Robot chassis structure and robot
By designing a robot chassis structure with adjustable wheelbase, the difficulty of obstacle-surging of existing wheeled robots when facing steps and pits of various sizes is solved, achieving higher obstacle-surging capability and maintenance convenience.
Patent Information
- Application Number
- CN202421003339.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-09
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-05-09
AI Technical Summary
Existing wheeled robots are difficult to pass quickly when facing steps and pits of different sizes, and are prone to trouble when passing through pit roads.
A robot chassis structure including a base, drive rear wheel, drive front wheel and screw adjustment assembly is designed. The screw adjustment assembly can adjust the wheelbase distance between the driving front wheel and the driving rear wheel through the screw body and the guiding slider, and dynamic adjustment is achieved through the coordination of the camera assembly and the processing assembly.
By adjusting the wheelbase, the robot chassis can quickly pass through step surfaces and pits of various sizes, improving the robot's obstacle-surfacing ability, while at the same time, the structure is simple and easy to repair and maintain.
Smart Images
Figure CN222452395U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a robot chassis structure and a robot. Background Art
[0002] In the prior art, traditional wheeled robots have the following defects due to unreasonable chassis structure design: 1. The size of the steps that the robot passes over is relatively fixed, while the sizes and specifications of steps in life are diverse, and the wheel-leg structure of the existing robot cannot meet the obstacle crossing requirements; 2. When the existing wheeled robot passes over a pothole-filled road surface, if the front wheel falls into the pothole, it is difficult to get out. Utility Model Content
[0003] The technical problem to be solved by the utility model is to provide a robot chassis structure and a robot, which can enable the robot chassis to quickly pass through step surfaces and pits of various sizes by adjusting the wheelbase, thereby improving the robot's obstacle-crossing ability; the structure is streamlined and easy to repair and maintain.
[0004] In order to solve the above technical problems, the utility model provides a robot chassis structure, including: a base; a driving rear wheel mounted on the base; a driving front wheel; and a screw adjustment assembly connected to the driving front wheel, the screw adjustment assembly is mounted on the base, the screw adjustment assembly includes: a screw body, a guide slider mounted on the screw body, the guide slider is tightly connected to the driving front wheel, and the guide slider can reciprocate along the screw body, wherein: the screw body rotates to drive the guide slider to drive the driving front wheel to move along the screw body to change the wheelbase distance between the driving front wheel and the driving rear wheel.
[0005] The screw adjustment assembly further includes: fixed supports mounted at opposite ends of the screw body and guide grooves for guiding the guide slider; the fixed supports are fastened to the base, and the screw body can rotate relative to the fixed supports; and the guide grooves are provided on the base.
[0006] The screw adjustment assembly further includes: a screw drive motor fastened to one end of the screw body, and the screw drive motor drives the screw body to rotate.
[0007] Among them, the number of screw rod adjustment assemblies is two, the number of driven front wheels is two, and the two screw rod adjustment assemblies are respectively set in a one-to-one correspondence with the two driven front wheels to adjust the positions of the corresponding driven front wheels in a one-to-one correspondence.
[0008] Among them, the number of driven rear wheels is two, two screw adjustment components, two driven front wheels and two driven rear wheels can be adjusted into two groups of asymmetric structures.
[0009] The driving rear wheel comprises: a rear wheel support fastened on the base, a rear wheel body mounted on the rear wheel support, and a rear wheel driving motor for driving the rear wheel body to rotate.
[0010] It also includes: a camera assembly installed on a base and a processing assembly connected to the camera assembly, the processing assembly is respectively connected to the driving front wheel, the screw adjustment assembly and the driving rear wheel; the processing assembly controls and adjusts the driving speed of the driving front wheel, the driving speed of the driving rear wheel and the wheelbase distance between the driving front wheel and the driving rear wheel according to the obstacle jumping target obtained by the camera assembly.
[0011] Among them, the obstacle targets captured by the camera component include: steps or pitted roads of different heights and sizes.
[0012] Among them, the camera component is a binocular camera.
[0013] In order to solve the above technical problems, the utility model also discloses a robot including the above robot chassis structure, and a robot execution structure arranged on the robot chassis structure.
