Wheel-leg combined type chassis

Abstract

The utility model provides a wheel-leg combined type chassis, and relates to the field of wheel-leg combined type chassis, the wheel-leg combined type chassis comprises a supporting mechanism, the main body of the supporting mechanism is a chassis structure, an adjusting assembly is installed in the supporting mechanism, and a wheel-leg mechanism is installed at the bottom end of the adjusting assembly, the chain assembly and the chain wheel assembly jointly form a transmission structure, a connecting assembly is fixedly connected to the peripheral face of the adjusting assembly, and the connecting assembly and the adjusting assembly jointly form a mounting structure for the wheel-leg mechanism. The problem that an existing wheel leg can only move in one direction and cannot quickly pass through a narrow space is solved. And two connecting assemblies fixedly connected to the outer sides of the adjusting assemblies are further arranged, and telescopic legs are further hinged to the inner sides of the connecting assemblies, so that when the mounting bracket and the moving wheels move, effective flexible buffering operation can be conducted through the telescopic legs, and the stability of the chassis during moving is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the wheel -leg compound chassis field especially relates to a wheel -leg compound chassis. BACKGROUND

[0002] At present, along with the development of science and technology, mobile robot is more and and more widely used in national production and life, for example various competition robots, handling robots, cleaning robots and service robots etc., and the wheel -leg robot is a kind of robot with leg support mobile wheel.

[0003] However, the chassis of the existing wheel -leg compound robot when using, since wheel leg can only move towards one direction, so that it in the process of moving, when narrow space cannot pass through quickly.

[0004] Therefore, it is necessary to provide a new technical scheme to improve one or more problems in the above scheme.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those skilled in the art. INVENTION CONTENTS

[0006] The utility model provides a wheel -leg compound chassis, solve the problem that wheel leg can only move towards one direction in prior art, so that it in the process of moving, when narrow space cannot pass through quickly.

[0007] According to the embodiment of the present application, a wheel -leg compound chassis is provided, which comprises a support mechanism, the main body of the support mechanism is a chassis structure, the inside of the support mechanism is provided with an adjusting assembly, the bottom end of the adjusting assembly is provided with a wheel -leg mechanism;

[0008] The cross section of the adjusting assembly is a circular structure, the top end face of the adjusting assembly is fixedly connected with a shaft assembly of cylindrical structure, the shaft assembly is provided with two parts, the two shaft assemblies are connected with the support mechanism through bearing seat, the outer side of the two shaft assemblies is provided with a sprocket assembly in interference fit, the outer side of the two sprocket assemblies is further provided with a chain assembly, the chain assembly and the sprocket assembly together constitute a transmission structure, the outer periphery of the adjusting assembly is fixedly connected with a connecting assembly, and the connecting assembly and the adjusting assembly together constitute an installation structure for the wheel -leg mechanism.

[0009] As a preferred embodiment, the bottom end face of the support mechanism is fixedly connected with two longitudinally arranged side plate assemblies, the inner side of the support mechanism is fixedly connected with a transversely arranged mounting assembly, the bottom end face of the buffer assembly is fixedly connected with a mounting bracket, and the left and right sides of the mounting bracket are provided with a slot.

[0010] As a preferred implementation, the top end of the installation assembly is provided with a servo motor A.

[0011] As a preferred implementation, the bottom end surface of the adjustment assembly is fixedly connected with a longitudinal wheel leg mechanism.

[0012] As a preferred implementation, the bottom end of the servo motor A is provided with an output shaft, and the output shaft is connected with the rotating shaft assembly through a connecting shaft.

[0013] As a preferred implementation, the bottom end output end of the wheel leg mechanism is provided with a buffer assembly.

[0014] As a preferred implementation, the bottom end surface of the buffer assembly is fixedly connected with a mounting bracket, and the left and right sides of the mounting bracket are provided with a slot.

[0015] As a preferred implementation, the left and right sides of the mounting bracket are hingedly connected with two telescopic legs, and the side of the telescopic leg away from the mounting bracket is hingedly connected with the connecting assembly.

[0016] As a preferred implementation, the inside of the mounting bracket is rotatably connected with a moving wheel, and the moving wheel and the mounting bracket together constitute a moving structure.

[0017] As a preferred implementation, the outside of the mounting bracket is provided with a servo motor B, and the side of the servo motor B close to the mounting bracket is provided with an output shaft and is connected with the moving wheel through the output shaft.

[0018] After using the above technical scheme, the beneficial effects of the present application are:

[0019] 1、In the present application, the chain wheel assembly is fixedly connected to the outside of the rotating shaft assembly, and the chain assembly is further transmission connected to the outside of the two chain wheel assemblies, so that when the single rotating shaft assembly and the chain wheel assembly are rotating, the meshing transmission of the chain wheel assembly and the chain assembly can drive the other mounting bracket and the wheel leg mechanism to perform synchronous steering adjustment operation, so that the wheel leg mechanism can flexibly adjust the moving direction according to the operation requirement, so that it can quickly pass through when encountering a narrow space, and thus achieve a more practical purpose.

