Robot chassis and robot

Abstract

The utility model discloses a robot chassis and a robot. The robot chassis comprises a base, a driving support, a first driving wheel, a second driving wheel, a first tension spring, a first universal wheel and a damping assembly. The base comprises a first mounting surface and a second mounting surface which are oppositely arranged; the driving support comprises a rotating shaft and a driving frame body, the driving frame body is rotatably connected with the base through the rotating shaft, and the driving frame body protrudes out of the first installation face. The first driving wheel and the second driving wheel are connected to the two ends of the driving frame body respectively. The first tension spring is arranged on the first mounting surface, the first tension spring comprises a first end part and a second end part which are oppositely arranged, the first end part is connected with the base, and the second end part is connected with the driving bracket. When the robot runs to a complex road surface, a gap is formed between the tread of the driving wheel and the ground, at the moment, the first tension spring contracts to form tensile force, and under the action of the tensile force and gravity, the driving wheel can be better attached to the ground and has better road holding force.

Description

Technical Field

[0001] This application relates to the field of robots, and particularly to a robot chassis and a robot. Background Art

[0002] In recent years, intelligent robot technology has developed rapidly in the civilian field, especially wheeled robots are the most common. With the continuous improvement of robot performance, the application scope of mobile robots has also been continuously expanded. They are not only widely used in industries such as industry, agriculture, medical care, and service, but also well applied in harmful and dangerous occasions such as urban security, national defense, and space exploration fields. This requires robots to have stable obstacle-crossing and ditch-crossing capabilities. At present, when some robots pass through slopes, obstacles, and ditches, the driving wheels of the robots will have problems such as slipping due to the decrease in the contact friction force with the ground. Summary of the Invention

[0003] This application aims to provide a robot chassis and a robot, aiming to improve the grip of the driving wheels of the robot and reduce the problem of the robot slipping due to the decrease in the contact friction force between the driving wheels and the ground.

[0004] In a first aspect, this application provides a robot chassis, including a base, a driving bracket, a first driving wheel, a second driving wheel, a first tension spring, a first universal wheel, and a shock-absorbing component. The base includes a first mounting surface and a second mounting surface arranged oppositely. The driving bracket includes a rotating shaft and a driving frame body. The driving frame body is rotatably connected to the base through the rotating shaft, and the driving frame body protrudes from the first mounting surface. The first driving wheel and the second driving wheel are respectively connected to two ends of the driving frame body. The first driving wheel and the second driving wheel are coaxial, and at least part of the first driving wheel and the second driving wheel protrude from the second mounting surface. The first tension spring is arranged on the first mounting surface. The first tension spring includes a first end and a second end arranged oppositely. The first end is connected to the base, and the second end is connected to the driving bracket. The distance from the first end to the first mounting surface is H1, and the distance from the second end to the first mounting surface is H2. For H1 and H2: H1 < H2. The first universal wheel is arranged on the base and at least part of it protrudes from the second mounting surface. The shock-absorbing component is connected between the base and the first universal wheel.

[0005] In the above solution, the robot chassis includes two driving wheels and one omnidirectional wheel, which enables the robot to turn flexibly through the cooperation of the driving wheels and the omnidirectional wheel during travel. The setting of the shock absorption component can reduce the vibration of the omnidirectional wheel through the absorption of the shock by the shock absorption component on the complex terrain road surface, and improve the stability of the chassis. The two driving wheels are connected to the driving bracket, and the driving bracket and the base are rotatably connected. The first end of the first tension spring is arranged on the base, and the second end is arranged on the driving bracket, and it is defined that H1 < H2, so that the first tension spring can apply a downward pulling force to the driving bracket and the driving wheels. Such a setting can enhance the grip of the driving wheels during the travel of the robot. Specifically, when the robot travels to a complex road surface, a gap is formed between the tread of the driving wheel and the ground. At this time, the first tension spring contracts to form a pulling force. When the distances of the two ends of the first tension spring from the first mounting surface are different, the second end will drive the driving bracket to rotate around the rotation axis, so that the driving bracket drives the two driving wheels to move downward. At this time, under the action of the pulling force and gravity, the driving wheels can better fit the ground, have better grip, make the robot travel more stably, and can reduce the problem that the robot slips due to the reduction of the contact friction force between the driving wheels and the ground.

