Robot walking chassis easy to turn

Abstract

The invention discloses a robot walking chassis easy to turn. The robot walking chassis comprises a chassis body; connecting the groove body; the at least two mounting grooves and the connecting groove body are arranged in the middle of the inner side of the chassis side by side, and the two mounting grooves are symmetrical along the connecting groove body; the driving module is arranged on the inner side of the mounting groove, and the output end of the driving module is in contact with the ground to drive the chassis to turn; at least two driving modules and universal wheels are arranged, the two driving wheels are used and installed in the middle, the rotating speed and the direction of the two driving wheels are the same during normal running, the chassis walks linearly, and during turning or turning, the chassis rotates around the center points of the two wheels to complete turning or turning, the size of a roadway can be reduced, the storage capacity rate is increased, and the working efficiency is improved. Meanwhile, the driving wheels can be well pressed to make contact with the ground, the left-right movement and slipping of the driving wheels are avoided, and the walking stability is improved.

Description

Technical Field

[0001] The invention particularly relates to a robot walking chassis which is easy to turn. Background Art

[0002] Mobile robots are increasingly used in warehousing and logistics and other fields, and the robot chassis is the core component. The quality of the chassis directly affects the performance of the entire device. There is a wheel system structure on the chassis of the mobile robot, which generally includes a driving wheel and a driven wheel, and the chassis is driven by the driving wheel.

[0003] The chassis of traditional transport mobile robots is generally driven by a single steering wheel, with a large turning radius and high requirements for the lanes within the field. In order to adapt to the uneven ground within the field, the motor, acceleration mechanism, and walking wheels are installed on a floating frame. A compression spring is designed between the floating frame and the chassis. As the terrain changes, the driving wheel can float up and down with the floating frame. However, during operation, the driving wheel is prone to moving left and right, slipping, and then wearing out, which affects its service life. For this reason, we propose a robot walking chassis that is easy to turn. Summary of the invention

[0004] The purpose of the present invention is to provide a robot walking chassis that is easy to turn, so as to solve the problems mentioned in the above background technology that the existing robot chassis has a large turning radius, the motor, acceleration mechanism, and walking wheels are installed on the floating frame and have poor contact with the ground, and there are problems of slipping and wear.

[0005] To achieve the above object, the present invention provides the following technical solution: a robot walking chassis that is easy to turn, comprising:

[0006] Chassis;

[0007] Connecting tank body;

[0008] At least two mounting grooves are arranged side by side with the connecting groove body in the middle of the inner side of the chassis, and the two mounting grooves are symmetrical along the connecting groove body;

[0009] A driving module is arranged inside the mounting groove, and an output end of the driving module contacts the ground to drive the chassis to turn;

[0010] An elastic support component is arranged at the other end of the inner side of the installation groove to elastically support the driving module to be in close contact with the ground;

[0011] Universal wheels are arranged on the lower surface of the chassis to support the chassis.

[0012] Preferably, the driving module includes a connecting block, a rotating shaft, a driving motor, a driving wheel, a mounting plate and a rotating arm, the elastic support component is fixed to the inner side of the mounting groove, a connecting block cooperating with the elastic support component is provided at one end of the rotating arm, a rotating shaft is rotatably connected to the inner side of the rotating arm, both ends of the rotating shaft are fixed to the mounting groove, a mounting plate is provided at one end of the rotating arm, a driving motor is installed on one side of the mounting plate, and the output end of the driving motor passes through the other side of the mounting plate to be connected to the driving wheel.

[0013] Preferably, the elastic support assembly includes a base plate, a spring and a guide shaft. The base plate can be detachably mounted on the bottom end of the inner side of the mounting groove. The spring is fixed on the base plate. A connecting groove matching the guide shaft is penetrated through the inner side of the connecting block. A spring for elastically supporting the connecting block is sleeved on the outer side of the guide shaft, and a limiting nut is connected to the top end of the guide shaft through a threaded connection.

[0014] Preferably, the connecting groove is an oblong hole.

[0015] Preferably, the guide shaft is provided at two locations, and the two guide shafts are arranged side by side.

[0016] Preferably, the driving wheel is a solid rubber wheel.

[0017] Preferably, two driving modules are provided, and the two driving modules are symmetrically arranged along the connecting slot body.

[0018] Preferably, four universal wheels are provided, and the four universal wheels are respectively arranged at four corners of the lower surface of the chassis.

