Robot chassis and the robot

Abstract

A kind of robot chassis and the robot include: frame, front steering module, rear drive wheel module, front steering module includes left driven wheel, right driven wheel, left steering assembly, right steering assembly, rear drive wheel module includes: left drive wheel, left rear wheel assembly, left drive assembly, right drive wheel, right rear wheel assembly, right drive assembly, steering mechanism, steering mechanism includes: push power component, push rod, fixed seat, left connecting rod, right connecting rod;The robot chassis and robot described above are turned by setting steering mechanism and push left and right drive wheels, and the steering structure is driven by push power component to drive push rod, and push rod pushes fixed seat, and fixed seat pushes left connecting rod and right connecting rod, and left connecting rod pushes left drive wheel, and right connecting rod pushes right drive wheel to turn, and two drive wheels are turned by one push power component to drive, relative to the chassis of existing four-wheel four steering motor to drive steering, under the premise of realizing same function, structure is simple, and simultaneously reduce the cost of complete machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a robot chassis. BACKGROUND

[0002] Current wheeled mobile robots are applied to various fields. The robot chassis is the most important part of the whole robot system. The robot can be applied to the building delivery field. Since some areas of the building delivery are relatively narrow, such as the corridor and the elevator, the robot needs to have a smaller walking and turning radius. Many existing robots are designed with four-turn two-drive or four-drive structures to adapt to narrow spaces, that is, a servo steering motor needs to be installed on each wheel, and each wheel needs a servo motor to accurately control the steering. This design is complex and has a high implementation cost. SUMMARY

[0003] Therefore, it is necessary to provide a robot chassis with a simple structure.

[0004] At the same time, a robot with a simple structure is provided.

[0005] A robot chassis comprises a vehicle frame, a front steering module oppositely arranged at one end of the vehicle frame, and a rear drive wheel module oppositely arranged at the other end of the vehicle frame. The front steering module comprises a left driven wheel, a right driven wheel, a left steering assembly connected with the left driven wheel and driving the left driven wheel to steer, and a right steering assembly connected with the right driven wheel and driving the right driven wheel to steer. The rear drive wheel module comprises a left drive wheel, a left rear wheel assembly connected with the left drive wheel and driving the left drive wheel to swing, a left drive assembly connected with the left drive wheel and driving the left drive wheel to rotate, a right drive wheel, a right rear wheel assembly connected with the right drive wheel and driving the right drive wheel to swing, a right drive assembly connected with the right drive wheel and driving the right drive wheel to rotate, and a steering mechanism connected with the left and right rear wheel assemblies. The steering mechanism comprises a pushing power assembly, a push rod connected with the pushing power assembly and driven by the pushing power assembly to move, a fixed seat connected with the push rod, a left connecting rod hingedly connected with the fixed seat and connected with the left rear wheel assembly to drive the left drive wheel to swing through the left rear wheel assembly, and a right connecting rod hingedly connected with the fixed seat and connected with the right rear wheel assembly to drive the right drive wheel to swing through the right rear wheel assembly.

[0006] In a preferred embodiment, the steering mechanism further comprises a rear seat arranged on the vehicle frame and connected with the pushing power assembly and the push rod, a guide rail guiding the movement of the fixed seat, and a sliding block arranged on the guide rail and connected with the fixed seat. The push rod pushes the fixed seat to move forward and backward along the guide rail or in the axial direction of the push rod.

[0007] In a preferred embodiment, the pushing power assembly is a push rod motor assembly, and the push rod is an electric push rod.

[0008] In a preferred embodiment, the left or right drive wheel comprises a wheel hub, a tire arranged on the wheel hub, and an axle connected with the wheel hub, the wheel hub being movable in rotation relative to the axle, and the left or right rear wheel assembly comprises a pressing block limiting the axle, a yoke arranged on the pressing block and cooperating with the pressing block to limit and fix the axle, a rotating shaft seat connected with the yoke, and a rotating shaft plug arranged in the rotating shaft seat.