[0006] In some embodiments, the robot chassis further includes a second tension spring arranged on the first mounting surface. The second tension spring includes a third end and a fourth end arranged oppositely. The third end is connected to the base, and the fourth end is connected to the driving bracket. Along the direction perpendicular to the first mounting surface, the distance from the third end to the first mounting surface is H3, and the distance from the fourth end to the first mounting surface is H4. For H3 and H4: H3 < H4. After adding the second tension spring, the pulling force of the tension spring increases, compensates more for the gravity of the driving wheels, and can better improve the grip of the driving wheels.

[0007] In some embodiments, the base is provided with a first mounting hole penetrating through the first mounting surface and the second mounting surface. The robot chassis further includes a first mounting bracket arranged on the first mounting surface. The first omnidirectional wheel is arranged in the first mounting hole and connected to the first mounting bracket. By providing the first mounting hole in the base and arranging the omnidirectional wheel in the first mounting hole, it is beneficial to lower the center of gravity of the base and provide the stability of the robot chassis.

[0008] In some embodiments, the first mounting bracket includes a first frame, a first mounting side plate, a second mounting side plate, and a mounting plate. The first frame is disposed on the first mounting surface and mounted on the first mounting hole. Both the first and second mounting side plates are disposed on the first mounting surface and are located on opposite sides of the first mounting hole. The first frame includes a top plate, and at the end of the mounting plate away from the drive wheel assembly, the elastic element abuts against the top plate and the mounting plate. At the end of the mounting plate near the drive wheel assembly, the mounting plate is hinged to both the first and second mounting side plates. By providing the mounting plate, which is rotatably disposed on the first and second mounting side plates, and in conjunction with the elastic element, the stability of the caster wheels can be improved while simultaneously enhancing the shock absorption effect.

[0009] In some embodiments, the robot chassis further includes a second omnidirectional wheel and a second mounting bracket; the base has a second mounting hole penetrating the first mounting surface and the second mounting surface. The second mounting bracket is disposed on the first mounting surface and at least partially surrounds the second mounting hole; the second omnidirectional wheel is disposed in the second mounting hole and connected to the second mounting bracket. By providing the second omnidirectional wheel, the robot chassis can be made more flexible when turning, and by placing the second omnidirectional wheel in the second mounting hole, the stability of the robot chassis can be improved.

[0010] In some embodiments, the robot chassis further includes a first auxiliary wheel and a second auxiliary wheel, which are disposed on the second mounting surface. The first and second auxiliary wheels are located on either side of the second omnidirectional wheel, coaxial with each other, and their axes are parallel to the axes of the first and second drive wheels. The first and second auxiliary wheels provide additional support, thereby improving the robot's stability when navigating complex terrain. Furthermore, the auxiliary wheels enhance the robot's stability when stationary.

[0011] In some embodiments, the first drive wheel and the second drive wheel are provided with a plurality of through holes, which are distributed around the edges of the first drive wheel and the second drive wheel. Providing the plurality of through holes allows the drive wheels to have greater elasticity, providing a cushioning effect on complex road surfaces, thereby improving the grip of the drive wheels on complex road sections.

[0012] In some embodiments, the base has a first drive hole and a second drive hole penetrating the first mounting surface and the second mounting surface. The first drive wheel is disposed in the first drive hole, and the second drive wheel is disposed in the second drive hole. Disposing the drive wheels in the drive holes lowers the center of gravity of the base, thereby improving the stability of the robot chassis.

[0013] In some embodiments, the second end is closer to the first omnidirectional wheel than the first end. By setting the relative positional relationship between the first end and the second end, the tension of the tension spring can be distributed in the opposite direction of the robot's travel direction, which can reduce the disturbance of the tension to the robot and enhance the stability of the robot chassis.

[0014] Secondly, this application also proposes a robot, including a robot chassis as described in any of the embodiments of the first aspect above.

[0015] Additional aspects and advantages of the embodiments of this application will be described, shown, or illustrated in part by way of implementation of the embodiments of this application in the following description. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are not intended to limit the embodiments, and elements having the same reference numerals in the drawings are designated as similar elements.

