Chassis mechanism and robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a chassis mechanism and a robot, the chassis mechanism comprises a base, a suspension assembly and an adjusting assembly; the hanging assembly comprises a pressing plate, a supporting piece, a guiding piece and an elastic piece, one end of the guiding piece is connected with the base, and the other end of the guiding piece is connected with the supporting piece in a sliding mode; the pressing plate is connected to the guiding piece in a sliding mode. The elastic piece is connected to the guiding piece in a sleeving mode, and the two opposite ends of the elastic piece abut against the supporting piece and the pressing plate respectively. The adjusting assembly is installed on the base, abuts against the pressing plate and is used for driving the pressing plate to move along the guiding piece so as to adjust the pre-tightening force of the elastic piece. A user can adjust the pre-tightening force of the elastic piece in time through the adjusting assembly according to the bearing capacity of the robot, the running stability and reliability of the chassis mechanism are guaranteed, and the chassis mechanism is easy to adjust and operate.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a chassis mechanism and a robot. Background Art

[0002] With the continuous development of science and technology, more and more industries are using robots. At present, robots are widely used in industrial transportation, express delivery, welcoming explanations, safety inspections and other fields. Among them, the reliability of the robot is reflected in the robot chassis, and the stability of the chassis affects the operation and function of the robot.

[0003] In the prior art, the robot chassis is mainly composed of a fixed bracket, a spring (or a spring with damping) and a driving wheel. This structural method can realize the driving wheel's continuous gripping movement during the robot's movement, prevent the driving wheel from slipping against the ground, and reduce shock. However, due to the different loads on the robot, the overall weight of the robot will change with the load, and the preload of the spring will not be adjusted in time with the change of the load, which will cause the robot to slip and unstable during operation. Utility Model Content

[0004] The utility model aims to solve the technical problem that the pre-tightening force of a robot chassis is difficult to adjust in the prior art and provides a chassis mechanism and a robot.

[0005] In view of the above technical problems, an embodiment of the utility model provides a chassis mechanism, including a base, a suspension assembly and an adjustment assembly;

[0006] The suspension assembly comprises a pressing plate, a supporting member, a guiding member and an elastic member, one end of the guiding member is connected to the base, and the other end of the guiding member is slidably connected to the supporting member; the pressing plate is slidably connected to the guiding member; the elastic member is sleeved on the guiding member, and the opposite ends thereof are respectively in contact with the supporting member and the pressing plate;

[0007] The adjusting assembly is mounted on the base and abuts against the pressing plate, and is used to drive the pressing plate to move along the guide member to adjust the preload force of the elastic member.

[0008] Optionally, the adjustment assembly includes an adjustment member, a first nut, and a second nut mounted on the base, and the adjustment member is provided with an external thread adapted to the first nut and the second nut;

[0009] One end of the adjusting member is threadedly connected with the first nut and the second nut in sequence and then abuts against the pressing plate; the first nut is movably sleeved on the adjusting member and is used to prevent looseness between the adjusting member and the second nut.

[0010] Optionally, the chassis mechanism further comprises a bracket mounted on the base, and a receiving space is provided between the bracket and the base; the suspension assembly is arranged in the receiving space;

[0011] The chassis mechanism further comprises a wheel axle and a wheel mounted on the wheel axle, wherein one end of the wheel axle away from the wheel is mounted on the support member.

[0012] Optionally, the bracket is provided with a flange, and the flange abuts against the base.

[0013] Optionally, the suspension assembly also includes a first fixing member and a second fixing member, the base is provided with a first through hole, and the support member is provided with a second through hole; one end of the guide member passes through the first through hole and is connected to the first fixing member, and the other end of the guide member passes through the second through hole and is connected to the second fixing member.

[0014] Optionally, the support member includes a pressing block provided with an axial hole and a bearing connected to the pressing block, and the second through hole is provided on the bearing;

[0015] The chassis mechanism also includes a wheel axle and a wheel mounted on the wheel axle, and one end of the wheel axle away from the wheel is inserted into the axle hole.

[0016] Optionally, the pressing block comprises a first half pressing block and a second half pressing block mounted on the first half pressing block, and the first half pressing block is connected to the bearing;

[0017] The shaft hole includes a first half groove provided on the first half pressing block, and a second half groove provided on the second half pressing block.

[0018] Optionally, the chassis mechanism further includes a universal wheel and a driving member of the wheel axle, and the universal wheel and the driving member are both mounted on the base.

[0019] Optionally, the suspension assembly comprises at least two guide members and at least two elastic members, and the guide members and the elastic members are arranged in a one-to-one correspondence;

[0020] The pressure plate is slidably mounted on the two guide members; one end of all the guide rods is connected to the base, and the other end is slidably connected to the support member; the opposite ends of all the elastic members are respectively in contact with the pressure plate and the support member.

