft rod is mounted on the universal bearing. The chassis is divided into a front axle and a bottom plate assembly, wherein one end of a universal shaft rod is hinged with the front axle through a universal shaft rod mounting frame, and the other end of the universal shaft rod is mounted with an unlimited omnidirectional rotating universal bearing fixed on the bottom plate assembly, so that the two parts are assembled together.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be derived on the basis of the following drawings without inventive effort.
Fig. 1 is a perspective view showing the overall structure of a segmented universal chassis suitable for a wheeled robot according to the present invention.
Fig. 2 is a sectional view showing the entire structure of a segment type universal chassis suitable for a wheeled robot according to the present invention.
Fig. 3 is a side view of the overall structure of a segmented universal chassis suitable for a wheeled robot according to the present invention.
Fig. 4 is a top view of the overall structure of a segmented universal chassis suitable for a wheeled robot according to the present invention.
The figure includes:
Detailed Description
The invention is further described with reference to the following examples.
Example 1
The sectional type universal chassis suitable for the wheeled robot comprises a front axle 1, a bottom plate assembly 2 and a connecting assembly 3, wherein the connecting assembly 3 comprises a universal shaft mounting rack 4, a universal bearing 5 and a universal shaft 6, the universal shaft mounting rack 4 is fixed with the front axle 1, the universal bearing 5 is fixed with the bottom plate assembly 2, one end of the universal shaft 6 is hinged with the universal shaft mounting rack 4, and the other end of the universal shaft 6 is mounted on the universal bearing 5. The chassis is divided into a front axle 1 and a bottom plate assembly 2, wherein one end of a universal shaft rod 6 is hinged with the front axle 1 through a universal shaft rod mounting frame 4, the other end of the universal shaft rod is mounted through a non-limited omnidirectional rotation universal bearing 5 fixed on the bottom plate assembly 2, the two parts are assembled together, the robot can be ensured to run, the bottom plate assembly 2 transmits power to the front axle 1 in different directions, the front axle 1 can rotate around the universal shaft rod 6 and the universal bearing 5 in an unlimited omnidirectional manner, and a better obstacle crossing effect can be obtained under most scenes through the mode, such as unilateral obstacle crossing of the robot, bilateral bosses on the ground and the like, so that the applicability of multiple scenes is met.
The sectional type universal chassis suitable for the wheeled robot further comprises a front vibration damping assembly 7, and two ends of the front vibration damping assembly 7 are hinged to the front axle 1 and the bottom plate assembly 2 respectively. The front damping assembly 7 can cooperate with the cardan shaft 6 to satisfy two main movements under scene change: when one side of the front axle is in obstacle crossing, the whole front axle 1 takes the connection point of the universal shaft lever 6 and the universal bearing 5 as a fulcrum to form a lever, and the front vibration damping assembly 7 absorbs the vibration caused by the side surface swing of the front axle 1; when the second mode is bilateral obstacle crossing, the front axle 1 and the bottom plate component 2 form a lever by taking the connection point of the universal shaft rod 6 and the universal bearing 5 as a fulcrum, and the front vibration damping component 7 absorbs the vertical vibration of the front axle 1. The lever type vibration damping system of the front axle 1 enables the mobile robot to isolate vibration when crossing obstacles, so that the vibration is absorbed by the front axle 1 and cannot be transmitted to the whole chassis, and the whole robot is protected to the maximum extent.
The front vibration damping assemblies 7 are arranged in two numbers, and the two front vibration damping assemblies 7 are symmetrically distributed on two sides of the universal shaft rod 6. Preceding damping subassembly 7 sets up two to symmetric distribution makes it under the condition that has the absorbed vibration, can also guarantee the stability in the motion process in the both sides of cardan shaft pole 6.
