CN114670952A

CN114670952A - Robot chassis with shock-absorbing structure

Info

Publication number: CN114670952A
Application number: CN202210259146.2A
Authority: CN
Inventors: 吴继盛; 贾睿; 姚坤
Original assignee: Ruichi Shenzhen Intelligent Co ltd
Current assignee: Ruichi Shenzhen Intelligent Co ltd
Priority date: 2022-03-16
Filing date: 2022-03-16
Publication date: 2022-06-28

Abstract

The invention discloses a robot chassis with a damping structure, which comprises a chassis framework, a driving wheel damping module and a rear universal wheel damping module, wherein the driving wheel damping module is respectively installed at the left side and the right side of the front end of the chassis framework, and the rear universal wheel damping module is respectively installed at the left side and the right side of the rear end of the chassis framework; the damping device comprises a driving wheel damping module and a driving wheel supporting rod, wherein the driving wheel supporting rod is connected with a driving wheel fixing plate through a fixing shaft, a motor driving wheel is arranged on the driving wheel supporting rod, the bottom of the driving wheel fixing plate is connected with a front wheel supporting rod through the fixing shaft, a front universal wheel is arranged on the front wheel supporting rod, and a damping support is fixedly connected to the top of the front wheel supporting rod.

Description

Robot chassis with shock-absorbing structure

Technical Field

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

Background

A mobile robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

Due to the continuous development of robotics, robots for the service industry are becoming more and more widespread in order to alleviate repetitive and simple work. Such as restaurant food delivery, hotel building distribution, welcome, hospital sterilization, etc. These scenarios also increase the requirements on the mobility of the robot. The suspension structure of the mobile chassis of the robot influences the stability of the robot in the walking process. When the robot runs on uneven road surfaces, the phenomena of large swing amplitude, slipping and suspended driving wheels are easily caused, so that the robot cannot run normally.

Most of the existing robot chassis only have the shock absorption structure on the robot driving wheels, and the front driven universal wheels and the rear driven universal wheels have no shock absorption, so that when the robot chassis passes through an uneven road, the machine shakes a lot and the noise is large. In view of the above conventional phenomena, the present invention provides a robot chassis damping suspension mechanism.

Disclosure of Invention

The invention provides a robot chassis with a damping structure, and aims to solve the problems that the existing robot chassis only adds a damping structure on a driving wheel of a robot, and front and rear driven universal wheels have no damping, so that when a user passes through an uneven road surface, the machine shakes greatly and the noise is high.

The robot chassis comprises a chassis framework, a driving wheel damping module and a rear universal wheel damping module, wherein the driving wheel damping module is respectively installed in the left side and the right side of the front end of the chassis framework, and the rear universal wheel damping module is respectively installed in the left side and the right side of the rear end of the chassis framework;

the driving wheel damping module comprises a driving wheel fixing plate and a driving wheel supporting rod connected through a fixing shaft, a motor driving wheel is installed on the driving wheel supporting rod, the bottom of the driving wheel fixing plate is connected with a front wheel supporting rod through the fixing shaft, a front universal wheel is installed on the front wheel supporting rod, a damping support is fixedly connected to the top of the front wheel supporting rod, a damping fixing seat is fixedly connected to the top of the driving wheel supporting rod, and a damping suspension is connected between the damping support and the damping fixing seat.

Preferably, the chassis framework comprises a bottom plate, front end vertical plates and rear end vertical plates, wherein the front end vertical plates and the rear end vertical plates are fixed on the front side and the rear side of the bottom plate, and two supporting loop bars are buckled between the tops of the front end vertical plates and the tops of the rear end vertical plates.

Preferably, two reinforcing rods are fixedly connected between the opposite sides of the front end vertical plate and the rear end vertical plate.

Preferably, back universal wheel shock attenuation module includes the shock mount and slides the damping shaft in the shock mount bottom, the top joint of shock mount has the shock attenuation end cover, be connected with the spring between the bottom of shock attenuation end cover and the top of damping shaft, the bottom of damping shaft is connected with the back universal wheel.

Preferably, an oilless bushing is arranged inside the shock absorption seat.

Compared with the prior art, the technical scheme of the application has the beneficial effects that: according to the invention, the impact of the unevenness of the ground on the robot chassis can be effectively absorbed through the matching between the driving wheel damping module and the rear universal wheel damping module, the bottom surface impact and the vibration can be effectively absorbed, the noise caused by the vibration is reduced, and the stability of the chassis in the walking process is improved.

Drawings

Fig. 1 is a schematic structural diagram of a robot chassis with a shock-absorbing structure according to the present invention;

FIG. 2 is a schematic structural diagram of a driving wheel damping module in a robot chassis with a damping structure according to the present invention;

fig. 3 is a schematic diagram of an internal structure of a damping module for a rear universal wheel of a chassis in a robot with a damping structure according to the present invention.

Detailed Description

The embodiments of the present invention will be described in detail in conjunction with the drawings in the following, and it is to be understood that the embodiments are only a part of the embodiments of the present invention, and not all of the embodiments are described. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

The invention provides a robot chassis with a damping structure, which is shown in a figure 1-3 and comprises a chassis framework, a driving wheel damping module and a rear universal wheel damping module, wherein the driving wheel damping module is respectively installed at the left and the right of the front end of the chassis framework, and the rear universal wheel damping module is respectively installed at the left and the right of the rear end of the chassis framework; drive wheel shock attenuation module includes drive wheel fixed plate 2 and drive wheel branch 1 through fixed hub connection, install motor drive wheel 3 on

drive wheel branch

1, 2 bottoms of drive wheel fixed plate are connected with front wheel branch 4 through the fixed axle, universal wheel 5 before installing on the

front wheel branch

4, 4 top fixedly connected with shock absorber support 6 of front wheel branch, 1 top fixedly connected with shock attenuation fixing base 7 of drive wheel branch, be connected with the shock attenuation between shock absorber support 6 and the shock attenuation fixing base 7 and hang 8.

