CN116252568A - Distribution robot - Google Patents

Distribution robot Download PDF

Info

Publication number
CN116252568A
CN116252568A CN202310305564.5A CN202310305564A CN116252568A CN 116252568 A CN116252568 A CN 116252568A CN 202310305564 A CN202310305564 A CN 202310305564A CN 116252568 A CN116252568 A CN 116252568A
Authority
CN
China
Prior art keywords
wheel
driving
connecting piece
sliding block
suspension mechanism
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
Application number
CN202310305564.5A
Other languages
Chinese (zh)
Inventor
罗健文
吴卓钊
江俊杰
刘明
王鲁佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yiqing Innovation Technology Co ltd
Original Assignee
Shenzhen Yiqing Innovation Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Yiqing Innovation Technology Co ltd filed Critical Shenzhen Yiqing Innovation Technology Co ltd
Priority to CN202310305564.5A priority Critical patent/CN116252568A/en
Publication of CN116252568A publication Critical patent/CN116252568A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
    • B60B35/02—Dead axles, i.e. not transmitting torque
    • B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
    • B60B35/1036—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance
    • B60B35/1045—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance electrically
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0006—Bumpers; Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • B62B5/0036—Arrangements of motors
    • B62B5/004—Arrangements of motors in wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/06—Hand moving equipment, e.g. handle bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/40—Variable track or wheelbase vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the invention relates to the technical field of robots, in particular to a distribution robot, which comprises a machine body frame; the driving wheel assembly comprises a first suspension mechanism and a driving wheel, and the driving wheel is connected to the machine body frame through the first suspension mechanism; the driven wheel assembly comprises a second suspension mechanism and a driven wheel, and the driven wheel is connected to the frame of the machine body through the second suspension mechanism; the adjusting device is arranged on the machine body frame and is respectively connected with the first suspension mechanism and the second suspension mechanism, and the adjusting device can adjust the wheelbase between the driving wheel and the driven wheel. Through the mode, the capacity of the distribution robot for passing through the obstacle can be improved.

