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 bottom plate, a first seesaw wheel assembly and two second seesaw wheel assemblies which are mounted on the bottom plate at intervals in the left-right direction; the first seesaw assembly comprises a first universal wheel, a second universal wheel and a first seesaw which is rotatably mounted at the front part of the bottom plate, and the first universal wheel and the second universal wheel are rotatably mounted on the first seesaw at an interval; the second seesaw assembly comprises a driving wheel, a third universal wheel and a second seesaw rotationally installed on the left portion or the right portion of the bottom plate, and the driving wheel and the third universal wheel are rotationally installed on the second seesaw at intervals. The chassis mechanism disclosed by the utility model has better trafficability.

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 use robots; at present, robots are widely used in industrial transportation, express delivery, welcome and explanation, safety inspection 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 realization of the robot.

[0003] In the prior art, the robot chassis mainly consists of a fixed bracket, a spring (or a damped spring), and a driving wheel. This structural method can enable the driving wheel of the robot to continuously grip the ground during movement, prevent the driving wheel from slipping with the ground, and have a shock absorption function.

[0004] When the robot is walking, it will encounter obstacle road conditions such as potholes and bumps. When the existing robot crosses the obstacle road conditions, there is a technical problem of poor passability. Summary of the Invention

[0005] Aiming at the technical problems such as poor passability when the existing robot crosses the obstacle road conditions, the utility model provides a chassis mechanism and a robot.

[0006] In view of the above technical problems, an embodiment of the utility model provides a chassis mechanism, including a bottom plate, a first rocker wheel assembly, and two second rocker wheel assemblies spaced apart in the left-right direction and installed on the bottom plate;

[0007] The first rocker wheel assembly includes a first universal wheel, a second universal wheel, and a first rocker plate rotatably installed at the front of the bottom plate. The first universal wheel and the second universal wheel are rotatably installed on the first rocker plate at intervals;

[0008] The second rocker wheel assembly includes a driving wheel, a third universal wheel, and a second rocker plate rotatably installed on the left or right of the bottom plate. The driving wheel and the third universal wheel are rotatably installed on the second rocker plate at intervals.

[0009] Optionally, the chassis mechanism further includes a first driven wheel and a second driven wheel. The first driven wheel is rotatably installed at the front of the bottom plate, and the second driven wheel is rotatably installed at the rear of the bottom plate.

[0010] Optionally, the first rocker wheel assembly further includes a first rocker shaft and a support frame installed at the front of the bottom plate. The first driven wheel is rotatably installed on the support frame, the first rocker plate is rotatably installed on the support frame through the first rocker shaft, and the first rocker shaft is located between the first universal wheel and the second universal wheel.

[0011] Another embodiment of the present utility model further provides a robot, which includes a robot body and the above-mentioned chassis mechanism, and the robot body is installed on the bottom plate.

[0012] Optionally, the robot body includes a box door, a door driving mechanism, and a box body provided with an accommodation space, and the box body is installed on the bottom plate;

[0013] The door driving mechanism includes a door driving component, a door shaft, and a bent support member. The door shaft is rotatably installed on the box body. The door driving component is installed on the box body and connected to the door shaft, and the door shaft is connected to the box door through the bent support member;

[0014] The door driving component is used to drive the door shaft to rotate, and the door shaft drives the box door to cover or open the accommodation space through the bent support member.

[0015] Optionally, the door driving component includes a rotary driving member, a first bevel gear sleeved on the output end of the rotary driving member, and a second bevel gear sleeved on the door shaft. The first bevel gear meshes with the second bevel gear, and the rotary driving member is installed on the box body.

[0016] Optionally, the door driving component further includes a machine base installed on the box body, and the rotary driving member is installed on the machine base;

[0017] The robot body further includes a sensing component for detecting the rotation angle of the door shaft; the sensing component includes a first sensing member installed on the machine base and a second sensing member installed on the door shaft; the first sensing member and the second sensing member are arranged opposite to each other.

[0018] Optionally, the robot body further includes a door limiting component; the door limiting component includes a limiting bracket, a torsional elastic member, and a limiting shaft installed on the box body. One end of the limiting bracket is connected to the box door, the other end of the limiting bracket is rotatably sleeved on the limiting shaft, and the torsional elastic member is sleeved on the limiting shaft and connected to the limiting bracket.

