CN208005661U - Chassis assembly and robot - Google Patents
Chassis assembly and robot Download PDFInfo
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- CN208005661U CN208005661U CN201820269774.8U CN201820269774U CN208005661U CN 208005661 U CN208005661 U CN 208005661U CN 201820269774 U CN201820269774 U CN 201820269774U CN 208005661 U CN208005661 U CN 208005661U
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- bottom plate
- chassis assembly
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Abstract
The utility model provides a kind of chassis assembly and robot.Chassis assembly includes：Bottom plate；Active wheels, two groups of active wheels are symmetricly set on the first side and the second side of bottom plate；Driven wheels, two groups of driven wheels are symmetricly set on the third side and the 4th side of bottom plate；Suspended shock damper, two suspended shock dampers are symmetricly set on the first side and the second side of bottom plate；Driving device, two driving devices, which correspond, to be mounted on two suspended shock dampers, and two driving devices are drivingly connected correspondingly with two active wheels.The utility model can so that entire chassis assembly realizes pivot stud, and the radius of turn of bottom plate can be from 0 to infinity, and the center of rotation center and bottom plate is consistent, and effectively increases the stability of the chassis assembly in the utility model.
Description
Technical field
The utility model is related to field of artificial intelligence, in particular to a kind of chassis assembly and robot.
Background technology
Currently, mobile chassis component generally use is wheeled, crawler type and legged, wherein for regular ground, it is general to select
Select speed high, compact-sized, with long service life wheel type mobile chassis.And existing wheel type mobile chassis, at the bottom of when starting stops
Disk shaking is larger, and radius of turn is smaller, and rotation center is inconsistent with center chassis, causes kinetic stability poor.
Utility model content
The main purpose of the utility model is to provide a kind of chassis assembly and robots, to solve bottom in the prior art
The problem of the stability difference of disk component.
To achieve the goals above, one side according to the present utility model provides a kind of chassis assembly, including：Bottom
Plate；Active wheels, two groups of active wheels are symmetricly set on the first side and the second side of bottom plate；Driven wheels, two groups of driven wheels
It is symmetricly set on the third side and the 4th side of bottom plate；Suspended shock damper, two suspended shock dampers are symmetricly set on bottom plate
First side and the second side；Driving device, two driving devices, which correspond, to be mounted on two suspended shock dampers, and two drives
Dynamic device is drivingly connected correspondingly with two active wheels.
Further, suspended shock damper includes：Mounting bracket, mounting bracket are fixedly mounted on bottom plate, driving device installation
On mounting bracket；Damping, at least one damping are mounted between bottom plate and mounting bracket.
Further, mounting bracket includes：Upper connector and lower connector, upper connector are arranged in parallel in the upper of lower connector
Side；Mounting flange, the top of mounting flange and the first end of upper connector are linked together by the first rotation optical axis, Method for Installation
Blue bottom end and the first end of lower connector are linked together by the second rotation optical axis；Intermediate connector, upper connector second
End and lower connector second end are linked together by intermediate connector, and intermediate connector and upper connector and lower connector it
Between pass through third rotate optical axis connection.
Further, abdicating through hole is set on bottom plate, and mounting bracket is suspended on by intermediate connector in abdicating through hole.
Further, intermediate connector is threaded through on bottom plate, and is fixed on bottom plate by fastener.
Further, pilot hole is provided on bottom plate, damping includes：Guide rod, guide rod are vertically installed at lower company
On fitting, and guide rod is threaded through in pilot hole；Elastic element, elastic element are arranged on the guide bar, and the two of elastic element
It supports respectively on bottom plate and lower connector at end.
Further, the both ends of elastic element are both provided with catch.
Further, elastic element is spring.
Further, active wheels include at least one driving wheel, and driven wheels include at least one driven wheel.
Another aspect according to the present utility model, provides a kind of robot, including chassis assembly, and chassis assembly is above-mentioned
Chassis assembly.
Using the technical solution of the utility model, due to two active wheels and two driven wheels in the utility model
It is symmetricly set on bottom plate, and suspension damping dress is connected between the driving device of active wheels and bottom plate for driving
It sets, during driving device driving active wheels work, entire chassis assembly can be made to realize pivot stud, bottom plate
Radius of turn can be from 0 to infinity, and the center of rotation center and bottom plate is consistent, and is effectively increased in the utility model
The stability of chassis assembly.Further, since the driving device in the utility model is to be connected to bottom plate by suspended shock damper
On, by the effect of the suspended shock damper, the damping effect and kinetic stability of entire chassis assembly are can effectively improve,
Compact-sized, installation is simple.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
Novel illustrative embodiments and their description are not constituted improper limits to the present invention for explaining the utility model.
