CN113211465A

CN113211465A - Wheeled robot with damping chassis

Info

Publication number: CN113211465A
Application number: CN202110615487.4A
Authority: CN
Inventors: 黎爱萍; 崔跃利; 卢卫国
Original assignee: Taizhou University
Current assignee: Taizhou University
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2021-08-06

Abstract

The invention discloses a wheeled robot with a damping chassis, and relates to the technical field of robots. In the invention, four support legs arranged at the bottom of the base are connected with the bottom through the rotating shaft a and the fixed block, so that the included angle between the support legs and the base can be adjusted according to the flatness of the ground, in addition, the support legs are connected with the base through the support rod b, the spring, the sliding block and the connecting device, when the position below one roller is higher or lower, the position of the sliding block moves on the support legs, one spring is compressed, the included angle between the support legs and the base is adjusted, and the problem that the robot inclines can be solved while the shock absorption is carried out.

Description

Wheeled robot with damping chassis

Technical Field

The invention relates to the technical field of wheeled robots, in particular to a wheeled robot with a damping chassis.

Background

At present, the base of the wheeled robot is a whole, a driving motor used for controlling the movement of a roller of the robot is directly fixed on the base, the walking requirement of the robot in a flat environment can be met, but when the robot encounters a pothole road surface, the robot jolts seriously, and if the wheeled robot is adopted to shoot videos on uneven ground, the shooting effect is poor.

To this end, we propose a wheeled robot with a shock absorbing chassis to solve the above problems.

Disclosure of Invention

The invention provides a wheeled robot with a damping chassis, which solves the technical problems in the background technology.

In order to solve the technical problems, the wheeled robot with the damping chassis comprises a camera robot body and a base arranged at the bottom of the camera robot body, wherein the bottom of the base is rotatably connected with four support legs, one ends of the support legs, far away from a rotating shaft a, are fixedly connected with support blocks, driving motors are arranged on the support blocks, the driving motors are electrically connected with a control module of the camera robot body, mounting grooves corresponding to the driving motors are formed in the tops of the one ends of the support legs, and output shafts of the driving motors penetrate through the support blocks and are fixedly connected with idler wheels;

be provided with the notch on the stabilizer blade, install branch b in the notch, the lateral wall sliding connection of branch b has the slider, the lateral wall of slider and the inside wall sliding connection of notch, just the both ends inside wall that the both sides of slider all are passed through spring and notch is connected, the slider passes through connecting device and is connected with the bottom of base.

Preferably, the roller is a Mecanum wheel.

Preferably, connecting device includes the U type piece of fixed connection in the base bottom, the top of slider is provided with recess an, the inside wall of recess an and the inside wall of U type piece all rotate and are connected with pivot b, two pivot b passes through the connecting rod and connects.

Preferably, the connecting rod includes a fixed rod fixedly sleeved on one of the rotating shafts b, a moving block is slidably connected to the fixed rod, a movable cavity corresponding to the moving block is arranged on the fixed rod, the moving block is fixedly connected to the inner bottom of the movable cavity through an elastic part, a supporting rod a is fixedly connected to one end, far away from the elastic part, of the moving block, and one end of the supporting rod a penetrates through the fixed rod and is fixedly sleeved on the outer side wall of the other rotating shaft b.

Preferably, the base bottom fixedly connected with two fixed blocks that the symmetry set up, the bottom of fixed block is provided with recess b, install rotatable pivot an in the recess b, the fixed cup joint of one end that the supporting shoe was kept away from to the stabilizer blade is on the lateral wall of pivot a.

Preferably, the top fixedly connected with balancing weight of base, the robot body of making a video recording installs the top at the balancing weight.

Preferably, the elastic member and the spring are both made of rubber.

Compared with the related art, the wheeled robot with the damping chassis provided by the invention has the following beneficial effects:

1. the invention provides a wheeled robot with a damping chassis, wherein four support legs arranged at the bottom of a base are connected with the bottom through a rotating shaft a and a fixed block, so that the included angle between the support legs and the base can be adjusted according to the flatness of the ground, in addition, the support legs are connected with the base through a support rod b, a spring, a sliding block and a connecting device, when the position below one roller is higher or lower, the position of the sliding block moves on the support legs, one spring is compressed, the included angle between the support legs and the base is adjusted, and the problem that the robot inclines can be solved while the damping is carried out.

2. The invention provides a wheeled robot with a damping chassis, wherein a connecting rod comprises a fixed rod, an elastic piece, a moving block and a supporting rod a, when the position below one roller is higher or lower, the length of the connecting rod is adjusted according to the stress condition, so that the position of the moving block in the fixed rod is adjusted, when the length of the connecting rod cannot be adjusted, the damping is carried out by adjusting the position of a sliding block, the base is kept in a horizontal state, and the problem that the robot inclines can be solved while the damping is carried out.