[0021] Another embodiment of the utility model further provides a robot, comprising a robot body and the above-mentioned chassis mechanism, wherein the robot body is mounted on the base.

[0022] In the utility model, the suspension assembly includes a pressure plate, a support member, a guide member and an elastic member, one end of the guide member is connected to the base, and the other end of the guide member is slidably connected to the support member; the pressure plate is slidably connected to the guide member; the opposite ends of the elastic member are respectively abutted against the support member and the pressure plate; the adjustment assembly is installed on the base and abuts against the pressure plate; the adjustment assembly can drive the pressure plate to move up and down along the guide member, so that the pressure plate can change the compression amount of the elastic member, thereby achieving the effect of adjusting the preload of the elastic member. The user can adjust the preload of the elastic member in time through the adjustment assembly according to the load capacity of the robot, thereby ensuring the stability and reliability of the operation of the chassis mechanism, and the adjustment operation of the chassis mechanism is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 It is a structural schematic diagram of a chassis mechanism provided by an embodiment of the utility model;

[0025] Figure 2 It is a side view of a chassis mechanism provided by an embodiment of the utility model with one wheel removed;

[0026] Figure 3 It is a partial structural schematic diagram of a chassis mechanism provided by an embodiment of the utility model;

[0027] Figure 4 It is a cross-sectional view of a chassis mechanism provided by an embodiment of the utility model.

[0028] The reference numerals in the specification are as follows:

[0029] 1. Base; 2. Suspension assembly; 21. Pressure plate; 22. Support member; 221. Pressure block; 2211. First half of pressure block; 2212. Second half of pressure block; 222. Bearing; 23. Guide member; 24. Elastic member; 25. First fixing member; 26. Second fixing member; 3. Adjustment assembly; 31. Adjustment member; 32. First nut; 33. Second nut; 4. Bracket; 41. Flanging; 5. Axle; 6. Wheel; 7. Universal wheel. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0031] It should be understood that the directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", and "middle" are 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. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation of the present invention.

[0032] like Figures 1 to 3 As shown, a chassis mechanism provided by an embodiment of the utility model includes a base 1, a suspension component 2 and an adjustment component 3;

[0033] The suspension assembly 2 includes a pressure plate 21, a support member 22, a guide member 23 and an elastic member 24. One end of the guide member 23 is connected to the base 1, and the other end of the guide member 23 is slidably connected to the support member 22. The pressure plate 21 is slidably connected to the guide member 23. The elastic member 24 is sleeved on the guide member 23, and the two opposite ends are respectively in contact with the support member 22 and the pressure plate 21. It can be understood that the pressure plate 21 is provided with a sliding hole, and the pressure plate 21 is slidably installed on the guide member 23 through the sliding hole. The elastic member 24 includes but is not limited to a spring, a compression spring, etc. Preferably, the elastic member 24 is a spring, and the spring is sleeved on the guide member 23.

[0034] The adjusting assembly 3 is mounted on the base 1 and abuts against the pressing plate 21, and is used to drive the pressing plate 21 to move along the guide member 23 to adjust the preload force of the elastic member 24. It can be understood that the adjusting assembly 3 includes but is not limited to the adjusting member 31, the telescopic rod, etc. The adjusting assembly 3 can drive the pressing plate 21 to move up and down along the guide member 23, so that the pressing plate 21 can change the compression amount of the elastic member 24, thereby achieving the effect of adjusting the preload force of the elastic member 24.

[0035] In the utility model, the suspension assembly 2 includes a pressure plate 21, a support member 22, a guide member 23 and an elastic member 24, one end of the guide member 23 is connected to the base 1, and the other end of the guide member 23 is slidably connected to the support member 22; the pressure plate 21 is slidably connected to the guide member 23; the opposite ends of the elastic member 24 are respectively abutted against the support member 22 and the pressure plate 21; the adjustment assembly 3 is installed on the base 1 and abuts against the pressure plate 21; the adjustment assembly 3 can drive the pressure plate 21 to move up and down along the guide member 23, so that the pressure plate 21 can change the compression amount of the elastic member 24, thereby achieving the effect of adjusting the preload of the elastic member 24. The user can adjust the preload of the elastic member 24 in time through the adjustment assembly 3 according to the load capacity of the robot, which ensures the stability and reliability of the operation of the chassis mechanism, and the adjustment operation of the chassis mechanism is simple.

[0036] In one embodiment, if Figures 1 to 3 As shown, the adjustment assembly 3 includes an adjustment member 31, a first nut 32 and a second nut 33 installed on the base 1, and the adjustment member 31 is provided with an external thread adapted to the first nut 32 and the second nut 33; it can be understood that the adjustment member 31 includes but is not limited to screws, bolts, etc.