[0020] 2、In the present application, the two connecting assemblies are fixedly connected to the outside of the adjustment assembly, and the telescopic legs are hingedly connected to the inside of the connecting assembly, so that when the mounting bracket and the wheel leg mechanism are moving, the telescopic legs can effectively perform flexible buffering operation, and compared with the traditional supporting structure, the design can be more comfortable when used, and the stability of the chassis when moving is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced as follows. Obviously, the drawings described below are only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 It is a front side view structure schematic diagram of the wheel-leg composite chassis after part structure sectioning.

[0023] Figure 2 It is a whole shaft side view structure schematic diagram of the wheel-leg composite chassis.

[0024] Figure 3 It is a top side view structure schematic diagram of the wheel-leg composite chassis.

[0025] Figure 4 It is a combined structure schematic diagram of the adjusting assembly and the connecting assembly of the wheel-leg composite chassis.

[0026] Figure 5 It is a left view structure schematic diagram of the wheel-leg composite chassis.

[0027] Figure 6 It is a combined structure schematic diagram of the wheel-leg mechanism and the buffer assembly of the wheel-leg composite chassis.

[0028] Reference signs:

[0029] 1, supporting mechanism; 101, side plate assembly; 102, mounting assembly; 103, servo motor A; 2, adjusting assembly; 201, rotating shaft assembly; 202, chain wheel assembly; 203, chain assembly; 204, connecting assembly; 3, wheel-leg mechanism; 301, buffer assembly; 302, mounting bracket; 303, telescopic leg; 304, moving wheel; 305, servo motor B. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0031] Reference is made to Figures 1-6As shown in the figure, a wheel-leg composite chassis comprises a support mechanism 1, the main body of the support mechanism 1 is a chassis structure, an adjusting assembly 2 is installed inside the support mechanism 1, a wheel-leg mechanism 3 is installed at the bottom end of the adjusting assembly 2, a buffer assembly 301 is installed on the bottom end output end of the wheel-leg mechanism 3, a mounting bracket 302 is fixedly connected to the bottom end face of the buffer assembly 301, and a slot is formed in the left and right sides of the mounting bracket 302.

[0032] The cross section of the adjusting assembly 2 is a circular structure, a cylindrical shaft assembly 201 is fixedly connected to the center of the top end face of the adjusting assembly 2, there are two shaft assemblies 201, the two shaft assemblies 201 are connected to the support mechanism 1 through bearing seats, the outer sides of the two shaft assemblies 201 are provided with an interference fit chain wheel assembly 202, the outer sides of the two chain wheel assemblies 202 are also provided with a chain assembly 203, the chain assembly 203 and the chain wheel assembly 202 together form a transmission structure, and a connecting assembly 204 is fixedly connected to the outer periphery of the adjusting assembly 2, the connecting assembly 204 and the adjusting assembly 2 together form a mounting structure for the telescopic leg 303; the left and right sides of the mounting bracket 302 are hingedly connected to two telescopic legs 303, one side of the telescopic leg 303 away from the mounting bracket 302 is hingedly connected to the connecting assembly 204; a moving wheel 304 is rotatably connected inside the mounting bracket 302, and the moving wheel 304 and the mounting bracket 302 together form a moving structure.

[0033] In this embodiment, the chain wheel assembly 202 is fixedly connected to the outer side of the shaft assembly 201, and the chain assembly 203 is also transmissionally connected to the outer side of the two chain wheel assemblies 202, so that when a single shaft assembly 201 and chain wheel assembly 202 are rotating, the other mounting bracket 302 and moving wheel 304 can be driven to rotate synchronously through the meshing transmission of the chain wheel assembly 202 and the chain assembly 203, so that the moving direction of the moving wheel 304 can be flexibly adjusted according to the operation requirements, thereby quickly passing through narrow spaces and achieving a more practical purpose.

[0034] In this embodiment, the two connecting assemblies 204 are fixedly connected to the outer side of the adjusting assembly 2, and the telescopic legs 303 are hingedly connected to the inner side of the connecting assembly 204, so that when the mounting bracket 302 and the moving wheel 304 are moving, the telescopic legs 303 can effectively perform flexible buffering operation, and compared with the traditional support structure, the design can be more comfortable when used, and the stability of the chassis when moving is improved.

[0035] In one embodiment, the bottom end surface of the support mechanism 1 is fixedly connected with two longitudinally arranged side plate assemblies 101, the inner side of the support mechanism 1 is fixedly connected with a transversely arranged mounting assembly 102, the top end of the mounting assembly 102 is mounted with a servo motor A 103, the outer side of the mounting bracket 302 is mounted with a servo motor B 305, the side close to the mounting bracket 302 of the servo motor B 305 is provided with an output shaft, and the output shaft is connected with a moving wheel 304.