Description

Distribution robot
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a distribution robot.
Background
Robots are machine devices that automatically perform work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology. Its task is to assist or replace the work of human work. Wherein the dispensing robot is a mechanical device primarily used for delivery of goods.
The inventors of the present invention found that, in the process of implementing the present invention: in the delivery process, when the delivery robot runs in a narrow corridor, the front and rear wheelbase of the existing delivery robot is usually fixed, the steering flexibility of the delivery robot is limited, and the delivery robot is inconvenient.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a dispensing robot that overcomes or at least partially solves the above-described problems.
According to an aspect of the present invention, there is provided a dispensing robot including: a fuselage frame; the driving wheel assembly comprises a first suspension mechanism and a driving wheel, and the driving wheel is connected to the machine body frame through the first suspension mechanism; the driven wheel assembly comprises a second suspension mechanism and a driven wheel, and the driven wheel is connected to the frame of the machine body through the second suspension mechanism; the adjusting device is arranged on the machine body frame and is respectively connected with the first suspension mechanism and the second suspension mechanism, and the adjusting device can adjust the wheelbase between the driving wheel and the driven wheel.
In an alternative manner, the first suspension mechanism includes a first link, one end of the first link is rotatably connected to the body frame, and the driving wheel is connected to the other end of the first link; the second suspension mechanism comprises a second connecting piece, one end of the second connecting piece is rotatably connected with the frame of the machine body, and the driven wheel is connected with the other end of the second connecting piece; the adjusting device comprises a driving device, an adjusting assembly, a first connecting rod and a second connecting rod, one end of the first connecting rod is rotationally connected to the first connecting piece, one end of the second connecting rod is rotationally connected to the second connecting piece, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the adjusting assembly, the driving device is mounted on the machine body frame and connected with the adjusting assembly, and the driving device is used for driving the adjusting assembly to adjust an included angle between the first connecting rod and the second connecting rod.
In an alternative mode, the adjusting component comprises a first sliding rail and a first sliding block, the first sliding rail is fixed on the machine body frame, the first sliding block is installed on the first sliding rail, the driving device is connected with the first sliding block and used for driving the first sliding block to slide along the first sliding rail, the other end of the second connecting rod is fixed on the first sliding block, when the first sliding block slides to a first position along the first sliding rail, the distance between the driving wheel and the driven wheel is a first distance, and when the first sliding block slides to a second position along the first sliding rail, the distance between the driving wheel and the driven wheel is a second distance.
In an optional mode, the dispensing robot further comprises a driving assembly, the driving assembly comprises a driving rod, a second sliding rail and a second sliding block, the second sliding rail is installed on the machine body frame, the second sliding block is installed on the second sliding rail, the second sliding block can slide along the second sliding rail, one end of the driving rod is connected with the second sliding block, the other end of the driving rod is connected with the first sliding block, the driving device is connected with the second sliding block and drives the second sliding block to slide along the second sliding rail, and the sliding second sliding block drives the first sliding block to slide along the first sliding rail.
In an alternative manner, the sliding speed of the first sliding block along the first sliding rail is the same as the sliding speed of the second sliding block along the second sliding rail.
In an optional mode, the quantity of adjusting part is two, two adjusting part with fuselage frame symmetry sets up, the actuating lever includes first drive portion, connecting portion and second drive portion, first drive portion and second drive portion connect respectively in the both ends of connecting portion, the actuating lever is the U type, connecting portion connect in the second slider, first drive portion connect in one adjusting part's first slider, second drive portion connect in another adjusting part's first slider.
In an alternative mode, the first suspension mechanism includes a third connecting piece and a first shock absorber, one end of the third connecting piece is rotationally connected to the other end of the first connecting piece, the driving wheel is rotationally connected to the other end of the third connecting piece, one end of the first shock absorber is connected to the first connecting piece, the other end of the first shock absorber is connected to the third connecting piece, and triangular arrangement is formed among the first connecting piece, the third connecting piece and the first shock absorber.
In an optional mode, the second suspension mechanism includes a fourth connecting piece and a second damper, one end of the fourth connecting piece is rotationally connected to the other end of the second connecting piece, the driven wheel is rotationally connected to the other end of the fourth connecting piece, one end of the second damper is connected to the second connecting piece, the other end of the second damper is connected to the fourth connecting piece, and triangular arrangement is formed among the second connecting piece, the fourth connecting piece and the second damper.
In an alternative, the driven wheel is an omni wheel.
