CN210212568U - Robot chassis, robot chassis suspension device and universal wheel suspension mechanism - Google Patents
Robot chassis, robot chassis suspension device and universal wheel suspension mechanism Download PDFInfo
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- CN210212568U CN210212568U CN201921057246.7U CN201921057246U CN210212568U CN 210212568 U CN210212568 U CN 210212568U CN 201921057246 U CN201921057246 U CN 201921057246U CN 210212568 U CN210212568 U CN 210212568U
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Abstract
The utility model discloses a robot chassis, robot chassis linkage, universal wheel hang mechanism, robot chassis linkage includes: the driving wheel suspension mechanism and the universal wheel suspension mechanism; the two driving wheel suspension mechanisms are oppositely arranged on two sides of the chassis along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism, and each driving wheel suspension mechanism is respectively provided with a universal wheel suspension mechanism in front of and behind the driving wheel suspension mechanism along a second direction; more than four universal wheel suspension mechanisms are arranged on the chassis and support the chassis; the right end of the left driving wheel suspension mechanism is connected with the chassis in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected with the chassis in a shaft mode. The universal wheel suspension mechanism of the utility model has the supporting function and the damping function, thereby improving the compliance of the robot to complex terrain and ensuring the stability and the stationarity of the robot walking under complex road conditions; the driving wheel suspension mechanism improves the ground gripping capability of the driving wheel, and avoids the phenomenon of skidding when the robot walks under complex road conditions.
Description
Technical Field
The utility model relates to a robot chassis technical field indicates robot chassis, robot chassis linkage, universal wheel suspension mechanism especially.
Background
In the walking process of the robot, the phenomenon of unstable gravity center is often caused due to the fact that the road surface conditions are complex (such as potholes, bulges, ridges, uphill slopes, downhill slopes and the like), so that the robot is easy to slip, incline, even topple and other adverse phenomena, the walking accuracy, the positioning accuracy and the like of the robot are influenced, goods carried by the robot are easy to fall, and therefore the problem of how to improve the walking stability of the robot is a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The utility model aims at providing a robot chassis, a robot chassis suspension device and a universal wheel suspension mechanism, wherein the universal wheel suspension mechanism not only plays a supporting role, but also plays a damping role, thereby improving the compliance of the robot to complex terrain and improving the stability and stationarity of the robot walking under complex road conditions; meanwhile, the driving wheel suspension mechanism improves the ground gripping capability of the driving wheel, and avoids the phenomenon of slipping when the robot walks under complex road conditions, thereby avoiding the adverse phenomena of inaccurate walking positioning, falling of goods and the like easily occurring when the robot is in complex road conditions and is caused by the driving wheel simultaneously bearing the support and the drive of the robot in the prior art.
The utility model provides a technical scheme as follows:
a robot chassis suspension comprising:
the driving wheel suspension mechanism and the universal wheel suspension mechanism;
the two driving wheel suspension mechanisms are oppositely arranged on two sides of the chassis along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism,
each driving wheel suspension mechanism is provided with the universal wheel suspension mechanism in front of and behind the driving wheel suspension mechanism along a second direction;
more than four universal wheel suspension mechanisms are arranged on the chassis and support the chassis;
the right end of the left driving wheel suspension mechanism is connected to the chassis in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected to the chassis in a shaft mode; the driving wheels of more than two driving wheel suspension mechanisms are contacted with the ground; the plane where the left driving wheel suspension mechanism and the right driving wheel suspension mechanism rotate is perpendicular to the ground.
In the technical scheme, the support of the robot (or the chassis) is realized through the universal wheel suspension mechanism, the driving wheel suspension mechanism realizes the drive of the robot (or the chassis), the existence of the driving wheel suspension mechanism and the universal wheel suspension mechanism greatly improves the stability of the operation of the chassis, so that the support and the drive of the robot are respectively borne by the universal wheel suspension mechanism and the driving wheel suspension mechanism, and the universal wheel suspension mechanism not only plays a supporting role, but also plays a damping role, thereby improving the compliance of the robot to complex terrain, and improving the stability and the stationarity of the robot in walking under complex road conditions; meanwhile, the driving wheel suspension mechanism can conform to the relief of the terrain, the driving wheel can be attached to the ground, the ground gripping capability of the driving wheel is improved, and the phenomenon of skidding when the robot walks under the complex road conditions is avoided, so that the adverse phenomena of inaccurate walking positioning, falling of goods and the like easily occurring when the robot in the prior art is driven by the driving wheel to simultaneously bear the supporting and driving of the robot are avoided.
