CN208698922U - A kind of robot damping chassis - Google Patents

A kind of robot damping chassis Download PDF

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Publication number
CN208698922U
CN208698922U CN201821171134.XU CN201821171134U CN208698922U CN 208698922 U CN208698922 U CN 208698922U CN 201821171134 U CN201821171134 U CN 201821171134U CN 208698922 U CN208698922 U CN 208698922U
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China
Prior art keywords
plate
damping
chassis
driving
robot
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CN201821171134.XU
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Chinese (zh)
Inventor
谢成宇
李丽双
程胜
张建伟
徐冬东
寇淼
王普
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Kunshan Industrial Technology Research Institute Co Ltd
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Kunshan Industrial Technology Research Institute Co Ltd
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Priority to CN201821171134.XU priority Critical patent/CN208698922U/en
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Abstract

The utility model discloses a kind of robot damping chassis, including chassis body, driving mechanism, the driving mechanism is connected in chassis body by damping;The damping includes: damping upper plate, driving mechanism mounting plate, guide post and the damping spring being set in guide post;It is also provided with bearing hole on the driving mechanism mounting plate, is equipped with linear bearing in the bearing hole, the damping spring is supported between damping upper plate and linear bearing upper end cover;The upper end of the guide post is fixedly connected with damping upper plate, and the lower end of guide post is fixedly connected through the axis hole of linear bearing with the chassis body.The utility model is provided with damping, it is ensured that driving wheel tightly grabs ground in the case where ground out-of-flatness, having minor grade, prevents from dallying.

