CN206086260U - Prevent unsettled removal food delivery robot chassis suspension of drive wheel - Google Patents
Prevent unsettled removal food delivery robot chassis suspension of drive wheel Download PDFInfo
- Publication number
- CN206086260U CN206086260U CN201621055868.2U CN201621055868U CN206086260U CN 206086260 U CN206086260 U CN 206086260U CN 201621055868 U CN201621055868 U CN 201621055868U CN 206086260 U CN206086260 U CN 206086260U
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- driving wheel
- driven pulley
- bearing pin
- axle center
- linking arm
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Abstract
This application design prevent unsettled removal food delivery robot chassis suspension of drive wheel. Through with the articulated drive wheel of shock absorber with from the structure of driving wheel, only realized making four wheels on six rounds of robot chassis possess the shock attenuation effect with two shock absorber, promoted the stationarity of robot removal, it is fixed with the gravity distribution ratio of robot that front and back row bore from the driving wheel to arrange the drive wheel during while is feasible, does not basically receive the influence of topography. It is articulated that same principle can design as that the spring shock absorber is passed through from driving wheel and well row of drive wheel in the front row, and driving wheel fixed mounting is followed on the bottom plate of chassis in the back row.
Description
Technical field
The application is related to intelligent mobile robot, and in particular to a kind of driving wheel that prevents for intelligent mobile robot hangs
Empty suspension.
Background technology
With development in science and technology, modernization is accelerated, and people are for the need for breaking away from simple, repetition, the work of low technical content
Ask and increase, robot gradually enters among people's life to help through corresponding work.Present catering industry is typical
Labour intensive profession, works heavy, and intensity is big, and repeatability is high, inefficiency.In order to solve the above problems, many food and drink enterprises
Industry selection is replaced manually with intelligent robot.Meal delivery robot in the market is typically designed as the robot of humanoid,
The drive system of robot typically using four-wheel or the structure of six wheels, is typically utilized in solve the hanging problem of driving wheel
Directly add damping spring on driving wheel or driven pulley.It is this directly to add the suspension of spring to exist with landing ground on wheel
It is rugged and rough, amount of spring compression change can wheel the pressure on ground is changed, the damping effect for making suspension is weakened.
The amount of spring compression change being directly installed on drivewheel can cause drivewheel earth-grasping force to change, or even skid.Installed in driven
Spring on wheel can weaken damping effect and the hanging risk of drivewheel cannot be completely eliminated.
The content of the invention
The purpose of the application is to provide a kind of suspension for preventing the hanging mobile robot chassis of driving wheel.
The technical scheme that the application is adopted for：
A kind of mobile meal delivery robot chassis suspension for preventing driving wheel hanging, including it is robot chassis base plate 1, front
Row driven pulley 2, middle row's driving wheel 3, heel row driven pulley 4, driving wheel linking arm 5, driven pulley linking arm 6, linking arm support base 7,
Spring shock-absorbing device 8.Front-seat driven pulley 2 is directly fixedly mounted on above the base plate 1 on chassis；Middle row's driving wheel 3 is arranged on driving wheel
One end of linking arm 5, the other end of driving wheel linking arm 5 is by the first hinge on linking arm support base 7；Heel row is driven
Wheel 4 is arranged on one end of driven pulley linking arm 6, and the other end of driven pulley linking arm 6 is propped up by the second hinge in linking arm
On support seat 7；Drivewheel linking arm 5, driven pulley linking arm 6 pass through respectively the 3rd bearing pin, the 4th hinge spring shock-absorbing device 8
Two ends, define a driving wheel with spring shock-absorbing device and heel row driven pulley linkage suspension；Or, heel row is driven
Wheel 4 is directly fixedly mounted on the base plate 1 on chassis, and front-seat driven pulley 2 is arranged on one end of driven pulley linking arm 6.
Further, the robot gravity that middle row's driving wheel 3 and heel row driven pulley 4 undertake and driving wheel linking arm 5, it is driven
The proportional relation of size of wheel linking arm 6, not by the influence of topography.
Further, the proportionate relationship is as follows：F1*L1*sinb*L4 =F2*L2* sina*L3；F1 is driven pulley institute
The support force for bearing, the support force that F2 is born by driving wheel, L1 is that the distance between F1 is arrived in the axle center of the second bearing pin, and L2 is
The distance between F2 is arrived in the axle center of one bearing pin, and L3 is the distance between second bearing pin axle center to the 4th bearing pin axle center, and L4 is first
The distance between to the 3rd bearing pin axle center, angle a is the company between the second bearing pin axle center and the 4th bearing pin axle center in the axle center of bearing pin
The angle folded by line between line and the 4th bearing pin axle center and the 3rd bearing pin axle center, angle b is the first bearing pin axle center and the 3rd
Line between bearing pin axle center and the angle folded by the line between the 3rd bearing pin axle center and the 4th bearing pin axle center.
