CN208530732U - Robot and its chassis, suspension - Google Patents
Robot and its chassis, suspension Download PDFInfo
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- CN208530732U CN208530732U CN201820827562.7U CN201820827562U CN208530732U CN 208530732 U CN208530732 U CN 208530732U CN 201820827562 U CN201820827562 U CN 201820827562U CN 208530732 U CN208530732 U CN 208530732U
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Abstract
The utility model relates to robotic technology fields, a kind of robot and its chassis, suspension are provided, the suspension includes the fixed frame with opening, the driving wheel set on the suspension of the opening and with suspension rotation connection, the both ends of the suspension are respectively arranged in the both ends of the fixed frame being located on both sides of the opening and can move up and down along the fixed frame short transverse, further respectively have elastic component between the both ends of the suspension and the both ends of the fixed frame opening.In the utility model, it can be mutually shifted in the vertical direction between fixed frame and suspension, and it is realized by elastic component and resets adjustment, this structure is simple, at low cost, when applied to robot chassis, make enough to make robot motion more stable, there is obstacle climbing ability, it can adapt to different ground environments, allow the robot to adapt to more different operative scenarios.
Description
Technical field
The utility model relates to robotic technology fields, especially provide a kind of robot and its chassis, suspension.
Background technique
Nearly 2 years, robot was quickly grown, and the service robot for possessing locomotivity also progresses into commercial kitchen area.These
Service-delivery machine is mostly wheeled robot, for receiving, direct customers etc., is chiefly used in indoor ground grading, therefore few products
With obstacle crossing function, and in actual use, that is, it is used in the indoor spaces such as hotel, airport, it is also difficult to avoid rugged ground, at this time
Robot just can not work normally.To solve this problem, partial service robot is provided with suspension, certain to have
Obstacle crossing function, but existing suspension are mostly designed referring to automobile suspension system, and structure is complicated, at high cost, and can not fit
Answer high center of gravity robot.
Utility model content
The purpose of this utility model is to provide a kind of suspension, it is intended to solve existing suspension and be not used to Gao Chong
Heart robot, and the technical problem that structure is complicated, at high cost.
A kind of suspension that in order to achieve the above purposes, the technical solution adopted by the utility model is:, including having opening
Fixed frame, the driving wheel set on the suspension of the opening and with suspension rotation connection, the both ends part of the suspension
It is not set in the both ends of the fixed frame being located on both sides of the opening and can be moved down in the fixed frame short transverse
It is dynamic, elastic component is further respectively had between the both ends of the suspension and the both ends of the fixed frame opening.
Further, the suspension includes the suspension ontology connecting with the driving wheel and is respectively arranged on the suspension sheet
Body both ends and two mounting blocks that U-shaped is enclosed with the suspension ontology are respectively equipped with cunning in the both ends of the fixed frame
Rail, each sliding rail are equipped with the sliding block that can be slided along the sliding rail, and each mounting blocks are fixedly connected with each sliding block.
Further, there is the mounting portion connecting with the driving wheel, suspension ontology court in the middle part of the suspension ontology
It is equipped with a plurality of reinforcing rib to the surface of the fixed frame, a plurality of reinforcing rib is set centered on the mounting portion to two sides diverging
It sets.
Further, the driving wheel is hub motor, and the mounting portion is equipped with fairlead, and the hub motor is led
Line in the fairlead by passing through.
Further, the mounting blocks are equipped with mounting hole, and the sliding block passes through the fastening that is installed in the mounting hole
Part is fixedly connected with the mounting blocks, is equipped with the limiting stand for limiting the sliding block with lower section above the mounting hole.
Further, the fixed frame includes the U-shaped top plate in cross section, the U-shaped bottom plate in cross section and erects
The direct-connected multiple connecting columns for being connected to the top plate Yu the bottom plate, the top plate, the bottom plate and multiple connecting columns enclose
The both ends of U-shaped structure of the formation formation with the opening, the both ends of the top plate and the bottom plate pass through perpendicular respectively
The link block connection being directly arranged.
Further, the top plate inner wall at the both ends of the fixed frame and plate inner wall are respectively provided with described in protection
The cushion of sliding block.
Further, each mounting blocks are equipped with the first mounting post, each link block towards the end face of the fixed frame
The back side far from the suspension is equipped with the second mounting post, the elastic component slant setting, and one end of the elastic component is fixed on
In first mounting post, the other end of the elastic component is fixed in second mounting post.