[0019] Optionally, the box body is further provided with an installation space and a partition plate arranged between the installation space and the accommodation space, and both the door driving component and the bent support member are arranged in the installation space;

[0020] The robot body further includes a reinforcing member installed on the partition plate and located in the installation space.

[0021] Optionally, a plurality of the accommodating spaces are provided on the box body at intervals. The robot body includes a plurality of the door driving mechanisms and a plurality of box doors. The box doors are used to close or open the accommodating spaces one by one, and the door driving mechanisms are connected to the box doors one by one.

[0022] In the present utility model, the chassis mechanism includes a first rocker wheel assembly and a bottom plate. The first rocker wheel assembly includes a first universal wheel, a second universal wheel, and a first rocker plate rotatably installed at the front of the bottom plate. When the front part of the chassis mechanism passes through obstacle sections such as potholes and protrusions, the first universal wheel and the second universal wheel can rise and fall at both ends of the first rocker plate, thereby ensuring the balance of the chassis mechanism when passing through the obstacle section and improving the passability of the chassis mechanism. In addition, the chassis mechanism further includes two second rocker wheel assemblies. The second rocker wheel assembly includes a driving wheel, a third universal wheel, and a second rocker plate rotatably installed on the left or right part of the bottom plate. The driving wheel and the third universal wheel are rotatably installed on the second rocker plate at intervals. When the left and / or right part of the chassis mechanism passes through obstacle sections such as potholes and protrusions, the driving wheel and the third universal wheel can rise and fall at the opposite ends of the second rocker plate, so that the driving wheel remains in contact with the ground, avoiding the accident of the driving wheel idling, and further ensuring the passability of the chassis mechanism. Description of the Drawings

[0023] The present utility model will be further described below in conjunction with the drawings and embodiments.

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

[0025] Figure 2 is a schematic structural diagram of the first rocker wheel assembly of the chassis mechanism provided by an embodiment of the present utility model;

[0026] Figure 3 is a schematic structural diagram of a robot provided by an embodiment of the present utility model;

[0027] Figure 4 is Figure 3 a partial enlarged view of part A in

[0028] Figure 5 is a partial structural diagram of a robot provided by an embodiment of the present utility model;

[0029] Figure 6 is a partial structural diagram of a robot provided by an embodiment of the present utility model.

[0030] The reference numerals in the specification are as follows:

[0031] 1. Chassis mechanism; 11. Bottom plate; 12. First rocker wheel assembly; 121. First universal wheel; 122. Second universal wheel; 123. First rocker plate; 124. Support frame; 125. First rocker shaft; 13. Second rocker wheel assembly; 131. Driving wheel; 132. Third universal wheel; 133. Second rocker plate; 14. First driven wheel; 15. Second driven wheel;

[0032] 2. Robot body; 21. Box door; 22. Door driving mechanism; 221. Door driving assembly; 2211. Rotation driving part; 2212. First bevel gear; 2213. Second bevel gear; 2214. Machine base; 222. Door shaft; 223. Bending support; 23. Box body; 231. Accommodating space; 232. Installation space; 233. Partition board; 24. Door limit assembly; 241. Limit bracket; 242. Torsional elastic part; 243. Limit shaft; 25. Reinforcing part. Detailed implementation mode

[0033] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0034] It should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "middle", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying 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 of the present utility model.

[0035] It should be noted that the front-rear direction described in this application is the front-rear direction of the chassis mechanism (that is, Figure 1 the Y direction in Figure 1 ), and the left-right direction described in this application is the left-right direction of the chassis mechanism (that is, the X direction in

[0036] Figure 1 As shown in

[0037] The first seesaw wheel assembly 12 includes a first universal wheel 121, a second universal wheel 122, and a first seesaw plate 123 rotatably mounted on the front part of the bottom plate 11. The first universal wheel 121 and the second universal wheel 122 are rotatably mounted on the first seesaw plate 123 at intervals. Understandably, the first universal wheel 121 is in front of the second seesaw wheel assembly 13 on the left side, and the second universal wheel 122 is in front of the second seesaw wheel assembly 13 on the right side. The first universal wheel 121 and the second universal wheel 122 are respectively mounted at the left and right ends of the first seesaw plate 123.

[0038] The second seesaw wheel assembly 13 includes a driving wheel 131, a third universal wheel 132, and a second seesaw plate 133 rotatably mounted on the left or right part of the bottom plate 11. The driving wheel 131 and the third universal wheel 132 are rotatably mounted on the second seesaw plate 133 at intervals. Understandably, the driving wheel 131 and the third universal wheel 132 are respectively mounted at the opposite ends of the second seesaw plate 133.