The beneficial effect of the application is to devise a kind of mobile robot chassis suspension for preventing driving wheel hanging.
By the structure that driving wheel and driven pulley are hinged with shock absorber, realize only with two shock absorbers so that on six wheel robot chassis
Four wheels possess damping effect, improve robot movement stationarity；Cause simultaneously in row's driving wheel and front and rear row from
The robot gravity allocation proportion that driving wheel undertakes is fixed, and the influence of topography is not received substantially.Same principle can be designed as it is front-seat from
Driving wheel 2 is hinged with middle row's driving wheel 3 by spring shock-absorbing device, and heel row driven pulley 4 is fixedly mounted on chassis base plate 1.
Description of the drawings
The application is further illustrated with reference to the accompanying drawings and examples：
Robot chassis figures of the Fig. 1 with the built on stilts suspension system of anti-driving wheel；
Fig. 2 robots chassis driving wheel and driven pulley layout；
Fig. 3 robots chassis side sectional view；
Proportionate relationship between the support force that Fig. 4 robots are born on chassis.
Specific embodiment
A kind of mobile meal delivery robot chassis suspension for preventing driving wheel hanging, as shown in Figure 1（Because the chassis is left
It is right symmetrical, only with side label declaration）, including robot chassis base plate 1, front-seat driven pulley 2, middle row's driving wheel 3, heel row be driven
Wheel 4, driving wheel linking arm 5, driven pulley linking arm 6, linking arm support base 7, spring shock-absorbing device 8.Front-seat driven pulley 2 is directly fixed
Above the base plate 1 on chassis；Middle row's driving wheel 3 be arranged on driving wheel linking arm 5 one end, driving wheel linking arm 5 it is another
One end is by the first hinge on linking arm support base 7；Heel row driven pulley 4 is arranged on one end of driven pulley linking arm 6, from
The other end of driving wheel linking arm 6 is by the second hinge on linking arm support base 7；Drivewheel linking arm 5, driven pulley connects
Arm 6 passes through respectively the 3rd bearing pin, the 4th hinge two ends of spring shock-absorbing device 8, defines one with spring shock-absorbing device
Driving wheel and the suspension of heel row driven pulley linkage.
As shown in Fig. 2 this kind of suspension is arranged on one by front-seat driven pulley 2, heel row driven pulley 4 and intermediate driving wheel
On the robot chassis base plate 1 of three rows, six wheels of 3 compositions.As shown in figure 3, robot front row driven pulley 2 is arranged on base plate 1
On；Middle row's driving wheel 3 and heel row driven pulley 4 are hinged on linking arm support base 7 by linking arm 5,6；And linking arm 5,6 it
Between be hinged shock absorber 8.During robot ride, when front-seat driven pulley 2 runs into obstacle and moves up, middle row drives
The pin joint rotation of driving wheel 3 and heel row driven pulley 4 by linking arm 5,6 on support base 7 ensures that 2,3,4 three skate can be with
Land simultaneously；As a same reason, when central row's driving wheel 3 or heel row driven pulley 4 meet with obstacle, middle row's driving wheel 3 or heel row
Pin joint motion of the driven pulley 4 on linking arm support base 7, it is ensured that while landing；Even if it is different to meet with left and right sides obstacle
Situation, because spring shock-absorbing device 8 is present, still can guarantee that wheel lands.In all of shock absorbing process, due to middle row's driving wheel
3 try out shock absorber 8 with heel row driven pulley 4 is hinged, the robot gravity that middle row's driving wheel 3 and heel row driven pulley 4 undertake with drive
Wheel linking arm 5, the proportional relation of size of driven pulley linking arm 6 is not affected by topographic features, therefore this kind of suspension is stable
Property and damping performance are greatly improved.Concrete proportionate relationship is as shown in figure 4, between driving wheel 3 and the support force of driven pulley
Relation such as following formula：
F1*L1*sinb*L4 =F2*L2*sina*L3；
The support force that F1 is born by driven pulley, the support force that F2 is born by driving wheel, L1 is the axle center of the second bearing pin
The distance between F1 is arrived, L2 is that the distance between F2 is arrived in the axle center of the first bearing pin, and L3 is the second bearing pin axle center to the 4th bearing pin axle
The distance between heart, L4 be the axle center of the first bearing pin the distance between to the 3rd bearing pin axle center, angle a be the second bearing pin axle center and
The angle folded by line and the line between the 4th bearing pin axle center and the 3rd bearing pin axle center between 4th bearing pin axle center, angle b
For line and the line between the 3rd bearing pin axle center and the 4th bearing pin axle center between the first bearing pin axle center and the 3rd bearing pin axle center
Folded angle.
