CN106274334A - A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled - Google Patents
A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled Download PDFInfo
- Publication number
- CN106274334A CN106274334A CN201610823590.7A CN201610823590A CN106274334A CN 106274334 A CN106274334 A CN 106274334A CN 201610823590 A CN201610823590 A CN 201610823590A CN 106274334 A CN106274334 A CN 106274334A
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- driven pulley
- bearing pin
- axle center
- linking arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/045—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on different axles on the same side of the vehicle, i.e. the left or the right side
Abstract
The application designs a kind of mobile robot chassis suspension preventing driving wheel unsettled.By by the hinged driving wheel of shock absorber and the structure of driven pulley, it is achieved that only make the four wheels on six wheel robot chassis possess damping effect with two shock absorbers, improve the stationarity that robot moves；The robot gravity allocation proportion simultaneously making middle row's driving wheel and front and rear row driven pulley undertake is fixed, the most not by the influence of topography.It is hinged by spring shock-absorbing device with middle row's driving wheel that same principle can be designed as front-seat driven pulley, and heel row driven pulley is fixedly mounted on chassis base plate.
Description
Technical field
The application relates to intelligent mobile robot, is specifically related to a kind of driving wheel that prevents for intelligent mobile robot and hangs
Empty suspension.
Background technology
Along with development in science and technology, modernization is accelerated, and people are for the need broken away from simply, repeat, low technical content is worked
Asking and increase, robot gradually enters into and helps through corresponding work among people's life.Present catering industry is typical
Labour intensive profession, works heavy, and intensity is big, and repeatability is high, inefficiency.In order to solve the problems referred to above, a lot of food and drink are looked forward to
Industry selection intelligent robot replaces manually.Meal delivery robot in the market is typically designed as the robot of humanoid,
The drive system of robot typically uses the structure that four-wheel or six is taken turns, and is typically utilized in solve the unsettled problem of driving wheel
Damping spring is directly added on driving wheel or driven pulley.This suspension directly adding spring on wheel also exists with landing ground
Rugged and rough, amount of spring compression change can wheel the pressure on ground is changed, make the damping effect of suspension weaken.
The amount of spring compression change being directly installed on drivewheel can cause drivewheel earth-grasping force to change, and even skids.It is arranged on driven
Spring on wheel can weaken damping effect and risk that drivewheel unsettled cannot be completely eliminated.
Summary of the invention
The purpose of the application is to provide a kind of suspension preventing the unsettled mobile robot chassis of driving wheel.
The technical scheme that the application is used is:
A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled, including robot chassis base plate 1, front-seat from
Driving wheel 2, middle row's driving wheel 3, heel row driven pulley 4, driving wheel linking arm 5, driven pulley linking arm 6, linking arm support seat 7, spring
Shock absorber 8.Front-seat driven pulley 2 is directly fixedly mounted on above the base plate 1 on chassis；Middle row's driving wheel 3 is arranged on driving wheel and connects
One end of arm 5, the other end of driving wheel linking arm 5 is supported on seat 7 at linking arm by the first hinge；Heel row driven pulley 4
Being arranged on one end of driven pulley linking arm 6, the other end of driven pulley linking arm 6 supports seat by the second hinge at linking arm
On 7；Drivewheel linking arm 5, driven pulley linking arm 6 are respectively by the 3rd bearing pin, the 4th hinge the two of spring shock-absorbing device 8
End, defines driving wheel and the suspension of heel row driven pulley linkage of a band spring shock-absorbing device；Or, heel row driven pulley 4
Directly being fixedly mounted on the base plate 1 on chassis, front-seat driven pulley 2 is arranged on one end of driven pulley linking arm 6.
Further, the robot gravity that middle row's driving wheel 3 and heel row driven pulley 4 undertake and driving wheel linking arm 5, driven
The proportional relation of size of wheel linking arm 6, not by the influence of topography.
