CN112223967B - Chassis suspension mechanism, chassis and robot - Google Patents
Chassis suspension mechanism, chassis and robot Download PDFInfo
- Publication number
- CN112223967B CN112223967B CN202011027595.1A CN202011027595A CN112223967B CN 112223967 B CN112223967 B CN 112223967B CN 202011027595 A CN202011027595 A CN 202011027595A CN 112223967 B CN112223967 B CN 112223967B
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- chassis
- driving wheel
- suspension mechanism
- link
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a chassis suspension mechanism, a chassis and a robot, wherein the chassis suspension mechanism is arranged on the chassis and comprises: the driving wheel frame is used for fixing a driving wheel, and two ends of the driving wheel frame are rotationally arranged on the chassis so that the driving wheel frame can move relative to the chassis; the swing rod is used for fixing the driven wheel, one end of the swing rod is rotatably connected with the chassis, and the other end of the swing rod is rotatably connected with the driving wheel carrier; the driving wheel frame and the chassis are connected to a first rotating point, the swing rod and the chassis are connected to a second rotating point, the first rotating point is higher than the second rotating point, and the second rotating point is lower than a plane where the connecting position of the swing rod and the driven wheel is located. The driven wheel of the chassis suspension mechanism can stably pass through the pit and the ridge, and the running stability of the chassis and the robot can be effectively improved. Correspondingly, the invention further provides the chassis and the robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a chassis suspension mechanism, a chassis comprising the chassis suspension mechanism and a robot comprising the chassis.
Background
Generally, the traditional mobile chassis suspension system generally adopts a structure that a spring single wheel is suspended and matched with a local connecting rod to link other supporting wheels (namely, the driven wheel 10 ') in a rigid connection mode, and since the driving wheel 20' is hung independently, the driven wheel 10 'is rigidly grounded, the driven wheel 10' is easy to pass through a pit and a bank. As shown in fig. 1 and 2, when the driven wheel 10 ' passes the threshold, the driven wheel 10 ' tends to form a backward movement trend due to the rotation around the rotation point a ', which causes the threshold to be hardly passed; also, the tendency of the driven wheel 10' to move backwards may cause the upper part of the robot to tip forward. As shown in fig. 3 and 4, when the driven wheel 10 ' passes through a pit, the driven wheel 10 ' tends to move backward due to the rotation around the rotation point a ', so that the driven wheel 10 ' is difficult to get out of the pit after being sunk into the pit, and the driving wheel 20 ' is lifted up, so that the driving wheel 20 ' slips off the ground, and the driven wheel 10 ' tends to move backward after being sunk into the pit, which directly causes the robot to tip forward.
Therefore, the traditional mobile chassis suspension system has the technical problems that the driven wheel is difficult to pass through the sill and easily sinks, and the robot is easy to topple forward when passing through the pit and the sill, so that the running stability of the chassis and the robot is influenced.
Disclosure of Invention
The invention aims to provide a chassis suspension mechanism to solve the technical problems that a driven wheel is difficult to be over-limited and easy to sink in a traditional mobile chassis suspension system.
The invention also aims to provide the chassis which can stably pass through pits and ridges and has high running stability.
The invention further aims to provide a robot which can smoothly pass through a pit and a threshold and has high running stability.
To achieve the purpose, on one hand, the invention adopts the following technical scheme:
a chassis suspension mechanism provided on a chassis, comprising:
a drive wheel carrier for securing a drive wheel, the drive wheel carrier being operatively connected to the chassis; and the number of the first and second groups,
the swing rod is used for fixing the driven wheel, one end of the swing rod is used for being rotatably connected with the chassis, and the other end of the swing rod is rotatably connected with the driving wheel frame;
the driving wheel frame and the chassis are connected to a first rotating point, the swing rod and the chassis are connected to a second rotating point, the first rotating point is higher than the second rotating point, and the second rotating point is lower than a plane where the connecting position of the swing rod and the driven wheel is located.
In one embodiment, the chassis suspension mechanism further comprises an elastic buffer, and the swing rod is rotatably connected with the driving wheel frame through the elastic buffer.