In an optional mode, the driven wheel comprises a first wheel body, a second wheel body and a wheel frame, wherein the first wheel body and the second wheel body are sleeved on the wheel frame, the first wheel body and the second wheel body can rotate relative to the wheel frame, the radial size of the first wheel body is larger than that of the second wheel body, when the chassis is in linear motion, the first wheel body and the second wheel body rotate around a first central axis, when the chassis is in a steering motion state, the first wheel body and the second wheel body rotate around a first central axis, the first wheel body rotates around a second central axis, and the second wheel body rotates around a third central axis.
The embodiment of the invention has the beneficial effects that: unlike the prior art, embodiments of the present invention provide a fuselage frame, a drive wheel assembly, a driven wheel assembly, and an adjustment device. The driving assembly comprises a first suspension mechanism and a driving wheel, the driving wheel is connected with the machine body frame through the first suspension mechanism, the driven wheel assembly comprises a second suspension mechanism and a driven wheel, the driven wheel is connected with the machine body frame through the second suspension mechanism, the adjusting device is arranged on the machine body frame and is respectively connected with the first suspension mechanism and the second suspension mechanism, the adjusting device can adjust the wheelbase between the driving wheel and the driven wheel, the dispensing robot can conveniently turn to the small space in the process of dispensing cargoes, the wheelbase between the driving wheel and the driven wheel is reduced through the adjusting device, the wheelbase between the driving wheel and the driven wheel is increased through the adjusting device when the robot enters the wide space, in addition, the height of the machine body frame relative to the ground can be adjusted through the adjusting device, the height of the adjusting device on the dispensing robot can be adjusted relative to the machine body frame when the robot encounters an obstacle, the height of the machine body frame relative to the ground can be reduced when the machine body frame is lowered, the height of the robot is lowered relative to the machine body frame and the machine body frame is lowered, and the machine body is convenient to move, and the machine body is lowered when the machine body is in a running state when the machine body is lowered, and the machine body is in a running state is lowered.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a schematic view of a part of a distribution robot according to an embodiment of the present invention;
FIG. 2 is another schematic view of a part of the structure of a dispensing robot according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a portion of a dispensing robot according to an embodiment of the present invention;
fig. 4 is another schematic illustration of a part of the structure of the dispensing robot according to the embodiment of the present invention.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.
Referring to fig. 1, the dispensing robot 1000 includes a body frame 10, a driving wheel assembly 20, a driven wheel assembly 30, an adjusting device 40, and a driving assembly 50. The driving wheel assembly 20, the driven wheel assembly 30 and the adjusting device 40 are all arranged on the machine body frame 10, the adjusting device 40 is connected with the driving wheel assembly 20 and the driven wheel assembly 30, the adjusting device 40 can adjust the height of the machine body frame 10 relative to the ground, the driving assembly 50 is arranged on the machine body frame 10, and the driving assembly 50 is connected with the adjusting device 40. The frame 10, the driving wheel assembly 20, the driven wheel assembly 30, the adjusting device 40, and the driving assembly 50 will be described in detail.
For the above-mentioned body frame 10, as shown in fig. 1 and 2, the body frame 10 includes a housing (not shown) and a bracket 101, and the housing is covered on the bracket 101. The bracket 101 is formed by connecting a plurality of connecting rods, the bracket 101 is generally rectangular, and the connecting mode among the plurality of connecting rods can be screw connection, riveting or welding. Optionally, the material of the bracket 101 is an aluminum alloy.
As for the above-mentioned driving wheel assembly 20, as shown in fig. 1 and 2, the driving wheel assembly 20 includes a first suspension mechanism 201 and driving wheels 202, the driving wheels 202 are connected to the body frame 10 through the first suspension mechanism 201, and two driving wheels 202 are respectively mounted on opposite sides of the body frame 10. The driving wheel 202 may drive the dispensing robot to move toward a predetermined direction. Optionally, the drive wheel assembly 20 includes a hub motor, the hub being electrically disposed on the drive wheel 202. The in-wheel motor may drive the driving wheel 202 to rotate.
In some embodiments, the first suspension mechanism 201 includes a first connecting member 2011, a third connecting member 2012 and a first shock absorber 2013, one end of the first connecting member 2011 is rotatably connected to the frame 10, one end of the third connecting member 2012 is rotatably connected to the other end of the first connecting member 2011, the driving wheel 202 is rotatably connected to the other end of the third connecting member 2012, one end of the first shock absorber 2013 is connected to the first connecting member 2011, the other end of the first shock absorber 2013 is connected to the third connecting member 2012, and a triangle arrangement is formed among the first connecting member 2011, the third connecting member 2012 and the first shock absorber 2013, so that the first connecting member 2011, the third connecting member 2012 and the first shock absorber 2013 are more stable in the movement process. Wherein, when an obstacle or stone is present on the ground, the driving wheel 202 may play a role of buffering by using the first shock absorber 2013, thereby reducing jolting of the dispensing robot and reducing collision damage of goods. It will be appreciated that: in some embodiments, the first suspension mechanism 201 only includes the first connecting member 2011, and the driving wheel 202 is directly mounted on the first connecting member 2011, so that the parts are reduced, the cost is saved, and the purpose of driving the dispensing robot to move can be achieved.
