CN209634614U - Anti-tilt chassis structure of a mobile robot - Google Patents

Abstract

The utility model discloses a kind of anti-dumping chassis structures of mobile robot, include a chassis pedestal, the two sides of chassis pedestal are respectively equipped with one group of wheel assembly；Every group of wheel assembly sticks up bar comprising a drive wheel assemblies, two driven wheels and one, wherein sticks up and is hinged on the pedestal of chassis in the middle part of bar, have one to be directly installed on the pedestal of chassis in drive wheel assemblies and two driven wheels, in addition the two is separately mounted to stick up the both ends of bar；It each sticks up and is additionally provided with elastic buffer member between bar and chassis pedestal, elastic buffer member makes the farther away one end in chassis pedestal center of deviateing for sticking up bar have the trend far from the movement of chassis pedestal.The wheel of the chassis structure of the utility model is rationally distributed, so that all wheels can be with ground face contact, and the elastic buffer member by increasing precompressed on the direction of the possible run-off the straight of robot, major part when can offset robot brake leans forward torque, to solve the problems, such as that the inclination of its chassis is excessive when robot brake or even topples.

Description

Anti-tilt chassis structure of a mobile robot

technical field

The utility model relates to the technical field of robots, in particular to an anti-tilt chassis structure of a mobile robot.

Background technique

At present, various types of automatic navigation robots are widely used in industry and life, such as handling robots, food delivery robots, navigation robots, etc. The chassis structure of common robots on the market is relatively simple, that is, the structure of double driving wheels and several driven wheels, When this type of chassis is in use, on the one hand, all wheels cannot be guaranteed to be fully grounded, and the support is poor. On the other hand, the entire robot will shake violently when the robot brakes, and there is even a danger of falling over.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the utility model provides an anti-tilt chassis structure for a mobile robot that has better support for the robot and can effectively prevent tilting.

Technical solution: In order to achieve the above purpose, an anti-tilt chassis structure of a mobile robot of the present invention includes a chassis base, and a set of wheel assemblies are installed on both sides of the chassis base;

Each set of said wheel assembly includes a driving wheel assembly, two driven wheels and a warping rod, wherein the middle part of said warping rod is hinged on the chassis base, and one of the driving wheel assembly and the two driven wheels is directly mounted on On the base of the chassis, the other two are respectively installed at both ends of the warping rod;

An elastic buffer assembly is also provided between each of the warping rods and the chassis seat, and the elastic buffer assembly makes the end of the warping rod far away from the center of the chassis seat have a distance away from the chassis seat. movement trends.

Further, for each set of the wheel assemblies, the driving wheel assembly and a driven wheel are mounted on both ends of the warping rod respectively, and the driving wheel assembly is located between the two driven wheels.

Further, the driving wheel assembly includes a driving wheel body and a drive motor drivingly connected to the driving wheel body, both of which are installed on the warp rod.

Further, the rotation axis of the driving wheel body falls on the front and rear symmetrical center plane of the chassis base.

Further, the elastic buffer assembly is arranged between the end of the warp bar that is far away from the center of the chassis seat and the chassis seat, and has a preload that makes the two tend to move away from each other.

Further, the elastic buffer assembly includes a first unit and a second unit respectively installed on the warp bar and the chassis base, the first unit and the second unit can be relatively translated and a spring is arranged between them .

Further, at least one of the first unit and the second unit is provided with an adjustment portion capable of adjusting the pre-compression of the spring, and the end of the spring abuts against the adjustment portion.

Further, the elastic buffer component is arranged between the end of the tilting rod that is closer to the center of the chassis seat and the chassis seat, and has a pre-tension force that makes the two tend to be relatively close.

Further, the elastic buffer assembly includes an outer sleeve and an inner guide rod respectively installed on the warp rod and the base of the chassis, the inner guide rod extends into the outer sleeve, and there is a gap between them. Slidingly connected, the end of the inner guide rod has a limit piece protruding from the outer sleeve, the end of the outer sleeve is provided with a blocking portion, and the pressure between the limit piece and the blocking portion There is a compression spring.