In one embodiment, the driving wheel carrier comprises a first connecting rod, a second connecting rod, an intermediate block and a traction member, the first connecting rod and the second connecting rod are respectively connected with the chassis in a rotating manner, the first connecting rod and the second connecting rod are arranged at intervals, the first connecting rod and the second connecting rod are respectively connected with the corresponding swing rods through the elastic buffer members, the intermediate block is respectively connected with one end of the first connecting rod and one end of the second connecting rod, the intermediate block is rotatably connected with the driving wheel, and the traction member is respectively connected with the other end of the first connecting rod and the other end of the second connecting rod.
In one embodiment, the pulling member is a tension spring; or, the restraining part comprises a restraining section and a compensation section, the two ends of the restraining section are respectively provided with the compensation section, and the compensation section is respectively connected with the corresponding first connecting rod and the second connecting rod.
In one embodiment, the connection point of the pulling element and the first link is lower than the connection point of the first link and the corresponding elastic buffer, and the connection point of the pulling element and the second link is lower than the connection point of the second link and the corresponding elastic buffer.
In one embodiment, the compensation segment is a telescopic rod or a flexible block.
In one embodiment, a first connecting portion and a second connecting portion are arranged on the chassis, the first connecting portion is arranged on the upper surface of the chassis, the second connecting portion is oppositely arranged on the lower surface of the chassis, the first connecting portion is rotatably connected with the driving wheel frame, and the second connecting portion is rotatably connected with the swing rod.
In one embodiment, the minimum distance between the rotation center of the second rotation point and the rotation center of the driven wheel is 55mm to 65 mm.
In one embodiment, the swing rod comprises a bending swing arm and a mounting seat, the mounting seat is connected with the driven wheel, the bending swing arm is mounted on the mounting seat, and the bending swing arm is respectively connected with the chassis and the driving wheel frame in a rotating manner.
In another aspect, the invention also provides a chassis comprising a chassis suspension mechanism as described in any one of the above.
In another aspect, the invention further provides a robot, which includes the chassis.
The chassis suspension mechanism is arranged on the chassis, and two ends of a driving wheel frame for fixing the driving wheel can be movably connected to the chassis; one end of a swing rod for fixing the driven wheel is rotationally connected with the chassis, and the other end of the swing rod is rotationally connected with the driving wheel carrier; and the first rotating point of the driving wheel frame connected with the chassis is higher than the second rotating point of the oscillating bar connected with the chassis. When the chassis crosses the bank or the step, the oscillating bar rotates around the second rotating point, and the second rotating point is lower than the first rotating point and is closer to the driven wheel, so that the driven wheel can be immediately lifted upwards under the driving of the oscillating bar when being blocked, the backward movement trend is avoided, the chassis can stably cross the bank, and the forward tilting cannot occur. Further, when the chassis passes through a pit or a groove, the driving wheel is possibly lifted off the ground under the driving of the right swing rod, at the moment, the driving wheel frame rotates relative to the chassis to reduce the lifting on the right side of the driving wheel, so that the driving wheel is kept in contact with the ground to have enough advancing power, and under the continuous advancing power, the driven wheel can easily roll out of the pit or the groove due to the fact that the second rotating point is close to the driven wheel and is lower than the first rotating point, the chassis cannot roll forwards when passing through the pit, and the pit-passing operation is stable.
In conclusion, the driven wheel of the chassis suspension mechanism can stably pass through the pit and the ridge, and the running stability of the chassis and the robot can be effectively improved.
The chassis can stably pass through the pit and the ridge by applying the chassis suspension mechanism, and has the advantage of high running stability.
The robot can stably pass through the pit and the ridge by applying the chassis, and has the advantage of high running stability.
Drawings
FIG. 1 is a schematic view of a conventional over threshold motion trend of a mobile chassis suspension system;
fig. 2 is a schematic diagram of a prior art robot moving across threshold;
FIG. 3 is a schematic diagram of a conventional over-the-pit motion trend of a mobile chassis suspension system;
FIG. 4 is a schematic diagram of a prior art robot over-the-pit motion;
FIG. 5 is a schematic structural view of a chassis in one embodiment;
FIG. 6 is a schematic diagram of the structure of the chassis suspension mechanism in one embodiment;
FIG. 7 is a partial schematic structural view of a chassis suspension mechanism in one embodiment;
FIG. 8 is a schematic diagram of an embodiment chassis suspension mechanism over threshold;
FIG. 9 is a schematic diagram of a chassis suspension mechanism over-pit in one embodiment.
