Robot chassis structure

Abstract

The utility model discloses a robot chassis structure which comprises an installation chassis, and a battery pack and a controller are arranged on the installation chassis. The plurality of first suspension structures are arranged on the mounting chassis respectively; the universal wheels are arranged on the first suspension structures correspondingly, and the universal wheels are located below the mounting chassis; the two second suspension structures are arranged on the two sides of the mounting chassis correspondingly; the number of the driving wheels is two, and the driving wheels are arranged on the second suspension structures correspondingly. The driving wheels and the universal wheels are connected with the chassis through the suspension structures, so that periodic oscillation can be greatly reduced when the driving wheels and the universal wheels move front and back, the two suspension structures achieve shock absorption in the mode that springs are mutually damped, shock absorption can be achieved through the springs, shock absorption can also be achieved through damping, and the shock absorption effect is good. When the driving wheels and the universal wheels move forwards and backwards, shock absorption with the same amplitude can be obtained, and the robot is prevented from turning over and electronic components are prevented from being damaged.

Description

Technical Field

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

[0002] In the field of robots for clean room air monitoring and collection, wheeled robots are most commonly used. Due to the height requirements for collection and monitoring, the robots are made relatively high. Slight ups and downs during driving will cause strong vibrations of the robot body, which will accelerate the robot's damage, and even cause it to roll over or damage the robot's electronic components, causing immeasurable losses to people or objects around it.

[0003] For this type of relatively tall robot, a stable chassis is particularly important, but the traditional chassis structure has poor seismic performance. Therefore, a robot chassis structure is designed to solve the above problem.

[0004] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the utility model and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because these solutions are described in the background technology section of the utility model. Utility Model Content

[0005] In order to overcome the above-mentioned deficiencies in the prior art, the purpose of the present utility model is to provide a robot chassis structure.

[0006] In order to achieve the above objectives and other related objectives, the technical solution provided by the utility model is: a robot chassis structure, comprising:

[0007] An installation chassis, on which a battery pack and a controller are arranged;

[0008] A first suspension structure, wherein a plurality of first suspension structures are provided and are respectively arranged on the mounting chassis;

[0009] Universal wheels, a plurality of which are provided and are respectively provided on each of the first suspension structures, and the universal wheels are located below the mounting chassis;

[0010] A second suspension structure, wherein two second suspension structures are provided and are respectively arranged on both sides of the mounting chassis;

[0011] driving wheels, two of which are respectively arranged on the second suspension structure;

[0012] The bottom end of the driving wheel and the bottom end of the universal wheel are arranged on the same horizontal plane.

[0013] In this solution, the universal wheel is connected to the mounting chassis through a first suspension structure, and the drive wheel is connected to the mounting chassis through a second suspension structure, so that both the drive wheel and the universal wheel can greatly reduce periodic oscillations when moving forward and backward, thereby reducing the periodic oscillations or rigid vibrations of the robot when walking.

[0014] Furthermore, the first suspension structure includes a fixed frame with an opening facing downward and a movable frame with an opening facing upward, the fixed frame is fixedly arranged with the mounting chassis, the universal wheel is arranged at the lower end of the movable frame, and an installation space is formed between the fixed frame and the movable frame; a rotating shaft is arranged in the installation space, and the rotating shaft horizontally passes through the fixed frame and the movable frame, so that the movable frame is arranged to rotate around the rotating shaft, and the movable frame is arranged without conflict with the mounting chassis; a vertical first spring and a second spring are arranged in the installation space. In this solution, the fixed frame is fixedly arranged, and the movable frame can rotate around the rotating shaft. When the universal wheel moves back and forth, the first spring and the second spring can damp each other, which can greatly reduce periodic oscillation; the universal wheel can obtain the same amplitude of shock absorption when moving forward and backward, reducing the periodic oscillation or rigid vibration of the robot when walking.

[0015] Furthermore, the first spring and the second spring have the same structure and are symmetrically arranged on both sides of the rotation axis. In this solution, the first spring and the second spring are symmetrically arranged on both sides of the rotation axis, so that the suspension structure is evenly stressed during movement and maintains stable movement.