As for the above-described driven wheel assembly 30, as shown in fig. 1 and 2, the driven wheel assembly 30 includes a second suspension mechanism 301 and a driven wheel 302, the driven wheel 302 is connected to the body frame 10 through the second suspension mechanism 301, and two driven wheels 302 are respectively mounted on opposite sides of the body frame 10. The driven wheel 302 rolls towards a preset direction under the driving of the driving wheel 202. Alternatively, both driven wheels 302 are omni wheels.
In some embodiments, the second suspension mechanism 301 includes a second connecting member 3011, a fourth connecting member 3012, and a second shock absorber 3013, one end of the second connecting member 3011 is rotatably connected to the frame 10, one end of the fourth connecting member 3012 is rotatably connected to the other end of the second connecting member 3011, the driven wheel 302 is rotatably connected to the other end of the fourth connecting member 3012, one end of the second shock absorber 3013 is connected to the second connecting member 3011, the other end of the second shock absorber 3013 is connected to the fourth connecting member 3012, and the second connecting member 3011, the fourth connecting member 3012, and the second shock absorber 3013 are arranged in a triangle, so that the second connecting member 3011, the fourth connecting member 3012, and the second shock absorber 3013 are more stable in the movement process. Wherein, when an obstacle or stone is present on the ground, the driven wheel 302 may play a role of buffering by using the second shock absorber 3013, thereby reducing jolting of the dispensing robot and reducing collision damage of goods. It will be appreciated that: in some embodiments, the second suspension mechanism 301 only includes a second connecting piece 3011, and the driven wheel 302 is directly mounted on the second connecting piece 3011, so that parts are reduced, cost is saved, and the purpose of driving the dispensing robot to move can be achieved.
In some embodiments, the driven wheel 302 includes a first wheel body 3021, a second wheel body 3022, and a wheel frame 3023, wherein the first wheel body 3021 and the second wheel body 3022 are both sleeved on the wheel frame 3023, the first wheel body 3021 and the second wheel body 3022 are both rotatable relative to the wheel frame 3023, and a radial dimension of the first wheel body 3021 is greater than a radial dimension of the second wheel body 3022. When the dispensing robot 1000 is in a state of steering movement, the first wheel 3021 and the second wheel 3022 revolve around the first central axis, and the first wheel 3021 rotates around the second central axis, and the second wheel 3022 rotates around the third central axis while the first wheel 3021 and the second wheel 3022 revolve around the first central axis. The revolution and rotation of the first wheel 3021 and the second wheel 3022 can be used as a two-axis motion in the horizontal direction of the driven wheel 302, thereby realizing the steering motion of the dispensing robot 1000.
In some embodiments, when the dispensing robot 1000 moves in a straight line, the first wheel 3021 and the second wheel 3022 rotate synchronously with the wheel frame 3023, and the axis of the wheel frame 3023 is the first central axis.
For the adjusting device 40 and the driving assembly 50, as shown in fig. 2 and 3, the adjusting device 40 is disposed on the frame 10, the adjusting device 40 is connected to the first suspension mechanism 201 and the second suspension mechanism 301, and the adjusting device 40 can be used to adjust the height of the frame 10 relative to the ground. The adjusting device 40 may drive the first suspension mechanism 201 and the second suspension mechanism 301 to rotate relative to the frame 10, the first suspension mechanism 201 drives the driving wheel 202 to rotate relative to the frame 10, and the second suspension mechanism 301 drives the driven wheel 302 to rotate relative to the frame 10, so as to adjust the height of the frame 10 relative to the ground.
Specifically, the adjusting device 40 includes a driving device (driving motor), an adjusting assembly 401, a first connecting rod 402 and a second connecting rod 403, one end of the first connecting rod 402 is rotationally connected to the first connecting piece 2011, one end of the second connecting rod 403 is rotationally connected to the second connecting piece 3011, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the adjusting assembly 401, the driving device is mounted on the frame 10, the driving device is connected with the adjusting assembly 401, and the driving device drives the adjusting assembly 401 to adjust an included angle between the first connecting rod 402 and the second connecting rod 403. Since the first link 402 and the second link 403 are rotatable relative to each other, the driving device applies a force F in a vertical direction/a ground direction to the connection between the first link 402 and the second link 403, so as to adjust the angle between the first link 402 and the second link 403. Under the force F, the angle between the first link 402 and the second link 403 changes, and the distance between the driving wheel 202 and the driven wheel 302 changes accordingly.
It should be noted that: when the included angle between the first link 402 and the second link 403 is an acute angle, under the action of a force F applied by the driving device in a vertical direction, the first link 402 and the second link 403 rotate relatively, the included angle between the two links gradually increases to become an obtuse angle or a flat angle, the first link 402 that rotates relatively pushes the first connecting piece 2011 to rotate in a counterclockwise direction by a preset angle, and the second link 403 that rotates relatively pushes the second connecting piece 3011 to rotate in a clockwise direction by a preset angle, so that the frame 10 of the machine body approaches a preset distance relative to the ground; conversely, when the included angle between the first link 402 and the second link 403 is an obtuse angle or a flat angle, the driving device applies a force F towards the ground, and the first link 402 and the second link 403 rotate relatively, the included angle between them gradually decreases to become a right angle or an acute angle, the first link 402 that rotates relatively pushes the first connecting member 2011 to rotate clockwise by a preset angle, and the second link 403 that rotates relatively pushes the second connecting member 3011 to rotate counterclockwise by a preset angle, so that the frame 10 is far away from the ground by a preset distance. Optionally, when the included angle between the first link 402 and the second link 403 is a flat angle (180 degrees), the first connecting member 2011 rotates to a maximum angle in the counterclockwise direction, and the second connecting member 3011 rotates to a maximum angle in the clockwise direction, and at this time, the adjustable distance between the frame 10 and the ground is the minimum.