Further, described proportionate relationship is as follows: F1*L1*sinb*L4=F2*L2* sina*L3；F1 is driven pulley institute
The support force born, the support force that F2 is born by driving wheel, L1 be the axle center of the second bearing pin to the distance between F1, L2 is
The axle center of one bearing pin is to the distance between F2, and L3 is the distance between the second bearing pin axle center to the 4th bearing pin axle center, and L4 is first
The axle center of bearing pin is to the distance between the 3rd bearing pin axle center, and angle a is the company between the second bearing pin axle center and the 4th bearing pin axle center
The angle folded by line between line and the 4th bearing pin axle center and the 3rd bearing pin axle center, angle b is the first bearing pin axle center and the 3rd
The angle folded by line between line and the 3rd bearing pin axle center and the 4th bearing pin axle center between bearing pin axle center.
The application provides the benefit that, devises a kind of mobile robot chassis suspension preventing driving wheel unsettled.
By by the hinged driving wheel of shock absorber and the structure of driven pulley, it is achieved that only make on six wheel robot chassis with two shock absorbers
Four wheels possess damping effect, improve the stationarity that robot moves；Make simultaneously middle row's driving wheel and front and rear row from
The robot gravity allocation proportion that driving wheel undertakes is fixed, the most not by the influence of topography.Same principle can be designed as front-seat from
Driving wheel 2 is hinged by spring shock-absorbing device with middle row's driving wheel 3, and heel row driven pulley 4 is fixedly mounted on chassis base plate 1.
Accompanying drawing explanation
With embodiment, the application is further illustrated below in conjunction with the accompanying drawings:
Fig. 1 makes somebody a mere figurehead the robot chassis figure of suspension system with anti-driving wheel；
Fig. 2 robot chassis driving wheel and driven pulley layout；
Fig. 3 robot chassis side sectional view；
Proportionate relationship between the support force that Fig. 4 robot is born on chassis.
Detailed description of the invention
A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled, as shown in Figure 1 (because this chassis is left
Right symmetry, only with side label declaration), driven including robot chassis base plate 1, front-seat driven pulley 2, middle row's driving wheel 3, heel row
Wheel 4, driving wheel linking arm 5, driven pulley linking arm 6, linking arm support seat 7, spring shock-absorbing device 8.Front-seat driven pulley 2 is directly fixed
It is arranged on above the base plate 1 on chassis；Middle row's driving wheel 3 is arranged on one end of driving wheel linking arm 5, driving wheel linking arm 5 another
One end is supported on seat 7 at linking arm by the first hinge；Heel row driven pulley 4 is arranged on one end of driven pulley linking arm 6, from
The other end of driving wheel linking arm 6 is supported on seat 7 at linking arm by the second hinge；Drivewheel linking arm 5, driven pulley connect
Arm 6 by the 3rd bearing pin, the 4th hinge two ends of spring shock-absorbing device 8, defines a band spring shock-absorbing device respectively
Driving wheel and the suspension of heel row driven pulley linkage.
As in figure 2 it is shown, this kind of suspension is arranged on one by front-seat driven pulley 2, heel row driven pulley 4 and intermediate driving wheel
On the robot chassis base plate 1 of three row six wheel of 3 compositions.As it is shown on figure 3, robot front row driven pulley 2 is arranged on base plate 1
On；Middle row's driving wheel 3 and heel row driven pulley 4 are hinged on linking arm by linking arm 5,6 and support on seat 7；And linking arm 5,6 it
Between hinged shock absorber 8.During robot ride, front-seat driven pulley 2 runs into obstacle when moving up, and middle row drives
It is permissible that driving wheel 3 and heel row driven pulley 4 rotate guarantee 2,3,4 three skate by linking arm 5,6 around the pin joint supported on seat 7
Land simultaneously；As a same reason, when central row's driving wheel 3 or heel row driven pulley 4 meet with obstacle, middle row's driving wheel 3 or heel row
Driven pulley 4 supports the pin joint motion on seat 7 around linking arm, it is ensured that land simultaneously；Even if it is different to meet with left and right sides obstacle
Situation, owing to spring shock-absorbing device 8 exists, still can guarantee that wheel lands.In all of shock absorbing process, due to middle row's driving wheel
3 to try out shock absorber 8 hinged with heel row driven pulley 4, robot gravity that middle row's driving wheel 3 and heel row driven pulley 4 undertake and driving
Wheel linking arm 5, the proportional relation of size of driven pulley linking arm 6, do not affected by topographic features, therefore this kind of suspension is stable
Property and damping performance are greatly improved.Specifically proportionate relationship is as shown in Figure 4, between driving wheel 3 and the support force of driven pulley
Relation such as following formula:
F1*L1*sinb*L4 =F2*L2*sina*L3；
The support force that F1 is born by driven pulley, the support force that F2 is born by driving wheel, L1 is that the axle center of the second bearing pin is to F1
Between distance, L2 be the axle center of the first bearing pin to the distance between F2, L3 be the second bearing pin axle center to the 4th bearing pin axle center it
Between distance, L4 be the axle center of the first bearing pin to the distance between the 3rd bearing pin axle center, angle a is the second bearing pin axle center and the 4th
The angle folded by line between line and the 4th bearing pin axle center and the 3rd bearing pin axle center between bearing pin axle center, angle b is
Folded by the line between line and the 3rd bearing pin axle center and the 4th bearing pin axle center between one bearing pin axle center and the 3rd bearing pin axle center
Angle.