[0036] In one embodiment, the bottom end surface of the support mechanism 1 is fixedly connected with two longitudinally arranged side plate assemblies 101, the inner side of the support mechanism 1 is fixedly connected with a transversely arranged mounting assembly 102, the top end of the mounting assembly 102 is mounted with a servo motor A 103, the outer side of the mounting bracket 302 is mounted with a servo motor B 305, the side close to the mounting bracket 302 of the servo motor B 305 is provided with an output shaft, and the output shaft is connected with a moving wheel 304.

[0037] The wheel-leg composite chassis provided by the embodiment can realize the starting operation of the servo motor B 305 by adding a corresponding PLC control board and an electric control structure in the support mechanism 1, or can start the servo motor B 305 arranged outside the mounting bracket 302 manually, and realize the moving operation by the rotation driving of the servo motor B 305 to the moving wheel 304 when moving.

[0038] In the moving process of the wheel-leg composite chassis, when the distance between the support mechanism 1 (i.e. the chassis) and the ground needs to be adjusted, the buffer assembly 301 and the mounting bracket 302 can be stretched upward or pushed out downward by starting the wheel-leg mechanism 3 arranged on the bottom end surface of the adjusting assembly 2, and the support operation can be realized by the extension legs 303 arranged in the mounting bracket 302 and the connecting assembly 204, and when the steering adjustment needs to be performed, the rotation driving of the servo motor A 103 to the rotation shaft assembly 201 can be realized by starting the servo motor A 103 arranged on the top end surface of the mounting assembly 102, and the steering adjustment of the two moving wheels 304 can be realized by the meshing transmission of the sprocket assembly 202 and the chain assembly 203, so as to achieve the purpose of moving in a narrow space.

[0039] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A wheel-leg composite chassis, comprising a support mechanism (1), wherein the main body of the support mechanism (1) is a chassis structure, characterized in that, The support mechanism (1) is equipped with an adjustment component (2), and a wheel leg mechanism (3) is installed at the bottom of the adjustment component (2). The cross-section of the adjustment component (2) is circular. A cylindrical rotating shaft assembly (201) is fixedly connected to the center of the top surface of the adjustment component (2). There are two rotating shaft assemblies (201). Both rotating shaft assemblies (201) are connected to the support mechanism (1) through bearing seats. A sprocket assembly (202) is interference-fitted on the outer side of both rotating shaft assemblies (201). A chain assembly (203) is also installed on the outer side of both sprocket assemblies (202). The chain assembly (203) and the sprocket assembly (202) together form a transmission structure. A connecting assembly (204) is fixedly connected to the outer circumference of the adjustment component (2). The connecting assembly (204) and the adjustment component (2) together form the mounting structure for the wheel leg mechanism (3).

2. The wheel-leg composite chassis according to claim 1, characterized in that, Two longitudinally arranged side plate assemblies (101) are fixedly connected to the bottom end surface of the support mechanism (1), and a transversely arranged mounting assembly (102) is fixedly connected to the inner side of the support mechanism (1).

3. The wheel-leg composite chassis according to claim 2, characterized in that, A servo motor A (103) is mounted on the top of the mounting assembly (102).

4. The wheel-leg composite chassis according to claim 1, characterized in that, The adjustment component (2) has a longitudinal wheel leg mechanism (3) fixedly connected to its bottom end surface.

5. A wheel-leg composite chassis according to claim 3, characterized in that, The servo motor A (103) has an output shaft at its bottom end, and the output shaft is connected to the rotating shaft assembly (201) via a coupling.

6. The wheel-leg composite chassis according to claim 1, characterized in that, A buffer assembly (301) is installed on the bottom output end of the wheel leg mechanism (3).

7. A wheel-leg composite chassis according to claim 6, characterized in that, A mounting bracket (302) is fixedly connected to the bottom surface of the buffer assembly (301), and slots are provided on both the left and right sides of the mounting bracket (302).

8. A wheel-leg composite chassis according to claim 7, characterized in that, The mounting bracket (302) has two telescopic legs (303) hinged to each other on its left and right sides. The side of the telescopic leg (303) away from the mounting bracket (302) is hinged to the connecting component (204).

9. A wheel-leg composite chassis according to claim 8, characterized in that, The mounting bracket (302) is internally connected to a movable wheel (304), and the movable wheel (304) and the mounting bracket (302) together form a movable structure.

10. A wheel-leg composite chassis according to claim 9, characterized in that, A servo motor B (305) is mounted on the outside of the mounting bracket (302). The servo motor B (305) has an output shaft on the side closest to the mounting bracket (302) and is connected to the moving wheel (304) through the output shaft.

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