Description

A kind of robot damping chassis
Technical field
The utility model relates to a kind of robot damping chassis, belong to technical field of mechanical automation.
Background technique
Existing intelligent robot is generally only suitable for indoor use, does not have damping usually, leads to robot obstacle detouring It can be poor.
In order to solve the above technical problems, the prior art has developed a kind of intelligent robot for having damping, but in order to Chassis would generally be raised by providing enough installation spaces to damping, and robot stabilization is caused to be deteriorated;Or it is being mounted with Lead to inside chassis space wretched insufficiency after damping, so that robot function limitation.
Utility model content
The purpose of the utility model is to overcome deficiencies in the prior art, provide a kind of robot damping chassis, solve The technical issues of robot stabilization is poor in the prior art, inside chassis insufficient space.
In order to solve the above technical problems, the technical scheme adopted by the invention is that: a kind of robot damping chassis, including bottom Disk ontology, driving mechanism, the driving mechanism are connected in chassis body by damping;
The damping includes: damping upper plate, driving mechanism mounting plate, guide post and is set in subtracting in guide post Shake spring;
It is also provided with bearing hole on the driving mechanism mounting plate, is equipped with linear bearing, the damping in the bearing hole Spring supporting is between damping upper plate and linear bearing upper end cover;
The upper end of the guide post is fixedly connected with damping upper plate, axis hole and institute of the lower end of guide post through linear bearing Chassis body is stated to be fixedly connected.
Further, adjusting block, the adjusting block and guide post spiral shell are additionally provided between the damping spring and damping upper plate Line connection.
Further, the chassis body includes upper plate, lower plate and the branch being supported between upper plate and lower plate Dagger.
Further, the chassis body further includes the support side plate being connected between upper plate and lower plate, described to subtract Shake mechanism is fixed in support side plate.
Further, the driving mechanism includes driving wheel and the driving motor that is horizontally set on lower plate, the drive The output shaft of dynamic motor is connect by bearing assembly with the driving wheel, and the bearing assembly passes through connection frame and the driving machine Structure mounting plate is fixedly connected.
Further, the notch that can accommodate driving wheel is also provided on the lower plate.
Further, the upper plate is also set to sighting device accommodating cabinet.
Further, it is additionally provided on the lower plate height-adjustable for installing the first support of ultrasonic radar.
Further, the second support for installing laser radar, the second support packet are additionally provided on the lower plate The second transverse slat for including second side plate of two pieces of opposed settings and being connected between two second side plates, the laser radar are fixed on On second transverse slat;The different transverse slat mounting hole of multiple height is offered on two second side plates, passes through selection transverse slat mounting hole Position adjusts the height and tilt angle of the second transverse slat, realizes the adjusting of laser radar height and inclination angle.
Further, battery is additionally provided between the upper plate and lower plate, the battery passes through battery mounting plate and institute Chassis body is stated to be fixedly connected.
Compared with prior art, the utility model beneficial effect achieved is: being provided with damping, it is ensured that drives Driving wheel tightly grabs ground in the case where ground out-of-flatness, having minor grade, prevents from dallying;Reasonable arrangement inside chassis space is to mention High inside chassis space utilization rate further increases the stability and load of robot in the case where not increasing chassis height Ability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model;
Fig. 2 is the structural schematic diagram of chassis body in Fig. 1;
Fig. 3 is the structural schematic diagram of damping in Fig. 1;
Fig. 4 is the structural schematic diagram of driving mechanism in Fig. 1;
In figure: 1, chassis body;1a, upper plate;1b, upper plate;1c, support column;1d, support side plate;
2, damping;2a, damping upper plate;2b, driving mechanism mounting plate;2c, guide post;2d, damping spring;2e, line Property bearing;2f, adjusting block;2g, shock-absorbing support side plate;
3, driving mechanism;3a, driving wheel;3b, driving motor;3c, bearing;3d, bearing block;3e, driving wheel flange;3f, Connection frame;
4a, battery;4b, battery mounting plate;5a, sighting device;5b, sighting device accommodate cabinet;6a, ultrasonic radar;6b, First support;7a, laser radar;7b, second support.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating this The technical solution of utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
As shown in Figure 1, be the structural schematic diagram of the utility model, including chassis body 1, damping 2, driving mechanism 3, Power Supply Assembly and sensor mechanism.
As shown in Fig. 2, chassis body 1 includes: upper plate 1a, lower plate 1b, support column 1c and support side plate 1d.Lower plate The notch being adapted with driving mechanism 3 is offered on 1b.Upper plate 1a, lower plate 1b and support column 1c are detachably connected, and are convenient for Installation and debugging;Several mounting holes can be opened up on upper plate 1a, can also carry out secondary operation, when needs install additional on upper plate 1a When equipment, it is only necessary to slightly be processed to upper plate 1a and be able to satisfy most of requirement.
Support column 1c is supported between upper plate 1a and lower plate 1b, can be the bottom of according under the premise of guaranteeing load-carrying properties The quantity of disk inner space setting support column 1c.The support column 1c of different length can be in selection a certain range as needed simultaneously Convenient adjustment chassis height;The space-efficient of chassis body 1 can make chassis install more hardware, make robot Function is more enriched powerful.
Support side plate 1d is equally supported between upper plate 1a and lower plate 1b, support side plate for installing damping 2 The quantity of 1d should be no less than the quantity of damping 2.As the preferred embodiment of the utility model, driving mechanism 3 is provided with two Group, then corresponding damping 2, support side plate 1d are also respectively arranged with two groups.
As shown in figure 3, damping 2 includes: damping upper plate 2a, 3 mounting plate 2b of driving mechanism, guide post 2c, damping bullet Spring 2d, adjusting block 2f and linear bearing 2e.
The upper and lower ends of guide post 2c are respectively equipped with external screw thread, and the upper end of guide post 2c is threadedly coupled with damping upper plate 2a, Lower end is threadedly coupled with lower plate 1b.Bearing hole is provided on 3 mounting plate 2b of driving mechanism, linear bearing 2e is set to bearing hole It is interior.Guide post 2c runs through the axis hole of linear bearing 2e, is slided up and down and is connect with driving mechanism mounting plate 2b by linear bearing 2e. Damping spring 2d is sheathed on guide post 2c, and is supported between damping upper plate 2a and linear bearing 2e upper end cover.For height Uneven road surface, driving mechanism 3 can adjust the decrement of damping spring 2d by driving mechanism mounting plate 2b, to reduce bottom Jolting for disk ontology 1, achievees the purpose that damping.
Adjusting block 2f, adjusting block 2f and guide post 2c is additionally provided between damping spring 2d and damping upper plate 2a to connect by screw thread It connects.User can adjust the decrement of damping spring 2d, so that chassis has bigger obstacle performance according to robot loading condition And ground grip ability, improve the stability of robot.
In order to further increase the stability of damping 2, the two sides of damping upper plate 2a further respectively have shock-absorbing support side Plate 2g, shock-absorbing support side plate 2g are supported between damping upper plate 2a and lower plate 1b.
As shown in figure 4, driving mechanism 3 includes: driving wheel 3a, bearing assembly and the driving being horizontally set on lower plate 1b Motor 3b, bearing assembly include bearing 3c and bearing block 3d, and the output shaft of driving motor 3b is connected by bearing 3c and driving wheel 3a It connects, the outside of driving wheel 3a is equipped with driving wheel flange 3e, to fix driving wheel 3a.Bearing 3c is fixed on bearing block 3d, bearing Seat 3d is fixedly connected by connection frame 3f with the driving mechanism mounting plate 2b.
Power Supply Assembly includes: battery 4a and battery mounting plate 4b, and battery mounting plate 4b is connected to two supports of chassis body 1 Between side plate 1d, battery 4a is fixed on battery mounting plate 4b.
Sensor mechanism uses for robot autonomous movement and avoidance, specifically includes that visual component, ultrasonic radar group Part, laser radar component.
Visual component includes: sighting device 5a and the sighting device being connected on upper plate 1a accommodating cabinet 5b, sighting device 5a is set in sighting device accommodating cabinet 5b.Sighting device accommodating cabinet 5b can be set and can also set in the upper surface of upper plate 1a It is placed in the lower surface of upper plate 1a, front-rear position can adjust according to actual needs.The sighting device 5a can be depth camera.
Ultrasonic radar component includes: ultrasonic radar 6a and height-adjustable for installing the first of ultrasonic radar 6a Bracket 6b.Ultrasonic radar component is usually provided with four groups, and the front-rear position of lower plate 1b is respectively arranged two.
Laser radar component includes: laser radar 7a and the second support 7b for installing laser radar 7a.Second support 7b includes: second side plate of two pieces of opposed settings and the second transverse slat for being connected between two second side plates, the laser radar It is fixed on the second transverse slat.The different transverse slat mounting hole of multiple height is offered on two second side plates, user can pass through selection The position of transverse slat mounting hole adjusts the height and tilt angle of the second transverse slat, realizes the adjusting of laser radar height and inclination angle.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change It also should be regarded as the protection scope of the utility model into deformation.