In some embodiments, the adjusting assembly 401 includes a first slide 4012 and a first slider 4013, the first slide 4012 is fixed on the body frame 10, the first slider 4013 is mounted on the first slide 4012, the first slider 4013 is slidable along the first slide 4012, the driving assembly 50 is disposed on the body frame 10, the driving assembly 50 is connected to the first slider 4013, the driving assembly 50 is configured to drive the first slider 4013 to slide along the first slide 4012, the other end of the second link 403 is fixed on the first slider 4013, a distance between the driving wheel 202 and the driven wheel 302 is a first distance when the first slider 4013 slides along the first slide 4012 to a first position, and a distance between the driving wheel 202 and the driven wheel 302 is a second distance when the first slider 4013 slides along the first slide 4012 to a second position. The driving assembly 50 drives the first link 402 and the second link 403 to slide along the first slide rail 4012, so as to adjust an included angle between the first link 402 and the second link 403.
In some embodiments, referring to fig. 4, the driving assembly 50 includes a driving rod 501, a second slide rail 502 and a second slider 503, wherein the second slide rail 502 is mounted on the frame 10, the second slider 503 is mounted on the second slide rail 502, the second slider 503 can slide along the second slide rail 502, one end of the driving rod 501 is connected to the second slider 503, and the other end of the driving rod 501 is connected to the first slider 4013. The second slider 503 slides along the second sliding rail 502, so that the driving rod 501 drives the first slider 4013 to slide along the first sliding rail 4012, thereby adjusting an included angle between the first link 402 and the second link 403. Optionally, the sliding speed of the second slider 503 along the second sliding rail 502 is the same as the sliding speed of the first slider 4013 along the first sliding rail 4012.
In some embodiments, the number of the adjusting assemblies 401 is two, the two adjusting assemblies 401 are symmetrically disposed with the frame 10, the driving rod 501 includes a first driving portion (not labeled), a connecting portion (not labeled), and a second driving portion (not labeled), the first driving portion and the second driving portion are respectively connected to two ends of the connecting portion, the driving rod 501 is in a U shape, the connecting portion is connected to the second slider 503, the first driving portion is connected to the first slider 4013 of one adjusting assembly 401, the second driving portion is connected to the first slider 4013 of another adjusting assembly 401, and the driving rod 501 is used to control the two adjusting assemblies 401 simultaneously, so as to control the space between the driving wheel 202 and the driven wheel 302 on different sides of the dispensing robot.
In the embodiment of the present invention, a body frame 10, a driving wheel assembly 20, a driven wheel assembly 30, and an adjusting device 40 are provided. Wherein the driving assembly 50 comprises a first suspension mechanism 201 and a driving wheel 202, two driving wheels 202 are connected to the machine body frame 10 through the first suspension mechanism 201, the driven wheel assembly 30 comprises a second suspension mechanism 301 and a driven wheel 302, the two driven wheels 302 are connected to the machine body frame 10 through the second suspension mechanism 301, the adjusting device 40 is arranged on the machine body frame 10, the adjusting device 40 is connected to the first suspension mechanism 201 and the second suspension mechanism 301, the adjusting device 40 is used for adjusting the height of the machine body frame 10 relative to the ground, when the dispensing robot 1000 enters a narrow space in the process of dispensing cargos, in order to facilitate the turning of the dispensing robot 1000, the axial distance between the driving wheel 202 and the driven wheel 302 can be reduced through the adjusting device 40, when the robot enters an open space, the wheel base between the driving wheel 202 and the driven wheel 302 can be increased through the adjusting device 40, in addition, the wheel base between the driving wheel 202 and the driven wheel 302 can be adjusted through the adjusting device 40, the height of the machine body frame 10 relative to the ground can be adjusted, when an obstacle is met, the height of the machine body frame 10 relative to the ground is increased through the adjusting device 40 on the robot 1000, the height of the machine body frame 10 relative to the ground is increased, the robot 1000 can conveniently pass through the obstacle, when the robot 1000 is in a normal running state, the height of the machine body frame 10 relative to the ground can be reduced through the adjusting device 40, the gravity center of the machine body frame 10 is lowered, and therefore the movement stability of the robot 1000 is improved.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1. A dispensing robot comprising:
a fuselage frame;
the driving wheel assembly comprises a first suspension mechanism and a driving wheel, and the driving wheel is connected to the machine body frame through the first suspension mechanism;
the driven wheel assembly comprises a second suspension mechanism and a driven wheel, and the driven wheel is connected to the frame of the machine body through the second suspension mechanism;