Further, the position of the blocking portion can be adjusted relative to the outer sleeve to change the pre-compression amount of the compression spring.

Beneficial effects: the wheel layout of the anti-tilt chassis structure of the mobile robot of the utility model is reasonable, so that all the wheels of the chassis can be in contact with the ground, and by adding an elastic buffer component for preloading in the direction where the robot may tilt, it can offset Most of the forward tilt moment when the robot brakes can effectively reduce the tilt angle of the chassis structure, thereby solving the problem that the chassis tilts too much or even overturns when the robot brakes.

Description of drawings

Accompanying drawing 1 is the front view of the anti-tilt chassis structure of the mobile robot of the utility model embodiment one;

Accompanying drawing 2 is the side view of the anti-tilt chassis structure of the mobile robot of the utility model embodiment one;

Accompanying drawing 3 is the structural diagram of the elastic buffer assembly of the utility model embodiment one;

Accompanying drawing 4 is the structural diagram of the robot chassis with anti-overturning structure of the second embodiment of the utility model;

Accompanying drawing 5 is the structural diagram of the elastic buffer assembly of the second embodiment of the utility model;

Accompanying drawing 6 is the structural diagram of the robot chassis with the anti-overturning structure of the third embodiment of the utility model.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described further.

Embodiment one

The anti-tilt chassis structure of the mobile robot as shown in accompanying drawing 1 and accompanying drawing 2 (hereinafter referred to as "chassis structure") comprises a chassis base 1, and a set of wheel assemblies are respectively installed on the left and right sides of the chassis base 1. .

Each group of said wheel assembly comprises a driving wheel assembly 2, two driven wheels 3 and a warping rod 4, wherein, the middle part of said warping rod 4 is hinged on the said chassis seat body 1, and the driving wheel assembly 2 and the two driven wheels 3, one is directly installed on the chassis base 1, and the other two are respectively installed at the two ends of the warping bar 4. Preferably, in this embodiment, for each set of the wheel assemblies, the driving wheel assembly 2 and a driven wheel 3 are respectively installed on the two ends of the warping bar 4, and the driving wheel assembly 2 is located between the two Between the driven wheels 3, and the rotation axis of the driving wheel body 21 falls on the front and rear symmetrical center plane of the chassis base 1, so that the driving wheel body 21 is located in the middle of the front and rear direction of the chassis base 1, By controlling the two driving wheel bodies 21 to rotate at a differential speed, the entire chassis structure can be rotated in situ, reducing the space required for the chassis structure to turn, so that the robot equipped with the chassis structure can move in a small aisle.

The relative rotation axis between the tilting bar 4 and the chassis base 1 deviates from the front and rear center of the chassis base 1 , and the deviation direction is away from the wheel directly installed on the chassis base 1 . This layout can make the front and rear layout of the six wheels more reasonable, and the front and rear sides of the chassis base 1 have support points, which have stable support for other structures of the robot carrying the chassis structure.

The driving wheel assembly 2 includes a driving wheel body 21 and a driving motor 22 that is drivingly connected with the driving wheel body 21, both of which are installed on the warping bar 4, and the self-weight of the driving motor 22 and the driving wheel body 21 is conducive to Make the driving wheel body 21 fully contact with the ground and ensure the frictional force, so as to ensure the walking accuracy of the chassis structure. Described driven wheel 3 is universal wheel.

With the above-mentioned structure, for each group of wheel assemblies, the driving wheel assembly 2 and the driven wheel 3 installed at both ends of the cocking rod 4 can rotate relative to the chassis body 1 because the cocking rod 4 can rotate relative to the chassis body 1, so through the adaptive rotational movement of the cocking rod 4, Both the driving wheel assembly 2 and the driven wheel 3 installed at both ends of the cocking rod 4 can touch the ground. In addition, with the cocking rod 4 as the reference body, the driven wheel 3 directly installed on the chassis base 1 is equivalent to rotating through the chassis base 1. Installed on the stick 4, the driven wheel 3 can also fully touch the ground due to gravity. For the two groups of wheel assemblies on both sides of the chassis body 1, the two are relatively independent, so the six wheels of the chassis structure can adapt to the undulations of the ground and fully land on the ground, and the driving wheel or driven wheel will not be overhead. Effectively guarantee the stability of its support to the robot.