[0039] In the present utility model, the chassis mechanism 1 includes a first seesaw wheel assembly 12 and a bottom plate 11. The first seesaw wheel assembly 12 includes a first universal wheel 121, a second universal wheel 122, and a first seesaw plate 123 rotatably mounted on the front part of the chassis 11. When the front part of the chassis mechanism 1 passes through obstacle sections such as potholes and bumps, the first universal wheel 121 and the second universal wheel 122 can rise and fall at both ends of the first seesaw plate 123, thereby ensuring the balance of the chassis mechanism 1 when passing through the obstacle section and improving the passability of the chassis mechanism 1. In addition, the chassis mechanism 1 further includes two second seesaw wheel assemblies 13. The second seesaw wheel assembly 13 includes a driving wheel 131, a third universal wheel 132, and a second seesaw plate 133 rotatably mounted on the left or right part of the bottom plate 11. The driving wheel 131 and the third universal wheel 132 are rotatably mounted on the second seesaw plate 133 at intervals. When the left and / or right part of the chassis mechanism 1 passes through obstacle sections such as potholes and bumps, the driving wheel 131 and the third universal wheel 132 can rise and fall at the opposite ends of the second seesaw plate 133, so that the driving wheel 131 maintains a state of contacting the ground, avoiding the accident of the driving wheel 131 idling, and further ensuring the passability of the chassis mechanism 1.

[0040] In an embodiment, as Figure 1As shown, the chassis mechanism 1 further includes a first driven wheel 14 and a second driven wheel 15. The first driven wheel 14 is rotatably installed at the front of the bottom plate 11, and the second driven wheel 15 is rotatably installed at the rear of the bottom plate 11. It can be understood that the axles of the first driven wheel 14 and the second driven wheel 15 extend along the left-right direction of the bottom plate 11; the first universal wheel 121 and the second universal wheel 122 are respectively arranged on the left and right sides of the first driven wheel 14, and the two third universal wheels 132 are respectively arranged on the left and right sides of the second driven wheel 15. In this embodiment, the first driven wheel 14 and the second driven wheel 15 can support the chassis mechanism 1 from the front and rear ends, further improving the passability of the chassis mechanism 1.

[0041] In one embodiment, as Figure 1 and Figure 2 shown, the first rocker wheel assembly 12 further includes a first rocker shaft 125 and a support frame 124 installed at the front of the bottom plate 11. The first driven wheel 14 is rotatably installed on the support frame 124, and the first rocker plate 123 is rotatably installed on the support frame 124 through the first rocker shaft 125, and the first rocker shaft 125 is located between the first universal wheel 121 and the second universal wheel 122. It can be understood that the support frame 124 can support the first rocker plate 123, the first universal wheel 121, the second universal wheel 122 and the first driven wheel 14, that is, the first rocker plate 123, the first universal wheel 121, the second universal wheel 122 and the first driven wheel 14 can be installed on the bottom plate 11 through the support frame 124, improving the convenience of disassembly and assembly of the chassis mechanism 1.

[0042] As Figure 3 shown, another embodiment of the present invention further provides a robot, including a robot body 2 and the above-mentioned chassis mechanism 1. The robot body 2 is installed on the bottom plate 11. It can be understood that the robot body 2 is installed above the chassis mechanism 1. This robot includes, but is not limited to, mobile distribution / mobile transportation products such as distribution robots and AGV carts. In the present invention, this robot has good passability and balance.

[0043] In one embodiment, as Figure 3 and Figure 4 shown, the robot body 2 includes a box door 21, a door driving mechanism 22 and a box body 23 provided with a receiving space 231. The box body 23 is installed on the bottom plate 11; it can be understood that the box body 23 is installed on the upper surface of the bottom plate 11.

[0044] As Figure 5As shown, the door driving mechanism 22 includes a door driving assembly 221, a door shaft 222, and a bent support member 223. The door shaft 222 is rotatably installed on the box body 23. The door driving assembly 221 is installed on the box body 23 and connected to the door shaft 222. The door shaft 222 is connected to the box door 21 through the bent support member 223. Understandably, the door driving assembly 221 includes, but is not limited to, a motor, etc. The door shaft 222 is rotatably installed on the side of the accommodation space 231.

