Chassis components and robots

Abstract

The present application discloses a chassis assembly and a robot, the chassis assembly comprising: a chassis body; a driving wheel and a first connecting rod, one end of the first connecting rod is connected to the driving wheel, and the other end of the first connecting rod is hinged to the chassis body; a first driven wheel and a second connecting rod, one end of the second connecting rod is connected to the first driven wheel, and the other end of the second connecting rod is hinged to the chassis body; a first buffer, the first buffer is arranged between the first connecting rod and the second connecting rod to absorb impact energy when the driving wheel or / and the first driven wheel bounces. The chassis assembly according to the present application can ensure that there is sufficient positive pressure between the driving wheel and the ground, the driving wheel is not prone to slipping, and the robot's obstacle crossing performance is improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a chassis assembly and a robot. Background Art

[0002] In the related art, suspension is arranged between the driving wheel and the chassis and between the front wheel and the chassis. However, when such an independently suspended robot crosses steps, the front wheel lifts the body, which greatly reduces the positive pressure applied by the driving wheel on the ground, thereby causing insufficient friction between the driving wheel and the ground, causing the hub motor to idle, and the robot cannot move forward smoothly, and its ability to cross steps is limited. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present application is to provide a chassis assembly that can ensure that there is sufficient positive pressure between the driving wheels and the ground, so that the driving wheels are not prone to slipping, thereby improving the obstacle crossing performance of the robot.

[0004] The present application also proposes a robot having the above chassis assembly.

[0005] The chassis assembly according to the present application includes: a chassis body; a driving wheel and a first connecting rod, one end of the first connecting rod is connected to the driving wheel, and the other end of the first connecting rod is hinged to the chassis body; a first driven wheel and a second connecting rod, one end of the second connecting rod is connected to the first driven wheel, and the other end of the second connecting rod is hinged to the chassis body; a first buffer member, the first buffer member is arranged between the first connecting rod and the second connecting rod to absorb impact energy when the driving wheel and / or the first driven wheel bounces.

[0006] According to the chassis assembly of the present application, by arranging a first buffer member between a first connecting rod connected to the driving wheel and a second connecting rod connected to the first driven wheel, when the first driven wheel climbs over a step upward, the first buffer member can apply pressure to the first connecting rod and the driving wheel, so that there is sufficient positive pressure between the driving wheel and the ground, and the friction between the driving wheel and the bottom surface is sufficient, and the driving wheel is not prone to slipping, thereby improving the overall obstacle crossing capability of the chassis.

[0007] According to an embodiment of the present application, the chassis assembly further includes: a driving member, wherein the driving member is connected to the driving wheel to drive the driving wheel to rotate.

[0008] According to an embodiment of the present application, the driving member is configured as a hub motor and the hub motor is disposed on the driving wheel, and the hub motor is connected to the one end of the first connecting rod.

[0009] According to one embodiment of the present application, the distance between the other end of the first link and the other end of the second link is smaller than the distance between the one end of the first link and the one end of the second link, so that the first link and the second link are constructed into a "V" shaped structure.

[0010] According to one embodiment of the present application, the first buffer member is configured as a spring, and the spring is disposed between the one end of the first connecting rod and the one end of the second connecting rod.

[0011] According to an embodiment of the present application, the first buffer member is configured as a torsion spring, and two ends of the torsion spring are respectively connected to the other end of the first connecting rod and the other end of the second connecting rod.

[0012] According to one embodiment of the present application, the chassis body includes: an upper chassis and a lower chassis that are at least partially spaced apart in the up and down directions, the other end of the first link and the other end of the second link are both arranged on one of the upper chassis and the lower chassis, and the one end of the first link and the one end of the second link both extend toward the other of the upper chassis and the lower chassis.

[0013] According to one embodiment of the present application, the chassis assembly also includes: a second driven wheel and a third connecting rod, the second driven wheel is arranged on the rear side of the driving wheel, the first driven wheel is arranged on the front side of the driving wheel, one end of the third connecting rod is connected to the second driven wheel, and the other end of the third connecting rod is hinged to the chassis body; a second buffer, the second buffer is arranged between the third connecting rod and the upper chassis to absorb impact energy when the second driven wheel bounces.

[0014] According to an embodiment of the present application, both the first driven wheel and the second driven wheel are configured as universal wheels.

[0015] The robot according to the present application may include the above-mentioned chassis assembly. Since the robot according to the present application is provided with the above-mentioned chassis assembly, the robot can ensure that there is sufficient positive pressure between the driving wheels and the ground when crossing the steps, and the driving wheels are not prone to slipping, thereby improving the robot's obstacle crossing performance.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic diagram of a chassis assembly according to an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of a chassis assembly according to another embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a chassis assembly according to yet another embodiment of the present application.

