阅读说明：本技术 一种多驱动柔性底盘 (Multi-drive flexible chassis ) 是由 柴伟 彭书礼 李帅永 于 2020-07-02 设计创作，主要内容包括：本发明涉及一种多驱动柔性底盘,包括行走机构,行走机构包括支架、U形架、行走轮和轮架；支架的一端位于U形架的开口内,支架上相对的两侧贯穿设置有滑孔,滑孔内滑动配合有滑块,滑块内固定安装有轴承,两个轴承的内孔的内侧通过连杆连接,连杆位于支架内,连杆靠近支架的端部固定安装有限位螺钉,轴承的内孔的外侧固定安装有轮轴,U形架的开口正对轮轴贯穿设置有通孔,轮轴穿过通孔与轮架固定连接,U形架与轮架固定连接,轮架下端转动安装有行走轮,支架和U形架相背的两端分别向外延伸形成安装端,安装端通过轮架安装有行走轮,其中至少2个行走轮为电机轮,四个行走轮的连线呈菱形。具有结构简单,成本低,功耗小,稳定性强的优点。(The invention relates to a multi-drive flexible chassis which comprises a travelling mechanism, wherein the travelling mechanism comprises a bracket, a U-shaped frame, travelling wheels and wheel frames; one end of the support is located in an opening of the U-shaped frame, sliding holes are formed in two opposite sides of the support in a penetrating mode, sliding blocks are matched with the sliding holes in a sliding mode, bearings are fixedly installed in the sliding blocks, inner sides of inner holes of the two bearings are connected through a connecting rod, the connecting rod is located in the support, limiting screws are fixedly installed at the end portions, close to the support, of the connecting rod, wheel shafts are fixedly installed on the outer sides of the inner holes of the bearings, through holes are formed in the U-shaped frame in a penetrating mode over the wheel shafts, the wheel shafts penetrate through the through holes and are fixedly connected with the wheel carrier, the U-shaped frame is fixedly connected with the wheel carrier, walking wheels are installed at the lower end of the wheel carrier in a rotating mode, the two ends, back to back. The device has the advantages of simple structure, low cost, low power consumption and strong stability.)

1. A multi-drive flexible chassis is characterized by comprising a travelling mechanism, wherein the travelling mechanism comprises a bracket, a U-shaped frame, travelling wheels and a wheel frame; one end of the bracket is positioned in an opening of the U-shaped frame, sliding holes are arranged on two opposite sides of the bracket in a penetrating manner, a sliding block is arranged in the sliding holes in a sliding fit manner, bearings are fixedly arranged in the sliding block, the inner sides of inner holes of the two bearings are connected through a connecting rod which is positioned in the bracket, a limiting screw is fixedly arranged at the end part of the connecting rod close to the bracket, a wheel shaft is fixedly arranged on the outer side of the inner hole of each bearing, a through hole is arranged in the opening of the U-shaped frame opposite to the wheel shaft in a penetrating manner, the wheel shaft penetrates through the through hole to be fixedly connected with the wheel frame, the U-shaped frame is fixedly connected with the wheel frame, a traveling wheel is rotatably arranged at the lower end of the wheel frame, two ends of the bracket and the U-shaped frame which are opposite are respectively extended outwards, the connecting lines of the four walking wheels are in a diamond shape; the support is located the intraoral both ends of U-shaped frame and all has the boss, is provided with on the boss the slide opening, slider sliding fit is in the slide opening.

2. The multi-drive flexible chassis of claim 1, further comprising a base, wherein the support and the U-shaped frame are fixedly connected to the base via a rotating mechanism.

3. The multi-drive flexible chassis according to claim 2, wherein the rotating mechanism comprises a hinged block hinged at the mounting ends of the support and the U-shaped frame, a connecting plate is fixedly mounted at the upper end of the hinged block, and the connecting plate is fixedly connected with the base.

4. A multi-drive flexible chassis according to claim 3, wherein said web is an arcuate plate.

5. A multi-drive flexible chassis according to claim 3 wherein the hinged block and the connecting plate are each provided with lightening holes.

6. The multi-drive flexible chassis of claim 1, wherein the road wheels at the respective mounting ends of the support are universal wheels and the motor wheels are located on either side of the universal wheels.

7. A multi-drive flexible chassis according to claim 1 wherein said bearings are ball bearings.

8. A multi-drive flexible chassis according to claim 1 wherein the support and the U-shaped frame are each rotatable upwardly or downwardly by 0 to 20 ° relative to horizontal.

9. A multi-drive flexible chassis according to claim 1 wherein the U-shaped frame, wheel axles and wheel frames are fixedly connected by bolts.

Technical Field

The invention relates to the technical field of robots, in particular to a multi-drive flexible chassis.

