Four-vector rudder chassis structure with damping effect and robot

Abstract

The utility model relates to the technical field of robot chassis, in particular to a four-vector rudder chassis structure with a damping effect and a robot, a damping support is designed on a chassis body of the four-vector rudder chassis structure with the damping effect and the robot, and a steering wheel mechanism is independently designed on the damping support. In this way, modular installation is achieved conveniently, and later disassembly, assembly and maintenance are facilitated. Each damping support is connected with a steering wheel mechanism through a damping spring, damping between the damping supports and the steering wheel mechanisms is achieved through the structure, and the damping device can better adapt to various rugged and obstacle road surfaces. And meanwhile, the steering wheel mechanism is in sliding connection with the damping bracket, so that the movement of the steering wheel mechanism relative to the damping bracket is further limited, and the stability of the whole chassis structure is ensured.

Description

Technical Field

[0001] This utility model relates to the field of chassis technology, and in particular to a four-vector steering chassis structure and robot with shock absorption effect. Background Technology

[0002] The steerable vector robot chassis uses servo motors or servo drives to control the direction and thrust of the wheels or propellers, enabling precise maneuvering and efficient movement of the robot. This chassis combines the steering function of servo motors with the thrust distribution principle of vector control, providing the robot with greater flexibility and stability.

[0003] However, the current steerable vector robot chassis has a relatively complex structure, involving the coordinated operation of multiple servos, sensors, and actuators. This complexity increases the manufacturing and maintenance costs of the chassis, and also places higher demands on the design and debugging of the control system. In addition, although the current steerable vector robot chassis has a certain degree of flexibility, its ground adaptability is poor, and its ground adaptability still has certain limitations when facing different terrains and obstacles. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a four-vector steering chassis structure with shock absorption effect, comprising:

[0005] Chassis body;

[0006] Several shock-absorbing brackets are respectively installed on the chassis body; each shock-absorbing bracket is equipped with a shock-absorbing spring.

[0007] Several steering wheel mechanisms are provided, each of which can be slidably mounted on a corresponding shock-absorbing bracket, and each steering wheel mechanism is hinged to one movable end of the shock-absorbing spring on the corresponding shock-absorbing bracket.

[0008] In some possible embodiments, the sliding direction of each steering wheel mechanism relative to the corresponding shock-absorbing bracket is parallel to the deformation direction of the shock-absorbing spring.

[0009] In some possible embodiments, the chassis body is provided with a plurality of mounting positions, and each mounting position is provided with a shock-absorbing bracket on two adjacent sides. Each shock-absorbing bracket is provided with at least one sliding rail, and the adjacent sides of the steering wheel mechanism are slidably mounted on the sliding rails on the corresponding shock-absorbing brackets by sliders.

[0010] In some possible embodiments, the steering wheel mechanism includes a carrier frame, a support frame, a hub rotatably mounted on the support frame, and a direct drive motor mounted on the support frame. The drive end of the direct drive motor is connected to the rotation center of the hub. The support frame is rotatably mounted on the carrier frame, and a gimbal motor is provided on the carrier frame. The rotation center of the support frame is connected to the rotation end of the gimbal motor. The adjacent sides of the carrier frame are slidably mounted on sliding tracks on the shock-absorbing bracket via sliders.

[0011] In some possible embodiments, mounting plates are provided on both adjacent sides of the support frame, and the sliders are provided on the mounting plates.

[0012] In some possible embodiments, the mounting plate is provided with a hinge seat, and one end of the shock-absorbing spring is hinged to the hinge seat.

[0013] In some possible embodiments, the shock-absorbing bracket is provided with a fixed seat, and one end of the shock-absorbing spring is hinged to the fixed seat.

[0014] In some possible embodiments, a plurality of protective outer frames are provided on the outer periphery of the chassis body, and the protective outer frames are provided on the outer periphery of the steering wheel mechanism on the outward side.

[0015] In some possible embodiments, the chassis body is a frame structure.

[0016] This utility model also provides a robot, including the four-vector rudder chassis structure with shock absorption effect described in the above embodiments.