[0017] Figure 1 This is a schematic diagram of the structure of the robot chassis according to some embodiments of this application;

[0018] Figure 2 This is a bottom view of the robot chassis according to some embodiments of this application;

[0019] Figure 3 This is a top view of the robot chassis according to some embodiments of this application;

[0020] Figure 4 This is a schematic diagram of a shock-absorbing component according to some embodiments of this application;

[0021] Figure 5 This is a schematic diagram of a drive bracket according to some embodiments of this application;

[0022] Figure 6 This is a schematic diagram of a first tension spring and a base according to some embodiments of this application;

[0023] Figure 7 This is a schematic diagram of a second tension spring and a base according to some embodiments of this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Base; 11. First mounting surface; 12. Second mounting surface; 13. First mounting hole; 14. Second mounting hole; 15. First drive hole; 16. Second drive hole;

[0026] 2. Drive bracket; 21. Drive frame; 22. Rotating shaft;

[0027] 31. First drive wheel; 32. Second drive wheel;

[0028] 41. First tension spring; 411. First end; 412. Second end; 42. Second tension spring; 421. Third end; 422. Fourth end;

[0029] 51. First omnidirectional wheel; 52. Second omnidirectional wheel;

[0030] 6. Vibration damping assembly; 61. Elastic element; 62. First bracket; 621. First frame; 6211. Top plate; 622. First mounting side plate; 623. Second mounting side plate; 624. Mounting plate;

[0031] 7. Second support;

[0032] 81. First auxiliary wheel; 82. Second auxiliary wheel. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0034] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0035] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0036] The technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0037] Firstly, this application proposes a robot chassis, please refer to... Figure 1, including a base 1, a driving bracket 2, a first driving wheel 31, a second driving wheel 32, a first tension spring 41, a first universal wheel 51 and a shock absorption component 6.

[0038] Specifically, please refer to Figure 1 and Figure 2 . The base 1 includes a first mounting surface 11 and a second mounting surface 12 which are arranged oppositely. Please refer to Figure 5 . The driving bracket 2 includes a rotating shaft 22 and a driving frame body 21. The driving frame body 21 is rotatably connected to the base 1 through the rotating shaft 22, and the driving frame body 21 protrudes from the first mounting surface 11. The rotating shaft 22 enables the driving frame body 21 to rotate around it. It can be understood that the rotating shaft 22 can be set as a long shaft connected to both ends of the driving frame body 21, or can be set as two short shafts respectively located at both ends of the driving frame body 21. The first driving wheel 31 and the second driving wheel 32 are respectively connected to both ends of the driving frame body 21. The first driving wheel 31 and the second driving wheel 32 are coaxial, and at least part of the first driving wheel 31 and the second driving wheel 32 protrudes from the second mounting surface 12.

[0039] Please refer to Figure 1 and Figure 3 . The first tension spring 41 is arranged on the first mounting surface 11. The first tension spring 41 includes a first end 411 and a second end 412 which are arranged oppositely. The first end 411 is connected to the base 1, and the second end 412 is connected to the driving bracket 2. It can be understood that the second end 412 can be directly connected to the driving bracket 2, or can be indirectly connected to the driving bracket 2 through a connecting piece such as an L-shaped plate. Please refer to Figure 6 . The distance from the first end 411 to the first mounting surface 11 is H1, and the distance from the second end 412 to the first mounting surface 11 is H2. For H1 and H2: H1 < H2. To make the tension distribution uniform, the first tension spring 41 can be arranged at the middle position of the driving bracket 2. The first universal wheel 51 is arranged on the base 1 and at least part of it protrudes from the second mounting surface 12. The shock absorption component 6 is connected between the base 1 and the first universal wheel 51.

[0040] In the above solution, the robot chassis includes two driving wheels and a universal wheel, which enables the robot to turn flexibly through the cooperation of the driving wheels and the universal wheel during travel. The setting of the shock absorption component 6 can reduce the vibration of the universal wheel in complex terrain roads through the absorption of disturbances by the shock absorption component 6, and improve the stability of the chassis. The two driving wheels are connected to the driving bracket 2, and the driving bracket 2 and the base 1 are rotatably connected. The first end 411 of the first tension spring 41 is arranged on the base 1, and the second end 412 is arranged on the driving bracket 2, and it is defined that H1 < H2, so that the first tension spring 41 can apply a downward pulling force to the driving bracket 2 and the driving wheels. Such a setting can enhance the grip of the driving wheels during the travel of the robot. Specifically, when the robot travels to a complex road surface, a gap is formed between the tread of the driving wheel and the ground. At this time, the first tension spring 41 contracts to form a pulling force. When the distances of the two ends of the first tension spring 41 from the first mounting surface 11 are different, the second end 412 will drive the driving bracket 2 to rotate around the rotation axis 22, so that the driving bracket 2 drives the two driving wheels to move downward. At this time, under the action of the pulling force and gravity, the driving wheels can better fit the ground, have better grip, and make the robot travel more stably.