[0016] Furthermore, the movable frame is provided with a plurality of vertical waist-shaped holes, and the fixed frame is provided with a plurality of latches corresponding to the waist-shaped holes, and one end of the latches is inserted into the corresponding waist-shaped hole. In this solution, the vertical waist-shaped holes can limit the position of the first spring and the second spring to swing up and down.

[0017] Further, the inner side of the waist-shaped hole is provided with a rubber pad. In this solution, the rubber pad is provided on the inner side of the waist-shaped hole, which can achieve a better shock absorption effect during the up and down movement of the spring.

[0018] Furthermore, the second suspension structure includes a fixed plate fixedly connected to the mounting chassis and a floating plate arranged parallel to the fixed plate, the floating plate is arranged non-contactingly with the mounting chassis, and the driving wheel is arranged on the floating plate; spring group 1 and spring group 2 are arranged between the fixed plate and the floating plate, and the spring group 2 is located on the outside of the spring group 1. In this solution, the fixed plate is a bracket for fixing, and the floating plate is arranged to float up and down. When the driving wheel encounters bumps during movement, spring group 1 and spring group 2 damp each other respectively, which can greatly reduce periodic oscillations. Since the fixed plate and the floating plate are completely floatingly connected, a small-amplitude multi-degree-of-freedom swing can be achieved, ensuring that the driving wheel can adapt to various conditions and protecting the instrument installed thereon from vibration.

[0019] Further, the spring group 1 includes a plurality of compression springs, and the compression springs of the spring group 1 are distributed in a ring array or a rectangular array. In this solution, it is ensured that the springs of the spring group 1 are uniformly stressed, the stability of the structure is maintained, and the anti-seismic effect is ensured.

[0020] Furthermore, the spring group 2 includes a plurality of tension springs, and the two ends of the fixed plate and the two ends of the floating plate are provided with a plurality of connecting columns that correspond to each other and meet the hooking conditions of the tension springs, and each of the tension springs is arranged perpendicular to the fixed plate and the floating plate through the corresponding connecting column. In this solution, the springs of the spring group 2 are each hooked to the connecting column between the fixed plate and the floating plate, and the installation structure is stable and has a good anti-seismic effect.

[0021] Furthermore, a counterweight is provided at the lower end of the mounting chassis, and the counterweight is located in the middle of the mounting chassis; the universal wheels are evenly arranged on both sides of the counterweight. In this solution, the counterweight can lower the center of gravity of the entire mounting chassis, and the robot is not easily damaged; the counterweight is arranged in the middle of the mounting chassis, and the universal wheels are evenly arranged on both sides of the counterweight, which can maintain the stability of the overall structure.

[0022] Further, an obstacle-crossing wheel is arranged at the lower end of the mounting chassis, and the horizontal plane where the bottom end of the obstacle-crossing wheel is located is higher than the horizontal plane where the bottom end of the driving wheel is located. In this scheme, the obstacle-crossing wheel is kept off the ground, and when encountering an obstacle, the obstacle-crossing wheel can roll over the obstacle.

[0023] Due to the application of the above technical solution, the utility model has the following beneficial effects compared with the prior art:

[0024] The robot chassis structure designed by the utility model has a driving wheel and a universal wheel connected to the chassis through a suspension structure, so that the driving wheel and the universal wheel can greatly reduce periodic vibration when moving forward and backward, and the two suspension structures both use springs to damp each other to achieve shock absorption, which can have both spring shock absorption and damping shock absorption. In the forward and backward movements of the driving wheel and the universal wheel, the same amplitude of shock absorption can be obtained, thereby reducing the periodic vibration or rigid vibration of the robot when walking; the structure is stable, and can achieve a significant reduction in periodic vibration; and the robot can be prevented from rolling over and damage to electronic components. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a front view of the chassis structure of the utility model;

[0026] Figure 2 It is a schematic diagram of the back side of the chassis structure of the utility model;

[0027] Figure 3 It is an overall schematic diagram of the first suspension structure of the utility model;

[0028] Figure 4 It is a partial schematic diagram of the first suspension structure of the utility model;

[0029] Figure 5 It is an overall schematic diagram of the second suspension structure of the utility model;