Drawings

Fig. 1 is a schematic structural diagram of a wheeled robot with a shock-absorbing chassis;

FIG. 2 is a schematic top view of a wheeled robot with a shock absorbing chassis;

fig. 3 is a rear view of a wheeled robot with a shock-absorbing chassis;

fig. 4 is a schematic bottom view of a wheeled robot with a shock-absorbing chassis;

FIG. 5 is a schematic view of the structure at A in FIG. 4;

FIG. 6 is a schematic view of a connection structure of a U-shaped block and a rotating shaft b in a wheeled robot with a damping chassis;

fig. 7 is a schematic structural diagram of a connecting rod in a wheeled robot with a shock-absorbing chassis.

Reference numbers in the figures: 1. a camera robot body; 2. a balancing weight; 3. a base; 4. a fixed block; 5. a support leg; 6. a drive motor; 7. a roller; 8. a support block; 9. a slider; 10. a connecting rod; 101. fixing the rod; 102. an elastic member; 103. a moving block; 104. a strut a; 11. a U-shaped block; 12. a recess; 13. a rotating shaft a; 14. a strut b; 15. a spring; 16. a rotating shaft b.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

As shown in fig. 1-7, a wheeled robot with a damping chassis comprises a camera robot body 1 and a base 3 installed at the bottom of the camera robot body 1, wherein the bottom of the base 3 is rotatably connected with four support legs 5, one ends of the support legs 5 far away from a rotating shaft a13 are fixedly connected with a supporting block 8, a driving motor 6 is installed on the supporting block 8, the driving motor 6 is electrically connected with a control module of the camera robot body 1, the top of one end of each support leg 5 is provided with a mounting groove corresponding to the driving motor 6, and an output shaft of the driving motor 6 penetrates through the supporting block 8 and is fixedly connected with a roller 7;

be provided with notch 12 on the stabilizer blade 5, install branch b14 in the notch 12, the lateral wall sliding connection of branch b14 has slider 9, the lateral wall of slider 9 and the inside wall sliding connection of notch 12, and the both ends inside wall that the both sides of slider 9 all pass through spring 15 and notch 12 is connected, and slider 9 passes through connecting device and is connected with the bottom of base 3.

The driving motor 6 is used for driving the roller 7 to rotate so as to adjust the wheeled robot to move on the ground.

When the flatness of the ground is poor, under the condition that the ground below one of the rollers 7 is convex, the position of the roller 7 rises to drive the included angle between the support leg 5 and the base 3 to be smaller, when the included angle is smaller, the connecting rod 10 pushes the sliding block 9 to move towards the direction of the driving motor 6, the spring 15 close to the roller 7 is compressed, and the other spring 15 is in a stretching state. Vice versa, can also guarantee that base 3 is in the horizontality when carrying out the shock attenuation to the camera robot body 1 on base 3, avoid this wheeled robot to take place the slope.

The rollers 7 are mecanum wheels.

The wheel type robot can be controlled to move left and right and back and forth by driving the Mecanum wheels to rotate through the driving motor 6.

Connecting device includes U type piece 11 of fixed connection in base 3 bottom, and the top of slider 9 is provided with recess a, and the inside wall of recess a and the inside wall of U type piece 11 all rotate and are connected with pivot b16, and two pivot b16 pass through connecting rod 10 and connect.

The connecting device is used for adjusting the position of the sliding block 9 on the supporting leg 5 conveniently according to the change of the included angle between the supporting leg 5 and the base 3, so that the wheeled robot can absorb shock to the base 3 in the running process, meanwhile, the base 3 can be kept in a horizontal state, and the camera robot body 1 arranged on the base 3 can be prevented from inclining to a certain degree.

The bottom of the base 3 is fixedly connected with two symmetrically arranged fixing blocks 4, the bottom of each fixing block 4 is provided with a groove b, a rotatable rotating shaft a13 is installed in each groove b, and one end, far away from the supporting block 8, of each supporting leg 5 is fixedly sleeved on the outer side wall of the rotating shaft a 13.

The fixing block 4 and the rotating shaft a13 function to rotate between the supporting leg 5 and the base 3.

The top fixedly connected with balancing weight 2 of base 3, camera robot body 1 installs the top at balancing weight 2.

The function of balancing weight 2 is to improve the weight of base 3, increases the stability of this wheeled robot in the process of traveling.

The material of the elastic member 102 and the material of the spring 15 are both rubber.

Example two

On the basis of the first embodiment, the connecting rod 10 includes a fixed rod 101 fixedly sleeved on one of the rotating shafts b16, a moving block 103 is slidably connected on the fixed rod 101, a movable cavity corresponding to the moving block 103 is provided on the fixed rod 101, the moving block 103 is fixedly connected with the inner bottom of the movable cavity through an elastic component 102, one end of the moving block 103 far away from the elastic component 102 is fixedly connected with a supporting rod a104, and one end of the supporting rod a104 penetrates through the fixed rod 101 and is fixedly sleeved on the outer side wall of the other rotating shaft b 16.

