A multi-drive flexible chassis

Abstract

The present invention relates to a multi-drive flexible chassis, comprising a walking mechanism, which comprises a bracket, a U-shaped frame, a walking wheel and a wheel frame; one end of the bracket is located in the opening of the U-shaped frame, two opposite sides of the bracket are penetrated with sliding holes, a slider is slidably matched in the sliding hole, a bearing is fixedly installed in the slider, the inner sides of the inner holes of the two bearings are connected by a connecting rod, the connecting rod is located in the bracket, a limit screw is fixedly installed at the end of the connecting rod close to the bracket, a wheel axle is fixedly installed on the outer side of the inner hole of the bearing, a through hole is penetrated through the opening of the U-shaped frame directly opposite to the wheel axle, the wheel axle passes through the through hole and is fixedly connected to the wheel frame, the U-shaped frame is fixedly connected to the wheel frame, a walking wheel is rotatably installed at the lower end of the wheel frame, the two opposite ends of the bracket and the U-shaped frame extend outwardly to form a mounting end, the mounting end is installed with a walking wheel through the wheel frame, at least two of the walking wheels are motor wheels, and the connection line of the four walking wheels is rhombus-shaped. It has the advantages of simple structure, low cost, low power consumption and strong stability.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a multi-drive flexible chassis. Background Art

[0002] The robot chassis is a chassis used for the bottom of the robot. Its main function is mobility and load-bearing capacity. It is commonly found in various types of robots and has good use effects.

[0003] The existing robot chassis has certain disadvantages when in use: 1. The four wheels of the robot chassis are arranged in a rectangular shape, and one wheel will become skewed if the force is uneven; 2. The bottom plate is a rigid chassis, and it cannot deform when encountering obstacles and needs to climb over them, which will seriously reduce the stability of the entire robot; 3. The existing robot chassis is very expensive. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by this patent application is how to provide a multi-drive flexible chassis with simple structure, low cost, low power consumption and strong stability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A multi-drive flexible chassis comprises a walking mechanism, wherein the walking mechanism comprises a bracket, a U-shaped frame, a walking wheel and a wheel frame; one end of the bracket is located in an opening of the U-shaped frame, and sliding holes are provided on opposite sides of the bracket, and a slider is slidably matched in the sliding hole, and a bearing is fixedly installed in the slider, and the inner sides of the inner holes of the two bearings are connected by a connecting rod, and the connecting rod is located in the bracket, and a limit screw is fixedly installed on the end of the connecting rod close to the bracket, and a wheel axle is fixedly installed on the outer side of the inner hole of the bearing, and the opening of the U-shaped frame is fixedly provided with a wheel axle. A through hole is provided through the opening facing the wheel axle, the wheel axle passes through the through hole and is fixedly connected to the wheel frame, the U-shaped frame is fixedly connected to the wheel frame, a travel wheel is rotatably installed at the lower end of the wheel frame, the two opposite ends of the bracket and the U-shaped frame extend outward to form a mounting end, the mounting end is installed with a travel wheel through the wheel frame, at least two of the travel wheels are motor wheels, and the connection line of the four travel wheels is rhombus-shaped; both ends of the bracket located in the opening of the U-shaped frame have reinforcement blocks, the reinforcement blocks are provided with the sliding hole, and the slider is slidably fitted in the sliding hole. Improve the connection and bearing strength.

[0007] In this way, when the walking mechanism is moving, two of the motor wheels provide power to achieve walking and turning. The four walking wheels are arranged in a diamond shape. When one of the walking wheels is suspended in the air, the other three can maintain balance and have strong stability. When encountering obstacles, the flexible tilting of the bracket and the U-shaped frame can be achieved through the movement of the slider and the slide rod, so that the walking wheels can overcome obstacles or climb slopes. Setting a limit screw can prevent the slider from slipping out and improve stability.

[0008] The utility model also includes a base, and the bracket and the U-shaped frame are fixedly connected to the base through a rotating mechanism. The base can be conveniently connected and various equipment, articles, etc. can be carried by the base.

[0009] The rotating mechanism includes an articulated block hinged to the mounting ends of the bracket and the U-shaped frame, a connecting plate is fixedly mounted on the upper end of the articulated block, and the connecting plate is fixedly connected to the base. The connecting plate is hinged to the articulated block, and the connecting plate is fixed to the base, so that when the bracket or the U-shaped frame is tilted, the base can be kept horizontal by rotating the articulated block.

[0010] Wherein, the connecting plate is an arc-shaped plate, which increases the contact range, reduces the amount and reduces the cost.