[0014] A robot chassis structure and a robot implementing the utility model have the following beneficial effects: the robot chassis structure comprises: a base; a driving rear wheel mounted on the base; a driving front wheel; and a screw adjustment assembly connected to the driving front wheel, the screw adjustment assembly being mounted on the base, the screw adjustment assembly comprising: a screw body, a guide slider mounted on the screw body, the guide slider being tightly connected to the driving front wheel, the guide slider being reciprocating along the screw body, the screw body rotating to drive the guide slider to drive the driving front wheel to move along the screw body to change the wheelbase distance between the driving front wheel and the driving rear wheel, the wheelbase being adjusted to enable the robot chassis to quickly pass through a variety of step surfaces and pits of different sizes, thereby improving the robot's obstacle crossing capability; the structure is simple and easy to repair and maintain. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 This is a schematic structural diagram of the first perspective of the robot wheeled chassis of an embodiment of the utility model.
[0017] Figure 2 It is a structural schematic diagram of the bottom end surface of the base according to an embodiment of the utility model.
[0018] Figure 3 This is a structural schematic diagram of a base assembly with a guide slider according to an embodiment of the utility model.
[0019] Figure 4 This is a structural schematic diagram of the robot wheeled chassis from a second viewing angle according to an embodiment of the utility model.
[0020] Figure 5 This is a schematic diagram of a robot wheeled chassis shortening its wheelbase through a step according to an embodiment of the utility model.
[0021] Figure 6 This is a schematic diagram of an embodiment of the utility model in which the wheeled chassis of the robot extends its wheelbase through another step.
[0022] Figure 7 This is a schematic diagram of the wheeled chassis of the robot crossing a pit according to an embodiment of the utility model. DETAILED DESCRIPTION
[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0024] like Figure 1-Figure 7 The figure shows the first embodiment of the robot chassis structure of the present utility model.
[0025] The robot chassis structure in this embodiment includes: a base 1; a driving rear wheel 2 mounted on the base 1; a driving front wheel 3; and a screw adjustment assembly T connected to the driving front wheel 2, the screw adjustment assembly T is respectively mounted on the base 1, and the screw adjustment assembly T includes: a screw body 41, a guide slider 42 mounted on the screw body 41, the guide slider 42 is tightly connected to the driving front wheel 3, and the guide slider 42 can reciprocate along the screw body 41.
[0026] The driving screw body 41 rotates to drive the guide slider 42 to drive the driving front wheel 3 to move along the screw body 41 to change the wheelbase distance between the driving front wheel 3 and the driving rear wheel 2 .
[0027] During implementation, the base 1 is plate-shaped, and some positions of the base 1 are hollowed out to reduce its overall weight. In this embodiment, there are two screw adjustment assemblies T, and there are two driving front wheels 2. The screw adjustment assemblies T are respectively arranged in a one-to-one correspondence with the two driving front wheels 2 to adjust the positions of the corresponding driving front wheels 2 in a one-to-one correspondence.
[0028] The two driving front wheels 3, the two screw adjustment assemblies T and the two driving rear wheels 2 are all arranged on the same side of the base 1. The two driving rear wheels 2 have the same structure, the two driving front wheels 3 have the same structure, and the two screw adjustment assemblies T have the same structure, and are arranged symmetrically.
[0029] Preferably, each driven rear wheel 2 and each driven front wheel 3 is respectively provided with a driving unit, such as a driving motor, which can provide power for the driven rear wheel 2 or the driven front wheel 3 .
[0030] In this embodiment, the driving front wheel 3 and the screw adjustment assembly T assembled on the same side of the base 1 are a group. That is to say, the two screw adjustment assemblies can adjust the positions of the two driving front wheels 3 one by one, and the screw adjustment assembly T and the driving front wheel 3 on the same side can adjust the front and rear positions of the driving front wheels 3 on that side.
[0031] Furthermore, the screw adjustment assembly includes: a fixed support 43 , a screw body 41 , a screw drive motor 44 , a guide slider 42 , and a guide groove for guiding the guide slider 42 .
[0032] During implementation, the fixed support 43 is fastened to the base 1, and is provided in two groups of four, with one fixed support 43 being installed at each of the opposite ends of a screw body 41. The function of the fixed support 43 is to fix and support the screw body 41. The screw drive motor 44 is assembled at one end of the screw body 41, and its function is to drive the screw body 41 to rotate relative to the fixed support 43.
[0033] The guide groove is formed on the base 1, and the guide slider 42 is sleeved on the screw body 41, and one end of the guide slider 42 is installed in the guide groove. In this way, when the screw body 41 rotates, the guide slider 42 can slide along the screw body 41 under the limit of the guide groove. In other words, the screw drive motor 44 drives the screw body 41 to rotate relative to the fixed support 43, and the guide slider 42 can slide along the screw body 41 under the limit of the guide groove.