[0041] In some embodiments, please refer to Figure 1 and Figure 3 . The robot chassis further includes a second tension spring 42 arranged on the first mounting surface 11. The second tension spring 42 includes a third end 421 and a fourth end 422 arranged opposite to each other. The third end 421 is connected to the base 1, and the fourth end 422 is connected to the driving bracket 2. Please refer to Figure 7 . Along the direction perpendicular to the first mounting surface 11, the distance from the third end 421 to the first mounting surface 11 is H3, and the distance from the fourth end 422 to the first mounting surface 11 is H4; for H3 and H4: there is H3 < H4. It can be understood that after adding the second tension spring 42, in order to make the pulling force uniform, the first tension spring 41 and the second tension spring 42 can be respectively arranged on both sides of the driving bracket 2. After adding the second tension spring 42, the pulling force of the tension spring increases, compensates more for the gravity of the driving wheels, and can better improve the grip of the driving wheels.

[0042] In some embodiments, please refer to Figures 2 to 4 . The base 1 is provided with a first mounting hole 13 penetrating through the first mounting surface 11 and the second mounting surface 12. The shock absorption component 6 includes a first mounting bracket. The first mounting bracket is arranged on the first mounting surface 11, and the first universal wheel 51 is arranged in the first mounting hole 13 and connected to the first mounting bracket. By providing the first mounting hole 13 in the base ① and arranging the universal wheel in the first mounting hole 13, it is beneficial to lower the center of gravity of the base 1 and provide the stability of the robot chassis.

[0043] Furthermore, in some embodiments, please refer to Figure 4The first mounting bracket includes a first frame 621, a first mounting side plate 622, a second mounting side plate 623, and a mounting plate 624.

[0044] A first frame 621 is disposed on a first mounting surface 11 and mounted on a first mounting hole 13. A first mounting side plate 622 and a second mounting side plate 623 are both disposed on the first mounting surface 11, and are located on opposite sides of the first mounting hole 13. The first frame 621 includes a top plate 6211. At the end of the mounting plate 624 furthest from the drive bracket 2, an elastic element 61 abuts against the top plate 6211 and the mounting plate 624. At the end of the mounting plate 624 closest to the drive bracket 2, the mounting plate 624 is hinged to the first mounting side plate 622 and the second mounting side plate 623. By providing the mounting plate 624, which is rotatably disposed on the first mounting side plate 622 and the second mounting side plate 623, and in conjunction with the elastic element 61, the stability of the caster wheels can be improved while simultaneously enhancing the shock absorption effect.

[0045] In some embodiments, please refer to Figure 1 and Figure 2 The robot chassis also includes a second omnidirectional wheel 52 and a second mounting bracket. The base 1 has a second mounting hole 14 extending through the first mounting surface 11 and the second mounting surface 12. The second mounting bracket is disposed on the first mounting plane and at least partially surrounds the second mounting hole 14. The second omnidirectional wheel 52 is disposed in the second mounting hole 14 and connected to the second mounting bracket. By providing the second omnidirectional wheel 52, the robot chassis can be made more flexible when turning, and by placing the second omnidirectional wheel 52 within the second mounting hole 14, the stability of the robot chassis can be improved.

[0046] In some embodiments, please refer to Figure 2 The robot chassis also includes a first auxiliary wheel 81 and a second auxiliary wheel 82, with a second mounting surface 12 on both sides. The first and second auxiliary wheels 81 and 82 are located on opposite sides of the second omnidirectional wheel 52, coaxial with each other, and their axes are parallel to the axes of the first and second drive wheels 31 and 32. The first and second auxiliary wheels 81 and 82 provide additional support, thereby improving the robot's stability when navigating complex terrain. Furthermore, the auxiliary wheels enhance the robot's stability when stationary.

[0047] In some embodiments, the first drive wheel 31 and the second drive wheel 32 are provided with a plurality of through holes (not shown in the figure), which are distributed around the edges of the first drive wheel 31 and the second drive wheel 32. Providing a plurality of through holes can make the drive wheels more elastic and have a buffering effect on complex road surfaces, thereby improving the grip of the drive wheels on complex road sections.

[0048] In some embodiments, please refer to Figure 2 and Figure 3 The base 1 has a first drive hole 15 and a second drive hole 16 that penetrate the first mounting surface 11 and the second mounting surface 12. The first drive wheel 31 is disposed in the first drive hole 15, and the second drive wheel 32 is disposed in the second drive hole 16. By placing the drive wheels in the drive holes, the center of gravity of the base 1 can be lowered, thereby improving the stability of the robot chassis.