[0030] In the above drawings, 1. mounting chassis; 2. battery pack; 3. controller; 4. first suspension structure; 401. fixed frame; 402. movable frame; 403. rotating shaft; 404. first spring; 405. second spring; 406. waist-shaped hole; 407. latch; 408. rubber pad; 5. driving wheel; 6. second suspension structure; 601. fixed plate; 602. floating plate; 603. spring group one; 604. spring group two; 605. connecting column; 7. universal wheel; 8. counterweight; 9. obstacle-crossing wheel. DETAILED DESCRIPTION

[0031] The following is a description of the implementation of the present invention by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0032] It should be noted that in the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. Terms such as "horizontal", "vertical", and "overhanging" do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0035] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0036] Embodiment 1: See attached Figure 1 and attached Figure 2 As shown, this embodiment provides a robot chassis structure, including:

[0037] An installation chassis 1, on which a battery pack 2 and a controller 3 are arranged;

[0038] A first suspension structure 4, wherein a plurality of first suspension structures 4 are provided and are respectively arranged on the mounting chassis 1;

[0039] Universal wheels 7, a plurality of universal wheels 7 are provided, and are respectively provided on each first suspension structure 4, and the universal wheels 7 are located below the mounting chassis 1;

[0040] A second suspension structure 6, wherein two second suspension structures 6 are provided and are respectively arranged on both sides of the mounting chassis 1;

[0041] A driving wheel 5, wherein two driving wheels 5 are provided and are respectively arranged on the second suspension structure 6;

[0042] The bottom end of the driving wheel 5 and the bottom end of the universal wheel 7 are arranged on the same horizontal plane.

[0043] In this embodiment, the universal wheel 7 is connected to the mounting chassis 1 through the first suspension structure 4, and the driving wheel 5 is connected to the mounting chassis 1 through the second suspension structure 6, so that the driving wheel 5 and the universal wheel 7 can greatly reduce periodic oscillations when moving forward and backward, thereby reducing the periodic oscillations or rigid vibrations of the robot when walking.

[0044] Embodiment 2: See attached Figure 3 and attached Figure 4 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is as follows: the first suspension structure 4 includes a fixed frame 401 with an opening facing downward and a movable frame 402 with an opening facing upward, the fixed frame 401 is fixed to the mounting chassis 1, the universal wheel 7 is arranged at the lower end of the movable frame 402, and an installation space is formed between the fixed frame 401 and the movable frame 402; a rotating shaft 403 is passed through the installation space, and the rotating shaft 403 horizontally passes through the fixed frame 401 and the movable frame 402, so that the movable frame 402 is rotatably arranged around the rotating shaft 403, and the movable frame 402 is arranged without conflict with the mounting chassis 1; a vertical first spring 404 and a second spring 405 are arranged in the installation space. In this embodiment, the fixed frame 401 is fixedly arranged, and the movable frame 402 can rotate around the rotating shaft 403. When the universal wheel 7 moves forward and backward, the first spring 404 and the second spring 405 can damp each other, which can greatly reduce the periodic oscillation; the forward and backward movement of the universal wheel 7 can obtain the same amplitude of shock absorption, reducing the periodic oscillation or rigid vibration of the robot when walking.

[0045] Embodiment 3: See attached Figure 4As shown, this embodiment is a further improvement on the basis of the second embodiment, and its specific method is as follows: the first spring 404 and the second spring 405 have the same structure, and are symmetrically arranged on both sides of the rotation axis 403. In this embodiment, the first spring 404 and the second spring 405 are symmetrically arranged on both sides of the rotation axis 403, so that the suspension structure is evenly stressed during movement and maintains stable movement.

[0046] Embodiment 4: See attached Figure 3 and attached Figure 4 As shown, this embodiment is a further improvement on the basis of the third embodiment, and its specific method is as follows: a plurality of vertical waist-shaped holes 406 are provided on the movable frame 402, and a plurality of latches 407 corresponding to the waist-shaped holes 406 are provided on the fixed frame 401, and one end of the latch 407 is inserted into the corresponding waist-shaped hole 406. In this embodiment, the vertical waist-shaped holes 406 can limit the position of the first spring 404 and the second spring 405 to swing up and down.