[0017] Compared to existing technologies, the advantages of this invention are as follows: The four-vector steering chassis structure and robot of this invention feature shock-absorbing supports designed on the chassis body, with separate steering wheel mechanisms on each support. This facilitates modular installation and subsequent disassembly and maintenance. Each shock-absorbing support is connected to the steering wheel mechanism via a shock-absorbing spring. This structure achieves shock absorption between the shock-absorbing support and the steering wheel mechanism, better handling various rough and obstacle-prone surfaces. Furthermore, a sliding connection exists between the steering wheel mechanism and the shock-absorbing support, further restricting the movement of the steering wheel mechanism relative to the shock-absorbing support and ensuring the stability of the entire chassis structure. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A three-dimensional structural diagram of a four-vector rudder chassis structure with shock absorption effect provided for an embodiment of this utility model;

[0020] Figure 2 A partially exploded view of a four-vector rudder chassis structure with shock absorption effect provided for an embodiment of this utility model;

[0021] Figure 3 This is a schematic diagram of the chassis body provided in an embodiment of the present utility model;

[0022] Figure 4 A perspective sectional view of the steering wheel mechanism provided in an embodiment of this utility model.

[0023] Reference numerals: chassis body 10, mounting position 11, protective outer frame 12, shock absorber bracket 20, shock absorber spring 21, sliding rail 22, fixed seat 23, steering wheel mechanism 30, slider 31, bearing frame 32, support frame 33, wheel hub 34, direct drive motor 35, gimbal motor 36, mounting plate 37, hinge seat 38. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0025] Reference Figures 1 to 4 The robot shown includes a four-vector steering chassis structure with shock absorption. The four-vector steering chassis structure with shock absorption of this invention includes a chassis body 10, several shock-absorbing brackets 20, and several steering wheel mechanisms 30 adapted to the shock-absorbing brackets 20; the several shock-absorbing brackets 20 are respectively mounted on the chassis body 10; each shock-absorbing bracket 20 is provided with a shock-absorbing spring 21, and each steering wheel mechanism 30 is slidably mounted on the corresponding shock-absorbing bracket 20, with each steering wheel mechanism 30 hinged to one movable end of the shock-absorbing spring 21 on the corresponding shock-absorbing bracket 20.

[0026] In some possible embodiments, the chassis body 10 is a frame structure, which helps to reduce the overall weight of the chassis while ensuring ease of installation. It should be noted that in this application, the chassis body 10 is formed by four intersecting beams, creating a grid pattern. Adjacent beams are connected by connectors and bolts, improving the ease of assembly and disassembly. Four steering wheel mechanisms 30 are provided, respectively located at the four corners of the chassis body 10.

[0027] In some possible embodiments, a plurality of protective outer frames 12 are provided on the outer periphery of the chassis body 10, and the protective outer frames 12 are located on the outer periphery of the steering wheel mechanism 30 on the outward side. There are four sets of protective outer frames 12, wherein two adjacent sets do not directly contact each other, and the area between the corresponding ends of two sets of protective outer frames 12 is exactly located in the installation area of ​​the steering wheel mechanism 30.

[0028] This four-vector steering chassis structure and robot with shock absorption features shock-absorbing brackets 20 on the chassis body 10, with a separate steering wheel mechanism 30 designed on each shock-absorbing bracket 20. This facilitates modular installation and makes subsequent disassembly and maintenance easier. Each shock-absorbing bracket 20 is connected to the steering wheel mechanism 30 via a shock-absorbing spring 21. This structure achieves shock absorption between the shock-absorbing bracket 20 and the steering wheel mechanism 30, better handling various rough and obstacle-prone surfaces. Simultaneously, a sliding connection exists between the steering wheel mechanism 30 and the shock-absorbing bracket 20, further restricting the movement of the steering wheel mechanism 30 relative to the shock-absorbing bracket 20 and ensuring the stability of the entire chassis structure.

[0029] Reference Figures 1 to 3 As shown, to facilitate control of the sliding direction of the steering wheel mechanism 30 relative to the corresponding shock absorber bracket 20, the sliding direction of each steering wheel mechanism 30 relative to the corresponding shock absorber bracket 20 is parallel to the deformation direction of the shock absorber spring 21. Specifically, the steering wheel mechanism 30 slides vertically relative to the corresponding shock absorber bracket 20, thus adapting to the movement direction of the entire chassis body 10 and the direction of road bumps.

[0030] To improve the motion stability of the steering wheel mechanism 30, the chassis body 10 is provided with several mounting positions 11. Each mounting position 11 has a shock-absorbing bracket 20 on two adjacent sides. Each shock-absorbing bracket 20 has at least one sliding rail 22. The adjacent sides of the steering wheel mechanism 30 are slidably mounted on the sliding rail 22 of the corresponding shock-absorbing bracket 20 via sliders 31. This method of restricting the sliding of the steering wheel mechanism 30 on adjacent sides ensures its motion stability.