the adjusting device is arranged on the machine body frame and is respectively connected with the first suspension mechanism and the second suspension mechanism, and the adjusting device can adjust the wheelbase between the driving wheel and the driven wheel.
2. The dispensing robot of claim 1, wherein,
the first suspension mechanism comprises a first connecting piece, one end of the first connecting piece is rotatably connected with the machine body frame, and the driving wheel is connected with the other end of the first connecting piece;
the second suspension mechanism comprises a second connecting piece, one end of the second connecting piece is rotatably connected with the frame of the machine body, and the driven wheel is connected with the other end of the second connecting piece;
the adjusting device comprises a driving device, an adjusting assembly, a first connecting rod and a second connecting rod, one end of the first connecting rod is rotationally connected to the first connecting piece, one end of the second connecting rod is rotationally connected to the second connecting piece, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the adjusting assembly, the driving device is mounted on the machine body frame and connected with the adjusting assembly, and the driving device is used for driving the adjusting assembly to adjust an included angle between the first connecting rod and the second connecting rod.
3. The dispensing robot of claim 2, wherein,
the adjusting component comprises a first sliding rail and a first sliding block, the first sliding rail is fixed on the machine body frame, the first sliding block is installed on the first sliding rail, the driving device is connected with the first sliding block and used for driving the first sliding block to slide along the first sliding rail, the other end of the second connecting rod is fixed on the first sliding block, when the first sliding block slides along the first sliding rail to a first position, the distance between the driving wheel and the driven wheel is a first distance, and when the first sliding block slides along the first sliding rail to a second position, the distance between the driving wheel and the driven wheel is a second distance.
4. The dispensing robot of claim 3, wherein,
the distribution robot further comprises a driving assembly, the driving assembly comprises a driving rod, a second sliding rail and a second sliding block, the second sliding rail is installed on the machine body frame, the second sliding block is installed on the second sliding rail, the second sliding block can slide along the second sliding rail, one end of the driving rod is connected with the second sliding block, the other end of the driving rod is connected with the first sliding block, the driving device is connected with the second sliding block and drives the second sliding block to slide along the second sliding rail, and the sliding second sliding block drives the first sliding block to slide along the first sliding rail.
5. The dispensing robot of claim 4, wherein,
the sliding speed of the first sliding block along the first sliding rail is the same as the sliding speed of the second sliding block along the second sliding rail.
6. The dispensing robot of claim 4, wherein,
the number of the adjusting components is two, the two adjusting components are symmetrically arranged on the frame of the machine body, the driving rod comprises a first driving part, a connecting part and a second driving part, the first driving part and the second driving part are respectively connected to two ends of the connecting part, the driving rod is U-shaped, the connecting part is connected to the second sliding block, the first driving part is connected to a first sliding block of the adjusting component, and the second driving part is connected to a first sliding block of the other adjusting component.
7. The dispensing robot of claim 2, wherein,
the first suspension mechanism comprises a third connecting piece and a first shock absorber, one end of the third connecting piece is rotationally connected to the other end of the first connecting piece, the driving wheel is rotationally connected to the other end of the third connecting piece, one end of the first shock absorber is connected to the first connecting piece, the other end of the first shock absorber is connected to the third connecting piece, and triangular arrangement is formed among the first connecting piece, the third connecting piece and the first shock absorber.
8. The dispensing robot of claim 2, wherein,
the second suspension mechanism comprises a fourth connecting piece and a second shock absorber, one end of the fourth connecting piece is rotationally connected to the other end of the second connecting piece, the driven wheel is rotationally connected to the other end of the fourth connecting piece, one end of the second shock absorber is connected to the second connecting piece, the other end of the second shock absorber is connected to the fourth connecting piece, and triangular arrangement is formed among the second connecting piece, the fourth connecting piece and the second shock absorber.
9. The dispensing robot of claim 1, wherein,
the driven wheel is an omni wheel.
10. The dispensing robot of claim 9, wherein,
the driven wheel comprises a first wheel body, a second wheel body and a wheel frame, wherein the first wheel body and the second wheel body are sleeved on the wheel frame, the first wheel body and the second wheel body can rotate relative to the wheel frame, the radial size of the first wheel body is larger than that of the second wheel body, when the chassis is in linear motion, the first wheel body and the second wheel body rotate around a first central axis, when the chassis is in a steering motion state, the first wheel body and the second wheel body rotate around a first central axis, the first wheel body rotates around a second central axis, and the second wheel body rotates around a third central axis.
CN202310305564.5A 2023-03-24 2023-03-24 Distribution robot Pending CN116252568A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310305564.5A CN116252568A (en) 2023-03-24 2023-03-24 Distribution robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310305564.5A CN116252568A (en) 2023-03-24 2023-03-24 Distribution robot