[0037] One end of the adjusting member 31 is threadedly connected with the first nut 32 and the second nut 33 in sequence and then abuts against the pressing plate 21; the first nut 32 is movably sleeved on the adjusting member 31 and is used to prevent looseness between the adjusting member 31 and the second nut 33. It can be understood that the second nut 33 can be fixed to the base 1 by welding or the like, and the first nut 32 can rotate on the adjusting member 31.

[0038] Specifically, the steps of adjusting the preload force of the elastic member 24 by the adjusting component 3 are as follows: first, rotating the first nut 32 to make the first nut 32 away from the second nut 33; then, rotating the adjusting component 31, the adjusting component 31 drives the pressing plate 21 to move along the guide member 23 until the pressing plate 21 adjusts the preload force of the elastic member 24 to a suitable range; finally, rotating the first nut 32 until the first nut 32 presses the second nut 33; the first nut 32 and the second nut 33 are pressed against each other, and the first nut 32 can prevent the adjusting component 31 and the second nut 33 from loosening, thereby ensuring the stability of the adjusting component 31 in adjusting the preload force of the elastic member 24 through the pressing plate 21. In this embodiment, the adjusting component 3 has a simple structure and low manufacturing cost.

[0039] In one embodiment, if Figures 1 to 3As shown, the chassis mechanism further includes a bracket 4 mounted on the base 1, and a receiving space is provided between the bracket 4 and the base 1; the suspension component 2 is arranged in the receiving space. It can be understood that the bracket 4 is arranged at the bottom of the base 1; preferably, the bracket 4 is a U-shaped member. In this embodiment, the suspension component 2 is arranged in the receiving space between the bracket 4 and the base 1, and the bracket 4 can protect the suspension component 2, thereby extending the service life of the chassis mechanism.

[0040] The chassis mechanism further includes an axle 5 and a wheel 6 mounted on the axle 5 , and the axle 5 is mounted on the support member 22 away from the wheel 6 .

[0041] In one embodiment, if Figures 1 to 4 As shown, the bracket 4 is provided with a flange 41, and the flange 41 abuts against the base 1. Specifically, the flange 41 is provided with a first fixing hole, and the base 1 is provided with a second fixing hole. The bracket 4 is installed on the base 1 by inserting a fixing member into the first fixing hole and the second fixing hole, and the flange 41 abuts against the base 1, thereby ensuring the stability of the bracket 4 installed on the base 1.

[0042] In one embodiment, if Figures 1 to 3 As shown, the suspension assembly 2 further includes a first fixing member 25 and a second fixing member 26. The base 1 is provided with a first through hole, and the support member 22 is provided with a second through hole. One end of the guide member 23 passes through the first through hole and is connected to the first fixing member 25, and the other end of the guide member 23 passes through the second through hole and is connected to the second fixing member 26. It can be understood that both the first fixing member 25 and the second fixing member 26 include but are not limited to nuts, etc. The first fixing member 25 is installed on the guide member 23 and abuts against the base 1, so that the first fixing member 25 can play a role in fixing the guide member 23 on the base 1; the second fixing member 26 can prevent the guide member 23 from being separated from the second through hole of the support member 22, thereby ensuring the stability of the support member 22 slidingly connected to the guide member 23. In this embodiment, the disassembly and assembly operation of the suspension assembly 2 is simple.

[0043] In one embodiment, if Figure 1 and Figure 2 As shown, the support member 22 includes a pressing block 221 provided with an axial hole and a bearing 222 connected to the pressing block 221, and the second through hole is provided on the bearing 222;

[0044] The chassis mechanism further includes a wheel axle 5 and a wheel 6 mounted on the wheel axle 5, and one end of the wheel axle 5 away from the wheel 6 is inserted into the axle hole. It can be understood that the wheel 6 is a power wheel, and the wheel 6 is mounted on the support member 22 through the wheel axle 5, so that the elastic member 24 can adjust the grip and passability of the wheel 6.

[0045] In one embodiment, if Figure 4 As shown, the pressing block 221 includes a first half pressing block 2211 and a second half pressing block 2212 installed on the first half pressing block 2211, and the first half pressing block 2211 is connected to the bearing 222;

[0046] The shaft hole includes a first half groove provided on the first half pressing block 2211, and a second half groove provided on the second half pressing block 2212. It can be understood that the first half groove and the second half groove enclose the shaft hole, and the first half pressing block 2211 and the second half pressing block 2212 can be fixedly connected by bolts, adjusting members 31, etc. In this embodiment, the detachable connection between the first half pressing block 2211 and the second half pressing block 2212 facilitates the disassembly and assembly between the wheel axle 5 and the pressing block 221.