[0045] The door driving assembly 221 is used to drive the door shaft 222 to rotate. The door shaft 222 drives the box door 21 to cover or open the accommodation space 231 through the bent support member 223. Preferably, the bent support member 223 includes a first side plate and a second side plate that are vertically connected. One end of the first side plate away from the second side plate is connected to the door shaft 222, and one end of the second side plate away from the first side plate is connected to the box door 21.

[0046] Specifically, the door driving assembly 221 drives the door shaft 222 to rotate. The door shaft 222 drives the box door 21 to rotate and move through the bent support member 223, so that the box door 21 can function to close or open the accommodation space 231. In this embodiment, the opening and closing operation of the box door 21 is simple.

[0047] In one embodiment, as Figure 3 and Figure 4 shown, the door driving assembly 221 includes a rotary driving member 2211, a first bevel gear 2212 sleeved on the output end of the rotary driving member 2211, and a second bevel gear 2213 sleeved on the door shaft 222. The first bevel gear 2212 meshes with the second bevel gear 2213. The rotary driving member 2211 is installed on the box body 23. Understandably, the rotary driving member 2211 includes, but is not limited to, a motor, etc.

[0048] Specifically, the rotary driving member 2211 drives the door shaft 222 to rotate through the meshing first bevel gear 2212 and second bevel gear 2213. In this embodiment, the design of the first bevel gear 2212 and the second bevel gear 2213 makes the door shaft 222 perpendicular to the output end of the rotary driving member 2211, improving the compactness of the robot body 2.

[0049] In one embodiment, the door driving assembly 221 further includes a base 2214 mounted on the box body 23, and the rotary driving member 2211 is mounted on the base 2214; the robot body 2 further includes a sensing assembly (not shown in the figure) for detecting the rotation angle of the door shaft 222; the sensing assembly includes a first sensing member mounted on the base 2214 and a second sensing member mounted on the door shaft 222; the first sensing member and the second sensing member are arranged opposite to each other. It can be understood that among the first sensing member and the second sensing member, one is a sensor and the other is a magnet. In this embodiment, during the process that the rotary driving member 2211 drives the door shaft 222 to rotate, the first sensor can detect the rotation angle of the door shaft 222 in real time through the second sensor. When the sensing assembly detects that the door shaft 222 rotates to a preset angle, the rotary driving member 2211 will stop driving the door shaft 222. In this embodiment, the design of the sensing assembly can limit the opening angle of the box door 21.

[0050] In one embodiment, as Figure 4 and Figure 5 shown, the robot body 2 further includes a door limiting assembly 24; the door limiting assembly 24 includes a limiting bracket 241, a torsional elastic member 242 and a limiting shaft 243 mounted on the box body 23. One end of the limiting bracket 241 is connected to the box door 21, the other end of the limiting bracket 241 is rotatably sleeved on the limiting shaft 243, and the torsional elastic member 242 is sleeved on the limiting shaft 243 and connected to the limiting bracket 241. It can be understood that the torsional elastic member 242 includes but is not limited to a torsion spring, etc. Preferably, the limiting bracket 241 includes a first arm and a second arm connected to the first arm, and the included angle between the first arm and the second arm is an acute angle; one end of the first arm away from the second arm is connected to the box door 21, and the other end of the second arm away from the first arm is rotatably sleeved on the limiting shaft 243.

[0051] Specifically, during the process that the door driving mechanism 22 drives the box door 21 to rotate and open the accommodation space 231, the box door 21 will drive the limiting bracket 241 to rotate around the limiting shaft 243, and during the process that the limiting bracket 241 rotates around the limiting shaft 243, the torsional elastic member 242 will be twisted; when the door driving mechanism 22 drives the box door 21 to rotate and close the accommodation space 231, the restoring force of the torsional elastic member 242 and the door shaft 222 will jointly drive the box door 21 to rotate to the position of closing the accommodation space 231, thereby ensuring the stability of the box door 21 to close or open the accommodation space 231.

[0052] In one embodiment, asFigure 3 and Figure 6 As shown in Figure 6 , an installation space 232 is further provided on the box body 23, and a partition 233 is provided between the installation space 232 and the accommodation space 231. The door driving assembly 221 and the bending support 223 are both arranged in the installation space 232; the robot body 2 further includes a reinforcing member 25 installed on the partition 233 and located in the installation space 232. It can be understood that the partition 233 can be made of non-conductive materials such as plastics, and the reinforcing member 25 can be made of materials such as iron and steel; components such as a control board can also be accommodated in the installation space 232. In this embodiment, the reinforcing member 25 is installed on the partition 233, enhancing the strength and stiffness of the partition 233.