The utility model additionally provides a kind of chassis, including chassis overhang, and opposite sides is set respectively on the chassis overhang
It is equipped with above-mentioned suspension, is additionally provided with universal wheel below the chassis overhang.
The utility model additionally provides a kind of robot, and the robot has above-mentioned suspension；Alternatively, the machine
Device people has above-mentioned chassis.
The utility model has the beneficial effects that
Suspension provided by the utility model can be mutually shifted in the vertical direction between fixed frame and suspension, and lead to
It crosses elastic component and realizes and reset adjustment, this structure is simple, at low cost, when being applied to robot chassis, machine on a flat ground
People's movement is more stable, is able to bear a degree of anxious deceleration, adapts to high center of gravity robot ambulation and need, robot will not occur
Inclination Accident；And when encountering rough ground, drive suspension and driving wheel in slope surface by the flexible adjustment effect of elastic component
It moves or is moved down with pit, driving wheel is allowed to fit in ground always without vacantly skidding.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of suspension provided by the embodiment of the utility model；
Fig. 2 is the decomposition diagram one of suspension provided by the embodiment of the utility model；
Fig. 3 is the decomposition diagram two of suspension provided by the embodiment of the utility model；
Fig. 4 is the structural schematic diagram of suspension in suspension provided by the embodiment of the utility model；
Fig. 5 is chassis structure schematic diagram provided by the embodiment of the utility model；
Wherein, each appended drawing reference in figure:
10- fixed frame；11- sliding slot；12- elastic component；13- sliding rail；14- sliding block；15- top plate；16- bottom plate；17- connection
Column；18- link block；19- cushion；The second mounting post of 181-；20- suspension；21- suspension ontology；22- mounting blocks；23- installation
Hole；24- limiting stand；25- mounting portion；26- fairlead；27- reinforcing rib；The first mounting post of 28-；30- driving wheel；The chassis 40- branch
Frame；41- universal wheel.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached
Orientation or positional relationship shown in figure, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of utility model.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
Referring to figs. 1 to Fig. 3, a kind of suspension provided by the embodiment of the utility model, including fixed frame 10, suspension 20 with
And driving wheel 30.Wherein, fixed frame 10 is a three-dimensional bracket, and cross section is U-shaped, and suspension 20 is set to U-shaped fixed frame 10
Opening, driving wheel 30 and suspension 20 are rotatablely connected.The both ends of suspension 20 be respectively arranged at fixed frame 10 be located at opening two
In the both ends of side, and it can be moved up and down along fixed frame short transverse.In the present embodiment, the two of 10 opening of U-shaped fixed frame
End is respectively equipped with sliding slot 11, and it is to be vertically arranged that sliding slot 11 is arranged in 10 short transverse of U-shaped fixed frame, suspension 20
Both ends are slideably positioned in respectively in two sliding slots 11, it is of course also possible to be not provided with sliding slot 11, directly the both ends of suspension 20 with
Slide construction is set between the both ends of fixed frame 10.The both ends of suspension 20 and the both ends of 10 opening of U-shaped fixed frame
Between further respectively have elastic component 12.
In the utility model embodiment, realized between fixed frame 10 and suspension 20 by setting sliding slot 11 and elastic component 12
Adjustment of displacement on vertical direction, this structure is simple, at low cost, when being applied to robot chassis, makes enough to make robot motion
It is more stable, there is obstacle climbing ability, can adapt to different ground environments, allow the robot to adapt to more different yards
Scape.
Specifically, referring to Fig. 4, suspension 20 includes suspension ontology 21 and two mounting blocks 22.Two mounting blocks 22 are respectively perpendicular
Set on 21 both ends of suspension ontology.Two mounting blocks 22 are enclosed U-shaped structure with suspension ontology 21.Two sliding slots 11 of fixed frame 10
Sliding rail 13 is inside set respectively, and each sliding rail 13 is equipped with the sliding block 14 that can be slided along the sliding rail 13, and each mounting blocks 22 and each sliding block 14 are solid
Fixed connection.In this way, driving mounting blocks 22 to move up and down when sliding block 14 is moved up and down along sliding rail 13, to drive suspension 20 and drive
Driving wheel 30 moves up and down.
Further, mounting blocks 22 are equipped with mounting hole 23, and sliding block 14 (is schemed by the fastener being installed in mounting hole 23
In be not shown) be fixedly connected with mounting blocks 22.Specifically, fastener is screw.And it is all provided with above mounting hole 23 with lower section useful
In the limiting stand 24 of position limiting slide block 14.In this way, passing through limiting stand 24 when sliding block 14 is moved along sliding rail 13 together with mounting blocks 22
With touching for 13 top and bottom of sliding rail so that sliding block 14 moves in predetermined stroke.