[0009] In a preferred embodiment, the yoke comprises an elbow-shaped base, a rotating shaft arranged on the base, and a first bearing and a second bearing arranged at two ends of the rotating shaft, the rotating shaft seat comprises a seat frame fixed on the frame, and a rotating shaft cylinder connected with the seat frame and containing the rotating shaft, the pressing block is provided with a first accommodating groove containing the axle, and the base is provided with a second accommodating groove cooperating with the first accommodating groove to limit and fix the axle, and the base comprises a base body and an angle connecting part connected with the base body and connecting the left or right connecting rod, and the second accommodating groove is arranged on the base body.

[0010] In a preferred embodiment, the bottom of the first accommodating groove is provided with a rotation-stopping plane, and the middle section of the axle is provided with a flat position aperture cooperating with the rotation-stopping plane.

[0011] In a preferred embodiment, the left drive assembly is a left wheel hub motor assembly connected with the wheel hub of the left drive wheel and driving the wheel hub to rotate, and the right drive assembly is a right wheel hub motor assembly connected with the wheel hub of the right drive wheel and driving the wheel hub to rotate.

[0012] In a preferred embodiment, the left or right driven wheel comprises a driven wheel hub and a driven tire arranged on the driven wheel hub, and the left or right steering assembly comprises a steering power element arranged on the frame, a right-angle transmission device connected with the steering power element and driven by the steering power element, a bracket connected with the right-angle transmission device, a swing arm connected with the bracket and swung by the right-angle transmission device, a connecting cylinder connected with the swing arm, and a connecting shaft contained in the connecting cylinder and connected with the driven wheel hub.

[0013] In the preferred embodiment, the right-angle transmission device is a right-angle speed reducer, the support includes a support body matched with the output end of the right-angle speed reducer and a support support part connected with the support body, the support support part is a crank structure formed by bending and extending from one end of the support body, a hollow support matching cylinder is arranged on the support body, the swing arm includes a swing arm mounting part, a swing arm body formed by bending and extending from the swing arm mounting part, a swing arm connecting part connected with the swing arm body and connected with the connecting cylinder, a swing arm rotating cylinder is arranged on the swing arm mounting part and is keyed connected with the output shaft of the right-angle speed reducer, a swing arm bearing is arranged in the support matching cylinder and matched with the swing arm rotating cylinder, the connecting shaft includes a connecting shaft body connected with the connecting cylinder and a mounting disc connected with the driven wheel hub, a connecting shaft bearing is arranged in the connecting cylinder and at the end of the connecting shaft body, the end of the swing arm mounting part is fixedly connected with the output shaft of the right-angle transmission device through a fixing piece, and the connecting shaft is axially fixed through a connecting shaft plug close to one end of the swing arm.

[0014] A robot comprises the robot chassis as described above.

[0015] The robot chassis and the robot described above drive the left and right drive wheels to turn through the setting of the turning mechanism, the turning mechanism drives the push rod through the pushing power assembly, the push rod pushes the fixed seat, the fixed seat pushes the left connecting rod and the right connecting rod, the left connecting rod pushes the left drive wheel and the right connecting rod pushes the right drive wheel to turn. One pushing power assembly drives two drive wheels to turn, compared with the existing chassis which needs four turning motors to drive the turning, the structure is simple under the premise of realizing the same function, and the overall cost is reduced.

[0016] The present application adopts rear drive, the left and right drive wheels adopt servo motor wheels, the front wheels can realize the Ackerman chassis, the front turning module includes two driven wheels and two turning servo motors, and the rear drive wheel module includes two drive wheels and a set of turning mechanism. The chassis with this structure can realize Ackerman turning and chassis self-spinning. Compared with the existing chassis which needs four turning motors to drive the turning, the structure is simple under the premise of realizing the same function, and the overall cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a partial structure schematic view of the robot chassis of an embodiment of the present application;

[0018] Figure 2 It is a partial structure top view of the robot chassis of an embodiment of the present application;

[0019] Figure 3 It is a partial structure bottom view of the robot chassis of an embodiment of the present application;

[0020] Figure 4 This is a schematic diagram of the front wheel Ackerman steering of a robot chassis according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the spin state of a robot chassis according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the exploded structure of the rear drive module of a robot chassis according to an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the rear drive module structure of a robot chassis according to an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the exploded structure of the rear drive module of a robot chassis from another perspective, according to an embodiment of the present invention.