[0047] In one embodiment, if Figures 1 to 3 As shown, the chassis mechanism further includes a universal wheel 7 and a driving member (not shown in the figure) of the wheel axle 5, and the universal wheel 7 and the driving member are both mounted on the base 1. It can be understood that the driving member includes but is not limited to a motor, etc., and the driving member can drive the wheel 6 to rotate through the wheel axle 5; the universal wheel 7 can ensure the stability of the chassis mechanism.

[0048] In one embodiment, if Figures 1 to 3 As shown, the suspension assembly 2 includes at least two guide members 23 and at least two elastic members 24, and the guide members 23 and the elastic members 24 are arranged in a one-to-one correspondence;

[0049] The pressing plate 21 is slidably mounted on the two guide members 23; one end of all the guide rods is connected to the base 1, and the other end is slidably connected to the support member 22; the opposite ends of all the elastic members 24 are respectively in contact with the pressing plate 21 and the support member 22. It can be understood that one pressing plate 21 can adjust the preload force of multiple elastic members 24 at the same time, and the design of multiple elastic members 24 further ensures the stability of the chassis mechanism.

[0050] Another embodiment of the utility model further provides a robot, comprising a robot body and the above-mentioned chassis mechanism, wherein the robot body is mounted on the base 1 .

[0051] The above are merely embodiments of the chassis mechanism and the robot of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A chassis mechanism, characterized in that: It includes a base, a suspension component and an adjustment component; The suspension assembly comprises a pressing plate, a supporting member, a guiding member and an elastic member, one end of the guiding member is connected to the base, and the other end of the guiding member is slidably connected to the supporting member; the pressing plate is slidably connected to the guiding member; the elastic member is sleeved on the guiding member, and the opposite ends thereof are respectively in contact with the supporting member and the pressing plate; The adjusting assembly is mounted on the base and abuts against the pressing plate, and is used to drive the pressing plate to move along the guide member to adjust the preload force of the elastic member.

2. The chassis mechanism according to claim 1, characterized in that: The adjusting assembly comprises an adjusting member, a first nut and a second nut mounted on the base, and the adjusting member is provided with an external thread adapted to the first nut and the second nut; One end of the adjusting member is threadedly connected with the first nut and the second nut in sequence and then abuts against the pressing plate; the first nut is movably sleeved on the adjusting member and is used to prevent looseness between the adjusting member and the second nut.

3. The chassis mechanism according to claim 1, characterized in that: The chassis mechanism further comprises a bracket mounted on the base, and a receiving space is provided between the bracket and the base; the suspension assembly is arranged in the receiving space; The chassis mechanism further comprises a wheel axle and a wheel mounted on the wheel axle, wherein one end of the wheel axle away from the wheel is mounted on the support member.

4. The chassis mechanism according to claim 3, characterized in that: The bracket is provided with a flange, and the flange abuts against the base.

5. The chassis mechanism according to claim 1, characterized in that: The suspension assembly also includes a first fixing member and a second fixing member. The base is provided with a first through hole, and the support member is provided with a second through hole. One end of the guide member passes through the first through hole and is connected to the first fixing member, and the other end of the guide member passes through the second through hole and is connected to the second fixing member.

6. The chassis mechanism according to claim 5, characterized in that: The support member comprises a pressing block provided with an axial hole and a bearing connected to the pressing block, and the second through hole is provided on the bearing; The chassis mechanism also includes a wheel axle and a wheel mounted on the wheel axle, and one end of the wheel axle away from the wheel is inserted into the axle hole.

7. The chassis mechanism according to claim 6, characterized in that: The pressing block comprises a first half pressing block and a second half pressing block mounted on the first half pressing block, wherein the first half pressing block is connected to the bearing; The shaft hole includes a first half groove provided on the first half pressing block, and a second half groove provided on the second half pressing block.

8. The chassis mechanism according to claim 6, characterized in that: The chassis mechanism also includes a universal wheel and a driving member of the wheel axle, and the universal wheel and the driving member are both installed on the base.

9. The chassis structure according to any one of claims 1 to 8, characterized in that: The suspension assembly comprises at least two guide members and at least two elastic members, and the guide members and the elastic members are arranged in a one-to-one correspondence; The pressing plate is slidably mounted on the two guide members; one end of all the guiding members is connected to the base, and the other end is slidably connected to the supporting member; the opposite ends of all the elastic members are respectively in contact with the pressing plate and the supporting member.

10. A robot, characterized in that: It comprises a robot body and a chassis mechanism as claimed in any one of claims 1 to 9, wherein the robot body is mounted on the base.

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