Referring to Fig. 4, there is mounting portion 25 in the middle part of suspension ontology 21, mounting portion 25 is in the form of annular discs, is used to fix driving wheel
30.In the present embodiment, driving wheel 30 is hub motor, and mounting portion 25 is equipped with fairlead 26, and the conducting wire of hub motor is by lead
It is passed through in hole 26.Driving wheel 30 is designed as hub motor, is to be integrated in power device, transmission device and brake apparatus
In wheel hub, so that the structure of the drive part of driving wheel 30 is greatly simplified.
The both ends of the mounting portion 25 of suspension ontology 21 extend outwardly plate-like, and plate both ends are towards the surface of fixed frame 10
Equipped with a plurality of reinforcing rib 27 (the present embodiment is four), four reinforcing ribs 27, which are dissipated centered on mounting portion 25 to two sides, to be arranged,
And it is located at straight line when dissipating two-by-two and forms X-shape.Four reinforcing ribs 27 have certain height, and tilt preset angle
Degree, such structure design ensure that the intensity of suspension ontology 21 while reducing quality, be the firm support of driving wheel 30
Provide guarantee.
Referring again to Fig. 2, Fig. 3, in the present embodiment, U-shaped fixed frame 10 includes top plate 15, bottom plate 16 and multiple connections
Column 17.Top plate 15 is horizontal positioned, and cross section is U-shaped, and bottom plate 16 is horizontal positioned, and cross section is U-shaped, multiple connecting columns
17 is vertical and interval support is connected between top plate 15 and bottom plate 16.The both ends of top plate 15 and the both ends of bottom plate 16 lead to respectively
It crosses the link block 18 being vertically arranged to connect, two sliding slots 11 are respectively arranged on two link blocks, 18 inside.
Further, cushion 19, two cushions are respectively equipped in sliding slot 11 and at the roof and bottom wall of sliding slot 11
19 provide Anti-bumping protection between sliding block 14 and top plate 15, bottom plate 16, avoid direct collision and damage sliding block 14.
In the present embodiment, each mounting blocks 22 are equipped with the first mounting post 28 towards the end face of fixed frame 10, and each link block 18 is remote
The back side from suspension 20 is equipped with the second mounting post 181,12 slant setting of elastic component, and the first peace is fixed in one end of elastic component 12
It fills on column 28, the other end of elastic component 12 is fixed in the second mounting post 181.
In the present embodiment, the first mounting post 28 is two, and two the first mounting posts 28 are between the upper and lower every setting, the second mounting post
181 be also two, and two the second mounting posts 181 are between the upper and lower every setting.As shown in Figure 1, one end of elastic component 12 connects suspension 20
The first mounting post 28 being located above, underlying second mounting post 181 on the other end Connection Bracket 10 of elastic component 12,
Due to the gravity of robot, elastic component 12 is in tensional state, at this point, elastic component 12 is preferably extension spring.On the contrary
Ground, if in one end connection underlying first mounting post 28 of suspension 20 of elastic component 12, the other end connection of elastic component 12 is solid
Determine the second mounting post 181 that frame 10 is located above, due to the gravity of robot, elastic component 12 is in contraction state, this
When, elastic component 12 is preferably compressed spring.
Referring to Fig. 5, chassis provided by the embodiment of the utility model, including chassis overhang 40,40 left side of chassis overhang with
Right side is respectively arranged with above-mentioned suspension.Specifically, the fixed frame 10 Yu chassis overhang 40 of suspension are fixed.Chassis branch
The lower section of frame 40 is additionally provided with universal wheel 41.Driving wheel 30 in suspension only has relative to chassis overhang 40 holds up direction
On freedom degree.