Further preferably, the driving wheel suspension mechanism further comprises a driving wheel frame, a damper and a motor for driving the driving wheel to rotate; one end of the driving wheel frame is connected with the motor, and the other end of the driving wheel frame is connected with the chassis in a shaft mode; the upper end of the driving wheel frame is hinged with the lower end of the shock absorber, and the upper end of the shock absorber is hinged with the chassis, so that the driving wheel is in contact with the ground under the elastic action of the shock absorber.
Among this technical scheme, the bumper shock absorber gives the action wheel all the time at the robot walking in-process and has increased the frictional force on action wheel and ground towards the power on ground to improve the ground grabbing ability of action wheel, make the action wheel can tightly hug closely firm ground when fluctuating along with the terrain, avoid the action wheel to skid, improved the precision and the stability of robot walking.
Further preferably, the motor is an in-wheel motor.
Among this technical scheme, the space occupancy on the chassis of robot has been simplified greatly in wheel hub motor's setting, has reduced the space area occupied of robot, makes the utility model is suitable for a little volume robot has improved the utility model discloses an application scope and practicality.
Further preferably, the universal wheel suspension mechanism comprises a universal wheel, a damping spring, a damping shaft core and a damping fixed seat connected with the chassis; a connecting column is arranged at the upper end of the universal wheel in a protruding mode and is connected with the damping shaft core; the damping shaft core is connected to the damping fixed seat, and the plane where the damping shaft core rotates is parallel to the ground; the damping spring is sleeved outside the damping shaft core, one end of the damping spring is abutted to the universal wheel, and the other end of the damping spring is abutted to the damping fixing seat.
Among this technical scheme, damping spring has guaranteed that the universal wheel can fluctuate and tightly laminate ground along with the relief to avoid the robot to appear empting the phenomenon, slowed down the vibrations on the robot upper portion that leads to because of the road conditions change simultaneously, improved the stability and the stationarity that the robot walked. Meanwhile, the damping spring is sleeved outside the damping shaft core, so that the free rotation of the universal wheel in the horizontal direction is not influenced, and the universal wheel is compact and simple in structure and easy to realize and disassemble.
Further preferably, a bearing is arranged between the damping shaft core and the damping fixed seat.
In the technical scheme, the bearing is arranged, so that the service life of the universal wheel suspension mechanism is greatly prolonged, and the use cost and the maintenance cost in the later stage of the robot are reduced.
The utility model also provides an universal wheel suspension mechanism, include:
the damping device comprises universal wheels, a damping spring, a damping shaft core and a damping fixed seat which is connected with a chassis;
a connecting column is arranged at the upper end of the universal wheel in a protruding mode and is connected with the damping shaft core;
the damping shaft core is connected to the damping fixed seat, and the plane where the damping shaft core rotates is parallel to the ground;
the damping spring is sleeved outside the damping shaft core, one end of the damping spring is abutted to the universal wheel, and the other end of the damping spring is abutted to the damping fixing seat.
Among this technical scheme, damping spring has guaranteed that the universal wheel can fluctuate and tightly laminate ground along with the relief to avoid the robot to appear empting the phenomenon, slowed down the vibrations on the robot upper portion that leads to because of the road conditions change simultaneously, improved the stability and the stationarity that the robot walked. Meanwhile, the damping spring is sleeved outside the damping shaft core, so that the free rotation of the universal wheel in the horizontal direction is not influenced, and the universal wheel is compact and simple in structure and easy to realize and disassemble.
Further preferably, a bearing is arranged between the damping shaft core and the damping fixed seat.
In the technical scheme, the bearing is arranged, so that the service life of the universal wheel suspension mechanism is greatly prolonged, and the use cost and the maintenance cost in the later stage of the robot are reduced.