[0034] Furthermore, the driving rear wheel 2 comprises: a rear wheel support 21 fastened to the base 1, a rear wheel body 22 mounted on the rear wheel support 21, and a rear wheel driving motor for driving the rear wheel body 22 to rotate. In this embodiment, the driving rear wheel 2 can rotate driven by the rear wheel driving motor, but its relative position remains unchanged during the movement of the robot.
[0035] During implementation, by setting any one of the screw adjustment components, the driving front wheel 3 on it can move forward and backward along the screw body 41. Since the relative position of the driving rear wheel 2 relative to the driving front wheel 3 remains unchanged, the wheelbase distance between the driving front wheel and the driving rear wheel on either side can be adjusted, so that the robot chassis structure can pass through various steps of different specifications in life, preventing the problem of too low steps blocking the chassis and too high steps preventing the robot wheeled chassis from passing.
[0036] It can be understood that: in this embodiment, the two screw adjustment assemblies T, the two driven front wheels 3 and the two driven rear wheels 2 are arranged into two groups, and the screw adjustment assembly T in each group can individually adjust the driven front wheel 3 connected thereto, so that the four wheels on the base 1 can be adjusted to a common symmetrical structure or an asymmetrical structure, for example: a structure in which the driven front wheels 3 are one in front and one in the back.
[0037] Furthermore, the timing for adjusting the wheelbase distance between the two driven front wheels 3 and the two driven rear wheels 2 can be assisted by the following structure.
[0038] In other embodiments, only one set of front driving wheels 3, screw adjustment assembly T and rear driving wheels 2 with adjustable wheelbase may be provided, and the adjustment method thereof is the same as the above-mentioned adjustment method. Alternatively, another set of conventional non-adjustable front driving wheels 3 and rear driving wheels 2 may be provided on the base 1.
[0039] In this embodiment, the robot chassis structure also includes: a camera assembly mounted on the base 1 and a processing assembly connected to the camera assembly. The camera assembly can be a binocular camera 51, which obtains image data of the robot's current obstacle jumping target, such as steps of different heights or whether there are potholes on the road surface. The processing assembly 52 can be an ECU processor, which is connected to the binocular camera 51 to receive its image data. The processing assembly 52 is respectively connected to the two driving front wheels 3, the two screw adjustment assemblies T and the two driving rear wheels 2.
[0040] During implementation, the processing component 52 can control and adjust the driving speed of the two driven front wheels 3, the driving speed of the two driven rear wheels 2, and the wheelbase distance between the two driven front wheels 3 and the two driven rear wheels 2 according to the obstacle targets obtained by the binocular camera 51, such as steps or potholes of different heights.
[0041] Preferably, in the present embodiment, a battery 11 is further provided on the base 1 of the robot chassis structure, and the battery 11 is used to supply power to the above-mentioned binocular camera, ECU processor, screw drive motor and front and rear wheel drive motors respectively.
[0042] In this embodiment, the robot chassis structure is specifically implemented as follows: Figure 5 As shown, due to the long wheelbase of the robot chassis structure, the wheeled chassis structure cannot pass through the steps, and there is a problem of interference between the chassis and the steps, which may cause the chassis to get stuck. At this time, the processing component 52 outputs an instruction to shorten the wheelbase between the front and rear wheels from L to L1 based on the illustrated height dimension of the steps obtained by the binocular camera 51. After the two screw adjustment components T receive the instruction, the screw drive motor 44 drives the screw body 41 to rotate relative to the fixed support 43, and the guide slider 42 can slide along the screw body 41 under the limit of the guide groove, shortening the distance between the rear wheel 2 driven on the same side, and achieving the obstacle crossing step by shortening the front and rear wheelbases, that is, shortening the wheelbase from L to L1.
[0043] like Figure 6 As shown, due to the short wheelbase of the robot chassis structure, the wheeled chassis structure cannot climb over the steps. At this time, the processing component 52 outputs an instruction to extend the wheelbase between the front and rear wheels from L1 according to the illustrated height dimension of the step obtained by the binocular camera 51. After the two screw adjustment components T receive the instruction, the screw drive motor 44 drives the screw body 41 to rotate relative to the fixed support 43, and the guide slider 42 can slide along the screw body 41 under the limit of the guide groove, increasing the distance between the rear wheel 2 on the same side, and by extending the front and rear wheelbases, that is, the wheelbase is extended from L to L1, the obstacle step can be achieved.
[0044] like Figure 7 As shown, the structure in which the two driving rear wheels 2 and the two driving front wheels 3 are arranged symmetrically on the left and right cannot pass through the pit P. Synchronously shortening or lengthening the wheelbase will cause the entire driving front wheel or the entire driving rear wheel of the robot to fall into the pit P.