[0019] Preferably, two ends of the inner side of the chassis are provided with slide grooves, and a movable frame is slidably installed inside the slide grooves.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] This patent is provided with at least two drive modules and universal wheels, which can avoid the situation that the turning radius required by a single drive wheel is too large when turning, affecting the convenience of turning or turning. This device uses two drive wheels and is installed in the middle. During normal driving, the two drive wheels have the same speed and direction, and the chassis moves in a straight line. When turning or turning, the drive wheels have the same speed and opposite directions to form a differential mechanism. At this time, the chassis rotates about the center point of the two wheels to complete the turn or turn. This device can reduce the size of the lane and increase the storage capacity. At the same time, the elastic support assembly is used to elastically support the drive wheel to be in close contact with the ground. The drive wheel can be well pressed to contact with the ground, which solves the problem of the drive wheel moving left and right and slipping, improves the walking stability, and increases the use effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the driving module of the present invention;

[0024] Figure 3 It is a schematic diagram of the universal wheel structure of the present invention;

[0025] Figure 4 It is a schematic diagram of the driving wheel structure of the present invention.

[0026] In the figure: 1. chassis; 2. slide; 3. mobile frame; 4. mounting slot; 5. connecting slot body; 6. driving module; 601. bottom plate; 602. spring; 603. connecting block; 604. guide shaft; 605. connecting slot; 606. rotating shaft; 607. driving motor; 608. driving wheel; 609. mounting plate; 610. rotating arm; 7. universal wheel. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-Figure 4 The present invention provides a technical solution: a robot walking chassis that is easy to turn, comprising:

[0029] Chassis 1;

[0030] Connecting tank 5;

[0031] At least two mounting grooves 4 are arranged side by side with the connecting groove body 5 in the middle of the inner side of the chassis 1, and the two mounting grooves 4 are symmetrical along the connecting groove body 5;

[0032] The driving module 6 is arranged inside the mounting groove 4, so that two driving modules 6 can be installed to facilitate the movement of the chassis 1, and the output end of the driving module 6 contacts the ground to drive the chassis 1 to turn, so that two driving modules 6 can be assembled inside the two mounting grooves 4, so that the chassis 1 can have a smaller turning or U-turn radius through the differential speed of the two driving modules 6;

[0033] An elastic support component is arranged at the other end of the inner side of the mounting groove 4 to elastically support the driving module 6 to be in close contact with the ground, so as to prevent the driving wheel 608 from slipping with the ground;

[0034] The universal wheel 7 is disposed on the lower surface of the chassis 1 to support the chassis 1 , so as to facilitate the support and reduce the load on the driving module 6 .

[0035] Preferably, the driving module 6 includes a connecting block 603, a rotating shaft 606, a driving motor 607, a driving wheel 608, a mounting plate 609 and a rotating arm 610. The elastic support component is fixed on the inner side of the mounting groove 4. A connecting block 603 cooperating with the elastic support component is provided at one end of the rotating arm 610 to facilitate the rotation of the rotating arm 610. The rotating arm 610 is rotatably connected with a rotating shaft 606 on the inner side to facilitate the rotation of the rotating arm 610 around the rotating shaft 606. Both ends of the rotating shaft 606 are fixed to the mounting groove 4. A mounting plate 609 is provided at one end of the rotating arm 610. A driving motor 607 is installed on one side of the mounting plate 609, and the output end of the driving motor 607 passes through the other side of the mounting plate 609 to be connected to a driving wheel 608, so as to facilitate the movement of the chassis 1.

[0036] Preferably, the elastic support assembly includes a base plate 601, a spring 602 and a guide shaft 604. The base plate 601 can be detachably installed at the bottom end of the inner side of the installation groove 4. A spring 602 is fixed on the base plate 601 to facilitate pushing one end of the rotating arm 610 to move so that the rotating arm 610 rotates. A connecting groove 605 matching the guide shaft 604 is penetrated through the inner side of the connecting block 603. A spring 602 for elastically supporting the connecting block 603 is sleeved on the outer side of the guide shaft 604 to facilitate the elastic force of the spring 602 to press the driving wheel 608 to contact the ground to prevent slipping, and the top of the guide shaft 604 is connected with a limiting nut through a thread.

[0037] Preferably, the connecting groove 605 is an oblong hole, so as to facilitate better rotation and swing of the rotating arm 610.

[0038] Preferably, two guide shafts 604 are provided, and the two guide shafts 604 are arranged side by side to facilitate better guiding of the rotating arm 610 .

[0039] Preferably, the driving wheel 608 is a solid rubber wheel, which is convenient for increasing the friction with the ground and reducing the inconvenience of subsequent maintenance and inflation.

[0040] Preferably, two drive modules 6 are provided, and the two drive modules 6 are symmetrically arranged along the connecting slot 5, so that the two drive wheels 608 can form differential motion for turning.