[0021] Reference numerals: chassis assembly 100 , upper chassis 111 , lower chassis 112 , driving wheel 120 , first connecting rod 130 , first driven wheel 140 , second connecting rod 150 , first buffer 160 , second driven wheel 170 , third connecting rod 180 , second buffer 190 . DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0023] In the related art, suspension is arranged between the driving wheel and the chassis and between the front universal wheel and the chassis, that is to say, the driving wheel and the universal wheel are independently suspended, a first spring is arranged between the first connecting rod connected to the driving wheel and the chassis, and a second spring is arranged between the second connecting rod connected to the front universal wheel and the chassis. Therefore, when the robot crosses the steps, the front universal wheel is on the step and the driving wheel is under the step. At this time, the front universal wheel lifts the body. At this time, the positive pressure between the driving wheel and the ground is insufficient, so the friction between the driving wheel and the ground will also decrease, so that when the driving wheel rotates, idling is very likely to occur. At this time, the robot cannot move forward smoothly, which seriously affects the robot's ability to cross the steps.

[0024] To this end, the present application proposes a chassis assembly that can maintain sufficient pressure between the drive wheels and the ground when the robot crosses the steps, thereby preventing the drive wheels from slipping and improving the obstacle crossing performance of the chassis.

[0025] Reference below Figure 1-Figure 3 A chassis assembly 100 according to an embodiment of the present application is described.

[0026] The chassis assembly 100 according to the embodiment of the present application includes a chassis body, a driving wheel 120 , a first connecting rod 130 , a first driven wheel 140 , a second connecting rod 150 , and a first buffer 160 .

[0027] Among them, the chassis body is the load-bearing component of the robot. Objects or other components can be placed on the chassis body. The driving wheel 120 or other driven wheels are installed on the chassis body. When the chassis body moves, it can drive the objects or other components thereon to move together.

[0028] The driving wheel 120 has its own driving capability or the driving wheel 120 can be rotated under the drive of other driving parts. The driving wheel 120 is installed on the chassis body through the first connecting rod 130. One end of the first connecting rod 130 is connected to the driving wheel 120, and the other end of the first connecting rod 130 is hinged to the chassis body. Therefore, the driving wheel 120 and the first connecting rod 130 can rotate around the other end of the first connecting rod 130, so that when the vehicle is driving on a rugged road, the driving wheel 120 can jump in the up and down directions, thereby reducing the jumping amplitude of the chassis.

[0029] The first driven wheel 140 is installed on the chassis body through the second connecting rod 150. One end of the second connecting rod 150 is connected to the first driven wheel 140, and the other end of the second connecting rod 150 is hinged to the chassis body. Therefore, the first driven wheel 140 and the second connecting rod 150 can rotate around the other end of the second connecting rod 150, so that when the vehicle is traveling on a rugged road, the first driven wheel 140 can jump in the up and down directions, thereby reducing the jumping amplitude of the chassis.

[0030] The first buffer 160 is disposed between the first connecting rod 130 and the second connecting rod 150 to absorb impact energy when the driving member or / and the first driven wheel 140 bounces. When the first driven wheel 140 bounces upward, the second connecting rod 150 will rotate upward with the first driven wheel 140, and at this time the first buffer 160 can absorb the energy of the first driven wheel 140, playing a role of buffering and reducing vibration; when the driving wheel 120 bounces upward, the first connecting rod 130 will rotate upward with the driving wheel 120, and at this time the first buffer 160 can also absorb the energy of the driving wheel 120, playing a role of buffering and reducing vibration.

[0031] Of course, it is understandable that when the robot passes the steps downward and the first driven wheel 140 jumps downward, the second connecting rod 150 will rotate downward with the first driven wheel 140. At this time, the first buffer member 160 can absorb the energy of the first driven wheel 140 and play a role in buffering and vibration reduction; when the driving wheel 120 jumps downward, the first connecting rod 130 will rotate downward with the driving wheel 120. At this time, the first buffer member 160 can also absorb the energy of the driving wheel 120 and play a role in buffering and vibration reduction.

[0032] In the chassis assembly 100 of the present application, the driving wheel 120 and the first driven wheel 140 are not independently suspended from each other. The suspension of the driving wheel 120 and the suspension of the first driven wheel 140 are connected together through the first buffer 160, or it can be said that the driving wheel 120 and the first driven wheel 140 share a buffer. Therefore, when the first driven wheel 140 jumps upward, the second connecting rod 150 will rotate upward and apply pressure to the first buffer 160. At this time, since the first buffer 160 is also connected to the first connecting rod 130, the first connecting rod 130 and the driving wheel 120, the first buffer 160 can apply force to the first connecting rod 130 and the driving wheel 120, thereby ensuring that there is sufficient positive pressure between the driving wheel 120 and the ground, and the driving wheel 120 is not prone to slipping, thereby improving the obstacle crossing performance of the chassis.