[0049] In some embodiments, please refer to Figure 1 The second end 412 is closer to the first omnidirectional wheel 51 than the first end 411. By setting the relative positional relationship between the first end 411 and the second end 412, the tension of the spring can be distributed in the opposite direction of the robot's travel direction, which can reduce the disturbance of the tension to the robot and enhance the stability of the robot chassis.

[0050] Secondly, this application also proposes a robot, including a robot chassis as described in any of the embodiments of the first aspect above.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robot chassis, characterized in that, The robot chassis comprises: a base comprising a first mounting surface and a second mounting surface arranged oppositely; a driving support comprising a rotating shaft and a driving frame body, the driving frame body being rotatably connected to the base through the rotating shaft, the driving frame body protruding from the first mounting surface; a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel being respectively connected to two ends of the driving frame body, the first driving wheel and the second driving wheel being coaxial and at least partially protruding from the second mounting surface; a first tension spring arranged on the first mounting surface, the first tension spring comprising a first end portion and a second end portion arranged oppositely, the first end portion being connected to the base, the second end portion being connected to the driving support, a distance from the first end portion to the first mounting surface being H1, a distance from the second end portion to the first mounting surface being H2, H1 < H2; a first universal wheel arranged on the base and at least partially protruding from the second mounting surface; a damping assembly comprising an elastic member, the damping assembly being connected between the base and the first universal wheel.

2. The robot chassis of claim 1, wherein, The robot chassis further comprises a second tension spring arranged on the first mounting surface, the second tension spring comprising a third end portion and a fourth end portion arranged oppositely, the third end portion being connected to the base, the fourth end portion being connected to the driving support; in a direction perpendicular to the first mounting surface, a distance from the third end portion to the first mounting surface being H3, a distance from the fourth end portion to the first mounting surface being H4, H3 < H4.

3. The robot chassis of claim 1, wherein, The base is provided with a first mounting hole penetrating the first mounting surface and the second mounting surface; the damping assembly comprises a first mounting support, the first mounting support being arranged on the first mounting surface, the first universal wheel being arranged on the first mounting hole and connected to the first mounting support.

4. The robot chassis of claim 3, wherein, The first mounting support comprises a first frame body, a first mounting side plate, a second mounting side plate and a mounting plate; the first frame body is arranged on the first mounting surface, and the first frame body is arranged on the first mounting hole on the first mounting surface; the first mounting side plate and the second mounting side plate are both arranged on the first mounting surface, and the first mounting side plate and the second mounting side plate are respectively located on two sides of the first mounting hole; the first frame body comprises a top plate, the elastic member being abutted between the top plate and the mounting plate at an end of the mounting plate away from the driving support; the mounting plate is hingedly connected to the first mounting side plate and the second mounting side plate at an end of the mounting plate close to the driving support.

5. The robot chassis of claim 1, wherein, The robot chassis further comprises a second universal wheel and a second mounting support; the base is provided with a second mounting hole penetrating the first mounting surface and the second mounting surface; the second mounting support is arranged on the first mounting surface, and the second mounting support is at least partially arranged around the second mounting hole, the second universal wheel being arranged on the second mounting hole and connected to the second mounting support.

6. The robot chassis of claim 5, wherein, The robot chassis further comprises a first auxiliary wheel and a second auxiliary wheel, the first auxiliary wheel and the second auxiliary wheel are arranged on the second mounting surface; The first auxiliary wheel and the second auxiliary wheel are arranged on both sides of the second universal wheel, the first auxiliary wheel and the second auxiliary wheel are coaxial, and the axes of the first auxiliary wheel and the second auxiliary wheel are parallel to the axes of the first driving wheel and the second driving wheel.

7. The robot chassis of claim 1, wherein, The first driving wheel and the second driving wheel are provided with a plurality of through holes, the through holes are distributed around the edges of the first driving wheel and the second driving wheel.

8. The robot chassis of claim 1, wherein, The base is provided with a first driving hole and a second driving hole penetrating the first mounting surface and the second mounting surface; The first driving wheel is arranged in the first driving hole, and the second driving wheel is arranged in the second driving hole.

9. The robot chassis of claim 1, wherein, The second end is closer to the first universal wheel than the first end.

10. A robot, characterized in that A robot chassis as claimed in any one of claims 1 to 9.

Images