The both ends of preceding damping subassembly 7 articulate respectively has first mounting bracket 8, second mounting bracket 9, first mounting bracket 8 with front axle 1 is fixed, second mounting bracket 9 with bottom plate subassembly 2 is fixed. The two ends of the front vibration damping component 7 are respectively hinged with the front axle 1 through a first mounting frame 8, and the second mounting frame 9 is hinged with the bottom plate component 2 to realize mounting.
The second mounting frame 9 is higher than the first mounting frame 8, or the second mounting frame 9 is lower than the first mounting frame 8, so that the front vibration damping assembly 7 is obliquely arranged. The second mounting frame 9 is higher than the first mounting frame 8 or lower than the first mounting frame 8 so as to enable the front vibration damping assembly 7 to be in a tilting state; in the two main motion processes of unilateral obstacle crossing or bilateral obstacle crossing, the front axle 1 can generate an inclined state around the connecting point of the universal shaft lever 6 and the universal bearing 5, and the contraction of the front vibration damping component 7 in the inclined state is matched with the inclined motion of the front axle 1, so that the front axle 1 can be better damped, and the universal shaft lever 6 is matched to meet the two main motions under scene change.
The floor assembly 2 comprises a floor 13 and a wheel train suspension 14 mounted on the floor 13.
The rod 16 is arranged in a Z-shape. The rod 16 is arranged in a Z shape, and a space is reserved between the rear half section of the rod 16 and the bottom plate 13, so that the rear vibration damping assembly 17 can be conveniently installed.
This sectional type chassis design suitable for wheeled robot has considered the various circumstances of avoiding the wheel unsettled under the scene change: the design of unlimited omnidirectional rotation front axle connection is adopted, the suspension requirements of different obstacle crossing scenes can be met, other wheels of the robot are prevented from being suspended, the stability of the algorithm is prevented from being influenced, the left wheel and the right wheel of the whole front axle part form a lever by taking a universal shaft rod as a fulcrum, and when the front wheel and the rear wheel are in unilateral obstacle crossing, the universal wheels on the same side are effectively prevented from being suspended; meanwhile, due to the sectional design, the driving wheels are prevented from being suspended when the vibration reduction system of the front axle is subjected to bilateral obstacle crossing, and the front axle can absorb most of vibration, so that the main parts of the robot are protected to the maximum extent, and the whole robot runs more stably; the wheel train suspension system of the chassis enables the chassis to be more modularized, and the suspension system can be adjusted according to different scene requirements; the front axle structure can effectively absorb most of vibration in the operation process of the robot, and the structural design of the chassis of the whole robot and the training of a suspension system are combined, so that the multi-scene adaptability of the chassis is further stronger, and the structural operation is more stable and reliable.
Example 2
The embodiment provides a robot, which uses the sectional type universal chassis suitable for the wheeled robot described in embodiment 1, and since the chassis is divided into two parts, namely a front axle and a bottom plate assembly, wherein one end of a universal shaft rod is hinged with the front axle through a universal shaft rod mounting frame, and the other end of the universal shaft rod is mounted through an unlimited omnidirectional rotating universal bearing fixed on the bottom plate assembly, so that the two parts are assembled together, the bottom plate assembly can transmit power to the front axle in different directions when the robot runs, so that the front axle part can rotate around the connection point of the universal shaft rod and the universal bearing in an unlimited omnidirectional manner, and a better obstacle crossing effect can be obtained under most scenes in this way, such as unilateral obstacle crossing of the robot, bilateral bosses on the ground and the like, so as to meet the applicability of multiple scenes.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. The utility model provides a general chassis of sectional type suitable for wheeled robot, includes front axle, bottom plate subassembly and coupling assembling, its characterized in that: the connecting assembly comprises a universal shaft rod mounting frame, a universal bearing and a universal shaft rod, the universal shaft rod mounting frame is fixed with the front axle, the universal bearing is fixed with the bottom plate assembly, one end of the universal shaft rod is hinged to the universal shaft rod mounting frame, and the other end of the universal shaft rod is mounted on the universal bearing.