[0041] Preferably, four universal wheels 7 are provided, and the four universal wheels 7 are respectively arranged at the four corners of the lower surface of the chassis 1 to better support the chassis 1.

[0042] Preferably, two ends of the inner side of the chassis 1 are provided with slide grooves 2, and a movable frame 3 is slidably installed inside the slide grooves 2.

[0043] The working principle and use process of the present invention are as follows: during installation, the drive motor 607 is fixed to the mounting plate 609, the drive motor 607 penetrates the mounting plate 609 and is connected to the drive wheel 608, the spring 602 is sleeved on the guide shaft 604, the connecting block 603 at one end of the lever rotating arm 610 is processed with a connecting groove 605, and the guide shaft 604 is also used as a guide. The connecting groove 605 can avoid being stuck due to the rotation of the lever rotating arm 610, the lever connecting block 603 presses one end of the spring 602, and the lever rotating arm 610 can float around the center of the rotating shaft 606, and the driving wheel 608 is always kept in contact with the ground with sufficient pressure under the force of the spring 602. When in use, the two driving wheels 608 provide power to complete walking and turning, and the four universal wheels 7 serve as driven wheels, which are used to support and bear the weight. When the two driving wheels 608 have the same speed and direction, the chassis 1 completes straight-line walking. When the two driving wheels 608 have the same speed but opposite directions, the chassis 1 turns or turns around on the spot, which can reduce the size of the tunnel and improve the storage capacity.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot walking chassis that is easy to turn, characterized in that: include: Chassis (1); Connecting tank body (5); At least two installation grooves (4) are arranged side by side with the connecting groove body (5) in the middle of the inner side of the chassis (1), and the two installation grooves (4) are symmetrical along the connecting groove body (5); A driving module (6) is arranged at one end of the inner side of the mounting groove (4), and an output end of the driving module (6) is in contact with the ground to drive the chassis (1) to turn; An elastic support component, arranged at the other end of the inner side of the installation groove (4) to elastically support the driving module (6) to be in close contact with the ground; Universal wheels (7) are arranged on the lower surface of the chassis (1) to support the chassis (1).

2. The robot walking chassis that is easy to turn according to claim 1 is characterized in that: The driving module (6) comprises a connecting block (603), a rotating shaft (606), a driving motor (607), a driving wheel (608), a mounting plate (609) and a rotating arm (610); the elastic supporting component is fixed to the inner side of the mounting groove (4); one end of the rotating arm (610) is provided with a connecting block (603) which cooperates with the elastic supporting component; the inner side of the rotating arm (610) is rotatably connected with a rotating shaft (606); both ends of the rotating shaft (606) are fixed to the mounting groove (4); one end of the rotating arm (610) is provided with a mounting plate (609); a driving motor (607) is installed on one side of the mounting plate (609); and the output end of the driving motor (607) passes through the other side of the mounting plate (609) to be connected with the driving wheel (608).

3. The robot walking chassis that is easy to turn according to claim 2 is characterized in that: The elastic support assembly comprises a bottom plate (601), a spring (602) and a guide shaft (604); the bottom plate (601) is detachably mounted on the bottom inner end of the mounting groove (4); the spring (602) is fixed on the bottom plate (601); a connecting groove (605) matching the guide shaft (604) is provided through the inner side of the connecting block (603); a spring (602) for elastically supporting the connecting block (603) is sleeved on the outer side of the guide shaft (604); and a limit nut is connected to the top end of the guide shaft (604) via a thread.

4. The robot walking chassis that is easy to turn according to claim 3 is characterized in that: The connecting groove (605) is an oblong hole.

5. The robot walking chassis that is easy to turn according to claim 4 is characterized in that: The guide shaft (604) is provided at two locations, and the two guide shafts (604) are arranged side by side.

6. The robot walking chassis that is easy to turn according to claim 2, characterized in that: The driving wheel (608) is a solid rubber wheel.

7. The robot walking chassis that is easy to turn according to claim 1 is characterized in that: Two driving modules (6) are provided, and the two driving modules (6) are symmetrically arranged along the connecting slot body (5).

8. The robot walking chassis that is easy to turn according to claim 1 is characterized in that: Four universal wheels (7) are provided, and the four universal wheels (7) are respectively arranged at four corners of the lower surface of the chassis (1).

9. The robot walking chassis that is easy to turn according to claim 1, characterized in that: Slide grooves (2) are provided at both ends of the inner side of the chassis (1), and a movable frame (3) is slidably mounted inside the slide groove (2).

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