The utility model also provides a robot chassis, include:
the robot chassis suspension device comprises a driving wheel suspension mechanism and a universal wheel suspension mechanism;
the two driving wheel suspension mechanisms are oppositely arranged on two sides of the chassis along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism,
each driving wheel suspension mechanism is provided with the universal wheel suspension mechanism in front of and behind the driving wheel suspension mechanism along a second direction;
more than four universal wheel suspension mechanisms are arranged on the chassis and support the chassis;
the right end of the left driving wheel suspension mechanism is connected to the chassis in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected to the chassis in a shaft mode; the driving wheels of more than two driving wheel suspension mechanisms are contacted with the ground; the plane where the left driving wheel suspension mechanism and the right driving wheel suspension mechanism rotate is perpendicular to the ground.
In the technical scheme, the supporting of the chassis is realized through the universal wheel suspension mechanism, the driving wheel suspension mechanism realizes the driving of the chassis, the driving wheel suspension mechanism and the universal wheel suspension mechanism greatly improve the running stability of the chassis, so that the supporting and driving of the chassis are respectively borne by the universal wheel suspension mechanism and the driving wheel suspension mechanism, and the universal wheel suspension mechanism not only plays a supporting role, but also plays a damping role, thereby improving the compliance of the chassis to complex terrain and improving the stability and the stationarity of the chassis in walking under complex road conditions; meanwhile, the driving wheel suspension mechanism can conform to the relief of the terrain, the driving wheel can be attached to the ground, the ground gripping capability of the driving wheel is improved, and the phenomenon of skidding when the robot walks under the complex road condition is avoided, so that the adverse phenomena of walking, inaccurate positioning, cargo falling and the like easily occurring when the robot walks under the complex road condition due to the fact that the driving wheel simultaneously bears the support and the drive of the robot in the prior art are avoided.
Further preferably, the driving wheel suspension mechanism further comprises a driving wheel frame, a damper and a motor for driving the driving wheel to rotate; one end of the driving wheel frame is connected with the motor, and the other end of the driving wheel frame is connected with the chassis in a shaft mode; the upper end of the driving wheel frame is hinged with the lower end of the shock absorber, and the upper end of the shock absorber is hinged with the chassis, so that the driving wheel is in contact with the ground under the elastic action of the shock absorber.
Among this technical scheme, the bumper shock absorber gives the action wheel all the time at the robot walking in-process and has increased the frictional force on action wheel and ground towards the power on ground to improve the ground grabbing ability of action wheel, make the action wheel can tightly iron firm ground when fluctuating along with the terrain, avoid the action wheel to skid, improved the precision and the stability of robot walking.
Further preferably, the universal wheel suspension mechanism comprises a universal wheel, a damping spring, a damping shaft core and a damping fixed seat connected with the chassis; a connecting column is arranged at the upper end of the universal wheel in a protruding mode and is connected with the damping shaft core; the damping shaft core is connected to the damping fixed seat, and the plane where the damping shaft core rotates is parallel to the ground; the damping spring is sleeved outside the damping shaft core, one end of the damping spring is abutted to the universal wheel, and the other end of the damping spring is abutted to the damping fixing seat.
Among this technical scheme, damping spring has guaranteed that the universal wheel can fluctuate and tightly laminate ground along with the relief to avoid the robot to appear empting the phenomenon, slowed down the vibrations on the robot upper portion that leads to because of the road conditions change simultaneously, improved the stability and the stationarity that the robot walked. Meanwhile, the damping spring is sleeved outside the damping shaft core, so that the free rotation of the universal wheel in the horizontal direction is not influenced, and the universal wheel is compact and simple in structure and easy to realize and disassemble.
The utility model provides a pair of chassis of robot, chassis linkage of robot, universal wheel hang mechanism can bring following at least one beneficial effect:
1. the support of the robot (or the chassis) is realized through the universal wheel suspension mechanism, the driving wheel suspension mechanism realizes the drive of the robot (or the chassis), the existence of the driving wheel suspension mechanism and the universal wheel suspension mechanism greatly improves the stability of the operation of the chassis, so that the support and the drive of the robot are respectively borne by the universal wheel suspension mechanism and the driving wheel suspension mechanism, and the universal wheel suspension mechanism not only plays a supporting role, but also plays a damping role, thereby improving the compliance of the robot to complex terrain, and improving the stability and the stationarity of the robot in walking under complex road conditions; meanwhile, the driving wheel suspension mechanism can conform to the relief of the terrain, the driving wheel can be attached to the ground, the ground gripping capability of the driving wheel is improved, and the phenomenon of skidding when the robot walks under the complex road conditions is avoided, so that the adverse phenomena of inaccurate walking positioning, falling of goods and the like easily occurring when the robot in the prior art is driven by the driving wheel to simultaneously bear the supporting and driving of the robot are avoided.