[0053] In one embodiment, as Figure 3 shown, a plurality of the accommodation spaces 231 are provided on the box body 23 at intervals. The robot body 2 includes a plurality of the door driving mechanisms 22 and a plurality of box doors 21. The box doors 21 are used to close or open the accommodation spaces 231 one by one, and the door driving mechanisms 22 are connected to the box doors 21 one by one. It can be understood that the number of the accommodation spaces 231 can be set according to actual needs. For example, there are 2, 4, 6, 9, etc. accommodation spaces 231 on the box door 21; each accommodation space 231 is configured with a box door 21, and each door driving mechanism 22 can drive a box door 21 to rotate. In this embodiment, the design of the plurality of accommodation spaces 231 enables different items to be stored in different accommodation spaces 231, improving the applicability of the robot.

[0054] The above are only embodiments of the chassis mechanism and the robot of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A chassis mechanism, characterized in that, It includes a bottom plate, a first rocking wheel assembly, and two second rocking wheel assemblies that are installed on the bottom plate at intervals in the left-right direction; The first rocking wheel assembly includes a first universal wheel, a second universal wheel, and a first rocking plate rotatably installed at the front of the bottom plate. The first universal wheel and the second universal wheel are rotatably installed on the first rocking plate at intervals; The second rocking wheel assembly includes a driving wheel, a third universal wheel, and a second rocking plate rotatably installed on the left or right part of the bottom plate. The driving wheel and the third universal wheel are rotatably installed on the second rocking plate at intervals.

2. The chassis mechanism according to claim 1, wherein The chassis mechanism further includes a first driven wheel and a second driven wheel. The first driven wheel is rotatably installed at the front of the bottom plate, and the second driven wheel is rotatably installed at the rear of the bottom plate.

3. The chassis mechanism according to claim 2, characterized in that, The first rocking wheel assembly further includes a first rocking shaft and a support frame installed at the front of the bottom plate. The first driven wheel is rotatably installed on the support frame. The first rocking plate is rotatably installed on the support frame through the first rocking shaft, and the first rocking shaft is located between the first universal wheel and the second universal wheel.

4. A robot, characterized in that, It includes a robot body and the chassis mechanism according to any one of claims 1 to 3, and the robot body is installed on the bottom plate.

5. The robot according to claim 4, characterized in that, The robot body includes a box door, a door driving mechanism, and a box body with an accommodation space. The box body is installed on the bottom plate; The door driving mechanism includes a door driving component, a door shaft, and a bending support. The door shaft is rotatably installed on the box body. The door driving component is installed on the box body and connected to the door shaft. The door shaft is connected to the box door through the bending support; The door driving component is used to drive the door shaft to rotate, and the door shaft drives the box door to cover or open the accommodation space through the bending support.

6. The robot according to claim 5, characterized in that, The door driving component includes a rotary driving member, a first bevel gear sleeved on the output end of the rotary driving member, and a second bevel gear sleeved on the door shaft. The first bevel gear meshes with the second bevel gear, and the rotary driving member is installed on the box body.

7. The robot according to claim 6, wherein The door driving component further includes a base installed on the box body, and the rotary driving member is installed on the base; The robot body further includes a sensing component for detecting the rotation angle of the door shaft; the sensing component includes a first sensing member installed on the base and a second sensing member installed on the door shaft; the first sensing member and the second sensing member are arranged opposite to each other.

8. The robot according to claim 5, characterized in that, The robot body further includes a door limit component; the door limit component includes a limit bracket, a torsional elastic member, and a limit shaft installed on the box body. One end of the limit bracket is connected to the box door, the other end of the limit bracket is rotatably sleeved on the limit shaft, and the torsional elastic member is sleeved on the limit shaft and connected to the limit bracket.

9. The robot according to claim 5, wherein The box body is also provided with an installation space and a partition between the installation space and the accommodation space. The door driving component and the bending support are both arranged in the installation space; The robot body further includes a strengthening member installed on the partition and located in the installation space.

10. The robot according to claim 5, characterized in that, The box body is provided with a plurality of the accommodating spaces distributed at intervals, the robot body includes a plurality of the door driving mechanisms and a plurality of box doors, the box doors are used to close or open the accommodating spaces in a one-to-one correspondence manner, and the door driving mechanisms are connected to the box doors in a one-to-one correspondence manner.

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