The utility model embodiment additionally provides a kind of robot, and robot is equipped with above-mentioned chassis.Chassis is applied to
When robot, since the weight pressure-bearing of robot is on chassis overhang 40, chassis overhang 40 drives fixed frame under the effect of gravity
10 opposite suspensions 20 move down, at this point, elastic component 12 is stretched, pass through the effect of 12 flexible adjustment of elastic component and oblique pull mode
Setting, robot smooth-riding surface walk when, chassis overhang 40 is equal to common wheel chassis；And encountering rough ground
When, drive suspension 20 and driving wheel 30 to move up with slope surface or move down with pit by the flexible adjustment effect of spring, so that driving
Wheel 30 can fit in ground without vacantly skidding always；Moreover, the application of suspension, but also robot ambulation is more
Steadily, it is able to bear a degree of anxious deceleration, high center of gravity robot ambulation is adapted to and needs, robot inclination thing will not occur
Therefore.Certainly, above-mentioned suspension can also be arranged in robot by other structures, equally can achieve above-mentioned effect.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of suspension, it is characterised in that: including have opening fixed frame, set on the opening suspension and with
The driving wheel of suspension rotation connection, what the both ends of the suspension were respectively arranged at the fixed frame is located at the opening two
It can move up and down in the both ends of side and along the fixed frame short transverse, the both ends of the suspension and the fixed frame are open
Elastic component is further respectively had between the both ends at place.
2. suspension according to claim 1, it is characterised in that: the suspension include connect with the driving wheel it is outstanding
It frame ontology and is respectively arranged on suspension ontology both ends and is enclosed two mounting blocks of U-shaped, institute with the suspension ontology
It states and is respectively equipped with sliding rail in the both ends of fixed frame, each sliding rail is equipped with the sliding block that can be slided along the sliding rail, each peace
Dress block is fixedly connected with each sliding block.
3. suspension according to claim 2, it is characterised in that: have and the driving wheel in the middle part of the suspension ontology
The mounting portion of connection, the suspension ontology towards the surface of the fixed frame be equipped with a plurality of reinforcing rib, a plurality of reinforcing rib with
It dissipates and is arranged to two sides centered on the mounting portion.
4. suspension according to claim 3, it is characterised in that: the driving wheel is hub motor, the mounting portion
It is equipped with fairlead, the conducting wire of the hub motor in the fairlead by passing through.
5. suspension according to claim 2, it is characterised in that: the mounting blocks are equipped with mounting hole, the sliding block
It is fixedly connected by the fastener being installed in the mounting hole with the mounting blocks, is equipped with above the mounting hole with lower section
For limiting the limiting stand of the sliding block.
6. the suspension according to any one of claim 2 to 5, it is characterised in that: the fixed frame includes cross section
The U-shaped bottom plate in U-shaped top plate, cross section and the multiple connections for being connected to the top plate Yu the bottom plate vertically
Column, the top plate, the bottom plate and multiple connecting columns are enclosed to form the U-shaped structure with the opening, described
The both ends of top plate pass through the link block being vertically arranged with the both ends of the bottom plate respectively and connect.
7. suspension according to claim 6, it is characterised in that: top plate inner wall at the both ends of the fixed frame with
Plate inner wall is respectively provided with the cushion for protecting the sliding block.
8. suspension according to claim 6, it is characterised in that: each mounting blocks are towards the end face of the fixed frame
Equipped with the first mounting post, each link block is equipped with the second mounting post far from the back side of the suspension, and the elastic component inclination is put
It sets, and one end of the elastic component is fixed in first mounting post, the other end of the elastic component is fixed on described second
In mounting post.
9. a kind of chassis, including chassis overhang, it is characterised in that: opposite sides is respectively set just like right on the chassis overhang
It is required that suspension described in any one of 1 to 8, the chassis overhang lower section is additionally provided with universal wheel.
10. a kind of robot, it is characterised in that: the robot has such as suspension described in any item of the claim 1 to 8 system
System；Alternatively, the robot has chassis as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820827562.7U CN208530732U (en) | 2018-05-30 | 2018-05-30 | Robot and its chassis, suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820827562.7U CN208530732U (en) | 2018-05-30 | 2018-05-30 | Robot and its chassis, suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208530732U true CN208530732U (en) | 2019-02-22 |
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ID=65382392
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820827562.7U Active CN208530732U (en) | 2018-05-30 | 2018-05-30 | Robot and its chassis, suspension |
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| Country | Link |
|---|---|
| CN (1) | CN208530732U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502040A (en) * | 2018-05-30 | 2018-09-07 | 深圳市优必选科技有限公司 | Robot and its chassis, suspension |
-
2018
- 2018-05-30 CN CN201820827562.7U patent/CN208530732U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502040A (en) * | 2018-05-30 | 2018-09-07 | 深圳市优必选科技有限公司 | Robot and its chassis, suspension |
| CN108502040B (en) * | 2018-05-30 | 2023-09-08 | 深圳市优必选科技有限公司 | Robot and chassis and suspension system thereof |
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