2. Damping spring has guaranteed that the universal wheel can be along with relief fluctuation and tightly laminate ground to avoid the robot to appear empting the phenomenon, slowed down the vibrations on robot upper portion that lead to because of the road conditions changes simultaneously, improved the stability and the stationarity that the robot walked. Meanwhile, the damping spring is sleeved outside the damping shaft core, so that the free rotation of the universal wheel in the horizontal direction is not influenced, and the universal wheel is compact and simple in structure and easy to realize and disassemble.
Drawings
The above features, technical features, advantages and implementations of the robot chassis, the robot chassis suspension, and the gimbal wheel suspension will be further described in the following preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an embodiment of a robot chassis of the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the robot chassis suspension device of the present invention;
fig. 3 is a schematic structural diagram of another embodiment of the robot chassis suspension device of the present invention;
fig. 4 is a schematic structural view of an embodiment of the driving wheel suspension mechanism of the present invention;
fig. 5 is a schematic structural diagram of an embodiment of the universal wheel suspension mechanism of the present invention.
The reference numbers illustrate:
1. the driving wheel suspension mechanism comprises a driving wheel suspension mechanism, 11 driving wheels, 12 driving wheel carriers, 121 first shaft holes, 122 second shaft holes, 13 shock absorbers, 131 first rotating shafts, 14 hub motors, 2 universal wheel suspension mechanisms, 21 universal wheels, 22 shock absorbing springs, 23 shock absorbing shaft cores, 24 shock absorbing fixed seats, 3 chassis, 31 upper base plates, 32 middle base plates, 33 crash prevention plates and 34 second rotating shafts.
Detailed Description
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. Herein, for convenience of explanation and understanding, up, down, left, right, front, and rear refer to up, down, left, right, front, and rear of the robot, wherein the height direction of the robot is up and down, the left and right direction of the robot is left and right, and the walking direction along the robot is front and rear.
In one embodiment, as shown in fig. 1-5, a robot chassis suspension device includes: a driving wheel suspension mechanism 1 and a universal wheel suspension mechanism 2; the two driving wheel suspension mechanisms 1 are oppositely arranged on two sides of the chassis 3 along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism, and each driving wheel suspension mechanism is respectively provided with a universal wheel suspension mechanism 2 in front of and behind the driving wheel suspension mechanism along a second direction; more than four universal wheel suspension mechanisms 2 are arranged on the chassis 3 and support the chassis 3; the right end of the left driving wheel suspension mechanism is connected with the chassis 3 in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected with the chassis 3 in a shaft mode; the driving wheels 11 of more than two driving wheel suspension mechanisms 1 are contacted with the ground; the planes of the left driving wheel suspension mechanism and the right driving wheel suspension mechanism are perpendicular to the ground. In practical application, universal wheel suspension mechanism 2 distributes in the place ahead and the rear of action wheel suspension mechanism 1 along the fore-and-aft direction of robot to make be equipped with more than four universal wheel suspension mechanism 2 on the chassis 3 of robot at least, the universal wheel suspension mechanism 2 forms the support and the cushioning effect to chassis 3 in four edges of chassis 3 promptly more than four, supports and the shock attenuation all in time very and stable. No matter which direction the robot moves, when more than one universal wheel suspension mechanism 2 and/or driving wheel suspension mechanism 1 are in complicated road conditions, each universal wheel suspension mechanism 2 and/or each driving wheel suspension mechanism 1 can be lifted or lowered independently according to the terrain, so that the adaptability, the stability and the stability of the road conditions of the universal wheels 21 and/or the driving wheels 11 are different when the robot walks to the complicated road conditions are improved; the stability and the stationarity of the robot walking and the accuracy of the walking and positioning are ensured, and the use scene with low tolerance on the robot walking error is particularly met. The robot has the advantages that the applicable places of the robot are improved, such as high-precision application fields of one-to-one precision service (delivery or drug delivery), medical treatment (operation), laboratories (replacing human body operation) and the like, and the robot can also be applied to application scenes with high error tolerance.