[0045] At this time, the processing component 52 outputs instructions for different wheelbases between the two driving front wheels 3 and the corresponding driving rear wheels 2 according to the pit conditions obtained by the binocular camera 51. One set of screw adjustment components T shortens the front and rear wheelbases, and the other set of screw adjustment components T extends the front and rear wheelbases or keeps the wheelbases unchanged. For another example: when one set of screw adjustment components T extends the front and rear wheelbases, and the other set of screw adjustment components T shortens the front and rear wheelbases or keeps the wheelbases unchanged, the robot wheeled chassis can maintain a mode of three wheels on the ground and one wheel suspended, and pass through the pit P road surface.
[0046] The utility model also discloses a robot having the above-mentioned robot chassis structure. The robot also has a robot execution structure arranged on the robot chassis structure. The specific implementation method thereof is the same as the specific implementation method of the robot chassis structure in the above-mentioned embodiment and will not be repeated herein.
[0047] The robot chassis structure and the robot of the utility model have the following beneficial effects: the robot chassis structure includes: a base; a driving rear wheel mounted on the base; a driving front wheel; and a screw adjustment assembly connected to the driving front wheel, the screw adjustment assembly is mounted on the base, the screw adjustment assembly includes: a screw body, a guide slider mounted on the screw body, the guide slider is tightly connected to the driving front wheel, and the guide slider can reciprocate along the screw body, wherein: the screw body rotates to drive the guide slider to drive the driving front wheel to move along the screw body to change the wheelbase distance between the driving front wheel and the driving rear wheel, and the robot chassis can quickly pass through a variety of step surfaces and pits of different sizes by adjusting the wheelbase, thereby improving the robot's obstacle crossing ability; the structure is simple and easy to repair and maintain.
Claims
1. A robot chassis structure, characterized in that: include: Base; A driving rear wheel mounted on the base; Drive the front wheels; as well as A screw adjustment assembly connected to the driving front wheel, the screw adjustment assembly is installed on the base, and the screw adjustment assembly includes: a screw body, a guide slider installed on the screw body, the guide slider is tightly connected to the driving front wheel, the guide slider can reciprocate along the screw body, the screw body rotates to drive the guide slider to drive the driving front wheel to move along the screw body, so as to change the wheelbase distance between the driving front wheel and the driving rear wheel.
2. The robot chassis structure according to claim 1, characterized in that: The screw rod adjustment assembly also includes: fixed supports installed at opposite ends of the screw rod body and a guide groove for guiding the guide slider, the fixed supports are fastened to the base, and the screw rod body can rotate relative to the fixed supports; the guide groove is opened on the base.
3. The robot chassis structure according to claim 2, characterized in that: The screw adjustment assembly also includes: a screw drive motor fastened to one end of the screw body, and the screw drive motor drives the screw body to rotate.
4. The robot chassis structure according to claim 1, characterized in that: The number of the screw rod adjustment assemblies is two, the number of the driven front wheels is two, and the two screw rod adjustment assemblies are respectively arranged in a one-to-one correspondence with the two driven front wheels to adjust the positions of the corresponding driven front wheels in a one-to-one correspondence.
5. The robot chassis structure according to claim 4, characterized in that: The number of the driven rear wheels is two, and the two screw adjustment assemblies, the two driven front wheels and the two driven rear wheels can be adjusted to two groups of asymmetric structures.
6. The robot chassis structure according to claim 1, characterized in that: The driving rear wheel comprises: a rear wheel support fastened on the base, a rear wheel body mounted on the rear wheel support, and a rear wheel driving motor for driving the rear wheel body to rotate.
7. The robot chassis structure according to claim 1, characterized in that: Also includes: A camera assembly mounted on the base and a processing assembly connected to the camera assembly, wherein the processing assembly is respectively connected to the driving front wheel, the screw rod adjustment assembly and the driving rear wheel; The processing component controls and adjusts the driving speed of the driving front wheels, the driving speed of the driving rear wheels, and the wheelbase distance between the driving front wheels and the driving rear wheels respectively according to the obstacle jumping target obtained by the camera component.
8. The robot chassis structure according to claim 7, characterized in that: The obstacle targets captured by the camera assembly include: steps or pitted roads of different heights.
9. The robot chassis structure according to claim 7, characterized in that: The camera assembly is a binocular camera.
10. A robot, characterized in that: It comprises a robot chassis structure as described in any one of claims 1 to 9, and a robot execution structure arranged on the robot chassis structure.