Background

The robot chassis is a chassis used for the bottom of a robot, mainly has the functions of mobility and bearing capacity, is universally existed in various robots, and has a good use effect.

The existing robot chassis has certain disadvantages when in use: 1. four rotating wheels of a robot chassis are arranged in a rectangular shape, and one rotating wheel is inclined when stressed unevenly; 2. the bottom plate is a rigid chassis, and cannot deform when meeting obstacles and needing to cross the obstacles, so that the stability of the whole robot can be seriously reduced; 3. the existing robot chassis has high manufacturing cost.

Disclosure of Invention

To the not enough of above-mentioned prior art, the technical problem that this patent application will solve provides a simple structure, and is with low costs, and the consumption is little, the strong flexible chassis of many drives of stability.

In order to solve the technical problems, the invention adopts the following technical scheme:

a multi-drive flexible chassis comprises a travelling mechanism, wherein the travelling mechanism comprises a bracket, a U-shaped frame, travelling wheels and a wheel frame; one end of the bracket is positioned in an opening of the U-shaped frame, sliding holes are arranged on two opposite sides of the bracket in a penetrating manner, a sliding block is arranged in the sliding holes in a sliding fit manner, bearings are fixedly arranged in the sliding block, the inner sides of inner holes of the two bearings are connected through a connecting rod which is positioned in the bracket, a limiting screw is fixedly arranged at the end part of the connecting rod close to the bracket, a wheel shaft is fixedly arranged on the outer side of the inner hole of each bearing, a through hole is arranged in the opening of the U-shaped frame opposite to the wheel shaft in a penetrating manner, the wheel shaft penetrates through the through hole to be fixedly connected with the wheel frame, the U-shaped frame is fixedly connected with the wheel frame, a traveling wheel is rotatably arranged at the lower end of the wheel frame, two ends of the bracket and the U-shaped frame which are opposite are respectively extended outwards, the connecting lines of the four walking wheels are in a diamond shape; the support is located the intraoral both ends of U-shaped frame and all has the boss, is provided with on the boss the slide opening, slider sliding fit is in the slide opening. The connection and bearing strength are improved.

Like this, when running gear walked, wherein 2 motor wheels provided power, can realize walking and turn to, and 4 walking wheels are the rhombus setting, and when 1 walking wheel suspension was empty among them, 3 can keep balance in addition, and stability is strong. When meeting the obstacle, through the removal of slider and slide bar, can realize the flexible slope of support and U-shaped frame, can make the walking wheel cross the obstacle or climb. Be provided with stop screw, can avoid the slider roll-off, improve stability.

The support and the U-shaped frame are fixedly connected with the base through the rotating mechanism. The base can be conveniently connected, and various devices, articles and the like can be carried by the base.

The rotary mechanism comprises an articulated block articulated at the mounting ends of the support and the U-shaped frame, a connecting plate is fixedly mounted at the upper end of the articulated block, and the connecting plate is fixedly connected with the base. Through articulated connecting plate of articulated piece, the connecting plate is fixed with the base, can realize when support or U-shaped frame slope, through the rotation of articulated piece for the base keeps the level.

Wherein, the connecting plate is the arc. The contact range is enlarged, the use amount is reduced, and the cost is reduced.

Wherein, all seted up the lightening hole on articulated piece and the connecting plate. The weight can be reduced better, and the material is saved.

The walking wheels at the mounting ends corresponding to the supports are universal wheels, and motor wheels are arranged on two sides of each universal wheel. The walking and steering are convenient.

Wherein the bearing is a ball bearing. Is convenient to use.

Wherein, the bracket and the U-shaped bracket can rotate 0-20 degrees upwards or downwards relative to the horizontal direction. The inclination angle is conveniently adjusted, and the stability is improved.

The U-shaped frame, the wheel shaft and the wheel frame are fixedly connected through bolts. Is convenient for production, processing and manufacturing.

The invention has the beneficial effects that:

1. the automobile has the advantages of simple structure, low cost, easy processing and manufacturing, strong realization function, and the function equal to that of a 4-wheel automobile;

2. when any one of the wheels is lacked, the vehicle body can be kept parallel, and the current 4-wheel vehicle cannot meet the function;

3. according to the load, the motor wheels are conveniently increased and decreased on the vehicle body, and the structure of the chassis cannot be changed;

4. the chassis mainly utilizes a connecting rod and sliding block combined mechanism to realize flexible change, replaces a rigid chassis of a modern automobile, and is not easy to damage structural parts under large impact force.

5. The chassis adopts slider and rotary mechanism combination to realize the flexible change, can produce the corresponding change according to different ground slopes, nevertheless does not influence the destruction influence on the fixed chassis of automobile body, can reach the antidetonation effect, and the automobile body can increase and decrease the drive wheel according to the load size, and it is convenient to change the drive, and original chassis structure does not change.