[0025] Figure 9 This is a cross-sectional view of the rear drive module structure of a robot chassis according to an embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the exploded structure of the front steering module of a robot chassis according to an embodiment of the present invention;

[0027] Figure 11 This is a partially exploded structural diagram of the front steering module of a robot chassis according to an embodiment of the present invention, taken from another perspective.

[0028] Figure 12 This is a partial structural cross-sectional view of the front steering module of a robot chassis according to an embodiment of the present invention. Detailed Implementation

[0029] The following examples are provided to help better understand the present invention, but are not intended to limit the invention.

[0030] like Figures 1 to 5 As shown, a robot chassis 100 according to an embodiment of the present invention includes: a frame 20, a front steering module 40 disposed at one end of the frame 20, and a rear drive wheel module 60 disposed at the other end of the frame 20.

[0031] like Figures 10 to 12 As shown, the front steering module 40 of this embodiment includes: a left driven wheel 42, a right driven wheel 44, a left steering assembly 46 connected to and driving the left driven wheel 42 to turn, and a right steering assembly 48 connected to and driving the right driven wheel 44 to turn. In this embodiment, the left driven wheel 42 and the right driven wheel 44 constitute the front wheels.

[0032] like Figures 6 to 9As shown, the rear drive wheel module 60 of the embodiment comprises: a left drive wheel 62, a left rear wheel assembly 64 connected with the left drive wheel 62 and driving the left drive wheel 62 to swing, a left drive assembly 66 connected with the left drive wheel 62 and driving the left drive wheel 62 to rotate, a right drive wheel 68, a right rear wheel assembly 69 connected with the right drive wheel 68 and driving the right drive wheel 68 to swing, a right drive assembly 67 connected with the right drive wheel 68 and driving the right drive wheel 68 to rotate, and a steering mechanism 63 connected with the left rear wheel assembly 64 and the right rear wheel assembly 68. The left drive wheel 62 and the right drive wheel 68 constitute a drive wheel and also constitute a rear wheel.

[0033] As shown, the rear drive wheel module 60 of the embodiment comprises: a left drive wheel 62, a left rear wheel assembly 64 connected with the left drive wheel 62 and driving the left drive wheel 62 to swing, a left drive assembly 66 connected with the left drive wheel 62 and driving the left drive wheel 62 to rotate, a right drive wheel 68, a right rear wheel assembly 69 connected with the right drive wheel 68 and driving the right drive wheel 68 to swing, a right drive assembly 67 connected with the right drive wheel 68 and driving the right drive wheel 68 to rotate, and a steering mechanism 63 connected with the left rear wheel assembly 64 and the right rear wheel assembly 68. The left drive wheel 62 and the right drive wheel 68 constitute a drive wheel and also constitute a rear wheel. Figure 3 As shown, the rear drive wheel module 60 of the embodiment comprises: a left drive wheel 62, a left rear wheel assembly 64 connected with the left drive wheel 62 and driving the left drive wheel 62 to swing, a left drive assembly 66 connected with the left drive wheel 62 and driving the left drive wheel 62 to rotate, a right drive wheel 68, a right rear wheel assembly 69 connected with the right drive wheel 68 and driving the right drive wheel 68 to swing, a right drive assembly 67 connected with the right drive wheel 68 and driving the right drive wheel 68 to rotate, and a steering mechanism 63 connected with the left rear wheel assembly 64 and the right rear wheel assembly 68. The left drive wheel 62 and the right drive wheel 68 constitute a drive wheel and also constitute a rear wheel.

[0034] Further, the steering mechanism 63 of the embodiment further comprises: a rear seat 639 arranged on the frame 20 and connected with the push power assembly and the push rod 632, a guide rail 637 guiding the movement of the fixed seat 634, and a sliding block arranged on the guide rail 637 and connected with the fixed seat 634. The push rod 632 pushes the fixed seat 634 to move back and forth along the guide rail or the axial direction of the push rod 632.