In the accompanying drawings：
Fig. 1 diagrammatically illustrates the stereogram of the chassis assembly of the utility model；And
Fig. 2 diagrammatically illustrates the stereogram of the suspended shock damper of the utility model.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, bottom plate；11, abdicating through hole；12, pilot hole；20, driving wheel；30, driven wheel；40, suspended shock damper；41,
Mounting bracket；411, upper connector；412, lower connector；413, mounting flange；414, intermediate connector；415, the first rotation light
Axis；416, the second rotation optical axis；417, third rotates optical axis；418, fastener；42, damping；421, guide rod；422, bullet
Property element；423, catch；50, driving device.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Shown in referring to Fig. 1 and Fig. 2, embodiment according to the present utility model provides a kind of chassis assembly, in the present embodiment
Chassis assembly include bottom plate 10, active wheels, driven wheels, suspended shock damper 40 and driving device 50.
Wherein, two groups of active wheels are symmetricly set on the first side and the second side of bottom plate 10；Two groups of driven wheels are symmetrically set
It sets in the third side and the 4th side of bottom plate 10；Two suspended shock dampers 40 are symmetricly set on the first side and second of bottom plate 10
Side；Two driving devices 50, which correspond, to be mounted on two suspended shock dampers 40, and two driving devices 50 and two masters
Driving wheel group is drivingly connected correspondingly.
By in this present embodiment two active wheels and two driven wheels be symmetricly set on bottom plate 10, and
Suspended shock damper 40 is connected between the driving device 50 of active wheels and bottom plate 10 for driving, when driving device 50 drives
During active wheels work, entire chassis assembly can be made to realize pivot stud, the radius of turn of bottom plate 10 can be from 0
It is consistent to the center of infinity, rotation center and bottom plate 10, effectively increases the stabilization of the chassis assembly in the present embodiment
Property.Further, since the driving device 50 in the present embodiment is connected on bottom plate 10 by suspended shock damper 40, by this
The effect of suspended shock damper 40 can effectively improve the damping effect and kinetic stability of entire chassis assembly, compact-sized,
Installation is simple.
Suspended shock damper 40 in the present embodiment includes mounting bracket 41 and at least one damping 42.Wherein, it installs
Frame 41 is fixedly mounted on bottom plate 10, and driving device 50 is mounted on mounting bracket 41, is rotated convenient for driving driving wheel 20；Damping machine
Structure 42 is mounted between bottom plate 10 and mounting bracket 41, convenient for improving the damping effect and kinetic stability of entire chassis assembly.
Specifically, the mounting bracket 41 in the present embodiment includes upper connector 411, lower connector 412, mounting flange 413
And intermediate connector 414, wherein upper connector 411 is arranged in parallel in the top of lower connector 412；The top of mounting flange 413
It holds and is linked together by the first rotation optical axis 415 with the first end of upper connector 411, the bottom end of mounting flange 413 and lower company
The first end of fitting 412 is linked together by the second rotation optical axis 416；The second end of upper connector 411 and lower connector 412
Second end linked together by intermediate connector 414, and intermediate connector 414 and upper connector 411 and lower connector 412
Between pass through third rotate optical axis 417 connect.
The structure of mounting bracket 41 in through this embodiment, can form an installation space, and then by driving device 50
It is firmly secured in installation cavity, when installation, driving device 50 is fixed together with mounting flange 413, and and driving wheel
20 are drivingly connected.Preferably, the driving device 50 in the present embodiment is driving motor, simple in structure, is easy to implement.
Abdicating through hole 11 is set on the bottom plate 10 in the present embodiment, and mounting bracket 41 is suspended on by intermediate connector 414 and is allowed
In the through-hole 11 of position, convenient for improving the structural compactness of the chassis assembly in the present embodiment.
When actual installation, the intermediate connector 414 in the present embodiment is threaded through on bottom plate 10, and solid by fastener 418
It is scheduled on bottom plate 10, it is preferable that the fastener 418 in the present embodiment is screw, certainly, in the other embodiment of the utility model
In, fastener 418 can also be set to the structures such as bolt, rivet, as long as other changes under the design of the utility model
Shape mode, both is within the protection scope of the present invention.
For the ease of installing damping 42, it is provided with pilot hole 12 on the bottom plate 10 in the present embodiment, and damping
42 include guide rod 421 and elastic element 422, and when installation, guide rod 421 is vertically installed on lower connector 412, and is oriented to
Bar 421 is threaded through in pilot hole 12；Elastic element 422 is set on guide rod 421, and the both ends of elastic element 422 are supported respectively
It withstands on bottom plate 10 and lower connector 412, convenient for improving the damping effect of the chassis assembly in the present embodiment.
Preferably, the both ends of the elastic element 422 in the present embodiment are both provided with catch 423, convenient for preventing elastic element
422 are stuck on lower connector 412 and bottom plate 10.
Preferably, the elastic element 422 in the present embodiment is spring, certainly, in the other embodiment of the utility model,
Elastic element 422 can also be set to the structures such as elastic rubber ring, as long as other changes under the design of the utility model
Shape mode, both is within the protection scope of the present invention.
It recombines shown in Fig. 1 and Fig. 2, the active wheels in the present embodiment include at least one driving wheel 20, such as one
A, driven wheels include at least one driven wheel 30, such as two.
Preferably, the driven wheel 30 in the present embodiment is universal wheel.
