A mobile chassis and robot

Abstract

This utility model relates to a mobile chassis and a robot. The mobile chassis includes a base, a drive assembly, and a moving assembly. The drive assembly is mounted on the base and includes a drive motor and a transmission shaft connected to the drive motor. Output gears are distributed at both ends of the transmission shaft. The moving assembly includes two driving wheels, two driven wheels, and two annular tracks. Each annular track is fitted onto one driving wheel and one driven wheel to form a track assembly. The two track assemblies are distributed on both sides of the base. The inner walls of the driving wheels are provided with transmission teeth. The two output gears are respectively connected to the transmission teeth of the two driving wheels, and the rotation axes of the output gears do not coincide with the rotation axes of the driving wheels. Due to the use of track assemblies, the robot moves more smoothly and reliably. At the same time, the different axis settings of the transmission shaft and the driving shaft make the movement of the track assembly more flexible, effectively improving the robot's flexibility.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a mobile chassis and a robot. Background Technology

[0002] With the rapid development of technology in the field of intelligent robots, a large number of robots have emerged in various practical application scenarios, such as intelligent educational robots, emotional communication robots, cooking robots, and performance robots. Therefore, robots need to move flexibly in different scenarios to adapt to a wide variety of functions. Utility Model Content

[0003] Therefore, it is necessary to address the problem of insufficient robot mobility by providing a highly flexible mobile chassis and robot. In this application, the drive assembly drives the track assemblies on both sides to move, achieving smooth and flexible robot movement.

[0004] To address the aforementioned technical problems, this application provides the following technical solutions.

[0005] In a first aspect, this application provides a mobile chassis, including a base, a drive assembly, and a moving assembly. The drive assembly is disposed on the base and includes a drive motor and a transmission shaft connected to the drive motor. Output gears are distributed at both ends of the transmission shaft. The moving assembly includes two driving wheels, two driven wheels, and two annular tracks. Each annular track is fitted onto one driving wheel and one driven wheel to form a track assembly. The two track assemblies are distributed on both sides of the base. The inner wall of the driving wheel is provided with transmission teeth. The two output gears are respectively connected to the transmission teeth of the two driving wheels. The axis of rotation of the drive shaft does not coincide with the axis of rotation of the driving wheel.

[0006] In one embodiment, a connecting shaft is provided between the driving wheel and the base, and the driving wheel is rotatably connected to the connecting shaft. A connecting shaft is also provided between the driven wheel and the base, and the driven wheel is rotatably connected to the connecting shaft.

[0007] In one embodiment, the moving component further includes a guide block with a counterweight inside, the guide block being disposed between the driving wheel and the driven wheel and surrounded by the annular track.

[0008] In one embodiment, the drive assembly further includes a speed reducer, which includes a first speed reducer and a second speed reducer that rotate coaxially. The diameter of the first speed reducer is larger than that of the second speed reducer. The output shaft of the drive motor is provided with a first gear, and the transmission shaft is provided with a second gear. The first speed reducer meshes with the first gear, and the second speed reducer meshes with the second gear.

[0009] In one embodiment, multiple speed reducers are provided, and the multiple speed reducers are sequentially arranged between the first gear and the second gear. Between two interconnected speed reducers, the first speed reducer of one speed reducer meshes with the second speed reducer of the other speed reducer.

[0010] In one embodiment, there are two drive components, which are symmetrically arranged with respect to the center line of the base. Each end of the drive shaft is provided with a second gear, and the second gear corresponds to one of the drive components.

[0011] In one embodiment, the mobile chassis is equipped with a photodetector, and the output shaft of the drive motor is equipped with a light-blocking plate. The photodetector is used to detect the number of times the light-blocking plate blocks light.

[0012] In one embodiment, the base includes a bottom shell, a middle shell, and an upper shell, which are connected in sequence. The middle shell is used to accommodate the drive assembly, and the upper shell is used to cover the drive assembly.

[0013] In one embodiment, the mobile chassis further includes a circuit board disposed between the bottom shell and the middle shell, wherein the bottom shell has a positioning post that passes through the circuit board.

[0014] In a second aspect, this application provides a robot including the aforementioned mobile chassis.

[0015] This utility model has the following advantages: 1. The aforementioned mobile chassis is equipped with a base, a drive assembly, and a moving assembly. The base supports the drive assembly and the moving assembly. The moving assembly includes a pair of track assemblies consisting of a drive wheel, a driven wheel, and an annular track. Driven by the drive assembly, the mobile chassis can move, thus realizing the robot's movement function. Due to the use of track assemblies, the robot moves more smoothly and reliably. At the same time, the different axis settings of the drive shaft and the drive shaft make the movement of the track assembly more flexible, effectively improving the robot's flexibility.

[0016] 2. Both the drive wheel and the driven wheel are fixed on the base, which effectively reduces the deformation of the output shaft caused by the tension of the ring track and improves the mobility reliability of the mobile chassis.

[0017] 3. A guide block is provided between the drive wheel and the driven wheel to support the gap in the middle of the annular track, and to realize the chassis counterweight, ensure the tension of the annular track, and achieve reliable movement.

[0018] 4. Two drive components are symmetrically arranged on the base. Each drive component independently drives the rotation of one side of the drive wheel, realizing the mobile chassis to turn in place, move forward and backward, etc. The structure is simple and stable, with low cost and convenient maintenance.

[0019] 5. The mobile chassis is equipped with a photoelectric detector. By detecting the number of times the light-blocking plate blocks the light, the speed of the drive motor is tested, so as to facilitate the subsequent control of the speed of the driven wheels on both sides. Attached Figure Description

[0020] Figure 1 This is a perspective view of the mobile chassis in one embodiment of the present invention.

[0021] Figure 2 This is a side view of the mobile chassis in one embodiment of the present invention.

[0022] Figure 3 This is a perspective view of a mobile chassis (circular tracks omitted) in one embodiment of the present invention.

[0023] Figure 4 This is a perspective view of the driving component in one embodiment of the present invention.

[0024] Figure 5 This utility model Figure 4 Top view of the driving component.

[0025] Figure 6 This is a partial structural diagram of the mobile chassis in one embodiment of the present invention.

[0026] Figure 7 This is a perspective view of the circuit board and battery in one embodiment of the present invention.

[0027] Figure 8 This is a perspective view of the moving component in one embodiment of the present invention.

[0028] Reference numerals: 100, mobile chassis; 10, base; 11, bottom shell; 111, positioning post; 12, middle shell; 13, upper shell; 20, drive assembly; 21, drive motor; 211, first gear; 22, transmission shaft; 221, output gear; 222, second gear; 23, reduction component; 231, first reduction gear; 232, second reduction gear; 24, light-blocking plate; 30, mobile assembly; 31, drive wheel; 311, transmission gear; 312, connecting shaft; 32, driven wheel; 33, annular track; 34, guide block; 35, counterweight; 40, photoelectric detector; 50, circuit board; 51, communication interface; 60, battery. Detailed Implementation

[0029] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0030] like Figures 1 to 7 As shown, in one embodiment, a mobile chassis 100 is disclosed, including a base 10, a drive assembly 20, and a moving assembly 30. The drive assembly 20 is disposed on the base 10 and includes a drive motor 21 and a transmission shaft 22 connected to the drive motor 21. Output gears 221 are distributed at both ends of the transmission shaft 22. The moving assembly 30 includes two driving wheels 31, two driven wheels 32, and two annular tracks 33. Each annular track 33 is fitted onto one driving wheel 31 and one driven wheel 32 to form a track assembly. The two track assemblies are distributed on both sides of the base 10. The inner wall of the driving wheel 31 is provided with transmission teeth 311. The two output gears 221 are respectively connected to the transmission teeth 311 of the two driving wheels 31. The rotation axis of the output gears 221 does not coincide with the rotation axis of the driving wheels 31.

[0031] The aforementioned mobile chassis 100 is provided with a base 10, a drive assembly 20, and a moving assembly 30. The base 10 supports the drive assembly 20 and the moving assembly 30. The moving assembly 30 includes a pair of track assemblies composed of a drive wheel 31, a driven wheel 32, and an annular track 33. Driven by the drive assembly 20, the moving chassis 100 can move, realizing the robot's movement function. Due to the use of track assemblies, the robot moves more smoothly and reliably. At the same time, the different axis settings of the transmission shaft 22 and the drive shaft make the movement of the track assembly more flexible, effectively improving the robot's flexibility.

[0032] Specifically, such as Figure 6 As shown, in one embodiment, a connecting shaft 312 is provided between the drive wheel 31 and the base 10, and the drive wheel 31 is rotatably connected to the connecting shaft 312. Similarly, a connecting shaft 312 is provided between the driven wheel 32 and the base 10, and the driven wheel 32 is rotatably connected to the connecting shaft 312. Both the drive wheel 31 and the driven wheel are fixed to the base 10, effectively reducing the deformation of the output shaft caused by the tension of the annular track 33 and improving the mobility reliability of the mobile chassis 100.

[0033] Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 8As shown, in one embodiment, the moving component 30 further includes a guide block 34, within which a counterweight block 35 is provided. The guide block 34 is disposed between the driving wheel 31 and the driven wheel 32, and is surrounded by the annular track 33. The guide block 34 between the driving wheel 31 and the driven wheel 32 is used to support the gap in the middle of the annular track 33, and to realize chassis counterweight, ensuring the tension of the annular track 33 and achieving reliable movement.

[0034] Furthermore, such as Figure 6 As shown, in one embodiment, the base 10 is provided with a connecting post, and the guide block 34 is inserted into the connecting post.

[0035] Specifically, such as Figure 3 , Figure 4 and Figure 5 As shown, in one embodiment, the drive assembly 20 further includes a reduction component 23, which includes a first reduction gear 231 and a second reduction gear 232 that rotate coaxially. The diameter of the first reduction gear 231 is larger than that of the second reduction gear 232. The output shaft of the drive motor 21 is provided with a first gear 211, and the transmission shaft 22 is provided with a second gear 222. The first reduction gear 231 meshes with the first gear 211, and the second reduction gear 232 meshes with the second gear 222.

[0036] Furthermore, such as Figure 4 As shown, in one embodiment, the base 10 is provided with a receiving groove, and the speed reducer 23 is disposed in the receiving groove. The speed reducer 23 has a rotating shaft that passes through the first speed reducer 231 and the second speed reducer 232 in sequence. The rotating shaft of the speed reducer 23 is disposed on the base 10.

[0037] Furthermore, such as Figure 5 As shown, in one embodiment, multiple speed reducers 23 are provided, and the multiple speed reducers 23 are sequentially arranged between the first gear 211 and the second gear 222. Between two interconnected speed reducers 23, the first speed reduction gear 231 of one speed reducer 23 meshes with the second speed reduction gear 232 of the other speed reducer 23.

[0038] Furthermore, such as Figure 5 As shown, in one embodiment, there are two drive components 20, which are symmetrically arranged with respect to the center line of the base 10. Both ends of the transmission shaft 22 are provided with second gears 222, and the second gears 222 correspond one-to-one with the drive components 20.

[0039] Two drive components 20 are centrally symmetrically arranged on the base 10. Each drive component 20 independently drives the rotation of the drive wheel 31 on one side, realizing the mobile chassis 100 turning in place, moving forward and backward, etc. The structure is simple and stable, with low cost and convenient maintenance.

[0040] Specifically, such as Figure 6 As shown, in one embodiment, a photodetector 40 is provided on the movable chassis 100, and a light-blocking plate 24 is provided on the output shaft of the drive motor 21. The photodetector 40 is used to detect the number of times the light-blocking plate 24 blocks light. The photodetector 40 on the movable chassis 100 detects the number of times the light-blocking plate 24 blocks light to test the rotational speed of the drive motor 21, so as to facilitate subsequent control of the rotational speed of the driven wheels 32 on both sides.

[0041] Furthermore, a photodetector 40 is disposed on the middle shell 12.

[0042] Specifically, such as Figure 1 As shown, in one embodiment, the base 10 includes a bottom shell 11, a middle shell 12 and an upper shell 13, which are connected in sequence. The middle shell 12 is used to accommodate the drive assembly 20, and the upper shell 13 is used to cover the drive assembly 20.

[0043] Specifically, such as Figure 1 As shown, in one embodiment, the mobile chassis 100 further includes a circuit board 50, which is disposed between the bottom shell 11 and the middle shell 12. The bottom shell 11 is provided with a positioning post 111, which passes through the circuit board 50 and is connected to the middle shell 12 and the upper shell 13.

[0044] Furthermore, such as Figure 7 As shown, in one embodiment, a battery 60 is also provided between the circuit board 50 and the bottom shell 11. The battery 60 is electrically connected to the circuit board 50 and is used to supply power to the circuit board 50.

[0045] Furthermore, such as Figure 3 As shown, in one embodiment, the circuit board 50 is provided with a communication interface 51 for electrical connection with the chip, screen, etc. of the head.

[0046] like Figures 1 to 7 As shown, in one embodiment, a robot is disclosed, including the aforementioned mobile chassis 100. The mobile chassis 100 includes a base 10, a drive assembly 20, and a moving assembly 30. The drive assembly 20 is disposed on the base 10 and includes a drive motor 21 and a transmission shaft 22 connected to the drive motor 21. Output gears 221 are distributed at both ends of the transmission shaft 22. The moving assembly 30 includes two driving wheels 31, two driven wheels 32, and two annular tracks 33. Each annular track 33 is fitted onto one driving wheel 31 and one driven wheel 32 to form a track assembly. The two track assemblies are distributed on both sides of the base 10. The inner wall of the driving wheel 31 is provided with transmission teeth 311. The two output gears 221 are respectively connected to the transmission teeth 311 of the two driving wheels 31. The rotation axis of the output gears 221 does not coincide with the rotation axis of the driving wheels 31.

[0047] The robot described above has a base 10, a drive assembly 20, and a moving assembly 30 on its mobile chassis 100. The base 10 supports the drive assembly 20 and the moving assembly 30. The moving assembly 30 includes a pair of track assemblies consisting of a drive wheel 31, a driven wheel 32, and an annular track 33. Driven by the drive assembly 20, the moving chassis 100 can move, thus enabling the robot to move. Due to the use of track assemblies, the robot moves more smoothly and reliably. At the same time, the different axis settings of the drive shaft 22 and the drive shaft make the movement of the track assembly more flexible, effectively improving the robot's flexibility.

[0048] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0049] Furthermore, 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 at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0051] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A mobile chassis, characterized in that, include: Base (10); A drive assembly (20) is disposed on the base (10). The drive assembly (20) includes a drive motor (21) and a transmission shaft (22) connected to the drive motor (21). Output gears (221) are distributed at both ends of the transmission shaft (22). The moving assembly (30) includes two driving wheels (31), two driven wheels (32) and two annular tracks (33). Each annular track (33) is fitted onto one driving wheel (31) and one driven wheel (32) to form a track assembly. The two track assemblies are distributed on both sides of the base (10). The inner wall of the driving wheel (31) is provided with transmission teeth (311). The two output gears (221) are respectively connected to the transmission teeth (311) of the two driving wheels (31). The shaft of the transmission shaft (22) does not coincide with the shaft of the driving wheel (31).

2. The mobile chassis according to claim 1, characterized in that, A connecting shaft (312) is provided between the driving wheel (31) and the base (10), and the driving wheel (31) is rotatably connected to the connecting shaft (312). A connecting shaft (312) is provided between the driven wheel (32) and the base (10), and the driven wheel (32) is rotatably connected to the connecting shaft (312).

3. The mobile chassis according to claim 1, characterized in that, The moving component (30) also includes a guide block (34), which has a counterweight (35) inside. The guide block (34) is located between the drive wheel (31) and the driven wheel (32) and is surrounded by the annular track (33).

4. The mobile chassis according to claim 1, characterized in that, The drive assembly (20) further includes a reduction component (23), which includes a first reduction gear (231) and a second reduction gear (232) that rotate coaxially. The diameter of the first reduction gear (231) is larger than that of the second reduction gear (232). The output shaft of the drive motor (21) is provided with a first gear (211), and the transmission shaft (22) is provided with a second gear (222). The first reduction gear (231) meshes with the first gear (211), and the second reduction gear (232) meshes with the second gear (222).

5. The mobile chassis according to claim 4, characterized in that, The speed reducer (23) is provided in multiple ways. The multiple speed reducers (23) are arranged sequentially between the first gear (211) and the second gear (222). Between two speed reducers (23) that are connected to each other, the first speed reducer gear (231) of one speed reducer (23) meshes with the second speed reducer gear (232) of the other speed reducer (23).

6. The mobile chassis according to claim 4, characterized in that, Two drive components (20) are provided, and the two drive components (20) are arranged symmetrically with respect to the center line of the base (10). Both ends of the transmission shaft (22) are provided with second gears (222), and the second gears (222) correspond one-to-one with the drive components (20).

7. The mobile chassis according to claim 1, characterized in that, The mobile chassis is equipped with a photodetector (40), and the output shaft of the drive motor (21) is equipped with a light-blocking plate (24). The photodetector (40) is used to detect the number of times the light-blocking plate (24) blocks light.

8. The mobile chassis according to claim 1, characterized in that, The base (10) includes a bottom shell (11), a middle shell (12) and an upper shell (13), which are connected in sequence. The middle shell (12) is used to accommodate the drive assembly (20), and the upper shell (13) is used to cover the drive assembly (20).

9. The mobile chassis according to claim 8, characterized in that, The mobile chassis also includes a circuit board (50), which is disposed between the bottom shell (11) and the middle shell (12). The bottom shell (11) is provided with a positioning post (111), which passes through the circuit board (50).

10. A robot, characterized in that, Includes the mobile chassis as described in any one of claims 1 to 9.

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