In the second embodiment, as shown in fig. 4, on the basis of the first embodiment, the driving wheel suspension mechanism 1 further includes a driving wheel carrier 12, a damper 13 and a motor for driving the driving wheel 11 to rotate; one end of the driving wheel carrier 12 is connected with the motor, and the other end of the driving wheel carrier 12 is connected with the chassis 3 in a shaft mode; the upper end of the driving wheel carrier 12 is hinged with the lower end of the damper 13, and the upper end of the damper 13 is hinged with the chassis 3, so that the driving wheel 11 is contacted with the ground under the elastic force action of the damper 13. In practical applications, the damper 13 may be arranged vertically or obliquely, and the arrangement of the damper 13 may be adaptively adjusted according to the structural characteristics of the chassis 3, based on the fact that the damper 13 may exert an elastic force of the driving wheel 11 toward the ground. Preferably, the shock absorber 13 is in a compressed state during initial installation, so as to ensure that the robot has sufficient ground gripping capability and improve the stability and the stationarity of the robot in walking. Specifically, a first rotating shaft 131 is disposed at an end of the shock absorber 13 close to the chassis 3, the first rotating shaft 131 is coupled to the chassis 3, the first rotating shaft 131 may be a solid rotating shaft, and the first rotating shaft 131 is directly mounted on a third shaft hole of the chassis 3 corresponding to the first rotating shaft 131. Of course, the first rotating shaft 131 may also be a hollow rotating shaft, and a pin shaft sequentially penetrates through the hollow channel of the first rotating shaft 131 and a third shaft hole of the chassis 3 corresponding to the first rotating shaft 131 to realize the coupling between the shock absorber 13 and the chassis 3. Similarly, the connection mode of the damper 13 and the driving wheel frame 12 may be the same as or different from the connection mode of the damper 13 and the chassis 3, that is, the upper end of the driving wheel frame 12 is provided with a second shaft hole 122 corresponding to the damper 13, the end of the damper 13 near the driving wheel frame 12 is provided with a third rotating shaft, the third rotating shaft is coupled to the second shaft hole 122, the third rotating shaft may be a solid rotating shaft, and the third rotating shaft is directly mounted on the second shaft hole 122. Of course, the third rotating shaft may also be a hollow rotating shaft, and a pin shaft sequentially penetrates through the hollow channel of the third rotating shaft and the second shaft hole 122 to realize the coupling between the damper 13 and the driving wheel carrier 12. Preferably, the motor may be a general motor disposed outside the driving wheel 11, and when the motor is a general motor, the general motor is mounted on the driving wheel carrier 12 to drive the driving wheel 11. Of course, the motor may also be an in-wheel motor 14, and since the in-wheel motor 14 is disposed in the hub of the driving wheel 11, the structure of the chassis 3 can be simplified, and the space occupancy rate of the chassis 3 can be reduced. Preferably, the end of the driving wheel carrier 12 close to the chassis 3 is provided with a first shaft hole 121, the chassis 3 is provided with a fourth shaft hole corresponding to the first shaft hole 121, and a second rotating shaft 34 sequentially penetrates through the fourth shaft hole and the first shaft hole 121 to realize the coupling of the driving wheel carrier 12 and the chassis 3. Of course, the end of the driving wheel carrier 12 close to the chassis 3 may also be provided with a fourth rotating shaft, and the driving wheel carrier 12 is coupled to the chassis 3 by the fourth rotating shaft being coupled to the fourth shaft hole.