[0033] Different from the prior art in which independent suspensions are provided between the driving wheel and the chassis and between the front universal wheel and the chassis, the present application provides a suspension between the driving wheel 120 and the driven wheel (i.e., the first buffer member 160). Specifically, a suspension is provided between the first connecting rod 130 connected to the driving wheel 120 and the second connecting rod 150 connected to the first driven wheel 140. Thus, when the first driven wheel 140 climbs over the steps upward, the first buffer member 160 can exert force on the driving wheel 120, thereby ensuring that there is sufficient positive pressure between the driving wheel 120 and the ground. The phenomenon in the prior art that the front universal wheel lifts the entire body when climbing over the steps, thereby resulting in insufficient positive pressure between the driving wheel and the ground, will not occur. In the present application, there is sufficient positive pressure between the driving wheel 120 and the ground, and the driving wheel 120 is not prone to slipping.

[0034] According to the chassis assembly 100 of the present application, by arranging a first buffer member 160 between the first connecting rod 130 connected to the driving wheel 120 and the second connecting rod 150 connected to the first driven wheel 140, when the first driven wheel 140 climbs over the steps upwards, the first buffer member 160 can apply pressure to the first connecting rod 130 and the driving wheel 120, so that there is sufficient positive pressure between the driving wheel 120 and the ground, and the friction between the driving wheel 120 and the bottom surface is sufficient, and the driving wheel 120 is not easy to slip, thereby improving the overall obstacle crossing ability of the robot.

[0035] According to some embodiments of the present application, the chassis assembly 100 also includes a driving member, which is connected to the driving wheel 120 to drive the driving wheel 120 to rotate. The driving member is used to provide power for the rotation of the driving wheel 120. The driving member can be a driving motor or an engine. The present application does not limit the type of the driving member.

[0036] Specifically, the driving member is configured as a hub motor and the hub motor is disposed on the driving wheel 120, and the hub motor is connected to one end of the first connecting rod 130. It should be noted that the connection described in the present application includes not only direct connection between two components, but also indirect connection between two components, for example, the hub motor in the present application is connected to the one end of the first connecting rod 130, and the driving wheel 120 is connected to the hub motor, so the driving wheel 120 is indirectly connected to the one end of the first connecting rod 130 through the hub motor.

[0037] In one embodiment of the present application, the distance between the other end of the first link 130 and the other end of the second link 150 is smaller than the distance between the one end of the first link 130 and the one end of the second link 150, thereby the first link 130 and the second link 150 are constructed as a "V" shape structure.

[0038] That is to say, the distance between the other end of the first link 130 and the other end of the second link 150 is smaller, and the distance between the one end of the first link 130 and the one end of the second link 150 is larger, and the distance between the first link 130 and the second link 150 gradually increases in the direction away from the other end of the first link 130 and / or the other end of the second link 150, thereby enabling the first buffer member 160 to be better stressed to play a shock-absorbing role when the first driven wheel 140 crosses the step and lifts the fuselage upward.

[0039] It should be noted that the first connecting rod 130 and the second connecting rod 150 in the present application can be configured as a positive "V" shaped structure or an inverted "V" shaped structure. When the first connecting rod 130 and the second connecting rod 150 are configured as a positive "V" shaped structure, the other end of the first connecting rod 130 and the other end of the second connecting rod 150 are connected to the lower side of the chassis body, and the one end of the first connecting rod 130 and the one end of the second connecting rod 150 extend upward; when the first connecting rod 130 and the second connecting rod 150 are configured as an inverted "V" shaped structure, the other end of the first connecting rod 130 and the other end of the second connecting rod 150 are connected to the upper side of the chassis body, and the one end of the first connecting rod 130 and the one end of the second connecting rod 150 extend downward.

[0040] Furthermore, the first buffer 160 is configured as a spring, specifically a coil spring, which is disposed between the one end of the first connecting rod 130 and the one end of the second connecting rod 150. The coil spring can be stretched or contracted when the driving wheel 120 or the first driven wheel 140 bounces, thereby absorbing the impact energy received by the driving wheel 120 or the first driven wheel 140, reducing the vibration amplitude of the driving wheel 120 or the first driven wheel 140, and playing a role of buffering and shock absorption.

[0041] In some embodiments of the present application, Figure 2 As shown, the first buffer 160 is configured as a torsion spring, and the two ends of the torsion spring are respectively connected to the other end of the first connecting rod 130 and the other end of the second connecting rod 150. The torsion spring can stretch or contract when the driving wheel 120 or the first driven wheel 140 bounces, thereby absorbing the impact energy received by the driving wheel 120 or the first driven wheel 140, reducing the vibration amplitude of the driving wheel 120 or the first driven wheel 140, and playing a role in buffering and shock absorption.