[0047] Embodiment 5: See attached Figure 4 As shown, this embodiment is a further improvement on the basis of the fourth embodiment, and its specific method is: a rubber pad 408 is arranged inside the waist-shaped hole 406. In this embodiment, the rubber pad 408 is arranged inside the waist-shaped hole 406, which can achieve a better shock absorption effect during the up and down movement of the spring.

[0048] Embodiment 6: See attached Figure 5 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is as follows: the second suspension structure 6 includes a fixed plate 601 fixedly connected to the mounting chassis 1 and a floating plate 602 arranged in parallel with the fixed plate 601, the floating plate 602 is arranged in a non-contacting manner with the mounting chassis 1, and the driving wheel 5 is arranged on the floating plate 602; a spring group 1 603 and a spring group 2 604 are arranged between the fixed plate 601 and the floating plate 602, and the spring group 2 604 is located on the outside of the spring group 1 603. In this embodiment, the fixed plate 601 is a bracket for fixing, and the floating plate 602 is arranged to float up and down. When the driving wheel 5 encounters bumps during movement, the spring group 1 603 and the spring group 2 604 are damped to each other, which can greatly reduce periodic oscillation. Since the fixed plate 601 and the floating plate 602 are completely floatingly connected, a small-amplitude multi-degree-of-freedom swing can be achieved, ensuring that the driving wheel 5 adapts to various conditions, so that the instrument installed thereon is free from oscillation.

[0049] Embodiment 7: See attached Figure 5As shown, this embodiment is a further improvement on the basis of the sixth embodiment, and its specific method is as follows: the spring group 1 603 includes a plurality of compression springs, and the compression springs of the spring group 1 603 are distributed in a ring array or a rectangular array. In this embodiment, it is ensured that the springs of the spring group 1 603 are uniformly stressed, the stability of the structure is maintained, and the anti-seismic effect is ensured.

[0050] Embodiment 8: See attached Figure 5 As shown, this embodiment is a further improvement on the basis of the seventh embodiment, and its specific method is as follows: the second spring group 604 includes a plurality of tension springs, and both ends of the fixed plate 601 and the floating plate 602 are provided with a plurality of connecting columns 605 that correspond to each other and meet the tension spring hooking conditions, and each tension spring is arranged perpendicular to the fixed plate 601 and the floating plate 602 through the corresponding connecting column 605. In this embodiment, the springs of the second spring group 604 are each connected to the connecting column 605 between the fixed plate 601 and the floating plate 602 by hooking, and the installation structure is stable and has a good anti-seismic effect.

[0051] Embodiment 9: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is as follows: a counterweight block 8 is provided at the lower end of the mounting chassis 1, and the counterweight block 8 is located in the middle of the mounting chassis 1; the universal wheels 7 are evenly arranged on both sides of the counterweight block 8. In this embodiment, the counterweight block 8 is provided, so that the center of gravity of the entire mounting chassis 1 is lowered, and the robot is not easily damaged; the counterweight block 8 is provided in the middle of the mounting chassis 1, and the universal wheels 7 are evenly arranged on both sides of the counterweight block 8, so that the stability of the overall structure can be maintained.

[0052] Embodiment 10: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is: an obstacle-crossing wheel 9 is arranged at the lower end of the mounting chassis 1, and the horizontal plane where the bottom end of the obstacle-crossing wheel 9 is located is higher than the horizontal plane where the bottom end of the driving wheel 5 is located. In this embodiment, the obstacle-crossing wheel 9 is kept off the ground, and when encountering an obstacle, the obstacle-crossing wheel 9 can roll over the obstacle.

[0053] The robot chassis structure designed by the utility model has a driving wheel and a universal wheel connected to the chassis through a suspension structure, so that the driving wheel and the universal wheel can greatly reduce periodic vibration when moving forward and backward, and the two suspension structures both use springs to damp each other to achieve shock absorption, which can have both spring shock absorption and damping shock absorption. In the forward and backward movements of the driving wheel and the universal wheel, the same amplitude of shock absorption can be obtained, thereby reducing the periodic vibration or rigid vibration of the robot when walking; the structure is stable, and can achieve a significant reduction in periodic vibration; and the robot can be prevented from rolling over and damage to electronic components.