Publications (1)

Publication Number Publication Date
CN116252568A true CN116252568A (en) 2023-06-13

Family

ID=86682599

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310305564.5A Pending CN116252568A (en) 2023-03-24 2023-03-24 Distribution robot

Country Status (1)

Country Link
CN (1) CN116252568A (en)

Similar Documents

Publication Publication Date Title
JP4541201B2 (en) Car
CN108100076B (en) Unmanned vehicle chassis and unmanned vehicle
CN101631711B (en) An independent suspension steering system
WO2022134087A1 (en) Suspension structure, angle module system and motor vehicle
CN104228501A (en) Independent wheel suspension for the driven wheels of a vehicle
JP5782108B2 (en) Vehicle suspension system
CN109018119A (en) The variable tracker action of driving mode
JP2020505266A (en) Vehicle suspension system
CN212290017U (en) Security robot chassis
KR20230086031A (en) Independent Corner Module
JPH0248206A (en) Device for adjusting camper angle of wheel of automobile
JP2010052583A (en) Rear suspension device
CN216185444U (en) Four-wheel-drive four-rotation robot wheel train structure
CN220220283U (en) Distribution robot
CN111032374B (en) Wheel suspension for a motor vehicle
JP2022031831A (en) Dual-axle wheels suspension
CN116252568A (en) Distribution robot
US4932489A (en) Steering and drive means for robot vehicle
CN103129614B (en) For the steering swivel system of three-wheeled vehicle
CN114379645B (en) Dispersible high-load AGV double-steering-wheel system
CN216508586U (en) Security robot chassis and security robot
EP3228525B1 (en) Powered steering trolley and transport vehicle provided with such trolley
CN112590965A (en) Obstacle crossing robot with adjustable gravity center
RU2666080C1 (en) Four-wheeled vehicle equalizing beam suspension
CN212556585U (en) Duplex shock absorber, double-upright-column single-swing-arm suspension system and suspension type moving platform

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination