CN110435786A - Robot and its chassis - Google Patents
Robot and its chassis Download PDFInfo
- Publication number
- CN110435786A CN110435786A CN201910754871.5A CN201910754871A CN110435786A CN 110435786 A CN110435786 A CN 110435786A CN 201910754871 A CN201910754871 A CN 201910754871A CN 110435786 A CN110435786 A CN 110435786A
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- Prior art keywords
- car body
- chassis
- limit portion
- driving wheel
- upper limit
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- 238000013016 damping Methods 0.000 claims description 25
- 238000009434 installation Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot and its chassis, chassis includes: car body；Driven wheel, driven wheel are rotatablely arranged at the bottom of car body；Rocker arm, the first end of rocker arm are rotatablely arranged at the bottom of car body and are spaced apart with driven wheel；The shaft of driving wheel, driving wheel is set to the second end of rocker arm；Limiting device, limiting device is set on rocker arm, limiting device includes upper limit portion and lower limit portion, upper limit portion and lower limit portion selectively cooperate with the bottom of car body, when upper limit portion and the bottom of car body cooperate, driving wheel turns to the upper limit position of opposite car body, and when the bottom of lower limit portion and car body cooperates, driving wheel turns to the lower limit position of opposite car body.As a result, by setting rocker arm, allow driving wheel with respect to car body lifting, can allow the robot to adapt to different road surfaces, can with hoisting machine people pass through and obstacle performance.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of robot and its chassis.
Background technique
Part, field are sent as mobile robot is in industrial circle such as cargo transport, and in modern service industry field such as community
Shop tour guide, home entertaining, helping the elderly to help the disabled etc. is widely applied, and the mobile platform of flexibility and reliability increasingly causes research and development field
Attention.
In the related technology, mobile robot travels in order on the road surface of clear, but is having barrier (example
Such as deceleration strip) road traveling situation it is poor, be easy to appear and jolt, in addition overturn the case where, such situation is extremely unfavorable for moving
The practical application of mobile robot.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, one object of the present invention
Be to propose a kind of chassis of robot, the chassis can with hoisting machine people pass through and obstacle performance.
The present invention further proposes a kind of robot.
The chassis of robot according to the present invention, comprising: car body；Driven wheel, the driven wheel are rotatablely arranged at institute
State the bottom of car body；Rocker arm, the first end of the rocker arm be rotatablely arranged at the bottom of the car body and with the driven wheel
It is spaced apart；Driving wheel, the shaft of the driving wheel are set to the second end of the rocker arm；Limiting device, the limiting device are set
It is placed on the rocker arm, the limiting device includes upper limit portion and lower limit portion, the upper limit portion and the lower limit portion
Selectively cooperate with the bottom of the car body, when the bottom of the upper limit portion and the car body cooperates, the driving rotation
It moves to the upper limit position of the relatively described car body, when the lower limit portion and the bottom of the car body cooperate, the driving rotation
It moves to the lower limit position of the relatively described car body.
As a result, by setting rocker arm, driving wheel is gone up and down with respect to car body, can allow the robot to adapt to not
With road surface, can with hoisting machine people pass through and obstacle performance, and by setting limiting device, driving wheel can be made
Motion range is without departing from corresponding upper limit position and lower limit position, to limit the stroke of suspension to adjust the dynamic on chassis
Characteristic.
In some examples of the invention, the limiting device includes main body, and the main body is connected on the rocker arm, institute
Upper limit portion and the lower limit portion is stated to be all set in the main body and be arranged at front-rear direction interval.
In some examples of the invention, the upper limit portion has the first corner for protruding upward, and described first
When corner and the bottom of the car body cooperate, the driving wheel turns to the upper limit position of the relatively described car body；The lower limit
Position portion has the second corner protruded upward, when second corner and the bottom of the car body cooperate, the driving wheel
Turn to the lower limit position of the relatively described car body.
In some examples of the invention, the chassis further include: one end of damping device, the damping device can be rotated
Ground is connected on the car body and the other end is rotatably connected on the limiting device.
In some examples of the invention, the limiting device further include: interconnecting piece, the connecting portion is in the upper limit
Between position portion and the lower limit portion, the car body is provided with perforation, and the interconnecting piece passes through the perforation, the damping device
Positioned at the top of the car body, one end of the damping device be rotatably connected on the car body and the other end rotationally
It is connected on the interconnecting piece.
In some examples of the invention, the rocker arm includes: bottom plate and two side plates, and two side plates are vertically arranged
And the width direction two sides of the bottom plate are connected to, the limiting device is fixed on the first end of the bottom plate, two sides
The second end of plate is provided with the via hole passed through for the shaft, and the second end of the bottom plate is provided with briquetting, the briquetting and institute
The second end for stating bottom plate limits the installation space of the shaft jointly.
In some examples of the invention, it is all provided between two side plates, between the limiting device and the side plate
It is equipped with stiffening plate.
In some examples of the invention, the briquetting is installed on the second end of the bottom plate, the pressure by fastener
Block is formed with mounting hole with the appended claims and downward.
In some examples of the invention, the driving wheel is two, and two driving wheels are set to the car body
In the middle part of front-rear direction and left and right directions interval is arranged；The driven wheel is four, four driven wheels include two front driven wheels and
Two back front driven wheels, two front driven wheels are located at the front side of two driving wheels and between left and right every settings, described in two
Back front driven wheel is located at the rear side of two driving wheels and between left and right every setting.
In some examples of the invention, the chassis further include: preceding mounting rack and rear mounting rack, two described preceding driven
Wheel is rotatablely arranged at the preceding mounting rack, and the front side bottom of the car body is articulated in the middle part of the preceding mounting rack left and right directions
Portion, two back front driven wheels are rotatablely arranged at the rear mounting rack, and the middle part of the rear mounting rack left and right directions is hinged
In the bottom rear of the car body.
In some examples of the invention, before being provided between the left and right ends and the vehicle bottom of the preceding mounting rack
Buffer stopper is provided with rear buffer stopper between the left and right ends and the vehicle bottom of the rear mounting rack.
In some examples of the invention, the driving wheel includes wheel body, and the shaft is rotatablely arranged at described
In wheel body, the wheel body is located at the outside of the car body.
Robot according to the present invention, comprising: the chassis of the robot.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the perspective view on the chassis of robot according to an embodiment of the present invention；
Fig. 2 is the cross-sectional view on the chassis of robot shown in FIG. 1；
Fig. 3 is chassis status diagram of the robot in descending；
Fig. 4 is chassis status diagram of the robot when going up a slope；
Fig. 5 is the assembling schematic diagram of driving wheel, rocker arm, limiting device and damping device；
Fig. 6 is the schematic diagram after driving wheel, rocker arm, limiting device and damping device decompose.
Appended drawing reference:
Chassis 100；
Car body 10；Perforation 11；
Front driven wheel 20；Back front driven wheel 30；
Rocker arm 40；Bottom plate 41；Side plate 42；Briquetting 43；Stiffening plate 44；
Driving wheel 50；Wheel body 51；Shaft 52；
Limiting device 60；Upper limit portion 61；First corner 611；Lower limit portion 62；Second corner 621；Main body 63；Connection
Portion 64；
Damping device 70；Preceding mounting rack 80；Preceding buffer stopper 81；Mounting rack 90 afterwards；Buffer stopper 91 afterwards.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment being described with reference to the drawings is exemplary, and is retouched in detail below
State the embodiment of the present invention.
The chassis 100 of robot according to an embodiment of the present invention is described below with reference to Fig. 1-Fig. 6.
As Figure 1-Figure 4, the chassis 100 of robot according to an embodiment of the present invention may include: car body 10, it is driven
Wheel, Rocker arm 40, driving wheel 50 and limiting device 60, driven wheel can be rotatably arranged in the bottom of car body 10, and driven wheel can be with
To be multiple, multiple driven wheels are distributed in the bottom different location of car body 10, wherein driven wheel can be universal wheel.
As shown in Figure 2, Figure 5 and Figure 6, the first end of Rocker arm 40 can be rotatably arranged in the bottom of car body 10, Er Qieyao
Arm 40 is spaced apart with driven wheel.Driving wheel 50 can be hub motor, and driving wheel 50 includes wheel body 51 and shaft 52, shaft 52
It can be rotatably arranged in wheel body 51, the shaft 52 of driving wheel 50 is set to the second end of Rocker arm 40, such wheel body 51
It can rotate relative to shaft 52, walk on road surface so as to band mobile robot.In this way robot ambulation to upward trend or
When on person downhill path, Rocker arm 40 can be rotated relative to car body 10, and driving wheel 50 can be gone up and down with respect to car body 10, so as to
So that car body 10 better adapts to current road, so can with hoisting machine people pass through and obstacle performance.
As shown in Fig. 2, limiting device 60 is set on Rocker arm 40, limiting device 60 includes upper limit portion 61 and lower limit portion
62, upper limit portion 61 and lower limit portion 62 selectively cooperate with the bottom of car body 10, the bottom in upper limit portion 61 and car body 10
When cooperation, driving wheel 50 turns to the upper limit position of opposite car body 10 and drives when lower limit portion 62 and the bottom of car body 10 cooperate
Driving wheel 50 turns to the lower limit position of opposite car body 10, and upper limit position is higher than lower limit position.
As shown in figure 3, the driven wheel positioned at front is introduced into descending when robot runs to downhill path from horizontal road
Road, since the first end of car body 10 and Rocker arm 40 can relatively rotate, the front end of car body 10 is under the driven wheel in front
Drop, at this point, being put on the opposite car body 10 of driving wheel 50, until reaching upper limit position, the upper limit portion 61 of limiting device 60 and vehicle
The bottom of body 10 is engaged, and then driving wheel 50 enters back into downhill path.It should be noted that in robot by there is the road in hole
Face and descending state are essentially identical.
As shown in figure 4, the driven wheel positioned at front is introduced into upward slope when robot runs to upward trend from horizontal road
Road, the front end of car body 10 rise with the driven wheel for being located at front, at this point, driving wheel 50 is with respect to 10 bottom of car body, until reaching
The lower limit portion 62 of lower limit position, limiting device 60 is contacted with the bottom of car body 10, and then driving wheel 50 enters back into upward trend.
It should be noted that in robot by having the road surface of small obstacle and upward slope state essentially identical.
As a result, by setting Rocker arm 40, driving wheel 50 is rotated relative to car body 10, so that driving wheel 50 can
With opposite car body 10 lifting, can allow the robot to adapt to different road surfaces, can with hoisting machine people pass through and obstacle detouring
Performance, and by setting limiting device 60, the motion range of driving wheel 50 can be made without departing from corresponding upper limit position
And lower limit position, to limit the stroke of suspension to adjust the dynamic characteristic on chassis 100.
A specific embodiment according to the present invention, as shown in Figure 5 and Figure 6, limiting device 60 include main body 63, main body 63
It is connected on Rocker arm 40, upper limit portion 61 and lower limit portion 62 are all set in main body 63, and upper limit portion 61 and lower limit
Portion 62 is arranged at front-rear direction interval.That is, upper limit portion 61 and lower limit portion 62 are integrated in main body 63, in this way may be used
To simplify the structure of limiting device 60, limiting device 60 can be made preferably to be set on Rocker arm 40, and can guarantee to limit
The limit effect of position device 60.
Optionally, as shown in Figure 5 and Figure 6, upper limit portion 61 has the first corner 611 protruded upward, the first side
When angle 611 and the bottom of car body 10 cooperate, driving wheel 50 turns to the upper limit position of opposite car body 10, and lower limit portion 62 has
When the second corner 621 protruded upward, the second corner 621 and the bottom of car body 10 cooperate, driving wheel 50 is turned to relatively
The lower limit position of car body 10.That is, upper limit portion 61 and lower limit portion 62 are respectively arranged with protruded upward
One corner 611 and the second corner 621, bottom of two corners after driving wheel 50 changes with respect to 10 position of car body with car body 10
Portion carries out only supporting cooperation, so as to limit the motion range of driving wheel 50.Moreover, the setting of corner can make limiting device
60 structures are simple, are easy to cooperate.