Claims (10)

1. a kind of robot damping chassis, which is characterized in that including chassis body, driving mechanism, the driving mechanism is by subtracting Shake mechanism is connected in chassis body;
The damping includes: damping upper plate, driving mechanism mounting plate, guide post and the damping bullet being set in guide post Spring;
It is also provided with bearing hole on the driving mechanism mounting plate, is equipped with linear bearing, the damping spring in the bearing hole It is supported between damping upper plate and linear bearing upper end cover;
The upper end of the guide post is fixedly connected with damping upper plate, axis hole and the bottom of the lower end of guide post through linear bearing Disk ontology is fixedly connected.
2. robot damping chassis according to claim 1, which is characterized in that between the damping spring and damping upper plate It is additionally provided with adjusting block, the adjusting block is threadedly coupled with guide post.
3. robot damping chassis according to claim 1, which is characterized in that the chassis body include upper plate, under Bottom plate and the support column being supported between upper plate and lower plate.
4. robot damping chassis according to claim 3, which is characterized in that the chassis body further includes being connected to Support side plate between bottom plate and lower plate, the damping are fixed in support side plate.
5. robot damping chassis according to claim 3, which is characterized in that the driving mechanism includes driving wheel and cross To the driving motor being set on lower plate, the output shaft of the driving motor is connect by bearing assembly with the driving wheel, The bearing assembly is fixedly connected by connection frame with the driving mechanism mounting plate.
6. robot damping chassis according to claim 5, which is characterized in that being also provided on the lower plate can hold Set the notch of driving wheel.
7. robot damping chassis according to claim 3, which is characterized in that the upper plate is also set to sighting device appearance Set cabinet.
8. robot damping chassis according to claim 3, which is characterized in that it is adjustable to be additionally provided with height on the lower plate For installing the first support of ultrasonic radar.
9. robot damping chassis according to claim 3, which is characterized in that be additionally provided on the lower plate for installing The second support of laser radar, the second support include second side plate of two pieces of opposed settings and are connected to two second side plates Between the second transverse slat, the laser radar is fixed on the second transverse slat;It is different that multiple height are offered on two second side plates Transverse slat mounting hole, pass through selection transverse slat mounting hole position adjust the second transverse slat height and tilt angle, realize laser thunder Up to the adjusting of height and inclination angle.
10. robot damping chassis according to claim 3, which is characterized in that between the upper plate and lower plate also Equipped with battery, the battery is fixedly connected by battery mounting plate with the chassis body.
CN201821171134.XU 2018-07-24 2018-07-24 A kind of robot damping chassis Active CN208698922U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821171134.XU CN208698922U (en) 2018-07-24 2018-07-24 A kind of robot damping chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821171134.XU CN208698922U (en) 2018-07-24 2018-07-24 A kind of robot damping chassis

Publications (1)

Publication Number Publication Date
CN208698922U true CN208698922U (en) 2019-04-05

Family

ID=65939646

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201821171134.XU Active CN208698922U (en) 2018-07-24 2018-07-24 A kind of robot damping chassis

Country Status (1)

Country Link
CN (1) CN208698922U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112177289A (en) * 2020-10-14 2021-01-05 张杨 Paint spraying device for high-rise outer wall
CN112606012A (en) * 2020-12-10 2021-04-06 广州仿真机器人有限公司 Intelligent simulation automatic meal delivery robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112177289A (en) * 2020-10-14 2021-01-05 张杨 Paint spraying device for high-rise outer wall
CN112606012A (en) * 2020-12-10 2021-04-06 广州仿真机器人有限公司 Intelligent simulation automatic meal delivery robot

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