When the position below one of the rollers 7 is higher or lower, the length of the connecting rod 10 is adjusted according to the stress condition, so that the position of the moving block 103 in the fixing rod 101 is adjusted, after the length of the connecting rod 10 cannot be adjusted, the position of the sliding block 9 is adjusted to absorb shock, the base 3 is kept in a horizontal state, and the problem that the robot inclines can be solved while the shock is absorbed. The shock absorption effect of the base 3 can be improved to a certain extent.

The working principle is as follows:

when the wheeled robot shoots, the driving motor 6 drives the corresponding Mecanum wheel to rotate, the Mecanum wheel rotates to drive the base 3 to move back and forth, in the moving process of the base 3, if the ground below one of the Mecanum wheels is convex or concave, the included angle between the support leg 5 and the base 3 changes, if the ground is convex, the included angle between the support leg 5 and the base 3 becomes smaller, the connecting rod 10 pushes the sliding block 9 to move towards the driving motor 6 to compress the spring 15 close to the roller 7, and the other spring 15 is in a stretching state; if the included angle between the supporting leg 5 and the base 3 becomes larger, the connecting rod 10 pushes the sliding block 9 to move towards the direction far away from the driving motor 6, the spring 15 close to the roller 7 is in a stretching state, the other spring 15 is in a compressing state, part of vibration can be relieved, meanwhile, the thrust generated by the base 3 in a protruding mode can be relieved, when the thrust exceeds the bearing range of the connecting rod 10, the connecting rod 10 pushes the sliding block 9 to move towards the direction close to the driving motor 6, the spring 15 between the driving motor 6 and the sliding block 9 is in a compressing state, the spring 15 between the sliding block 9 and the fixed block 4 is in a stretching state, the base 3 can be guaranteed to be in a horizontal state while the damping of the base 3 is achieved, and the wheel type robot is prevented from inclining.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a take wheeled robot on shock attenuation chassis, includes camera shooting robot body (1) and installs base (3) in camera shooting robot body (1) bottom, its characterized in that: the bottom of the base (3) is rotatably connected with four support legs (5), one ends, far away from a rotating shaft a (13), of the support legs (5) are fixedly connected with support blocks (8), driving motors (6) are installed on the support blocks (8), the driving motors (6) are electrically connected with a control module of the camera robot body (1), mounting grooves corresponding to the driving motors (6) are formed in the tops of one ends of the support legs (5), and output shafts of the driving motors (6) penetrate through the support blocks (8) and are fixedly connected with idler wheels (7);

be provided with notch (12) on stabilizer blade (5), install branch b (14) in notch (12), the lateral wall sliding connection of branch b (14) has slider (9), the lateral wall of slider (9) and the inside wall sliding connection of notch (12), just the both ends inside wall that both sides of slider (9) all pass through spring (15) and notch (12) is connected, slider (9) are connected through the bottom of connecting device and base (3).

2. A wheeled robot with a shock absorbing chassis according to claim 1, characterised in that said wheels (7) are mecanum wheels.

3. The wheeled robot with the damping chassis is characterized in that the connecting device comprises a U-shaped block (11) fixedly connected to the bottom of the base (3), the top of the sliding block (9) is provided with a groove a, the inner side wall of the groove a and the inner side wall of the U-shaped block (11) are both rotatably connected with a rotating shaft b (16), and the two rotating shafts b (16) are connected through a connecting rod (10).

4. The wheeled robot with the shock absorption chassis as claimed in claim 3, wherein the connecting rod (10) comprises a fixed rod (101) fixedly sleeved on one of the rotating shafts b (16), a moving block (103) is slidably connected onto the fixed rod (101), a moving cavity corresponding to the moving block (103) is arranged on the fixed rod (101), the moving block (103) is fixedly connected with the inner bottom of the moving cavity through an elastic member (102), a supporting rod a (104) is fixedly connected to one end, far away from the elastic member (102), of the moving block (103), and one end of the supporting rod a (104) penetrates through the fixed rod (101) and is fixedly sleeved on the outer side wall of the other rotating shaft b (16).

5. The wheeled robot with the damping chassis is characterized in that two symmetrically arranged fixing blocks (4) are fixedly connected to the bottom of the base (3), a groove b is formed in the bottom of each fixing block (4), a rotatable rotating shaft a (13) is installed in each groove b, and one end, far away from the supporting block (8), of each supporting leg (5) is fixedly sleeved on the outer side wall of each rotating shaft a (13).

6. The wheeled robot with the damping chassis according to claim 1, characterized in that a counterweight (2) is fixedly connected to the top of the base (3), and the camera robot body (1) is mounted on the top of the counterweight (2).

7. A wheeled robot with a shock absorbing chassis according to claim 4, characterized in that the material of said elastic member (102) and the material of said spring (15) are both rubber.