2. A segmented universal chassis for wheeled robots according to claim 1 wherein: the front vibration damping device is characterized by further comprising a front vibration damping assembly, wherein two ends of the front vibration damping assembly are hinged with the front axle and the bottom plate assembly respectively.
3. A segmented universal chassis for wheeled robots according to claim 2 wherein: the front vibration damping assemblies are arranged in two numbers, and the two front vibration damping assemblies are symmetrically distributed on two sides of the universal shaft rod.
4. A segmented universal chassis for wheeled robots according to claim 2 wherein: the two ends of the front vibration reduction assembly are respectively hinged with a first mounting frame and a second mounting frame, the first mounting frame is fixed with the front axle, and the second mounting frame is fixed with the bottom plate assembly.
5. A segmented universal chassis for wheeled robots according to claim 4 characterised in that: the second mounting frame is higher than the first mounting frame, or the second mounting frame is lower than the first mounting frame, so that the front vibration damping assembly is obliquely arranged.
6. A segmented universal chassis for wheeled robots according to claim 1 wherein: the front axle comprises a front axle bottom plate, a front universal wheel mounting frame and front universal wheels, the front universal wheel mounting frame is fixed to the front axle bottom plate, and the front universal wheels are mounted on the front universal wheel mounting frame.
7. A segmented universal chassis for wheeled robots according to claim 1 wherein: the base plate assembly comprises a base plate and a wheel train suspension device installed on the base plate.
8. A segmented universal chassis for wheeled robots according to claim 7 wherein: wheel train linkage includes in-wheel motor, member, back damping subassembly, back universal wheel mounting bracket and back universal wheel, the one end of member pass through wheel hub compress tightly the piece with in-wheel motor connects, the middle part of member articulates there is the supporting seat, the supporting seat with the bottom plate is fixed, the other end of member with the one end of back damping subassembly is articulated, the other end of back damping subassembly with back universal wheel mounting bracket is articulated, back universal wheel mounting bracket articulates there is the universal wheel articulated frame, the universal wheel articulated frame with the bottom plate is fixed, the back universal wheel is installed on the back universal wheel mounting bracket.
9. A segmented universal chassis for wheeled robots according to claim 8 wherein: the rod piece is arranged in a Z shape.
10. A robot, characterized by: a segmented universal chassis for wheeled robots comprising any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011043511.3A CN114275075A (en) | 2020-09-28 | 2020-09-28 | Sectional type universal chassis suitable for wheeled robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011043511.3A CN114275075A (en) | 2020-09-28 | 2020-09-28 | Sectional type universal chassis suitable for wheeled robot and robot |
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| Publication Number | Publication Date |
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| CN114275075A true CN114275075A (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011043511.3A Pending CN114275075A (en) | 2020-09-28 | 2020-09-28 | Sectional type universal chassis suitable for wheeled robot and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025031345A1 (en) * | 2023-08-08 | 2025-02-13 | 杭州海康机器人股份有限公司 | Chassis and moving device |
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| CN110217068A (en) * | 2019-06-23 | 2019-09-10 | 上海有个机器人有限公司 | Robot chassis suspension and robot |
| CN212473718U (en) * | 2020-09-28 | 2021-02-05 | 千里眼(广州)人工智能科技有限公司 | Sectional type universal chassis suitable for wheeled robot and robot |
-
2020
- 2020-09-28 CN CN202011043511.3A patent/CN114275075A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2729030Y (en) * | 2004-09-29 | 2005-09-28 | 奥地利帕尔菲格欧洲公司 | Forklift |
| CN108099537A (en) * | 2017-12-12 | 2018-06-01 | 北京深醒科技有限公司 | Torsion beam damping chassis |
| CN109228810A (en) * | 2018-09-06 | 2019-01-18 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2025031345A1 (en) * | 2023-08-08 | 2025-02-13 | 杭州海康机器人股份有限公司 | Chassis and moving device |
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