In the third embodiment, as shown in fig. 1 and 5, on the basis of the first or second embodiment, the universal wheel suspension mechanism 2 comprises a universal wheel 21, a damping spring 22, a damping shaft core 23 and a damping fixed seat 24 for connecting with the chassis 3; a connecting column is arranged at the upper end of the universal wheel 21 in a protruding manner and is connected with the damping shaft core 23; the damping shaft core 23 is connected with the damping fixed seat 24 in a shaft mode, and the plane where the damping shaft core 23 rotates is parallel to the ground; the damping spring 22 is sleeved outside the damping shaft core 23, one end of the damping spring 22 abuts against the universal wheel 21, and the other end of the damping spring 22 abuts against the damping fixing seat 24. Preferably, a bearing is arranged between the damping shaft core 23 and the damping fixing seat 24. Preferably, the damping shaft core 23 is preferably sleeved outside the connecting column to realize the connection between the universal wheel 21 and the damping shaft core 23, and the damping shaft core 23 and the connecting column can be in threaded connection or tight fit; the damping fixed seat 24 comprises a sleeve and a connecting seat, the connecting seat is provided with a through hole corresponding to the hollow channel of the sleeve, and the connecting seat is arranged close to one side of the damping spring 22; thereby be convenient for shock attenuation axle core 23 run through shock attenuation fixing base 24 and realize shock attenuation axle core 23 and shock attenuation fixing base 24's coupling, in order to avoid dropping of shock attenuation axle core 23, the upper end of shock attenuation axle core 23 is equipped with supports and establishes the portion, supports the radial dimension who establishes the portion and is greater than telescopic internal diameter size to realize shock attenuation axle core 23 and can hang on shock attenuation fixing base 24, preferably, damping spring 22 pre-compaction sets up between shock attenuation fixing base 24 and universal wheel 21. In practical application, the connecting seat can realize the connection of the damping fixing seat 24 and the chassis 3 through a connecting piece, and the connecting piece can be a nut, a screw and the like. Because universal wheel 21, shock attenuation axle core 23 are detachable connection (spiro union or tight fit), and shock attenuation axle core 23 runs through and is connected with universal wheel 21 behind the shock attenuation fixing base 24, and then realizes the fixed mounting to the spring for universal wheel suspension mechanism 2 easily dismouting and maintenance.
In a fourth embodiment, as shown in fig. 1 and 5, a universal wheel suspension mechanism includes: the universal wheel 21, the damping spring 22, the damping shaft core 23 and the damping fixed seat 24 which is used for being connected with the chassis 3; a connecting column is arranged at the upper end of the universal wheel 21 in a protruding manner and is connected with the damping shaft core 23; the damping shaft core 23 is connected with the damping fixed seat 24 in a shaft mode, and the plane where the damping shaft core 23 rotates is parallel to the ground; the damping spring 22 is sleeved outside the damping shaft core 23, one end of the damping spring 22 abuts against the universal wheel 21, and the other end of the damping spring 22 abuts against the damping fixing seat 24. Preferably, a bearing is arranged between the damping shaft core 23 and the damping fixing seat 24. Preferably, the damping shaft core 23 is preferably sleeved outside the connecting column to realize the connection between the universal wheel 21 and the damping shaft core 23, and the damping shaft core 23 and the connecting column can be in threaded connection or tight fit; the damping fixed seat 24 comprises a sleeve and a connecting seat, the connecting seat is provided with a through hole corresponding to the hollow channel of the sleeve, and the connecting seat is arranged close to one side of the damping spring 22; thereby be convenient for shock attenuation axle core 23 run through shock attenuation fixing base 24 and realize shock attenuation axle core 23 and shock attenuation fixing base 24's coupling, in order to avoid dropping of shock attenuation axle core 23, the upper end of shock attenuation axle core 23 is equipped with supports and establishes the portion, supports the radial dimension who establishes the portion and is greater than telescopic internal diameter size to realize shock attenuation axle core 23 and can hang on shock attenuation fixing base 24, preferably, damping spring 22 pre-compaction sets up between shock attenuation fixing base 24 and universal wheel 21. In practical application, the connecting seat can realize the connection of the damping fixing seat 24 and the chassis 3 through a connecting piece, and the connecting piece can be a nut, a screw and the like. Because universal wheel 21, shock attenuation axle core 23 are detachable connection (spiro union or tight fit), and shock attenuation axle core 23 runs through and is connected with universal wheel 21 behind the shock attenuation fixing base 24, and then realizes the fixed mounting to the spring for universal wheel suspension mechanism 2 easily dismouting and maintenance.