Claims (3)
1. prevent the mobile meal delivery robot chassis suspension that driving wheel is unsettled, including robot chassis base plate (1), front
Row's driven pulley (2), middle row's driving wheel (3), heel row driven pulley (4), driving wheel linking arm (5), driven pulley linking arm (6), connection
Arm supports seat (7), spring shock-absorbing device (8).Front-seat driven pulley (2) is directly fixedly mounted on the base plate (1) on chassis above；Middle row drives
Driving wheel (3) is arranged on one end of driving wheel linking arm (5), and the other end of driving wheel linking arm (5) is existed by the first hinge
Linking arm supports on seat (7)；Heel row driven pulley (4) is arranged on one end of driven pulley linking arm (6), driven pulley linking arm (6)
The other end is supported on seat (7) at linking arm by the second hinge；Drivewheel linking arm (5), driven pulley linking arm (6) are respectively
By the 3rd bearing pin, the 4th hinge two ends of spring shock-absorbing device (8), define the driving wheel of a band spring shock-absorbing device
Suspension with the linkage of heel row driven pulley；Or, heel row driven pulley (4) is directly fixedly mounted on the base plate (1) on chassis, front
Row's driven pulley (2) is arranged on one end of driven pulley linking arm (6).
2. prevent the mobile meal delivery robot chassis suspension that driving wheel is unsettled, its feature as claimed in claim 1
Being furthermore that: the robot gravity that middle row's driving wheel 3 and heel row driven pulley 4 undertake and driving wheel linking arm 5, driven pulley connects
The proportional relation of size of arm 6, not by the influence of topography.
3. prevent the mobile meal delivery robot chassis suspension that driving wheel is unsettled, its feature as claimed in claim 2
It is furthermore that: described proportionate relationship is as follows: F1*L1*sinb*L4=F2*L2* sina*L3；F1 is born by driven pulley
Support force, the support force that F2 is born by driving wheel, L1 be the axle center of the second bearing pin to the distance between F1, L2 is the first bearing pin
Axle center to the distance between F2, L3 is the distance between the second bearing pin axle center to the 4th bearing pin axle center, and L4 is the first bearing pin
Axle center is to the distance between the 3rd bearing pin axle center, and angle a is the line between the second bearing pin axle center and the 4th bearing pin axle center and
The angle folded by line between four bearing pin axle center and the 3rd bearing pin axle center, angle b is the first bearing pin axle center and the 3rd bearing pin axle
The angle folded by line between line and the 3rd bearing pin axle center and the 4th bearing pin axle center between the heart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823590.7A CN106274334A (en) | 2016-09-14 | 2016-09-14 | A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823590.7A CN106274334A (en) | 2016-09-14 | 2016-09-14 | A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106274334A true CN106274334A (en) | 2017-01-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610823590.7A Pending CN106274334A (en) | 2016-09-14 | 2016-09-14 | A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled |
Country Status (1)
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828660A (en) * | 2017-02-15 | 2017-06-13 | 东莞市圣荣自动化科技有限公司 | A kind of robot chassis with anti-skid structure |