When the robot equipped with the above-mentioned chassis structure is running, when the driven wheel 3 installed on the tilting rod 4 moves forward, if the robot brakes suddenly, the robot will tend to lean forward as a whole. If the robot is a robot with a high center of gravity, it may Make the robot as a whole rotate forward along the relative rotation center of the tilting rod 4 and the chassis body 1, tilt or even topple over. The life of the robot and affect the walking accuracy of the robot.

In order to avoid the occurrence of the above situation, an elastic buffer assembly 5 is also arranged between each of the warping rods 4 and the chassis seat body 1. The elastic buffer assembly 5 makes the warping rods 4 have a tendency to rotate relative to the chassis seat body 1, and the rotation The tendency makes the end of the tilting rod 4 that is far away from the center of the chassis base 1 have a tendency to move away from the chassis base 1 .

In this embodiment, the elastic buffer assembly 5 is arranged between the end of the warp bar 4 that is far away from the center of the chassis base 1 and the chassis base 1, and has the function of making the two relatively far away from each other. Prestress of the trend.

Specifically, as shown in FIG. 3 , the elastic buffer assembly 5 includes a first unit 51 and a second unit 52 installed on the warp bar 4 and the chassis body 1 respectively, and the first unit 51 and the second unit The two units 52 can relatively translate and a spring 53 is arranged between them. As shown in FIG. 3 , the first unit 51 is in the form of a sleeve, the second unit 52 is in the shape of a rod extending into the sleeve, and the two ends of the spring 53 respectively bear against the first unit 51 and the second unit 52 .

In this way, when the robot brakes suddenly, if the forward tilting moment is relatively large, so that the chassis body 1 has a tendency to rotate and tilt forward along the relative rotation center of the warping bar 4 and the chassis body 1 with the robot body, the spring 53 can It resists the chassis base 1 and relieves and offsets its forward tilting moment through its own deformation, effectively reducing the forward tilting angle of the robot and reducing the mechanical impact.

In order to adjust the pre-compression value of the spring 53 according to the needs of use, at least one of the first unit 51 and the second unit 52 is provided with an adjustment part 54 that can adjust the pre-compression amount of the spring 53. One end of the spring 53 is against the regulating portion 54 (there is a shoulder on the second unit 52, and the other end of the spring 53 is against the shoulder on the second unit 52). In this embodiment, the adjusting part 54 is arranged on the first unit 51. Specifically, the outer wall of the first unit 51 is provided with a screw thread, and the adjusting part 54 is a nut matched with the screw thread. By turning the nut, it can be adjusted in the first unit. The axial position on the unit 51 achieves the purpose of adjusting the preload value of the spring 53 . In addition, in order to prevent the adjusting part 54 from loosening, another nut can be used to hold against the adjusting part 54 for double-nut locking.

Embodiment two

The anti-tilt chassis structure of the mobile robot as shown in Figure 4 (hereinafter referred to as "chassis structure") includes a chassis base 1, and a set of wheel assemblies are respectively installed on the left and right sides of the chassis base 1.

Each group of said wheel assembly comprises a driving wheel assembly 2, two driven wheels 3 and a warping rod 4, wherein, the middle part of said warping rod 4 is hinged on the said chassis seat body 1, and the driving wheel assembly 2 and the two driven wheels 3, one is directly installed on the chassis base 1, and the other two are respectively installed at the two ends of the warping bar 4. Preferably, in this embodiment, for each set of the wheel assemblies, the driving wheel assembly 2 and a driven wheel 3 are respectively installed on the two ends of the warping bar 4, and the driving wheel assembly 2 is located between the two between the driven wheels 3 , and the rotation axis of the driving wheel body 21 falls on the front and rear symmetrical center plane of the chassis body 1 . The driving wheel assembly 2 includes a driving wheel body 21 and a driving motor 22 drivingly connected to the driving wheel body 21 .