Further, as shown in figs 1 to 6, the chassis 100 of robot can also include: damping device 70, damping device
70 one end can be rotationally connected on car body 10, and the other end of damping device 70 can be rotationally connected with limit dress
It sets on 60.Damping device 70 can play the role of bumper and absorbing shock and provide driving wheel 50 to the normal pressure on ground, wherein driving
Wheel 50 is hinged by Rocker arm 40 and car body 10, and damping device 70 and limiting device 60 are hinged, so equally can be in driving wheel
Play the role of bumper and absorbing shock between 50 and car body 10, so that the stationarity of robot is preferable, it can be to avoid dispatching
The damage of article.Moreover, the limiting device 60 being arranged such, can also be integrated on Rocker arm 40 to avoid by damping device 70, it can
Further to simplify the arrangement relation between driving wheel 50, Rocker arm 40, limiting device 60 and damping device 70, machine can be made
100 structure of chassis of device people is reliable, stable.
Specifically, as shown in Figure 5 and Figure 6, limiting device 60 further include: interconnecting piece 64, interconnecting piece 64 are located at upper limit portion
Between 61 and lower limit portion 62, car body 10 is provided with perforation 11, and interconnecting piece 64 passes through perforation 11, and damping device 70 is located at car body 10
Top, one end of damping device 70 is rotatably connected on car body 10, and the other end of damping device 70 can rotate
Ground is connected on interconnecting piece 64.It is understood that since the bottom of car body 10 is provided with driving wheel 50, Rocker arm 40 and driven
Wheel, the bottom space of car body 10 is more nervous, by the way that damping device 70 to be set to the top of car body 10, can rationally utilize car body
10 upper spaces, can be excessively nervous to avoid bottom space, but also the installation that can be convenient damping device 70 is fixed, so as to
So that the layout of chassis 100 is more reasonable.
Optionally, as shown in Figure 5 and Figure 6, Rocker arm 40 includes: bottom plate 41 and two side plates 42, and two side plates 42 are set vertically
It sets, and two side plates 42 are connected to the width direction two sides of bottom plate 41, limiting device 60 is fixed on the first end of bottom plate 41, and two
The second end of a side plate 42 is provided with the via hole passed through for shaft 52, and the second end of bottom plate 41 is provided with briquetting 43, briquetting 43 with
The second end of bottom plate 41 limits the installation space of shaft 52 jointly.0 stable structure of Rocker arm 4 of such setting, can drive
Preferable support and connection effect are played between wheel 50 and car body 10, and it can also facilitate the setting of briquetting 43, Ke Yi
Installation shaft 52 plays the role of limit when installing to a certain extent, so as to promote the assembly efficiency on chassis 100.
Wherein, as shown in Figure 5 and Figure 6, reinforcement is provided between two side plates 42, between limiting device 60 and side plate 42
Plate 44.The setting of stiffening plate 44 can promote the structural strength of Rocker arm 40, and can promote Rocker arm 40 and limiting device 60
Bonding strength, so as to further promote the overall structure reliability on chassis 100.Wherein 63 He of main body of limiting device 60
It is welded and fixed between bottom plate 41, can guarantee fixation reliability between the two in this way.
Specifically, as shown in fig. 6, briquetting 43 is installed on the second end of bottom plate 41 by fastener, briquetting 43 be formed with
Appended claims and mounting hole downward.That is, fastener can complete bottom plate 41 and briquetting 43 from bottom to top
Assembly, can avoid the bottom of driving body 10 in this way, can reduce the assembly difficulty between briquetting 43 and bottom plate 41.Wherein, it presses
Block 43 is provided with open accommodation groove downward, and shaft 52 is placed in accommodation groove.
A specific embodiment according to the present invention, as shown in Figure 1, driving wheel 50 is two, two driving wheels 50 are arranged
In the middle part of the front-rear direction of car body 10, and two 50 left and right directions interval of driving wheel settings, driven wheel are four, and four driven
Wheel includes two front driven wheels 20 and two back front driven wheels 30, and two front driven wheels 20 are located at the front side of two driving wheels 50, and
And two front driven wheels 20, between left and right every setting, two back front driven wheels 30 are located at the rear side of two driving wheels 50, and after two
Driven wheel 30 is between left and right every setting.It is understood that being located at two front driven wheels 20 in front, can be conducive to robot fast
Speed adapts to upward trend and downhill path, and can make car body 10 is opposite to adjust, and two be located behind back front driven wheel
30 can make robot when by upward trend and downhill path, be able to maintain the whole steady of robot.It should be noted that
The arrangement form of different driven wheels can also be arranged in robot, for example, driven wheel can be three, front side setting one is driven
Wheel, rear side be arranged two between left and right every driven wheel, for another example, back front driven wheel 30 can be four, and four back front driven wheels 30 can be with
Time interval is arranged in pairs.
Further, the chassis 100 of robot can also include: preceding mounting rack 80 and rear mounting rack 90, driven before two
Wheel 20 can be rotatably arranged in preceding mounting rack 80, and the front side bottom of car body 10 is articulated in the middle part of preceding 80 left and right directions of mounting rack
Portion, two back front driven wheels 30 can be rotatably arranged in rear mounting rack 90, be articulated with vehicle in the middle part of rear 90 left and right directions of mounting rack
The bottom rear of body 10.Preceding mounting rack 80 can rotate to a certain extent relative to car body 10 as a result, the opposite car body of rear mounting rack 90
10 can rotate to a certain extent, can make in this way robot shaken when there is the road surface of barrier or hole by side compared with
It is small, so as to further hoisting machine people pass through and obstacle performance.
Wherein, as shown in fig. 6, being provided with preceding buffer stopper 81 between 10 bottom of the left and right ends of preceding mounting rack 80 and car body,
Rear buffer stopper 91 is provided between 10 bottom of the left and right ends of mounting rack 90 and car body afterwards.Preceding buffer stopper 81 can be in preceding mounting rack
Damping vibration between 80 and car body 10, rear buffer stopper 91 can between rear mounting rack 90 and car body 10 damping vibration, so as to
With further hoisting machine people pass through and obstacle performance, can be impaired to avoid sending objects.
As shown in figs 2-4, wheel body 51 is located at the outside of car body 10.The wheel body 51 of such setting can be to avoid upper
Lower direction is interfered with car body 10, can be conducive to the lift adjustment between wheel body 51 and car body 10, but also can be square
Just the mounting arrangements of wheel body 51.
Robot according to an embodiment of the present invention, the chassis 100 of the robot including above-described embodiment.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the description of the present invention, " fisrt feature ", " second feature " may include one or more of the features.In
In description of the invention, the meaning of " plurality " is two or more.In the description of the present invention, fisrt feature is in the second spy
Sign " on " or " under " may include that the first and second features directly contact, and also may include the first and second features not be straight
It contacts but by the other characterisation contact between them.
In the description of the present invention, fisrt feature includes fisrt feature above the second feature " above ", " above " and " above "
Right above second feature and oblique upper, or first feature horizontal height is merely representative of higher than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (13)
1. a kind of chassis of robot characterized by comprising
Car body；
Driven wheel, the driven wheel are rotatablely arranged at the bottom of the car body；
Rocker arm, the first end of the rocker arm are rotatablely arranged at the bottom of the car body and are spaced apart with the driven wheel；
Driving wheel, the shaft of the driving wheel are set to the second end of the rocker arm；
Limiting device, the limiting device are set on the rocker arm, and the limiting device includes upper limit portion and lower limit portion,
The upper limit portion and the lower limit portion selectively cooperate with the bottom of the car body, the upper limit portion and the car body
Bottom cooperation when, the driving wheel turns to the upper limit position of the relatively described car body, the lower limit portion and the car body
Bottom cooperation when, the driving wheel turns to the lower limit position of the relatively described car body.
2. the chassis of robot according to claim 1, which is characterized in that the limiting device includes main body, the master
Body is connected on the rocker arm, and the upper limit portion and the lower limit portion are all set in the main body and between front-rear direction
Every setting.
3. the chassis of robot according to claim 2, which is characterized in that the upper limit portion, which has, protrudes upward
The first corner, when the bottom of first corner and the car body cooperates, the driving wheel turns to the relatively described car body
Upper limit position；
The lower limit portion has the second corner protruded upward, the bottom cooperation of second corner and the car body
When, the driving wheel turns to the lower limit position of the relatively described car body.
4. the chassis of robot according to claim 1, which is characterized in that further include: damping device, the damping device
One end be rotatably connected on the car body and the other end is rotatably connected on the limiting device.
5. the chassis of robot according to claim 4, which is characterized in that the limiting device further include: interconnecting piece, institute
Connecting portion is stated between the upper limit portion and the lower limit portion, the car body is provided with perforation, and the interconnecting piece passes through
The perforation, the damping device are located at the top of the car body, and one end of the damping device is rotatably connected at described
On car body and the other end is rotatably connected on the interconnecting piece.
6. the chassis of robot according to claim 1, which is characterized in that the rocker arm includes: bottom plate and two side plates,
Two side plates are vertically arranged and are connected to the width direction two sides of the bottom plate, and the limiting device is fixed on the bottom plate
First end, the second end of two side plates is provided with the via hole passed through for the shaft, the second end setting of the bottom plate
There is a briquetting, the second end of the briquetting and the bottom plate limits the installation space of the shaft jointly.
7. the chassis of robot according to claim 6, which is characterized in that between two side plates, the limit dress
It sets and is provided with stiffening plate between the side plate.
8. the chassis of robot according to claim 6, which is characterized in that the briquetting is installed on described by fastener
The second end of bottom plate, the briquetting are formed with mounting hole with the appended claims and downward.
9. the chassis of robot according to claim 1, which is characterized in that the driving wheel is two, two drives
Driving wheel is set in the middle part of the front-rear direction of the car body and left and right directions interval is arranged；
The driven wheel is four, and four driven wheels include two front driven wheels and two back front driven wheels, and two described preceding driven
Wheel is located at the front side of two driving wheels and between left and right every setting, and two back front driven wheels are located at two driving wheels
Rear side and between left and right every setting.
10. the chassis of robot according to claim 9, which is characterized in that further include: preceding mounting rack and rear mounting rack,
Two front driven wheels are rotatablely arranged at the preceding mounting rack, are articulated with institute in the middle part of the preceding mounting rack left and right directions
The front side bottom of car body is stated, two back front driven wheels are rotatablely arranged at the rear mounting rack, described rear mounting rack or so
The bottom rear of the car body is articulated in the middle part of direction.
11. the chassis of robot according to claim 10, which is characterized in that the left and right ends of the preceding mounting rack and institute
It states and is provided with preceding buffer stopper between vehicle bottom, after being provided between the left and right ends and the vehicle bottom of the rear mounting rack
Buffer stopper.
12. the chassis of robot according to claim 1, which is characterized in that the driving wheel includes wheel body, and described turn
Axis is rotatablely arranged in the wheel body, and the wheel body is located at the outside of the car body.
13. a kind of robot characterized by comprising the chassis of robot of any of claims 1-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910754871.5A CN110435786B (en) | 2019-08-15 | 2019-08-15 | Robot and chassis thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910754871.5A CN110435786B (en) | 2019-08-15 | 2019-08-15 | Robot and chassis thereof |
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| Publication Number | Publication Date |
|---|---|
| CN110435786A true CN110435786A (en) | 2019-11-12 |
| CN110435786B CN110435786B (en) | 2024-04-30 |
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| CN201910754871.5A Active CN110435786B (en) | 2019-08-15 | 2019-08-15 | Robot and chassis thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223967A (en) * | 2020-09-25 | 2021-01-15 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
| CN113218378A (en) * | 2021-05-28 | 2021-08-06 | 李禄胜 | Portable outdoor positioning and marking device for oil exploration |
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| CN113218378A (en) * | 2021-05-28 | 2021-08-06 | 李禄胜 | Portable outdoor positioning and marking device for oil exploration |
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| CN110435786B (en) | 2024-04-30 |
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