| CN107097600A (en) * | 2017-06-21 | 2017-08-29 | 斯坦德机器人（深圳）有限公司 | A kind of suspension arrangement of mobile robot |
| CN107416071A (en) * | 2017-07-05 | 2017-12-01 | 广东嘉腾机器人自动化有限公司 | Automatical pilot transportation vehicle |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN110053438A (en) * | 2019-05-11 | 2019-07-26 | 深圳市普渡科技有限公司 | Suspension and robot |
| CN111907275A (en) * | 2020-07-29 | 2020-11-10 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
| CN112678087A (en) * | 2020-12-31 | 2021-04-20 | 深圳市普渡科技有限公司 | Mobile robot and walking mechanism thereof |
| CN113086050A (en) * | 2021-04-30 | 2021-07-09 | 深圳市普渡科技有限公司 | Suspension device, chassis with same and robot |
| CN113371069A (en) * | 2021-07-02 | 2021-09-10 | 上海擎朗智能科技有限公司 | Chassis suspension system, chassis and robot |
| EP3919411A4 (en) * | 2019-02-01 | 2022-07-06 | Hai Robotics Co., Ltd. | Transfer robot |
| WO2022161207A1 (en) * | 2021-01-29 | 2022-08-04 | 深圳市普渡科技有限公司 | Suspension system and robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
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| CN206086260U (en) * | 2016-09-14 | 2017-04-12 | 深圳市普渡科技有限公司 | Prevent unsettled removal food delivery robot chassis suspension of drive wheel |
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| WO1995006570A1 (en) * | 1993-09-02 | 1995-03-09 | Edward Arthur Lord | Tandem wheel suspension |
| JPH07266818A (en) * | 1994-03-31 | 1995-10-17 | Hino Motors Ltd | Rear axle suspension for rear two-axle vehicle |
| WO2006016195A1 (en) * | 2004-08-10 | 2006-02-16 | Dimitrios Korres | Vehicle wheel suspension system |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828660A (en) * | 2017-02-15 | 2017-06-13 | 东莞市圣荣自动化科技有限公司 | A kind of robot chassis with anti-skid structure |
| CN106828660B (en) * | 2017-02-15 | 2018-09-25 | 浙江富胜达科技有限公司 | A kind of robot chassis with anti-skid structure |
| CN107097600A (en) * | 2017-06-21 | 2017-08-29 | 斯坦德机器人（深圳）有限公司 | A kind of suspension arrangement of mobile robot |
| CN107416071A (en) * | 2017-07-05 | 2017-12-01 | 广东嘉腾机器人自动化有限公司 | Automatical pilot transportation vehicle |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| EP3919411A4 (en) * | 2019-02-01 | 2022-07-06 | Hai Robotics Co., Ltd. | Transfer robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11851278B2 (en) | 2019-02-01 | 2023-12-26 | Hai Robotics Co., Ltd. | Handling robot |
| US11945706B2 (en) | 2019-02-01 | 2024-04-02 | Hai Robotics Co., Ltd. | Handling robot |
| CN110053438A (en) * | 2019-05-11 | 2019-07-26 | 深圳市普渡科技有限公司 | Suspension and robot |
| CN111907275A (en) * | 2020-07-29 | 2020-11-10 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
| CN112678087A (en) * | 2020-12-31 | 2021-04-20 | 深圳市普渡科技有限公司 | Mobile robot and walking mechanism thereof |
| WO2022161207A1 (en) * | 2021-01-29 | 2022-08-04 | 深圳市普渡科技有限公司 | Suspension system and robot |
| CN113086050A (en) * | 2021-04-30 | 2021-07-09 | 深圳市普渡科技有限公司 | Suspension device, chassis with same and robot |
| CN113371069A (en) * | 2021-07-02 | 2021-09-10 | 上海擎朗智能科技有限公司 | Chassis suspension system, chassis and robot |
| CN113371069B (en) * | 2021-07-02 | 2023-11-28 | 上海擎朗智能科技有限公司 | Chassis suspension system, chassis and robot |
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Application publication date: 20170104 |
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