[0011] Wherein, the hinge block and the connecting plate are provided with weight-reducing holes, which can better reduce weight and save materials.

[0012] The walking wheel at the mounting end corresponding to the bracket is a universal wheel, and the motor wheels are located on both sides of the universal wheel, which is convenient for walking and turning.

[0013] Wherein, the bearing is a ball bearing, which is convenient to use.

[0014] The bracket and the U-shaped frame can be rotated upward or downward by 0-20° relative to the horizontal direction, so as to facilitate the adjustment of the tilt angle and improve the stability.

[0015] The U-shaped frame, the wheel axle and the wheel frame are fixedly connected by bolts, which is convenient for production and manufacturing.

[0016] The beneficial effects of the present invention are:

[0017] 1. The structure is simple, the cost is low, it is very easy to process and manufacture, and it has powerful functions, which can be equivalent to the functions of a 4-wheeled car;

[0018] 2. When any of the wheels is missing, the vehicle body will remain parallel, and current four-wheeled vehicles cannot meet this function;

[0019] 3. Depending on the load size, the vehicle body can be easily modified to add or remove motor wheels without changing the chassis structure;

[0020] 4. This chassis mainly uses a connecting rod and slider combination mechanism to achieve flexible changes, replacing the rigid chassis of modern cars. This chassis is not easy to damage structural components under a large impact force.

[0021] 5. The chassis adopts a combination of sliders and rotating mechanisms to achieve flexible changes. It can produce corresponding changes according to different ground slopes, but it does not affect the destructive effect of the fixed chassis of the vehicle body, and can achieve anti-seismic effect. The vehicle body can increase or decrease the drive wheel according to the load size, and the drive can be replaced easily without changing the original chassis structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic structural diagram of a multi-drive flexible chassis according to the present invention.

[0023] Figure 2 for Figure 1 Bottom view of .

[0024] Figure 3 for Figure 1 Schematic diagram of the structure after removing the base.

[0025] Figure 4 This is an enlarged schematic diagram of the structure of the bracket and the connecting rod.

[0026] Figure 5 It is an enlarged schematic diagram of the structure of the U-shaped frame, connecting rod and wheel frame.

[0027] Figure 6 This is an enlarged schematic diagram of the bracket structure.

[0028] Figure 7 This is an enlarged schematic diagram of the rotating mechanism.

[0029] Figure 8 This is an enlarged schematic diagram of the structure of the reinforcement block. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "upper, lower" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the devices or components referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0031] like Figure 1-8As shown, a multi-drive flexible chassis includes a walking mechanism, which includes a bracket 1, a U-shaped frame 2, a walking wheel 3 and a wheel frame 4; one end of the bracket 1 is located in the opening of the U-shaped frame 2, and the bracket 1 is provided with sliding holes 5 on opposite sides, and a slider 6 is slidably matched in the sliding hole, and a bearing is fixedly installed in the slider 6. The inner sides of the inner holes of the two bearings are connected by a connecting rod 7, and the connecting rod 7 is located in the bracket 1. A limit screw 8 is fixedly installed on the end of the connecting rod 7 close to the bracket 1, and a wheel axle 9 is fixedly installed on the outer side of the inner hole of the bearing. The opening of the U-shaped frame 2 A through hole is provided directly opposite to the wheel axle 9, and the wheel axle 9 is fixedly connected to the wheel frame 4 through the through hole, and the U-shaped frame 2 is fixedly connected to the wheel frame 4, and the lower end of the wheel frame 4 is rotatably mounted with a walking wheel 3, and the two opposite ends of the bracket 1 and the U-shaped frame 2 extend outward to form a mounting end 11, and the mounting end 11 is mounted with a walking wheel 3 through the wheel frame 4, wherein at least two walking wheels 3 are motor wheels, and the connection line of the four walking wheels 3 is rhombus-shaped; both ends of the bracket 1 located in the opening of the U-shaped frame 2 have a reinforcing block 16, and the reinforcing block 16 is provided with the sliding hole, and the slider 6 is slidably fitted in the sliding hole. Improve the connection and bearing strength.

[0032] In this way, when the walking mechanism is moving, two of the motor wheels provide power to achieve walking and turning. The four walking wheels are arranged in a diamond shape. When one of the walking wheels is suspended in the air, the other three can maintain balance and have strong stability. When encountering obstacles, the flexible tilting of the bracket and the U-shaped frame can be achieved through the movement of the slider and the slide rod, so that the walking wheels can overcome obstacles or climb slopes. Setting a limit screw can prevent the slider from slipping out and improve stability.