[0035] Further, the push power assembly of the embodiment is a push rod motor assembly. The push rod 632 is an electric push rod.

[0036] As shown, further, the left drive wheel 62 or the right drive wheel 68 of the embodiment comprises: a hub 622, a tire 624 arranged on the hub 622, and an axle 626 connected with the hub 622. The hub 622 rotates relative to the axle 626. Figures 6 to 9 Further, the left rear wheel assembly 64 or the right rear wheel assembly 69 of the embodiment comprises: a pressing block 642 limiting the axle 626, a horn seat 644 arranged on the pressing block 642 and cooperating with the pressing block 642 to limit and fix the axle 626, a rotating shaft seat 646 connected with the horn seat 644, and a rotating shaft plug 648 arranged in the rotating shaft seat 646.

[0037]

[0038] ​Further, the goat horn base 644 of the embodiment comprises an elbow base 6442, a rotating shaft 6444 arranged on the base 6442, a first bearing 6446 and a second bearing 6448 arranged at the two ends of the rotating shaft 6444. A rotating shaft plug 648 is arranged at the end of the rotating shaft 6444 and is connected to the rotating shaft seat 646 by a fixing member.

[0039] Further, the rotating shaft seat 646 of the embodiment comprises a seat frame 6462 fixed on the frame 20 and a rotating shaft cylinder 6464 connected to the seat frame 6462 and accommodating the rotating shaft 6444.

[0040] Further, the pressing block 642 of the embodiment is provided with a first accommodating groove 6422 accommodating the wheel shaft 626. The base 6442 is provided with a second accommodating groove 6443 cooperating with the first accommodating groove 6422 to limit and fix the wheel shaft 626.

[0041] Further, the base 6442 of the embodiment comprises a base body 64422 and an angle connecting part 64424 connected to the base body 64422 and connecting the left connecting rod 636 or the right connecting rod 638. The second accommodating groove 6443 is arranged on the base body 64422.

[0042] Further, the bottom of the first accommodating groove 6422 of the embodiment is provided with a rotation stopping plane 6421. The middle section of the wheel shaft 626 is provided with a flat notch 6262 cooperating with the rotation stopping plane 6421.

[0043] Further, the left driving assembly 66 of the embodiment is a left wheel hub motor assembly connected to the wheel hub 622 of the left driving wheel 62 and driving the wheel hub 622 to rotate. The right driving assembly 66 of the embodiment is a right wheel hub motor assembly connected to the wheel hub 622 of the right driving wheel 68 and driving the wheel hub 622 to rotate. In the embodiment, preferably, the structure of the left driving assembly 66 and the right driving assembly 66 is the same and is arranged symmetrically on the left and right sides of the frame 20.

[0044] Further, the rear seat 639 of the embodiment is connected to the push rod motor assembly. The rear seat 639 is fixed to the frame 20 by bolts. The rear seat 639 and the push rod 632 are connected by bolts in the axial direction of the sleeve of the push rod 632.

[0045] As shown in Figures 10 to 12 Further, the left driven wheel 42 or the right driven wheel 44 of the embodiment comprises a driven wheel hub 422 and a driven tire 424 arranged on the driven wheel hub 422. In the embodiment, preferably, the structure of the left driven wheel 42 and the right driven wheel 44 is the same and is arranged symmetrically on the left and right sides of the frame.

[0046] As shown in Figures 10 to 12As shown, further, the left steering assembly 46 or the right steering assembly 48 of the embodiment comprises a steering power element 462 arranged on the frame 20, a right-angle transmission device 464 connected with the steering power element 462 and driven by the steering power element 642, a bracket 466 connected with the right-angle transmission device 464, a swing arm 468 connected with the bracket 466 and swinging driven by the right-angle transmission device 464, a connecting cylinder 469 connected with the swing arm 468, and a connecting shaft 467 arranged in the connecting cylinder 469 and connected with the driving wheel hub 422. In the embodiment, the steering power element 462 is preferably implemented by a servo motor. Preferably, the left steering assembly 46 and the right steering assembly 48 of the embodiment are arranged in the same structure but in different positions, one being arranged on the left side of the frame 20 and the other being arranged on the right side of the frame 20, symmetrically.