[0031] Reference Figure 2 and Figure 4As shown, the steering wheel mechanism 30 includes a carrier frame 32, a support frame 33, a hub 34 rotatably mounted on the support frame 33, and a direct drive motor 35 mounted on the support frame 33. The drive end of the direct drive motor 35 is connected to the rotation center of the hub 34. The support frame 33 is rotatably mounted on the carrier frame 32. A gimbal motor 36 is provided on the carrier frame 32. The rotation center of the support frame 33 is connected to the rotation end of the gimbal motor 36. The adjacent sides of the carrier frame 32 are slidably mounted on the sliding rails 22 on the shock absorber bracket 20 via sliders 31.

[0032] The support frame 33 is fork-shaped to facilitate the installation of the wheel hub 34. In this application, both the carrier frame 32 and the support frame 33 are assembled from sheet metal, improving installation convenience. The gimbal motor 36 and the direct drive motor 35 are conventional motors, which will not be described in detail here. Furthermore, the rotation center of the support frame 33 is a rotating shaft, which is mounted on the carrier frame 32 via bearings, while the gimbal motor 36 is mounted on the rotating shaft. In this application, the wheel hub 34 is also fitted with anti-slip rims on its outer periphery.

[0033] In some possible embodiments, mounting plates 37 are provided on both adjacent sides of the support frame 32, and sliders 31 are provided on the mounting plates 37. In addition, the mounting plates 37 also serve to strengthen the support frame 32.

[0034] In some possible embodiments, a hinge seat 38 is provided on the mounting plate 37 to facilitate the installation of the shock-absorbing spring 21, and one end of the shock-absorbing spring 21 is hinged to the hinge seat 38. Similarly, a fixed seat 23 is provided on the shock-absorbing bracket 20, and one end of the shock-absorbing spring 21 is hinged to the fixed seat 23.

[0035] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A four-vector steering chassis structure with shock absorption effect, characterized in that, include: Chassis body; Several shock-absorbing brackets are respectively installed on the chassis body; each shock-absorbing bracket is equipped with a shock-absorbing spring. Several steering wheel mechanisms are provided, each of which can be slidably mounted on a corresponding shock-absorbing bracket, and each steering wheel mechanism is hinged to one movable end of the shock-absorbing spring on the corresponding shock-absorbing bracket.

2. The four-vector steering chassis structure with shock absorption effect according to claim 1, characterized in that, The sliding direction of each steering wheel mechanism relative to the corresponding shock-absorbing bracket is parallel to the deformation direction of the shock-absorbing spring.

3. A four-vector steering chassis structure with shock absorption effect according to claim 1, characterized in that, The chassis body is provided with several mounting positions, and each mounting position has a shock-absorbing bracket on two adjacent sides. Each shock-absorbing bracket is provided with at least one sliding rail. The steering wheel mechanism is slidably mounted on the sliding rail on the corresponding shock-absorbing bracket on both adjacent sides via sliders.

4. A four-vector steering chassis structure with shock absorption effect according to claim 3, characterized in that, The steering wheel mechanism includes a carrier frame, a support frame, a hub rotatably mounted on the support frame, and a direct drive motor mounted on the support frame. The drive end of the direct drive motor is connected to the rotation center of the hub. The support frame is rotatably mounted on the carrier frame, and a gimbal motor is provided on the carrier frame. The rotation center of the support frame is connected to the rotation end of the gimbal motor. The adjacent sides of the carrier frame are slidably mounted on sliding tracks on the shock-absorbing bracket via sliders.

5. A four-vector steering chassis structure with shock absorption effect according to claim 4, characterized in that, The support frame has mounting plates on its two adjacent sides, and the mounting plates are equipped with sliders.

6. A four-vector steering chassis structure with shock absorption effect according to claim 5, characterized in that, The mounting plate is provided with a hinge seat, and one end of the shock-absorbing spring is hinged to the hinge seat.

7. A four-vector steering chassis structure with shock absorption effect according to claim 3, characterized in that, The shock-absorbing bracket is provided with a fixed seat, and one end of the shock-absorbing spring is hinged to the fixed seat.

8. A four-vector steering chassis structure with shock absorption effect according to claim 1, characterized in that, Several protective outer frames are provided on the outer periphery of the chassis body, and the protective outer frames are located on the outer periphery of the steering wheel mechanism on the outward side.

9. A four-vector steering chassis structure with shock absorption effect according to claim 1, characterized in that, The chassis body is a frame structure.

10. A robot, characterized in that, Includes the four-vector steering chassis structure with shock absorption effect as described in any one of claims 1 to 9.

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