Claims (3)
1. a kind of mobile meal delivery robot chassis suspension for preventing driving wheel hanging, including robot chassis base plate（1）, it is front
Row's driven pulley（2）, middle row's driving wheel（3）, heel row driven pulley（4）, driving wheel linking arm（5）, driven pulley linking arm（6）, connection
Arm support base（7）, spring shock-absorbing device（8）；Front-seat driven pulley（2）Directly it is fixedly mounted on the base plate on chassis（1）Above；Middle row drives
Driving wheel（3）Installed in driving wheel linking arm（5）One end, driving wheel linking arm（5）The other end existed by the first hinge
Linking arm support base（7）On；Heel row driven pulley（4）Installed in driven pulley linking arm（6）One end, driven pulley linking arm（6）'s
The other end is by the second hinge in linking arm support base（7）On；Drivewheel linking arm（5）, driven pulley linking arm（6）Respectively
By the 3rd bearing pin, the 4th hinge spring shock-absorbing device（8）Two ends, define a driving wheel with spring shock-absorbing device
With the suspension of heel row driven pulley linkage；Or, heel row driven pulley（4）Directly it is fixedly mounted on the base plate on chassis（1）On, it is front
Row's driven pulley（2）Installed in driven pulley linking arm（6）One end.
2. a kind of mobile meal delivery robot chassis suspension for preventing driving wheel hanging as claimed in claim 1, its feature
It is furthermore that：The robot gravity that middle row's driving wheel 3 and heel row driven pulley 4 undertake and driving wheel linking arm 5, driven pulley connection
The proportional relation of size of arm 6, not by the influence of topography.
3. a kind of mobile meal delivery robot chassis suspension for preventing driving wheel hanging as claimed in claim 2, its feature
It is furthermore that：The proportionate relationship is as follows：F1*L1*sinb*L4 =F2*L2* sina*L3；F1 is born by driven pulley
Support force, the support force that F2 is born by driving wheel, L1 is that the distance between F1 is arrived in the axle center of the second bearing pin, and L2 is the first bearing pin
Axle center arrive the distance between F2, L3 is the distance between second bearing pin axle center to the 4th bearing pin axle center, and L4 is the first bearing pin
The distance between to the 3rd bearing pin axle center, angle a is the line between the second bearing pin axle center and the 4th bearing pin axle center and in axle center
The angle folded by line between four bearing pin axle center and the 3rd bearing pin axle center, angle b is the first bearing pin axle center and the 3rd bearing pin axle
Line between the heart and the angle folded by the line between the 3rd bearing pin axle center and the 4th bearing pin axle center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621055868.2U CN206086260U (en) | 2016-09-14 | 2016-09-14 | Prevent unsettled removal food delivery robot chassis suspension of drive wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621055868.2U CN206086260U (en) | 2016-09-14 | 2016-09-14 | Prevent unsettled removal food delivery robot chassis suspension of drive wheel |
Publications (1)
| Publication Number | Publication Date |
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| CN206086260U true CN206086260U (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621055868.2U Active CN206086260U (en) | 2016-09-14 | 2016-09-14 | Prevent unsettled removal food delivery robot chassis suspension of drive wheel |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106274334A (en) * | 2016-09-14 | 2017-01-04 | 深圳市普渡科技有限公司 | A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled |
| CN108928622A (en) * | 2018-07-16 | 2018-12-04 | 诺力智能装备股份有限公司 | A kind of sorting vehicle |
| CN109094321A (en) * | 2018-09-29 | 2018-12-28 | 北京云迹科技有限公司 | Suspension shock absorber, robot chassis and 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 |
| CN109532366A (en) * | 2018-10-11 | 2019-03-29 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
| CN110143234A (en) * | 2019-04-22 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of vehicle chassis and vehicle |
| WO2020258750A1 (en) * | 2019-06-28 | 2020-12-30 | 北京致行慕远科技有限公司 | Robot and chassis thereof |
| CN113043804A (en) * | 2021-05-13 | 2021-06-29 | 李玉平 | Drive structure of food and beverage transport vehicle chassis |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
-
2016
- 2016-09-14 CN CN201621055868.2U patent/CN206086260U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106274334A (en) * | 2016-09-14 | 2017-01-04 | 深圳市普渡科技有限公司 | A kind of mobile meal delivery robot chassis suspension preventing driving wheel unsettled |
| CN108928622A (en) * | 2018-07-16 | 2018-12-04 | 诺力智能装备股份有限公司 | A kind of sorting vehicle |
| 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 |
| CN109094321A (en) * | 2018-09-29 | 2018-12-28 | 北京云迹科技有限公司 | Suspension shock absorber, robot chassis and robot |
| CN109532366A (en) * | 2018-10-11 | 2019-03-29 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11851278B2 (en) | 2019-02-01 | 2023-12-26 | Hai Robotics Co., Ltd. | Handling robot |
| CN110143234A (en) * | 2019-04-22 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of vehicle chassis and vehicle |
| WO2020258750A1 (en) * | 2019-06-28 | 2020-12-30 | 北京致行慕远科技有限公司 | Robot and chassis thereof |
| CN113043804A (en) * | 2021-05-13 | 2021-06-29 | 李玉平 | Drive structure of food and beverage transport vehicle chassis |
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