Drawings

Fig. 1 is a schematic structural diagram of a multi-drive flexible chassis according to the present invention.

Fig. 2 is a bottom view of fig. 1.

Fig. 3 is a schematic structural view of fig. 1 with the base removed.

Fig. 4 is an enlarged view of the structure of the bracket and the connecting rod.

Fig. 5 is an enlarged schematic view of the structure of the U-shaped frame matched with the connecting rod and the wheel frame.

Fig. 6 is an enlarged schematic view of the structure of the stent.

Fig. 7 is an enlarged schematic view of the rotating mechanism.

Fig. 8 is an enlarged view of the structure of the reinforcing block.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "upper, lower" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

As shown in fig. 1-8, a multi-drive flexible chassis comprises a travelling mechanism, wherein the travelling mechanism comprises a bracket 1, a U-shaped frame 2, a travelling wheel 3 and a wheel carrier 4; one end of the bracket 1 is positioned in an opening of the U-shaped frame 2, two opposite sides of the bracket 1 are provided with sliding holes 5 in a penetrating manner, a sliding block 6 is arranged in the sliding holes in a sliding fit manner, bearings are fixedly arranged in the sliding block 6, the inner sides of inner holes of the two bearings are connected through a connecting rod 7, the connecting rod 7 is positioned in the bracket 1, the end part of the connecting rod 7 close to the bracket 1 is fixedly provided with a limit screw 8, the outer side of the inner hole of the bearing is fixedly provided with a wheel shaft 9, the opening of the U-shaped frame 2 is provided with a through hole through the wheel shaft 9, the wheel shaft 9 penetrates through the through hole to be fixedly connected with the wheel frame 4, the U-shaped frame 2 is fixedly connected with the wheel frame 4, the lower end of the wheel frame 4 is rotatably provided with a travelling wheel 3, two opposite ends of the bracket 1 and the U-shaped frame 2 extend outwards respectively, wherein at least 2 walking wheels 3 are motor wheels, and the connecting lines of the four walking wheels 3 are rhombic; the two ends of the bracket 1, which are positioned in the opening of the U-shaped frame 2, are provided with reinforcing blocks 16, the reinforcing blocks 16 are provided with sliding holes, and the sliding blocks 6 are in sliding fit in the sliding holes. The connection and bearing strength are improved.

Like this, when running gear walked, wherein 2 motor wheels provided power, can realize walking and turn to, and 4 walking wheels are the rhombus setting, and when 1 walking wheel suspension was empty among them, 3 can keep balance in addition, and stability is strong. When meeting the obstacle, through the removal of slider and slide bar, can realize the flexible slope of support and U-shaped frame, can make the walking wheel cross the obstacle or climb. Be provided with stop screw, can avoid the slider roll-off, improve stability.

The device also comprises a base 12, wherein the support 1 and the U-shaped frame 2 are fixedly connected with the base 12 through a rotating mechanism. The base can be conveniently connected, and various devices, articles and the like can be carried by the base.

Wherein, rotary mechanism is including articulating at the articulated piece 13 of support 1 and U-shaped frame 2's installation end 11, the upper end fixed mounting of articulated piece 13 has connecting plate 14, connecting plate 14 with base 12 fixed connection. Through articulated connecting plate of articulated piece, the connecting plate is fixed with the base, can realize when support or U-shaped frame slope, through the rotation of articulated piece for the base keeps the level.

Wherein the connecting plate 14 is an arc-shaped plate. The contact range is enlarged, the use amount is reduced, and the cost is reduced.

Wherein, the hinged block 13 and the connecting plate 14 are both provided with lightening holes 15. The weight can be reduced better, and the material is saved.

The walking wheels 3 of the mounting ends 11 corresponding to the support 1 are universal wheels, and motor wheels are arranged on two sides of each universal wheel. The walking and steering are convenient.

Wherein the bearing is a ball bearing. Is convenient to use.

Wherein, the bracket 1 and the U-shaped frame 2 can rotate 0-20 degrees upwards or downwards relative to the horizontal direction. The inclination angle is conveniently adjusted, and the stability is improved.

Wherein the U-shaped frame 2, the wheel shaft 9 and the wheel frame 4 are fixedly connected through bolts. Is convenient for production, processing and manufacturing.

The chassis adopts slider and rotary mechanism combination to realize the flexible change, can produce the corresponding change according to different ground slopes, nevertheless does not influence the destruction influence on the fixed chassis of automobile body, can reach the antidetonation effect, and the automobile body can increase and decrease the drive wheel according to the load size, and it is convenient to change the drive, and original chassis structure does not change.

Finally, it should be noted that: various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.