The relative rotation axis between the tilting bar 4 and the chassis base 1 deviates from the front and rear center of the chassis base 1 , and the deviation direction is away from the wheel directly installed on the chassis base 1 .

An elastic buffer assembly 5 is also arranged between each of the warping rods 4 and the chassis seat body 1. The elastic buffer assembly 5 makes the warping rod 4 have a tendency to rotate relative to the chassis body 1, and this rotation tendency makes the warping rod 4 The end farther away from the center of the chassis base 1 has a tendency to move away from the chassis base 1 .

In this embodiment, the elastic buffer assembly 5 is arranged between the end of the warp bar 4 that is closer to the center of the chassis seat 1 and the chassis seat 1, and has the function of making the two relatively close to each other. Pre-pull of the trend.

Specifically, as shown in Figure 5, the elastic buffer assembly 5 includes an outer sleeve 55 and an inner guide rod 56 installed on the warp rod 4 and the chassis base 1 respectively, and the inner guide rod 56 extends into Inside the outer sleeve 55, and between the two is a sliding connection, the end of the inner guide rod 56 extending into the outer sleeve 55 has a stopper 57 extending out of the outer sleeve 55, and the outer The wall surface of the sleeve 55 is provided with a waist-shaped groove 551 for the stopper 57 to move back and forth along its length direction. The end of the outer sleeve 55 away from the warping rod 4 is provided with a stopper 58. The stopper 57 A compression spring 59 is pressed between the blocking portion 57 and the blocking portion 58 .

Similar to the principle of Embodiment 1, when the robot brakes suddenly, if the forward tilting moment is relatively large, the chassis base 1 and the robot body will rotate and tilt forward along the relative rotation center of the tilting rod 4 and the chassis base 1. During the trend, the compression spring 59 can pull the chassis seat 1, and relieve and offset its forward tilting moment through its own deformation, effectively reducing the forward tilting angle of the robot, and can reduce the mechanical impact.

In order to adjust the precompression value of the compression spring 59 according to the needs of use, the position of the blocking portion 58 can be adjusted relative to the outer sleeve 55 to change the precompression amount of the compression spring 59 . Specifically, the outside of the outer sleeve 55 is threaded, and the blocking portion 58 itself is a nut. By rotating the blocking portion 58 to adjust its axial position on the outer sleeve 55 , the purpose of adjusting the preload value of the compression spring 59 can be achieved. In addition, in order to prevent the blocking portion 58 from slipping relative to the outer sleeve 55 , another nut can be used to resist the blocking portion 58 for double-nut locking.

Embodiment Three

This embodiment is based on the first and second embodiments above. On the basis of the above embodiments, the structural changes of this embodiment are as follows:

For each group of wheel assemblies, the wheels (which can be the driving wheel assembly 2 or the driven wheel) which are separately installed on the chassis base body 1 can elastically float relative to the chassis base body 1, and the specific implementation method is as follows: as shown in accompanying drawing 6, The wheels separately installed on the chassis base 1 are installed on the chassis base 1 through the floating seat 6, and the floating seat 6 and the chassis base 1 are connected by a sliding connection, that is, the floating seat 6 can be moved up and down relative to the chassis base 1 Sliding, and a floating spring 7 is arranged between the floating seat 6 and the chassis body 1, and the floating spring 7 makes the floating seat 6 have a tendency to move downward away from the chassis body 1. Preferably, the floating seat 6 is provided with a stopper 61 against the chassis body 1 in the initial state, so that the floating seat 6 can only move downward relative to the chassis body 1 under the action of the floating spring 7. Ensure the support of the wheels to the chassis base 1.