[0047] Further, the right-angle transmission device 646 of the embodiment is a right-angle speed reducer. The bracket 466 of the embodiment comprises a bracket main body 4662 cooperatively arranged with the output end of the right-angle speed reducer and a bracket support part 4664 connected with the bracket main body 4662. The bracket support part 4664 is a crank structure formed by bending and extending from one end of the bracket main body 4662. Further, the bracket main body 4662 of the embodiment is provided with a hollow bracket cooperatively arranged cylinder 4661.

[0048] Further, the swing arm 468 of the embodiment comprises a swing arm mounting part 4682, a swing arm main body 4684 formed by bending and extending from the swing arm mounting part 4682, and a swing arm connecting part 4686 connected with the swing arm main body 4684 and connected with the connecting cylinder 469.

[0049] Further, the swing arm mounting part 4682 of the embodiment is provided with a swing arm rotating cylinder 4681 connected with the output shaft of the right-angle speed reducer by a key.

[0050] Further, the bracket cooperatively arranged cylinder 4661 of the embodiment is provided with a swing arm bearing 4680 cooperatively arranged with the swing arm rotating cylinder 4681. The end of the swing arm mounting part 4682 is fixedly connected with the output shaft of the right-angle transmission device 464 by a fixing element 4680 such as a screw.

[0051] Further, the connecting shaft 467 of the embodiment comprises a connecting shaft main body 4672 connected with the connecting cylinder 469 and a mounting disc 4674 connected with the driven wheel hub 422. The connecting cylinder 469 is provided with a connecting shaft bearing 4671 at the end of the connecting shaft main body 4672.

[0052] In the application, the front wheel Ackerman steering is mainly realized by the servo motor driving the front wheel, the servo motor realizes the rotation reversing through the right-angle speed reducer, the speed reducer is fixed on the frame 20 through the support, the out shaft end of the speed reducer is connected with the inner hole of the swing arm 468 through the shaft key, and the out shaft of the speed reducer is fixed with the swing arm 468 through the screw.

[0053] The rear driving wheel module 60 comprises a driving wheel, a sheep horn seat 644, a pressing block 642, a rotating shaft seat 646 and a rotating shaft plug 648. The driving wheel is fixed with the pressing block 642 through the sheep horn seat 644, the rotating shaft seat 646 provided with the bearing is inserted into the out shaft end of the sheep horn seat 644, and the rotating shaft plug 648 is used for fixing the rotating shaft seat 646.

[0054] The steering mechanism 63 of the application comprises a push rod 632, a rear seat 639, a connecting rod, a fixed seat 634, a guide rail 637 and a sliding block. The left connecting rod 636 and the right connecting rod 638 are connected with the left and right sheep horn seats 644 through the pin shaft, the connecting rod is connected with the fixed seat 634 through the pin shaft, the bottom of the fixed seat 634 is provided with a threaded hole for fixing the sliding block, the sliding block is arranged on the guide rail 637, then the fixed seat 634 is connected with the out shaft of the electric push rod, the rear end of the electric push rod is connected with the rear seat 639, so that when the electric push rod pushes the fixed seat 634 to move forward along the guide rail 637, the rear wheel realizes the state of being parallel to the inside by 90°, and vice versa (the electric push rod is pulled back to the position), the rear wheels are in a state of being at an included angle of 90°. When the two front wheels are also rotated by the servo steering motor to the position of the included angle of 90°, the whole chassis can realize the self-rotating rotation.

[0055] The robot of one embodiment of the application comprises the above-mentioned robot chassis 100, and further comprises a battery 30 arranged on the frame 20 and a control system 50.

[0056] The application adopts a rear drive (servo motor wheel), and the front wheel can realize the Ackerman chassis. The front steering module 40 comprises two driven wheels and two steering servo motors, and the rear driving wheel module 60 comprises two driving wheels and a set of steering mechanisms. The chassis with the structure can realize the Ackerman steering and the self-rotation of the chassis. Compared with the existing four-wheel chassis which needs four steering motors to drive the steering, the structure is simple and the cost of the whole machine is reduced under the premise of realizing the same function.