In this embodiment, referring to fig. 1 to 3, when the chassis of the robot encounters a raised obstacle, the front universal wheels 5 are lifted upwards, the shock-absorbing suspension 8 is compressed, and after the chassis passes over the raised obstacle, the front universal wheels 5 recover to the previous state. Then to motor drive wheel 3 meet protruding barrier, motor drive wheel 3 lifts up, and the shock attenuation is hung the compression, crosses behind the protruding barrier, and motor drive wheel 3 resumes preceding state, and when arriving 18 shock attenuation modules of back universal wheel again and meet protruding barrier, back universal wheel 18 upwards lifts up, and the spring 17 compression, after crossing protruding barrier, back universal wheel 18 resumes preceding state.

Referring to fig. 1-3, the shock absorbing suspension 8 in the above embodiment is a conventional technique in the prior art, and comprises a telescopic rod and a spring sleeved on the outer surface of the telescopic rod, when the shock absorbing suspension 8 is compressed, the telescopic rod contracts, the spring is compressed, and when the shock absorbing suspension extends, the telescopic rod expands, the spring is pulled apart, and shock absorption is achieved.

Referring to fig. 1-3, the chassis frame includes a bottom plate 9, a front riser 10 fixed on the front and rear sides of the bottom plate 9, a rear riser 11, and two support rods 12 fastened between the top of the front riser 10 and the top of the rear riser 11. It can be the joint between front end riser 10 and rear end riser 11 top to explain here that the support loop bar also can make to be fixed between front end riser 10 and rear end riser 11 top through fixed subassembly, and fixed subassembly can be through the screw, two stiffeners 13 of fixedly connected with between the relative one side of front end riser 10 and rear end riser 11.

Referring to fig. 1-3, a U-shaped chassis framework is formed between the front risers 10, the rear risers 11 and the bottom plate 9. Support loop bar 12 can be used to support the body shell of robot, and the chassis skeleton mainly comprises bottom plate 9, front end riser 10, rear end riser 11, and the stability that can increase the chassis skeleton of cooperation stiffener 13 simultaneously.

Referring to fig. 1-3, the rear universal wheel damping module includes a damping base 14 and a damping shaft 15 sliding on the bottom of the damping base 14, a damping end cover 16 is fastened to the top of the damping base 14, a spring 17 is connected between the bottom of the damping end cover 16 and the top of the damping shaft 15, and a rear universal wheel 18 is connected to the bottom of the damping shaft 15.

Referring to fig. 1 to 3, in the present embodiment, when the rear caster 18 is lifted upward, the shock absorbing shaft 15 moves upward to compress the spring 17, thereby absorbing shock to the rear caster 18. When the rear universal wheel 18 passes through the raised barrier, the damping shaft 15 moves upwards to compress the spring 17, and after the rear universal wheel 18 passes through the raised barrier, the spring 17 recovers elasticity to drive the rear universal wheel 18 to move downwards, so that the rear universal wheel 18 is damped.

Referring to fig. 1-3, the damper base 14 is provided therein with an oilless bushing 19. The oilless bush 19 is also called a self-lubricating bearing, and is a novel lubricating bearing having the characteristics of a metal bearing and an oilless lubricating bearing, and can increase the strength of the damper base 14.

The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.

Claims

1. A robot chassis with a damping structure is characterized by comprising a chassis framework, a driving wheel damping module and a rear universal wheel damping module, wherein the driving wheel damping module is respectively provided with one set at the left and the right of the front end of the chassis framework, and the rear universal wheel damping module is respectively provided with one set at the left and the right of the rear end of the chassis framework;

drive wheel shock attenuation module includes drive wheel fixed plate (2) and drive wheel branch (1) through the fixed axle connection, install motor drive wheel (3) on drive wheel branch (1), there are front wheel branch (4) drive wheel fixed plate (2) bottom through the fixed hub connection, install front universal wheel (5) on front wheel branch (4), front wheel branch (4) top fixedly connected with shock absorber support (6), drive wheel branch (1) top fixedly connected with shock attenuation fixing base (7), be connected with the shock attenuation between shock absorber support (6) and shock attenuation fixing base (7) and hang (8).

2. The robot chassis with the shock absorption structure is characterized in that the chassis framework comprises a bottom plate (9) and a front end vertical plate (10) and a rear end vertical plate (11) which are fixed on the front side and the rear side of the bottom plate (9), and two supporting loop bars (12) are buckled between the tops of the front end vertical plate (10) and the rear end vertical plate (11).

3. The robot chassis with a shock-absorbing structure according to claim 2, wherein two reinforcing rods (13) are fixedly connected between the opposite sides of the front end riser (10) and the rear end riser (11).

4. The robot chassis with the shock absorption structure as claimed in claim 3, wherein the rear universal wheel shock absorption module comprises a shock absorption seat (14) and a shock absorption shaft (15) sliding at the bottom of the shock absorption seat (14), a shock absorption end cover (16) is clamped at the top of the shock absorption seat (14), a spring (17) is connected between the bottom of the shock absorption end cover (16) and the top of the shock absorption shaft (15), and a rear universal wheel (18) is connected at the bottom of the shock absorption shaft (15).

5. A robot chassis with shock absorbing structure according to claim 4, characterized in that the shock absorbing seat (14) is provided with an oil-free bushing (19) therein.