[0042] According to some embodiments of the present application, the chassis body includes an upper chassis 111 and a lower chassis 112 that are at least partially spaced apart in the up and down directions, the other end of the first link 130 and the other end of the second link 150 are both arranged on one of the upper chassis 111 and the lower chassis 112, and the one end of the first link 130 and the one end of the second link 150 both extend toward the other of the upper chassis 111 and the lower chassis 112.

[0043] like Figure 3 As shown, when the other end of the first link 130 and the other end of the second link 150 are both disposed on the upper chassis 111, the first link 130 and the second link 150 are configured as an inverted "V" structure; Figure 1 and 2 As shown, when the other end of the first link 130 and the other end of the second link 150 are both disposed on the lower chassis 112 , the first link 130 and the second link 150 are configured as a positive “V”-shaped structure.

[0044] In one embodiment of the present application, Figure 1-3 As shown, the chassis assembly 100 also includes a second driven wheel 170, a third connecting rod 180 and a second buffer 190. The second driven wheel 170 is arranged on the rear side of the driving wheel 120, the first driven wheel 140 is arranged on the front side of the driving wheel 120, one end of the third connecting rod 180 is connected to the second driven wheel 170, and the other end of the third connecting rod 180 is hinged to the chassis body. The second buffer 190 is arranged between the third connecting rod 180 and the upper chassis 111 to absorb impact energy when the second driven wheel 170 bounces.

[0045] The driving wheel 120 in the middle of the chassis body in the present application completes the driving of the entire machine. At the same time, the first driven wheel 140 and the second driven wheel 170 are respectively arranged at the front and rear of the chassis body, so as to better support the chassis body and ensure that the chassis body as a whole has excellent balance performance.

[0046] Furthermore, the first driven wheel 140 and the second driven wheel 170 in the present application are both configured as universal wheels, thereby making the movement range of the chassis body more flexible, and the chassis body can even rotate in a 360° direction.

[0047] The following is a brief description of the robot in the embodiment of the present application.

[0048] The robot according to the embodiment of the present application may include the chassis assembly 100 of the above-mentioned embodiment. Since the robot according to the embodiment of the present application is provided with the above-mentioned chassis assembly 100, the robot can ensure that there is sufficient positive pressure between the driving wheel 120 and the ground when crossing the steps, and the driving wheel 120 is not prone to slipping, thereby improving the obstacle crossing performance of the robot.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0050] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A chassis assembly, characterized in that: include: A chassis body, the chassis body comprising: an upper chassis and a lower chassis at least partially spaced apart in an up-down direction; A driving wheel and a first connecting rod, wherein one end of the first connecting rod is connected to the driving wheel, and the other end of the first connecting rod is hinged to the chassis body; A first driven wheel and a second connecting rod, one end of the second connecting rod is connected to the first driven wheel, the other end of the second connecting rod is hinged to the chassis body, the distance between the other end of the first connecting rod and the other end of the second connecting rod is smaller than the distance between the one end of the first connecting rod and the one end of the second connecting rod, the first connecting rod and the second connecting rod are configured as a "V"-shaped structure, the other end of the first connecting rod and the other end of the second connecting rod are both arranged on one of the upper chassis and the lower chassis, and the one end of the first connecting rod and the one end of the second connecting rod both extend toward the other of the upper chassis and the lower chassis; a first buffer, which is disposed between the first connecting rod and the second connecting rod to absorb impact energy when the driving wheel and / or the first driven wheel bounces; a second driven wheel and a third connecting rod, wherein the second driven wheel is arranged at the rear side of the driving wheel, the first driven wheel is arranged at the front side of the driving wheel, one end of the third connecting rod is connected to the second driven wheel, and the other end of the third connecting rod is hinged to the lower chassis; A second buffer is disposed between the third connecting rod and the upper chassis to absorb impact energy when the second driven wheel bounces.

2. The chassis assembly according to claim 1, characterized in that: Also includes: A driving member is connected to the driving wheel to drive the driving wheel to rotate.

3. The chassis assembly according to claim 2, characterized in that: The driving member is configured as a wheel hub motor and the wheel hub motor is disposed on the driving wheel. The wheel hub motor is connected to the one end of the first connecting rod.

4. The chassis assembly according to claim 1, characterized in that: The first buffer is configured as a spring, and the spring is disposed between the one end of the first link and the one end of the second link.

5. The chassis assembly according to claim 1, characterized in that: The first buffer is configured as a torsion spring, and two ends of the torsion spring are respectively connected to the other end of the first connecting rod and the other end of the second connecting rod.

6. The chassis assembly according to claim 1, characterized in that: The first driven wheel and the second driven wheel are both configured as universal wheels.

7. A robot, characterized in that: The chassis assembly comprises the chassis assembly of any one of claims 1-6.

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