[0054] The above implementation modes are only for illustrating the technical concept and features of the utility model, and their purpose is to allow people familiar with this technology to understand the content of the utility model and implement it. It cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A robot chassis structure, characterized in that: include: A mounting chassis (1), wherein a battery pack (2) and a controller (3) are arranged on the mounting chassis (1); A first suspension structure (4), wherein a plurality of first suspension structures (4) are provided and are respectively arranged on the mounting chassis (1); Universal wheels (7), a plurality of universal wheels (7) are provided and are respectively arranged on each of the first suspension structures (4), and the universal wheels (7) are located below the mounting chassis (1); A second suspension structure (6), wherein two second suspension structures (6) are provided and are respectively arranged on both sides of the mounting chassis (1); driving wheels (5), two driving wheels (5) are provided and are respectively arranged on the second suspension structure (6); The bottom end of the driving wheel (5) and the bottom end of the universal wheel (7) are arranged on the same horizontal plane.

2. A robot chassis structure according to claim 1, characterized in that: The first suspension structure (4) comprises a fixed frame (401) with an opening facing downward and a movable frame (402) with an opening facing upward, the fixed frame (401) being fixedly arranged on the mounting chassis (1), the universal wheel (7) being arranged at the lower end of the movable frame (402), and an installation space being formed between the fixed frame (401) and the movable frame (402); a rotating shaft (403) is arranged in the installation space, the rotating shaft (403) horizontally passing through the fixed frame (401) and the movable frame (402), so that the movable frame (402) is arranged to rotate around the rotating shaft (403), and the movable frame (402) is arranged to be non-contacting with the mounting chassis (1); a vertical first spring (404) and a second spring (405) are arranged in the installation space.

3. A robot chassis structure according to claim 2, characterized in that: The first spring (404) and the second spring (405) have the same structure and are arranged on both sides of the rotating shaft (403) in a left-right symmetrical manner.

4. A robot chassis structure according to claim 3, characterized in that: The movable frame (402) is provided with a plurality of vertical waist-shaped holes (406), and the fixed frame (401) is provided with a plurality of latches (407) corresponding to the waist-shaped holes (406), and one end of the latches (407) is inserted into the corresponding waist-shaped hole (406).

5. A robot chassis structure according to claim 4, characterized in that: The inner sides of the waist-shaped holes (406) are provided with rubber pads (408).

6. A robot chassis structure according to claim 1, characterized in that: The second suspension structure (6) comprises a fixed plate (601) fixedly connected to the mounting chassis (1) and a floating plate (602) arranged parallel to the fixed plate (601), the floating plate (602) being arranged non-contacting with the mounting chassis (1), and the driving wheel (5) being arranged on the floating plate (602); a spring group 1 (603) and a spring group 2 (604) are arranged between the fixed plate (601) and the floating plate (602), and the spring group 2 (604) is located on the outside of the spring group 1 (603).

7. A robot chassis structure according to claim 6, characterized in that: The spring group one (603) includes a plurality of compression springs, and the compression springs of the spring group one (603) are distributed in a circular array or a rectangular array.

8. A robot chassis structure according to claim 7, characterized in that: The spring group 2 (604) includes a plurality of tension springs. Both ends of the fixed plate (601) and both ends of the floating plate (602) are provided with a plurality of connecting columns (605) corresponding to each other and satisfying the hooking conditions of the tension springs. Each of the tension springs is arranged perpendicular to the fixed plate (601) and the floating plate (602) through the corresponding connecting column (605).

9. The robot chassis structure according to claim 1, characterized in that: A counterweight block (8) is arranged at the lower end of the mounting chassis (1), and the counterweight block (8) is located in the middle of the mounting chassis (1); the universal wheels (7) are evenly arranged on both sides of the counterweight block (8).

10. The robot chassis structure according to claim 1, characterized in that: An obstacle-crossing wheel (9) is provided at the lower end of the mounting chassis (1), and the horizontal plane where the bottom end of the obstacle-crossing wheel (9) is located is higher than the horizontal plane where the bottom end of the driving wheel (5) is located.

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