[0033] The base 12 is also included, and the bracket 1 and the U-shaped frame 2 are fixedly connected to the base 12 through a rotating mechanism. The base can be conveniently connected and various equipment, items, etc. can be carried by the base.

[0034] The rotating mechanism includes an articulated block 13 hinged to the mounting end 11 of the bracket 1 and the U-shaped frame 2, and a connecting plate 14 is fixedly mounted on the upper end of the articulated block 13, and the connecting plate 14 is fixedly connected to the base 12. By articulating the connecting plate with the articulated block, and fixing the connecting plate with the base, the base can be kept horizontal by rotating the articulated block when the bracket or the U-shaped frame is tilted.

[0035] The connecting plate 14 is an arc-shaped plate, which increases the contact range, reduces the amount and reduces the cost.

[0036] The hinge block 13 and the connecting plate 14 are both provided with weight-reducing holes 15, which can reduce weight and save materials.

[0037] The walking wheel 3 of the mounting end 11 corresponding to the bracket 1 is a universal wheel, and the wheels on both sides of the universal wheel are motor wheels, which are convenient for walking and turning.

[0038] Wherein, the bearing is a ball bearing, which is convenient to use.

[0039] The bracket 1 and the U-shaped frame 2 can both be rotated 0-20° upward or downward relative to the horizontal direction, so as to facilitate the adjustment of the tilt angle and improve the stability.

[0040] The U-shaped frame 2, the wheel axle 9 and the wheel frame 4 are fixedly connected by bolts, which is convenient for production and manufacturing.

[0041] The chassis adopts a combination of sliders and rotating mechanisms to achieve flexible changes. It can produce corresponding changes according to different ground slopes, but it does not affect the destructive effect of the fixed chassis of the vehicle body, and can achieve earthquake resistance. The vehicle body can increase or decrease the drive wheel according to the load size. The drive can be replaced easily without changing the original chassis structure.

[0042] Finally, it should be noted that those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-drive flexible chassis, characterized in that: The invention relates to a walking mechanism, wherein the walking mechanism comprises a bracket, a U-shaped frame, a walking wheel and a wheel frame; one end of the bracket is located in an opening of the U-shaped frame, and sliding holes are provided on opposite sides of the bracket, and a sliding block is slidably matched in the sliding hole, and a bearing is fixedly installed in the sliding block, and the inner sides of the inner holes of the two bearings are connected by a connecting rod, and the connecting rod is located in the bracket, and a limit screw is fixedly installed on the end of the connecting rod near the bracket, and a wheel axle is fixedly installed on the outer side of the inner hole of the bearing, and the opening of the U-shaped frame is directly opposite to the wheel axle and is provided with a through hole, and the wheel axle passes through the through hole and is fixedly connected to the wheel frame, and the U-shaped frame is fixedly connected to the wheel frame, and the walking wheel is rotatably installed at the lower end of the wheel frame, and the two ends of the bracket and the U-shaped frame opposite to each other extend outwardly to form mounting ends, and the mounting ends are mounted with walking wheels through the wheel frame, wherein at least two walking wheels are motor wheels, and the connecting line of the four walking wheels is rhombus; both ends of the bracket located in the opening of the U-shaped frame have reinforcement blocks, and the sliding hole is provided on the reinforcement block, and the sliding block is slidably matched in the sliding hole; It also includes a base, and the bracket and the U-shaped frame are fixedly connected to the base through a rotating mechanism; The walking wheel at the mounting end corresponding to the bracket is a universal wheel, and the motor wheels are located on both sides of the universal wheel.

2. A multi-drive flexible chassis according to claim 1, characterized in that: The rotating mechanism comprises an articulated block which is articulated at the mounting ends of the bracket and the U-shaped frame, a connecting plate is fixedly mounted at the upper end of the articulated block, and the connecting plate is fixedly connected to the base.

3. A multi-drive flexible chassis according to claim 2, characterized in that: The connecting plate is an arc-shaped plate.

4. A multi-drive flexible chassis according to claim 3, characterized in that: The hinge block and the connecting plate are both provided with weight-reducing holes.

5. The multi-drive flexible chassis according to claim 1, characterized in that: The bearing is a ball bearing.

6. The multi-drive flexible chassis according to claim 1, characterized in that: The bracket and the U-shaped frame can both be rotated upward or downward by 0-20° relative to the horizontal direction.

7. The multi-drive flexible chassis according to claim 1, characterized in that: The U-shaped frame, the wheel axle and the wheel frame are fixedly connected by bolts.

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