Description of reference numerals:
10 ' -follower, 20 ' -drive, a ' -rotation point;
10-driven wheel, 20-driving wheel, 30-chassis, 40-driving wheel frame, 50-swing rod and 60-elastic buffer piece;
31-a first connecting part, 32-a second connecting part, 41-a first connecting rod, 42-a second connecting rod, 43-a middle block, 44-a traction part, 51-a bending swing arm and 52-a mounting seat;
a1-first rotation point, A2-second rotation point.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Referring to fig. 5 to 9, a chassis suspension mechanism of an embodiment is disposed on the chassis 20, and includes a driving wheel frame 40 and a swing link 50. The driving wheel frame 40 is used for fixing the driving wheel 20, the driving wheel frame 40 can be movably connected to the chassis 30, the swing rod 50 is used for fixing the driven wheel 10, one end of the swing rod 50 is used for being rotatably connected with the chassis 30, and the other end of the swing rod 50 is rotatably connected with the driving wheel frame 40; the driving wheel frame 40 and the chassis 30 are connected to a first rotation point a1, the swing link 50 and the chassis 30 are connected to a second rotation point a2, the first rotation point a1 is higher than the second rotation point a2, and the second rotation point a2 is lower than a plane where a connection point of the swing link 50 and the driven wheel 10 is located.
Specifically, the driven wheel 10 is a universal wheel, the driven wheel 10 is located below the chassis 30, and the second rotation point a2 is lower than the first rotation point a1, and therefore, the second rotation point a2 is closer to the driven wheel 10 than the first rotation point a 1.
In one embodiment, the chassis 30 is provided with a first connecting portion 31 and a second connecting portion 32, the first connecting portion 31 is provided on an upper surface of the chassis 30, the second connecting portion 32 is oppositely provided on a lower surface of the chassis 30, the first connecting portion 31 is rotatably connected with the driving wheel frame 40, and the second connecting portion 32 is rotatably connected with the swing link 50.
Further, in order to ensure that the pit can be successfully passed through, the distance between the second rotation point a2 and the driven wheel 10 is as small as possible, but in practical application, it is required to ensure that the swing link 50 cannot touch the driven wheel 10 so as not to cause motion interference to the driven wheel 10. As the driven wheel 10 rotates, the distance between the second rotation point a2 and the driven wheel 10 changes, and in order to ensure the pit-crossing and threshold-crossing effect and at the same time ensure that the swing link 50 does not cause movement interference to the driven wheel 10, the minimum distance D between the rotation center of the second rotation point a2 and the rotation center of the driven wheel 10 is preferably 55mm to 65 mm.
In one embodiment, both ends of the driving wheel frame 40 are rotatably disposed on the chassis 30, respectively, to enable the driving wheel frame 20 to be actuated with respect to the chassis 30.
The chassis suspension mechanism is arranged on the chassis 30, two ends of a driving wheel frame 40 for fixing the driving wheel 20 are rotatably arranged on the chassis 30, and the driving wheel frame 40 can move relative to the chassis 30; one end of a swing link 50 for fixing the driven wheel 10 is rotatably connected with the chassis 30, and the other end is rotatably connected with the driving wheel frame 40. And, the first rotation point a1 where the driving wheel frame 40 is connected with the chassis 10 is higher than the second rotation point a2 where the swing link 50 is connected with the chassis 30. As shown in fig. 8, when the chassis 30 goes over a threshold or a step, since the swing link 50 rotates around the second rotation point a2, and the second rotation point a2 is lower than the first rotation point a1 and is closer to the driven wheel 10, the driven wheel 10 can be lifted up immediately under the driving of the swing link 50 when being blocked, so as to avoid forming a backward movement tendency, and the chassis 30 can smoothly go over the threshold without leaning forward. Further, as shown in fig. 9, when the chassis 30 passes through a pit or a trench, the driving wheel 20 may be lifted off by the swing link 50 on the right side, at this time, the driving wheel frame 40 rotates relative to the chassis 30, and the rotation of the driving wheel frame 40 relative to the chassis 30 can reduce the lifting of the driving wheel 20 on the right side, so that the driving wheel keeps in contact with the ground to have enough forward power, and under the continuous forward power, because the second rotation point a2 is close to the driven wheel 10 and is lower than the first rotation point a1, the driven wheel 10 can easily roll out from the pit or the trench, and the chassis 30 does not tilt forward when passing through the pit, and the operation is smooth.