[0057] With the above ideal embodiments according to the present application as the inspiration, through the above description, relevant staff can make various changes and modifications without deviating from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and the technical scope must be determined according to the scope of claims.

Claims

1. A robot chassis, characterized in that, The application relates to a vehicle frame, a front steering module opposite to one end of the vehicle frame, and a rear driving wheel module opposite to the other end of the vehicle frame. The left driven wheel or the right driven wheel comprises a driven wheel hub and a driven tire arranged on the driven wheel hub; the left steering assembly or the right steering assembly comprises a steering power element arranged on the vehicle frame, a right-angle transmission device connected with the steering power element and driven by the steering power element, a support connected with the right-angle transmission device, a swing arm connected with the support and swung by the right-angle transmission device, a connecting cylinder connected with the swing arm, and a connecting shaft accommodated in the connecting cylinder and connected with the driven wheel hub. The right-angle transmission device is a right-angle speed reducer, the support comprises a support main body matched with the output end of the right-angle speed reducer and a support supporting part connected with the support main body, the support supporting part is a crank structure formed by bending and extending from one end of the support main body, a hollow support matching cylinder is arranged on the support main body, the swing arm comprises a swing arm mounting part, a swing arm main body formed by bending and extending from the swing arm mounting part, and a swing arm connecting part connected with the swing arm main body and the connecting cylinder, a swing arm rotating cylinder is arranged on the swing arm mounting part and is keyed connected with the output shaft of the right-angle speed reducer, a swing arm bearing is arranged in the support matching cylinder and matched with the swing arm rotating cylinder, the connecting shaft comprises a connecting shaft main body connected with the connecting cylinder and a mounting disc connected with the driven wheel hub, a connecting shaft bearing is arranged in the connecting cylinder and at the end of the connecting shaft main body, the end of the swing arm mounting part is fixedly connected with the output shaft of the right-angle transmission device through a fixing piece, and the connecting shaft is axially fixed through a connecting shaft plug close to one end of the swing arm. ​ 2. The robot chassis of claim 1, wherein, The steering mechanism further comprises a rear seat arranged on the frame and connected to the pushing power assembly and the push rod, a guide rail guiding movement of the fixed seat, and a sliding block arranged on the guide rail and connected to the fixed seat, the push rod pushing the fixed seat to move forward and backward along the guide rail or in the axial direction of the push rod.

3. The robot chassis of claim 2, wherein, The pushing power assembly is a push rod motor assembly, and the push rod is an electric push rod.

4. The robot chassis of claim 1, wherein, The left or right drive wheel comprises a hub, a tire arranged on the hub, and an axle connected to the hub, the hub being movable relative to the axle, the left or right rear wheel assembly comprises a pressing block limiting the axle, a yoke seat arranged on the pressing block and cooperating with the pressing block to limit and fix the axle, a rotating shaft seat connected to the yoke seat, and a rotating shaft plug arranged in the rotating shaft seat.

5. The robot chassis of claim 4, wherein, The yoke seat comprises a bent base, a rotating shaft arranged on the base, and first and second bearings arranged at two ends of the rotating shaft, the rotating shaft seat comprises a seat frame fixed on the frame, and a rotating shaft cylinder connected to the seat frame and accommodating the rotating shaft, the pressing block is provided with a first accommodating groove accommodating the axle, and the base is provided with a second accommodating groove cooperating with the first accommodating groove to limit and fix the axle, the base comprises a base body and an angle connecting part connected to the base body and connected to the left or right connecting rod, and the second accommodating groove is arranged on the base body.

6. The robot chassis of claim 5, wherein, The first accommodating groove is provided with a rotation stopping plane at the bottom, and a middle section of the axle is provided with a flat notch cooperating with the rotation stopping plane.

7. The robot chassis of claim 4, wherein, The left drive assembly is a left hub motor assembly connected to the hub of the left drive wheel and driving the hub to rotate, and the right drive assembly is a right hub motor assembly connected to the hub of the right drive wheel and driving the hub to rotate.

8. A robot, characterized in that The robot chassis comprises the robot chassis as claimed in any one of claims 1-7.

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