According to the above embodiments it is recognised that the utility model chassis assembly drives using two driving wheels 20 are independent,
All around symmetrical four universal wheels increase the contact area of wheel type mobile bottom plate 10 and ground as driven wheel 30,
So that bottom plate 10 is moved more stable, meanwhile, when 10 pivot stud of bottom plate, ensure that 10 radius of turn of bottom plate can from 0 to infinity,
The rotation center of bottom plate 10 and the geometric center on chassis maintain unanimously.
Suspended shock damper 40 uses symmetrical damping 42, and mobile bottom is fixed on by intermediate connector 414
On plate 10, as fixing end, the other end rotates optical axis 416, guide rod 421 and spring by the first rotation optical axis 415, second will
Driving device 50 is underslung to be mounted on bottom plate 10, is kept certain activity space, has both effectively been secured 50 He of driving device
Driving wheel 20 improves the damping effect on chassis further through space damping 42.
Another aspect according to the present utility model, provides a kind of robot, including chassis assembly, and chassis assembly is above-mentioned
Chassis assembly.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
The utility model improves the damping effect of chassis assembly, reduces shaking volume when chassis assembly starting stops；
Chassis assembly radius of turn can be from 0 to infinity, and the center of rotation center and bottom plate is consistent, and effectively increases the steady of bottom plate
It is qualitative.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of chassis assembly, which is characterized in that including：
Bottom plate (10)；
Active wheels, active wheels described in two groups are symmetricly set on the first side and the second side of the bottom plate (10)；
Driven wheels, driven wheels described in two groups are symmetricly set on the third side and the 4th side of the bottom plate (10)；
Suspended shock damper (40), two suspended shock dampers (40) be symmetricly set on the bottom plate (10) the first side and
The second side；
Driving device (50), two driving devices (50), which correspond, is mounted on two suspended shock dampers (40)
On, and two driving devices (50) are drivingly connected correspondingly with two active wheels.
2. chassis assembly according to claim 1, which is characterized in that the suspended shock damper (40) includes：
Mounting bracket (41), the mounting bracket (41) are fixedly mounted on the bottom plate (10), and the driving device (50) is mounted on
On the mounting bracket (41)；
Damping (42), at least one damping (42) be mounted on the bottom plate (10) and the mounting bracket (41) it
Between.
3. chassis assembly according to claim 2, which is characterized in that the mounting bracket (41) includes：
Upper connector (411) and lower connector (412), the upper connector (411) are arranged in parallel in the lower connector (412)
Top；
Mounting flange (413), the top of the mounting flange (413) pass through first with the first end of the upper connector (411)
Rotation optical axis (415) links together, and the bottom end of the mounting flange (413) and the first end of the lower connector (412) are logical
The second rotation optical axis (416) is crossed to link together；
Intermediate connector (414), upper connector (411) second end and the lower connector (412) second end pass through centre
Connector (414) links together, and the intermediate connector (414) and the upper connector (411) and the lower connector
(412) optical axis (417) is rotated by third between to connect.
4. chassis assembly according to claim 3, which is characterized in that abdicating through hole (11) is set on the bottom plate (10),
The mounting bracket (41) is suspended on by the intermediate connector (414) in the abdicating through hole (11).
5. chassis assembly according to claim 4, which is characterized in that the intermediate connector (414) is threaded through the bottom
On plate (10), and it is fixed on the bottom plate (10) by fastener (418).
6. chassis assembly according to claim 3, which is characterized in that it is provided with pilot hole (12) on the bottom plate (10),
The damping (42) includes：
Guide rod (421), the guide rod (421) is vertically installed on the lower connector (412), and the guide rod
(421) it is threaded through in the pilot hole (12)；
Elastic element (422), the elastic element (422) is set on the guide rod (421), and the elastic element
(422) it supports respectively on the bottom plate (10) and the lower connector (412) at both ends.
7. chassis assembly according to claim 6, which is characterized in that the both ends of the elastic element (422) are both provided with
Catch (423).
8. chassis assembly according to claim 7, which is characterized in that the elastic element (422) is spring.
9. chassis assembly according to any one of claim 1 to 8, which is characterized in that the active wheels include at least
One driving wheel (20), the driven wheels include at least one driven wheel (30).
10. a kind of robot, including chassis assembly, which is characterized in that the chassis assembly is any one of claim 1 to 9
The chassis assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820269774.8U CN208005661U (en) | 2018-02-24 | 2018-02-24 | Chassis assembly and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820269774.8U CN208005661U (en) | 2018-02-24 | 2018-02-24 | Chassis assembly and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208005661U true CN208005661U (en) | 2018-10-26 |
Family
ID=63887816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820269774.8U Active CN208005661U (en) | 2018-02-24 | 2018-02-24 | Chassis assembly and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208005661U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815289A (en) * | 2019-11-11 | 2020-02-21 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
-
2018
- 2018-02-24 CN CN201820269774.8U patent/CN208005661U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815289A (en) * | 2019-11-11 | 2020-02-21 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
| WO2021093498A1 (en) * | 2019-11-11 | 2021-05-20 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
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