CN212074255U - Chassis and mobile robot - Google Patents
Chassis and mobile robot Download PDFInfo
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- CN212074255U CN212074255U CN202020372500.9U CN202020372500U CN212074255U CN 212074255 U CN212074255 U CN 212074255U CN 202020372500 U CN202020372500 U CN 202020372500U CN 212074255 U CN212074255 U CN 212074255U
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Abstract
The utility model discloses a chassis and mobile robot, wherein, the chassis includes chassis body, two sets of driving wheel subassembly, follows driving wheel subassembly and drive assembly. Two groups of driving wheel components are respectively rotatably installed on two sides of the chassis body and comprise a first driving wheel and a second driving wheel. The driven wheel component is rotatably arranged at the bottom of the chassis body and is positioned in front of the driving wheel component. The driving components are respectively arranged corresponding to the two groups of driving wheel components, each driving component comprises a gear box and a driving part, and the gear box is hinged with the chassis body so that the gear box can rotate relative to the chassis body. The first driving wheel and the second driving wheel are both arranged on one side of the gear box, a gear set is arranged in the gear box, and the driving piece is in driving connection with the first driving wheel and the second driving wheel through the gear set. The utility model discloses improved mobile robot's chassis structure, improved the ability of hindering more on mobile robot chassis, improved its work efficiency.
Description
Technical Field
The utility model relates to a mobile robot technical field especially relates to a chassis and mobile robot.
Background
The mobile robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to instructions formulated by an artificial intelligence technology. The task of a mobile robot is to assist or replace the work of human work, such as service, production, construction or hazardous work, etc.
The chassis of the existing mobile robot generally comprises a chassis body, driving wheels, driven wheels, a driving assembly and other parts, wherein the chassis body is of a disc-shaped structure and is relatively low, the driven wheels are arranged at the bottom of the front side of the chassis body, and the two groups of driving wheels are arranged oppositely on two sides of the middle part of the chassis body. When a task is executed, when the robot meets a high step or an uneven road surface, such as threshold stones of balconies, kitchens and toilets, sliding doors and sliding rails and the like, the obstacle crossing capability of the mobile robot chassis is poor, the robot cannot cross over, and the tasks such as cleaning or carrying cannot be continuously executed and completed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a chassis aims at improving mobile robot's the ability of hindering more to improve its work efficiency.
In order to achieve the above object, the utility model provides a chassis for mobile robot, the chassis includes:
a chassis body;
the two driving wheel assemblies are respectively and rotatably arranged on two sides of the chassis body and comprise a first driving wheel and a second driving wheel;
the driven wheel component is rotatably arranged at the bottom of the chassis body and is positioned in front of the driving wheel component; and
the driving assemblies are respectively arranged corresponding to the two groups of driving wheel assemblies, each driving assembly comprises a gear box and a driving piece, and the gear box is hinged with the chassis body so as to enable the gear box to rotate relative to the chassis body; the first driving wheel and the second driving wheel are installed on one side of the gearbox, a gear set is arranged in the gearbox, and the driving piece is in driving connection with the first driving wheel and the second driving wheel through the gear set.
In one embodiment, the drive assembly further comprises:
the limiting part is arranged on the chassis body and used for limiting the rotation angle of the gearbox relative to the chassis body.
In one embodiment, in each of the driving assemblies, the number of the tooth boxes is one, and the number of the driving parts is one;
the gear set comprises a first gear, a second gear, a third gear, a first linkage gear and a second linkage gear, the first linkage gear is coaxially connected with the first driving wheel, and the second linkage gear is coaxially connected with the second driving wheel;
the third gear is meshed with the first gear and the second gear respectively, and the first gear is in driving connection with the driving piece.
In one embodiment, in each driving assembly, the number of the gear boxes is one, the gear sets in the gear boxes include a fourth gear, a fifth gear, a third linkage gear and a fourth linkage gear, the third linkage gear is coaxially connected with the first driving wheel and is in meshing connection with the fourth gear, and the fourth linkage gear is coaxially connected with the second driving wheel and is in meshing connection with the fifth gear;
the number of the driving parts is two, the driving parts are respectively a first driving part and a second driving part, the fourth gear is in driving connection with the first driving part, and the fifth gear is in driving connection with the second driving part.
In one embodiment, in each of the driving assemblies, the number of the tooth boxes is two, and the number of the driving parts is two;
the first driving wheel and the second driving wheel are respectively rotatably installed on one side of the two gear boxes and are rotatably connected through gear sets in the gear boxes, and the two gear sets in the gear boxes are respectively in driving connection with the two driving pieces.
In an embodiment, one of the gear boxes is fixedly connected with the chassis body, and the other gear box is movably connected to the chassis body and has a movable switching storage position and a driving position, when the storage position is reached, the first driving wheel or the second driving wheel correspondingly connected with the other gear box is suspended in the air relative to the ground, and when the driving position is reached, the first driving wheel or the second driving wheel correspondingly connected with the other gear box is contacted with the ground.
In an embodiment, the first driving wheel and the second driving wheel are installed at different heights on one side of the tooth box, when the mobile robot is located on a horizontal cleaning surface, one of the first driving wheel and the second driving wheel is in contact with the horizontal cleaning surface, and the other one of the first driving wheel and the second driving wheel is in a suspended state.
In one embodiment, the rotating shaft of the first driving wheel and the rotating shaft of the second driving wheel are located on different horizontal planes on one side of the gearbox, so that the installation heights of the first driving wheel and the second driving wheel on one side of the gearbox are different.
In one embodiment, the limiting member is a suspension member, a connecting arm is convexly arranged in the chassis body, a first clamping hook is arranged at one end of the connecting arm, which is far away from the chassis body, and a second clamping hook is arranged at one side of the gearbox, which is far away from the ground;
one end of the hanging piece is clamped with the first clamping hook, and the other end of the hanging piece is clamped with the second clamping hook, so that the gearbox can rotate relative to the chassis body.
In order to achieve the above object, the present invention further provides a mobile robot, the mobile robot including the chassis as described above, the chassis including:
a chassis body;
the two driving wheel assemblies are respectively and rotatably arranged on two sides of the chassis body and comprise a first driving wheel and a second driving wheel;
the driven wheel component is rotatably arranged at the bottom of the chassis body and is positioned in front of the driving wheel component; and
the driving assemblies are respectively arranged corresponding to the two groups of driving wheel assemblies, each driving assembly comprises a gear box and a driving piece, and the gear box is hinged with the chassis body so as to enable the gear box to rotate relative to the chassis body; the first driving wheel and the second driving wheel are installed on one side of the gearbox, a gear set is arranged in the gearbox, and the driving piece is in driving connection with the first driving wheel and the second driving wheel through the gear set.
The utility model discloses a two groups of action wheel subassemblies of this chassis are installed in both sides of chassis body respectively in rotation, the action wheel subassembly includes first action wheel and second action wheel, the driven wheel subassembly is installed in chassis body bottom and is located the place ahead of action wheel subassembly in rotation, the drive subassembly corresponds two groups of action wheel subassemblies and sets up respectively, each drive subassembly includes tooth case and driving piece, the tooth case is articulated with the chassis body, so that the tooth case can rotate relative to the chassis body, first action wheel and second action wheel are all installed in tooth case one side, the tooth case is equipped with the gear train, the driving piece is connected with first action wheel and second action wheel through the gear train drive, the obstacle crossing ability of mobile robot chassis has been promoted, when meeting the obstacle, because the tooth case can rotate relative to the chassis body, first action wheel and second action wheel can relative swing, under the thrust of second action wheel, the first driving wheel and the driven wheel can easily cross the obstacle, and then the whole mobile robot chassis can climb the obstacle on the driving force of the first driving wheel to complete obstacle crossing.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is an assembly diagram of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a driving wheel assembly and a driving assembly in an embodiment of the chassis of the present invention;
fig. 3 is a schematic structural view of a driving wheel assembly and a driving assembly in another embodiment of the chassis of the present invention;
fig. 4 is a movement state diagram of the chassis moving on the flat ground according to an embodiment of the present invention;
FIG. 5 is a diagram of a movement state of the chassis when starting to cross obstacles according to an embodiment of the present invention;
FIG. 6 is a diagram of the movement state of the chassis in the obstacle crossing process according to an embodiment of the present invention;
FIG. 7 is a movement diagram of the chassis after the obstacle crossing is completed in an embodiment of the chassis of the present invention;
fig. 8 is a schematic structural diagram of an embodiment of the mobile robot of the present invention.
The reference numbers illustrate:
the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The mobile robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to instructions formulated by an artificial intelligence technology. The task of a mobile robot is to assist or replace the work of human work, such as service, production, construction or hazardous work, etc.
In an exemplary technique, a chassis of the mobile robot includes a chassis body, a driving wheel, a driven wheel, a driving assembly and other components, the chassis body is in a disc-shaped structure and is relatively low, wherein the driven wheel is disposed at the bottom of the front side of the chassis body, and two sets of driving wheels are disposed opposite to each other on two sides of the middle of the chassis body. When a task is executed, when the robot meets a high step or an uneven road surface, such as threshold stones of balconies, kitchens and toilets, sliding doors and sliding rails and the like, the obstacle crossing capability of the mobile robot chassis is poor, the robot cannot cross over, and the tasks such as cleaning or carrying cannot be continuously executed and completed.
In order to promote mobile robot's obstacle crossing ability, the utility model provides a chassis is applicable to various mobile robot, especially sweeps the floor the robot, and here is not limited.
Referring to fig. 1 to 3, in an embodiment of the present invention, the chassis includes a chassis body 100, two sets of driving wheel assemblies 200, a driven wheel assembly 300, and a driving assembly 400. The two driving wheel assemblies 200 are rotatably mounted on two sides of the chassis body 100, respectively, and the driving wheel assemblies 200 include a first driving wheel 210 and a second driving wheel 220. The driven wheel assembly 300 is rotatably mounted at the bottom of the chassis body 100 and in front of the driving wheel assembly 200. The driving components 400 are respectively arranged corresponding to the two sets of driving wheel components 200, each driving component 400 comprises a gear box 410 and a driving part 420, the gear box 410 is hinged with the chassis body 100, so that the gear box 410 can rotate relative to the chassis body 100, the first driving wheel 210 and the second driving wheel 220 are both installed on one side of the gear box 410, a gear set is arranged in the gear box 410, and the driving part 420 is in driving connection with the first driving wheel 210 and the second driving wheel 220 through the gear set.
In this embodiment, in order to limit the rotation of the gearbox 410, the driving assembly 400 may further include a limiting member 430, and the limiting member 430 is disposed on the chassis body 100 and connected to the gearbox 410, and is used for limiting the rotation angle of the gearbox 410 relative to the chassis body 100. The position limiting member 430 may be a suspension member or a position limiting member to limit the rotation of the gearbox 410.
The gear box 410, the driving member 420, the limiting member 430 and the gear sets in the gear box 410 are not limited in number, and the required tasks can be executed according to reasonable setting and the obstacles can be smoothly crossed in the process of executing the tasks. In addition, the driving member 420 may be a brushless motor, which is not limited herein.
It should be noted that, in this embodiment, since the gear box 410 can rotate relative to the chassis body 100, the chassis of the mobile robot can rotate relatively in the pitch direction, when the chassis of the mobile robot encounters an obstacle, the gear box 410 can rotate relatively in the pitch direction, and the driving assembly 400 makes the second driving wheel 220 and the first driving wheel 210 respectively do work, so that the chassis of the mobile robot can smoothly pass over the obstacle, thereby implementing the obstacle crossing function.
In this embodiment, referring to fig. 1, two sides of the chassis body 100 are provided with mounting locations or the bottom of the chassis body 100 is provided with two receiving spaces arranged at intervals for mounting the two sets of driving wheel assemblies 200, and the two sets of driving wheel assemblies 200 may be symmetrically arranged. In addition, an accommodating space for installing the driven wheel assembly 300 is formed at one end (in front of the driving wheel assembly 200) of the bottom of the chassis body 100. Here, the specific installation manner and position of the driving wheel assembly 200 and the driven wheel assembly 300 are not limited.
In the technical solution of the present invention, because two sets of driving wheel assemblies 200 of the chassis are respectively rotatably mounted on two sides of the chassis body 100, the driving wheel assemblies 200 include a first driving wheel 210 and a second driving wheel 220, the driven wheel assembly 300 is rotatably mounted at the bottom of the chassis body 100 and located in front of the driving wheel assemblies 200, the driving assembly 400 is respectively disposed corresponding to the two sets of driving wheel assemblies 200, each driving assembly 400 includes a gear box 410 and a driving member 420, the gear box 410 is hinged to the chassis body 100, so that the gear box 410 can rotate relative to the chassis body 100, the first driving wheel 210 and the second driving wheel 220 are both mounted on one side of the gear box 410, a gear set is disposed in the gear box 410, the driving member 420 is drivingly connected with the first driving wheel 210 and the second driving wheel 220 through the gear set, the obstacle crossing capability of the chassis of the mobile robot is improved, when an obstacle is encountered, because the gear box, the first driving wheel 210 and the second driving wheel 220 can swing relatively, under the thrust of the second driving wheel 220, the first driving wheel 210 and the driven wheel assembly 300 can easily pass over the obstacle, and then the whole mobile robot chassis can climb the obstacle on the driving force of the first driving wheel 210 to complete obstacle crossing.
The principle is that, referring to fig. 4 to 7, when the chassis of the mobile robot moves in the level road section AB, the driving wheel assembly 200 is driven by the driving element to move close to the ground, when the obstacle section BC moves, the gearbox 410 can rotate relative to the chassis body 100, the first driving wheel 210 and the second driving wheel 220 can swing relative to each other, under the thrust of the second driving wheel 220, the first driving wheel 210 and the driven wheel assembly 300 can easily pass over the obstacle, and then the entire chassis of the mobile robot can climb up the obstacle under the cooperation of the first driving wheel 210 and the second driving wheel 220, thereby completing obstacle crossing.
It should be mentioned that, in the moving process of the chassis of the mobile robot, the first driving wheel 210 and the second driving wheel 220 rotate in the same direction, and the axes of the first driving wheel 210 and the second driving wheel 220 are parallel and the axle distance is fixed. By the arrangement, the reliability of the chassis structure of the mobile robot is improved, and the failure rate of the chassis is reduced.
During assembly, the gear set is first loaded into the gear box 410 and then drivingly connected to the driving member 420 to complete the assembly of the driving assembly 400. Then, the rotation axes of the first driving wheel 210 and the second driving wheel 220 are inserted into the corresponding insertion holes of the gear box 410 to be matched with the gear set, the gear box 410 and the chassis body 100 are fixed by a hinge shaft or a stopper 430, etc. to complete the assembly of the driving wheel assembly 200 and the chassis body 100, and then the driven wheel assembly 300 is mounted at the bottom of the chassis body 100 by means of clamping or screw connection, etc. Thus, the chassis assembly of the whole mobile robot is completed.
The obstacle crossing process of the mobile robot chassis of the embodiment will be described in detail as follows:
referring to fig. 4, the mobile robot chassis travels on a level ground section AB, that is, approaches an obstacle section BC having a circular-arc step shape.
Referring to fig. 5, the mobile robot chassis pushes the driven wheel assembly 300 to a step by the thrust of the driving wheel assembly 200 and the guiding structure at the front end of the chassis body 100 and/or the guiding slope structure arranged in front of the driven wheel assembly 300, and in this process, the chassis body 100 tilts back, the first driving wheel 210 is in a suspended state, and continues to advance by the thrust of the second driving wheel 220. Wherein, the guide structure and the guide slope structure play a role of guiding when surmounting obstacles, so as to ensure that the driven wheel assembly 300 can be smoothly pushed up to the step.
Referring to fig. 6, the chassis of the mobile robot moves forward until the first driving wheel 210 contacts the arc surface of the step (i.e. the obstacle section BC), because the arc surface and the tangential inclination angle of the wheel are large and the surface is smooth, enough friction force cannot be obtained to climb only by the first driving wheel 210, but because the second driving wheel 220 swings and contacts the ground to continue pushing the chassis body 100 at this time, enough and reliable force is still provided to push the first driving wheel 210 onto the step.
In this process, mobile robot chassis mainly relies on the power of first action wheel 210 to drive chassis body 100 and continues to advance, and until second action wheel 220 contact step, second action wheel 220 also can meet pressure not enough on the arc surface of step this moment, the problem of skidding easily, but rely on first action wheel 210's pulling force, can make second action wheel 220 by the light pulling to climb on the step. In this process, since the center of gravity of the chassis body 100 is no longer lifted, the upward movement of the second driving wheel 220 overcomes the self weight and the elastic force of the elastic element, so the advancing resistance is very small, and the obstacle crossing can be completed by the pulling force of the first driving wheel 210.
Referring to fig. 7, at this time, the second driving wheel 220 also climbs the step, and the driving wheel assembly 200 has completely passed over the obstacle section BC to reach the level ground section AB on the obstacle.
It should be noted that at the moment when the mobile robot chassis is over the obstacle, the driven wheel assembly 300 may be lifted, but after the first driving wheel 210 reaches the level road section AB on the upper surface of the obstacle, the front end of the chassis body 100 will press the driven wheel assembly 300 to the ground and contact due to gravity, and then the second driving wheel 220 passes over the obstacle, at which time the whole device is already on the same horizontal plane and completely passes over the obstacle (obstacle road section BC).
It should be noted that the sizes and specifications of the first driving wheel 210 and the second driving wheel 220 may be completely consistent structures, and may also be the first driving wheel 210 is large, the second driving wheel 220 is small, or the second driving wheel 220 is large, and the first driving wheel 210 is small, which is not limited herein. Only when the mobile robot chassis is in operation, the first driving wheel 210 and the second driving wheel 220 are required to be kept at the same rotating linear speed basically when contacting the ground, so that the internal energy consumption between the first driving wheel 210 and the second driving wheel 220 is reduced, and the service life of parts can be prolonged.
In order to achieve the rotation of the first driving wheel 210 and the second driving wheel 220 in the same direction to improve the obstacle crossing capability and improve the assembly efficiency, in one embodiment, referring to fig. 2, in each driving assembly 400, the number of tooth boxes 410 is one, and the number of driving members 420 is one. The gear set comprises a first gear 441, a second gear 442, a third gear 443, a first linkage gear 446 and a second linkage gear 447, wherein the first linkage gear 446 is coaxially connected with the first driving wheel 210 and is in meshing connection with the first gear 441, and the second linkage gear 447 is coaxially connected with the second driving wheel 220 and is in meshing connection with the second gear 442. Third gear 443 is in meshing engagement with first gear 441 and second gear 442, respectively, and first gear 441 is in driving engagement with driver 420.
It should be noted that the above mentioned and below mentioned gear sets may also be a combination of more or less gear engagement drive connections, which are not limited herein.
Of course, in some embodiments, in order to achieve greater driving horsepower for increasing obstacle crossing and moving speed, referring to fig. 3, in each driving assembly 400, the number of gear boxes 410 is one, the gear sets in the gear boxes 410 include a fourth gear 444, a fifth gear 445, a third gear 448, and a fourth gear 449, the third gear 448 is coaxially connected with the first driving wheel 210 and is in meshing connection with the fourth gear 444, and the fourth gear 449 is coaxially connected with the second driving wheel 220 and is in meshing connection with the fifth gear 445. The number of the driving members 420 is two, which are respectively the first driving member 421 and the second driving member 422, the fourth gear 444 is drivingly connected to the first driving member 421, and the fifth gear 445 is drivingly connected to the second driving member 422.
It can be understood that the first driving wheel 210 and the second driving wheel 220 in the present embodiment are driven by independent gear combinations and driving motors respectively, so as to achieve high-speed rotation in the same direction, and the speeds of the two wheels can be adjusted by the control device and can be set to the same or different rotation speeds. When the obstacle is crossed, the reasonable rotating speeds of the first driving wheel 210 and the second driving wheel 220 are set, so that the higher obstacle crossing efficiency of the chassis of the mobile robot can be realized.
In addition, in order to more conveniently adjust the rotation speeds of the first driving wheel 210 and the second driving wheel 220 and avoid interference between the independent gear sets located in the same gearbox 410 under some special conditions, in some embodiments, the number of the gearboxes 410 arranged on the chassis is two, and the number of the driving members 420 is two. The first driving wheel 210 and the second driving wheel 220 are rotatably mounted on one side of the two tooth boxes 410 respectively and are rotatably connected through gear sets therein, and the gear sets in the two tooth boxes 410 are respectively in driving connection with the two driving members 420.
Further, in the present embodiment, one of the tooth boxes 410 is fixedly connected to the chassis body 100, and the other tooth box 410 is movably connected to the chassis body 100 through the limiting member 430, so that the tooth box 410 and the chassis body 100 can rotate relatively. Specifically, in the present embodiment, a sliding mechanism or the like may be provided to enable the other gearbox 410 to slidably adjust the height of the first driving wheel 210 or the second driving wheel 220. That is, the other gearbox 410 is movably connected to the chassis body 100 and has a movable switching storage position and a driving position, when the storage position is located, the first driving wheel 210 or the second driving wheel 220 correspondingly connected to the other gearbox 410 is suspended in the air relative to the ground, and when the driving position is located, the first driving wheel 210 or the second driving wheel 220 correspondingly connected to the other gearbox 410 is in contact with the ground. Therefore, the tire wear degree of the driving wheels is reduced, the interference between the gear set connected with the first driving wheel 210 and the gear set connected with the second driving wheel 220 is also reduced, the whole chassis device is more stable, and the obstacle crossing capability of the chassis device is improved.
The first driving wheel 210 and the second driving wheel 220 may be simultaneously grounded, or one of them may be grounded while the other is not grounded, and the scheme of simultaneously grounded is shown in the figure.
In one embodiment, the first driving wheel 210 and the second driving wheel 220 are installed at different heights on one side of the dental box 410, and when the mobile robot is located on a horizontal cleaning surface, one of the first driving wheel 210 and the second driving wheel 220 is in contact with the horizontal cleaning surface, and the other one is in a suspended state. One of the first drive wheel 210 and the second drive wheel 220 is in contact with the horizontal cleaning surface for carrying and driving the chassis for movement. The horizontal cleaning surface can be understood as the ground, and can also be understood as other relatively flat table surfaces which need to be cleaned besides the ground, so that the contact between one driving wheel and the ground can be reduced, the friction resistance is reduced, the electric energy is reduced, and meanwhile, the abrasion of the driving wheel is also reduced.
With reference to the embodiment of fig. 5 and 6, when walking on the flat road section AB, the first driving wheel 210 or the second driving wheel 220 can be driven as a separate driving wheel to contact the ground, in which case the wear of the tires of one of the wheels can be reduced, thereby improving the service life. When the obstacle is crossed, the chassis tilts forward after the front one of the first driving wheel 210 and the second driving wheel 220 climbs onto the step, and the other one of the first driving wheel and the second driving wheel falls onto the ground due to gravity, and at the same time, the chassis contacts with the ground to push the ground to improve the obstacle crossing capability.
Further, the rotating shaft of the first driving wheel 210 and the rotating shaft of the second driving wheel 220 are located on different horizontal planes at one side of the gearbox 410, so that the installation heights of the first driving wheel 210 and the second driving wheel 220 at one side of the gearbox 410 are different. The device is convenient to arrange and install and easy to realize.
Referring mainly to fig. 1, in an embodiment, in order to realize that the tooth box 410 and the chassis body 100 can rotate relatively, a connecting arm is convexly disposed in the chassis body 100, a first hook 101 is disposed at an end of the connecting arm away from the chassis body 100, and a second hook 411 is disposed at a side of the tooth box 410 away from the ground. One end of the limiting member 430 is connected to the first hook 101 in a snap-fit manner, and the other end of the limiting member 430 is connected to the second hook 411 in a snap-fit manner, so that the gearbox 410 can rotate relative to the chassis body 100.
In the present embodiment, the position-limiting member 430 is a suspension member in a suspension state, and the position-limiting member 430 may be a spring, an elastic body, or the like.
To reinforce the mounting structure of the dental box 410, in one embodiment, referring to fig. 1, the top cover of the dental box 410 of the chassis is provided with a protective cover 500, and the protective cover 500 and the dental box 410 may be fixed by snap-fit or screw-connection. In addition, in the present embodiment, the driving member 420 is covered with the protective cover 600 to protect the driving member 420 and prevent the driving member from being deviated due to its own vibration, thereby improving the reliability of the entire chassis apparatus.
It should be noted that, the protective cover 500 and the protective cover 600 can be made of plastic or metal, and are not limited herein.
The utility model discloses still provide a mobile robot, refer to fig. 8, this mobile robot includes the chassis, and the concrete structure on this chassis refers to above-mentioned embodiment, because the utility model provides a mobile robot includes all schemes of all embodiments on above-mentioned chassis, consequently, have at least with the same technological effect on chassis, the explanation differs here.
In this embodiment, the mobile robot further includes an upper case 700, and the upper case 700 and the chassis body 100 may be assembled by being clamped or screwed, and the installation manner is not limited herein. The shape of the upper case 700 is adapted to the shape of the chassis body 100, and the shape may be configured as a circle, a square, or the like, which is not limited herein.
It should be noted that the mobile robot may be a sweeping robot or a robot capable of performing other tasks, and is not limited herein.
The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (10)
1. A chassis for a mobile robot, the chassis comprising:
a chassis body;
the two driving wheel assemblies are respectively and rotatably arranged on two sides of the chassis body and comprise a first driving wheel and a second driving wheel;
the driven wheel component is rotatably arranged at the bottom of the chassis body and is positioned in front of the driving wheel component; and
the driving assemblies are respectively arranged corresponding to the two groups of driving wheel assemblies, each driving assembly comprises a gear box and a driving piece, and the gear box is hinged with the chassis body so as to enable the gear box to rotate relative to the chassis body; the first driving wheel and the second driving wheel are installed on one side of the gearbox, a gear set is arranged in the gearbox, and the driving piece is in driving connection with the first driving wheel and the second driving wheel through the gear set.
2. The chassis of claim 1, wherein the drive assembly further comprises:
the limiting part is arranged on the chassis body and used for limiting the rotation angle of the gearbox relative to the chassis body.
3. The tray of claim 2, wherein in each of said drive assemblies, the number of said tooth boxes is one, and the number of said drive members is one;
the gear set comprises a first gear, a second gear, a third gear, a first linkage gear and a second linkage gear, the first linkage gear is coaxially connected with the first driving wheel and is meshed with the first gear, and the second linkage gear is coaxially connected with the second driving wheel and is meshed with the second gear;
the third gear is meshed with the first gear and the second gear respectively, and the first gear is in driving connection with the driving piece.
4. The chassis of claim 2, wherein in each of the driving assemblies, the number of the gear boxes is one, the gear sets in the gear boxes comprise a fourth gear, a fifth gear, a third gear and a fourth linkage gear, the third gear is coaxially connected with the first driving wheel and is in meshing connection with the fourth gear, and the fourth linkage gear is coaxially connected with the second driving wheel and is in meshing connection with the fifth gear;
the number of the driving parts is two, the driving parts are respectively a first driving part and a second driving part, the fourth gear is in driving connection with the first driving part, and the fifth gear is in driving connection with the second driving part.
5. The tray of claim 2, wherein in each of said drive assemblies, said tooth boxes are two in number and said drive members are two in number;
the first driving wheel and the second driving wheel are respectively installed on one side of the two gear boxes and are in transmission connection through gear sets in the gear boxes, and the gear sets in the two gear boxes are respectively in driving connection with the two driving pieces.
6. The chassis of claim 5, wherein one of the tooth boxes is fixedly connected with the chassis body, and the other tooth box is movably connected with the chassis body and has a receiving position and a driving position which can be switched movably, when the other tooth box is in the receiving position, the first driving wheel or the second driving wheel correspondingly connected with the other tooth box is suspended relative to the ground, and when the other tooth box is in the driving position, the first driving wheel or the second driving wheel correspondingly connected with the other tooth box is in contact with the ground.
7. The chassis according to claim 1 or 2, wherein the first driving wheel and the second driving wheel are installed at different heights on one side of the tooth box, and when the mobile robot is on a horizontal cleaning surface, one of the first driving wheel and the second driving wheel is in contact with the horizontal cleaning surface, and the other one is in a suspended state.
8. The chassis of claim 7, wherein the rotation axis of the first driving wheel and the rotation axis of the second driving wheel are located at different levels on one side of the gearbox, so that the installation heights of the first driving wheel and the second driving wheel on one side of the gearbox are different.
9. The chassis of claim 2, wherein the limiting member is a suspension member, a connecting arm is convexly arranged in the chassis body, a first hook is arranged at one end of the connecting arm far away from the chassis body, and a second hook is arranged at one side of the gearbox far away from the ground;
one end of the hanging piece is clamped with the first clamping hook, and the other end of the hanging piece is clamped with the second clamping hook, so that the gearbox can rotate relative to the chassis body.
10. A mobile robot, characterized in that it comprises a chassis according to any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020372500.9U CN212074255U (en) | 2020-03-20 | 2020-03-20 | Chassis and mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020372500.9U CN212074255U (en) | 2020-03-20 | 2020-03-20 | Chassis and mobile robot |
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| CN212074255U true CN212074255U (en) | 2020-12-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716213A (en) * | 2021-01-04 | 2021-04-30 | 北京三月雨文化传播有限责任公司 | Modular exhibition device capable of being embedded into double-sided lamp box |
| CN114802531A (en) * | 2022-05-10 | 2022-07-29 | 上海思岚科技有限公司 | Novel linkage wheelset and robot |
| CN115191869A (en) * | 2021-04-14 | 2022-10-18 | 追创科技(苏州)有限公司 | Robot chassis and intelligent cleaning robot |
-
2020
- 2020-03-20 CN CN202020372500.9U patent/CN212074255U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716213A (en) * | 2021-01-04 | 2021-04-30 | 北京三月雨文化传播有限责任公司 | Modular exhibition device capable of being embedded into double-sided lamp box |
| CN115191869A (en) * | 2021-04-14 | 2022-10-18 | 追创科技(苏州)有限公司 | Robot chassis and intelligent cleaning robot |
| WO2022217861A1 (en) * | 2021-04-14 | 2022-10-20 | 追觅创新科技(苏州)有限公司 | Robot chassis and intelligent cleaning robot |
| CN114802531A (en) * | 2022-05-10 | 2022-07-29 | 上海思岚科技有限公司 | Novel linkage wheelset and robot |
| CN114802531B (en) * | 2022-05-10 | 2023-09-19 | 上海思岚科技有限公司 | Novel linkage wheelset and robot |
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