In one embodiment, the chassis suspension mechanism further comprises an elastic buffer 60, and the swing link 50 is rotatably connected with the driving wheel carrier 40 through the elastic buffer 60. Specifically, the elastic buffer member 60 may be, but is not limited to, a damping shock absorber, two ends of the elastic buffer member 60 are respectively rotatably connected to the driving wheel frame 40 and the swing rod 50, and the elastic buffer member 60 is arranged to improve the shock absorbing performance of the chassis suspension mechanism, which is helpful to further improve the running stability of the chassis.
In one embodiment, the driving wheel frame 40 includes a first link 41, a second link 42, an intermediate block 43 and a drag 44, the first link 41 and the second link 42 are respectively rotatably connected to the chassis 30, the first link 41 and the second link 42 are spaced apart, the first link 41 and the second link 42 are respectively connected to the corresponding swing link 50 through an elastic buffer 60, the intermediate block 43 is respectively connected to one end of the first link 41 and one end of the second link 42, the intermediate block 43 is rotatably connected to the driving wheel 20, and the drag 44 is respectively connected to the other end of the first link 41 and the other end of the second link 42.
Specifically, the restraining part 44 is used for generating a restraining force when the chassis passes through a pit or a groove, the restraining force generated by the restraining part 44 can generate a balanced pressing effect on the driving wheel 20, and the lifting distance on the right side of the driving wheel 20 is remarkably reduced, so that the driving wheel 22 can be prevented from being lifted off the ground and slipping under the driving of the swing rod 50 and the second connecting rod 42 on the right side, and the driving wheel 20 can be kept in contact with the ground to have enough advancing power. Preferably, in one embodiment, the hold-down member 44 is a tension spring. Further, in another embodiment, the restraining member 44 includes a restraining section and a compensating section, the two ends of the restraining section are respectively provided with the compensating section, the compensating section is respectively connected with the corresponding first connecting rod 41 and the second connecting rod 42, and specifically, the compensating section is a telescopic rod or a flexible block. The telescopic rod is preferably a hydraulic telescopic pipe, and the flexible block can be but is not limited to a rubber block.
Further, in one embodiment, to further improve the restraining depression effect of the restraining element 44, the connection point of the restraining element 44 and the first link 41 is lower than the connection point of the first link 41 and the corresponding elastic buffer 60, and the connection point of the restraining element 44 and the second link 42 is lower than the connection point of the second link 42 and the corresponding elastic buffer 60.
In one embodiment, the swing link 50 includes a bending swing arm 51 and a mounting seat 52, the mounting seat 52 is connected to the driven wheel 10, the bending swing arm 51 is mounted on the mounting seat 52, and the bending swing arm 51 is rotatably connected to the chassis 30 and the driving wheel frame 40, respectively. Specifically, the mounting seat 52 is respectively fastened and connected to the bending swing arm 51 and the driven wheel 10 by fasteners (e.g., screws), and the connection of the bending swing arm 51 to the driven wheel 10 by the mounting seat 52 helps to improve the reliability of the connection of the bending swing arm 51 to the driven wheel 10, and ensures that the bending swing arm 51 is stably and reliably mounted.