When the chassis base body 1 of the chassis structure rotates forward due to the overturning moment (the center of rotation is the hinge center of the warping bar 4 and the chassis base body 1), the chassis base body 1 will have a certain rotation angle, and because the floating seat 6 can elastically float relative to the chassis body 1, the wheels on the floating seat 6 will not leave the ground in the whole process, and the chassis body 1 can absorb shocks during the rotation of the chassis body due to gravity, reducing Vibration shock to the entire chassis structure. If there is no floating seat 6, the wheels are directly rigidly connected on the chassis seat 1, and the chassis seat 1 will have a larger vibration impact when it is in contact with the ground due to gravity rotation.

Other unmentioned structures, variable forms and functions in this embodiment are the same as those in Embodiment 1, and will not be repeated here.

The above is only a preferred embodiment of the utility model, and it should be pointed out that for those of ordinary skill in the art, some improvements and modifications can be made without departing from the principle of the utility model. Retouching should also be regarded as the scope of protection of the present utility model.

Claims (10)

1. A kind of anti-tilt chassis structure of mobile robot, it is characterized in that, comprise a chassis seat, the both sides of described chassis seat are respectively equipped with a group of wheel assembly; Each set of said wheel assembly includes a driving wheel assembly, two driven wheels and a warping rod, wherein the middle part of said warping rod is hinged on the chassis base, and one of the driving wheel assembly and the two driven wheels is directly mounted on On the base of the chassis, the other two are respectively installed at both ends of the warping rod; An elastic buffer assembly is also provided between each of the warping rods and the chassis seat, and the elastic buffer assembly makes the end of the warping rod far away from the center of the chassis seat have a distance away from the chassis seat. movement trends. 2. the anti-tilt chassis structure of mobile robot as claimed in claim 1, is characterized in that, for each group of described wheel assembly, described driving wheel assembly and a driven wheel are installed respectively at the two ends of described warp bar, so The driving wheel assembly is located between the two driven wheels. 3. the anti-tilt chassis structure of mobile robot as claimed in claim 2, is characterized in that, described driving wheel assembly comprises driving wheel body and the drive motor that is connected with described driving wheel body drive, both are all installed on the described driving wheel body. On the stick. 4. The anti-tilt chassis structure of the mobile robot according to claim 3, wherein the rotation axis of the driving wheel body falls on the front and rear symmetrical center plane of the chassis base. 5. The anti-tilt chassis structure of the mobile robot according to claim 1, wherein the elastic buffer assembly is arranged on the end of the tilting bar that deviates far from the center of the chassis base and the chassis base between, and it has a pre-pressure that makes the two tend to be relatively far away. 6. The anti-tilt chassis structure of the mobile robot as claimed in claim 5, wherein the elastic buffer assembly includes a first unit and a second unit respectively installed on the warp bar and the chassis base, the The first unit and the second unit can relatively translate and a spring is arranged between them. 7. The anti-tilt chassis structure of the mobile robot according to claim 6, wherein at least one of the first unit and the second unit is provided with an adjustment portion that can adjust the pre-compression of the spring, so The end of the spring abuts against the adjustment part. 8. The anti-tilt chassis structure of the mobile robot according to claim 1, wherein the elastic buffer assembly is arranged at the end of the tilting bar that deviates from the center of the chassis seat closer to the chassis seat between them, and it has a pre-tension force that makes the two relatively close to each other. 9. The anti-tilt chassis structure of the mobile robot as claimed in claim 8, wherein the elastic buffer assembly comprises an outer sleeve and an inner guide rod respectively installed on the warping rod and the chassis base, the The inner guide rod extends into the outer sleeve, and there is a sliding connection between the two, and the end of the inner guide rod has a stopper protruding from the outer sleeve, and the end of the outer sleeve A blocking portion is provided, and a compression spring is pressed between the limiting member and the blocking portion. 10 . The anti-roll chassis structure of a mobile robot according to claim 9 , wherein the position of the blocking portion relative to the outer sleeve can be adjusted to change the pre-compression amount of the compression spring. 11 .