The above is a detailed description of the structural components of the chassis suspension mechanism, and the working process of the chassis suspension mechanism is specifically described below, for convenience of description, the working process of the chassis suspension mechanism is described in this embodiment by taking the tension spring as an example of the restraining member 44. Specifically, the working process of the chassis suspension mechanism is as follows:
as shown in fig. 8, when the chassis 30 passes through the threshold or the step, when the driven wheel 10 on the right side contacts the threshold or the step, and the movement is blocked, the bending swing arm 51 rotates counterclockwise around the second rotation point a2 to drive the driven wheel 10 to lift upward, the driven wheel 10 lifts upward to avoid forming a backward movement trend, and no forward tilting occurs, meanwhile, the bending swing arm 51 drives the second link 42 to rotate counterclockwise around the first rotation point a1 through the elastic buffer 60, when the second link 42 rotates, one end drives the middle block 43 to rotate counterclockwise, the other end presses the tension spring, the counterclockwise rotation of the middle block 43 drives the first link 41 to rotate clockwise around the corresponding first rotation point a1, the first link 41 rotates clockwise to press the tension spring, the tension spring contracts under the common pressing of the first link 41 and the second link 42, and the first link 41 drives the bending swing arm 51 connected thereto to rotate clockwise through the elastic buffer 60 by a small angle, the bent swing arm 51 drives the left driven wheel 10 to slightly lift upwards, and the driving wheel frame 40 absorbs the lifting force of the driven wheel 10 through rotation deformation transmission and tension spring contraction, so that the driving wheel 20 is not influenced by the lifting force to be in contact with the ground to stably operate, and the threshold crossing action is stably completed.
As shown in fig. 9, when the chassis 30 passes through the pit or the groove, and the driven wheel 10 on the right side enters the pit or the groove, the bending swing arm 51 rotates clockwise to drive the driven wheel 10 to move downward to smoothly enter the pit or the groove, meanwhile, the bending swing arm 51 drives the second swing link 42 to rotate clockwise through the elastic buffer 60, when the second swing link 42 rotates, one end drives the middle block 43 to rotate clockwise, the other end stretches the tension spring, the middle block 43 rotates clockwise to drive the first link 41 to rotate counterclockwise around the corresponding first rotation point a1, the first link 41 rotates counterclockwise to stretch the tension spring, the tension spring stretches under the common stretching of the first link 41 and the second link 42, and the first link 41 drives the bending swing arm 51 on the left side to rotate clockwise by a small angle through the elastic buffer 60, the bending swing arm 51 drives the driven wheel 10 on the left side to move slightly downward, the tension spring is stretched to generate a restraining force, the distance of lift on the right side of the drive wheel 20 can be significantly reduced, creating a balanced hold down effect on the drive wheel 20 to maintain the drive wheel 20 in contact with the ground and sufficient forward power. Under the continuous forward power, the above-mentioned bank-passing motion process is repeated, the driven wheel 10 can smoothly roll out from the pit or the groove, and the pit-passing action is stably completed.
The driven wheel of the chassis suspension mechanism can stably pass through the pit and the ridge, and the running stability of the chassis and the robot can be effectively improved.
In another aspect, the present invention further provides a chassis 30, and the chassis 30 includes the above-mentioned chassis suspension mechanism. Specifically, the chassis 30 of the present embodiment can stably pass through the pit and the bank by applying the chassis suspension mechanism, and has the advantage of high operation stability.
In yet another aspect, the present invention further provides a robot, including the chassis 30 described above. The robot of the embodiment can stably pass through the pit and the sill by applying the chassis 30, and has the advantage of high running stability.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A chassis suspension mechanism, comprising:
a drive wheel carrier (40) for fixing the drive wheel (20), said drive wheel carrier (40) being operatively connected to the chassis (30); and the number of the first and second groups,
the swing rod (50) is used for fixing the driven wheel (10), one end of the swing rod (50) is used for being rotatably connected with the chassis (30), and the other end of the swing rod (50) is rotatably connected with the driving wheel carrier (40);
the driving wheel frame (40) and the chassis (30) are connected to a first rotating point (A1), the swing rod (50) and the chassis (30) are connected to a second rotating point (A2), the first rotating point (A1) is higher than the second rotating point (A2), and the second rotating point (A2) is lower than a plane where the connecting position of the swing rod (50) and the driven wheel (10) is located;
the driving wheel frame (40) comprises a first connecting rod (41), a second connecting rod (42), a middle block (43) and a traction piece (44), the first connecting rod (41) and the second connecting rod (42) are respectively connected with the chassis (30) in a rotating mode, the first connecting rod (41) and the second connecting rod (42) are arranged at intervals, the middle block (43) is respectively connected to one ends of the first connecting rod (41) and the second connecting rod (42), the middle block (43) is connected with the driving wheel (20) in a rotating mode, and the traction piece (44) is respectively connected with the other ends of the first connecting rod (41) and the second connecting rod (42).
2. The chassis suspension mechanism according to claim 1, further comprising a resilient cushion (60), wherein the pendulum (50) is rotationally connected to the drive wheel carrier (40) via the resilient cushion (60).
3. Chassis suspension mechanism according to claim 2, characterized in that said first link (41) and said second link (42) are connected to the corresponding said pendulum (50) by means of said elastic buffers (60), respectively.
4. Chassis suspension mechanism according to claim 3, characterized in that the traction means (44) is a tension spring; or
The traction piece (44) comprises a traction section and a compensation section, the compensation section is respectively arranged at two ends of the traction section, and the compensation section is respectively connected with the corresponding first connecting rod (41) and the second connecting rod (42).
5. Chassis suspension mechanism according to claim 3, wherein the connection point of the traction element (44) to the first link (41) is lower than the connection point of the first link (41) to the corresponding elastic cushion (60), and the connection point of the traction element (44) to the second link (42) is lower than the connection point of the second link (42) to the corresponding elastic cushion (60).
6. The chassis suspension mechanism according to claim 1, wherein a first connecting portion (31) and a second connecting portion (32) are provided on the chassis (30), the first connecting portion (31) is provided on an upper surface of the chassis (30), the second connecting portion (32) is oppositely provided on a lower surface of the chassis (30), the first connecting portion (31) is rotatably connected to the driving wheel carrier (40), and the second connecting portion (32) is rotatably connected to the swing lever (50).
7. Chassis suspension mechanism according to claim 1, wherein the minimum distance between the centre of rotation of the second point of rotation (a 2) and the centre of rotation of the driven wheel (10) is 55-65 mm.
8. The chassis suspension mechanism according to claim 1, wherein the swing link (50) comprises a bending swing arm (51) and a mounting seat (52), the bending swing arm (51) is connected with the driven wheel (10) through the mounting seat (52), and the bending swing arm (51) is respectively connected with the chassis (30) and the driving wheel carrier (40) in a rotating manner.
9. A chassis comprising a chassis suspension mechanism as claimed in any one of claims 1 to 8.
10. A robot, characterized in that it comprises a chassis (30) according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027595.1A CN112223967B (en) | 2020-09-25 | 2020-09-25 | Chassis suspension mechanism, chassis and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027595.1A CN112223967B (en) | 2020-09-25 | 2020-09-25 | Chassis suspension mechanism, chassis and robot |
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| CN112223967A CN112223967A (en) | 2021-01-15 |
| CN112223967B true CN112223967B (en) | 2022-09-20 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209505379U (en) * | 2019-01-30 | 2019-10-18 | 上海钛米机器人科技有限公司 | Suspension arrangement and chassis |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6460318B1 (en) * | 1997-07-22 | 2002-10-08 | Ferris Industries, Inc. | Lawn mower independent suspension |
| JP2000219020A (en) * | 1999-02-01 | 2000-08-08 | Minolta Co Ltd | Attitude controller for running vehicle |
| CN204956703U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
| CN208018986U (en) * | 2017-01-16 | 2018-10-30 | 浙江国自机器人技术有限公司 | A kind of non-stop formula sorting machine people's sorting equipment |
| CN108791569B (en) * | 2018-06-28 | 2024-03-01 | 广东嘉腾机器人自动化有限公司 | AGV chassis structure |
| CN208664861U (en) * | 2018-07-25 | 2019-03-29 | 深圳怡丰机器人科技有限公司 | A kind of drive assembly and mobile robot |
| CN109228810A (en) * | 2018-09-06 | 2019-01-18 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
| CN110053438A (en) * | 2019-05-11 | 2019-07-26 | 深圳市普渡科技有限公司 | Suspension and robot |
| CN110435786B (en) * | 2019-08-15 | 2024-04-30 | 纳恩博（北京）科技有限公司 | Robot and chassis thereof |
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2020
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209505379U (en) * | 2019-01-30 | 2019-10-18 | 上海钛米机器人科技有限公司 | Suspension arrangement and chassis |
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