In a fifth embodiment, as shown in fig. 1-5, a robot chassis, comprising: the robot chassis suspension device comprises a driving wheel suspension mechanism 1 and a universal wheel suspension mechanism 2; the two driving wheel suspension mechanisms 1 are oppositely arranged on two sides of the chassis 3 along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism, and each driving wheel suspension mechanism 1 is respectively provided with a universal wheel suspension mechanism 2 in front of and behind the driving wheel suspension mechanism 1 along a second direction; more than four universal wheel suspension mechanisms 2 are arranged on the chassis 3 and support the chassis 3; the right end of the left driving wheel suspension mechanism is connected with the chassis 3 in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected with the chassis 3 in a shaft mode; the driving wheels 11 of more than two driving wheel suspension mechanisms 1 are contacted with the ground; the planes of the left driving wheel suspension mechanism and the right driving wheel suspension mechanism are perpendicular to the ground. In practical application, universal wheel suspension mechanism 2 distributes in the place ahead and the rear of action wheel suspension mechanism 1 along the fore-and-aft direction of robot to make be equipped with more than four universal wheel suspension mechanism 2 on the chassis 3 of robot at least, the universal wheel suspension mechanism 2 forms the support and the cushioning effect to chassis 3 in four edges of chassis 3 promptly more than four, supports and the shock attenuation all in time very and stable. No matter which direction the robot moves, when more than one universal wheel suspension mechanism 2 and/or driving wheel suspension mechanism 1 are in complicated road conditions, each universal wheel suspension mechanism 2 and/or each driving wheel suspension mechanism 1 can be lifted or lowered independently according to the terrain, so that the adaptability, the stability and the stability of the road conditions of the universal wheels 21 and/or the driving wheels 11 are different when the robot walks to the complicated road conditions are improved; the stability and the stationarity of the robot walking and the accuracy of the walking and positioning are ensured, and the use scene with low tolerance on the robot walking error is particularly met. The robot has the advantages that the applicable places of the robot are improved, such as high-precision application fields of one-to-one precision service (delivery or drug delivery), medical treatment (operation), laboratories (replacing human body operation) and the like, and the robot can also be applied to application scenes with high error tolerance.
In the sixth embodiment, as shown in fig. 4, on the basis of the fifth embodiment, the driving wheel suspension mechanism 1 further includes a driving wheel carrier 12, a damper 13 and a motor for driving the driving wheel 11 to rotate; one end of the driving wheel carrier 12 is connected with the motor, and the other end of the driving wheel carrier 12 is connected with the chassis 3 in a shaft mode; the upper end of the driving wheel carrier 12 is hinged with the lower end of the damper 13, and the upper end of the damper 13 is hinged with the chassis 3, so that the driving wheel 11 is contacted with the ground under the elastic force action of the damper 13. In practical applications, the damper 13 may be arranged vertically or obliquely, and the arrangement of the damper 13 may be adaptively adjusted according to the structural characteristics of the chassis 3, based on the fact that the damper 13 may exert an elastic force of the driving wheel 11 toward the ground. Preferably, the shock absorber 13 is in a compressed state during initial installation, so as to ensure that the robot has sufficient ground gripping capability and improve the stability and the stationarity of the robot in walking. Specifically, a first rotating shaft 131 is disposed at an end of the shock absorber 13 close to the chassis 3, the first rotating shaft 131 is coupled to the chassis 3, the first rotating shaft 131 may be a solid rotating shaft, and the first rotating shaft 131 is directly mounted on a third shaft hole of the chassis 3 corresponding to the first rotating shaft 131. Of course, the first rotating shaft 131 may also be a hollow rotating shaft, and a pin shaft sequentially penetrates through the hollow channel of the first rotating shaft 131 and a third shaft hole of the chassis 3 corresponding to the first rotating shaft 131 to realize the coupling between the shock absorber 13 and the chassis 3. Similarly, the connection mode of the damper 13 and the driving wheel frame 12 may be the same as or different from the connection mode of the damper 13 and the chassis 3, that is, the upper end of the driving wheel frame 12 is provided with a second shaft hole 122 corresponding to the damper 13, the end of the damper 13 near the driving wheel frame 12 is provided with a third rotating shaft, the third rotating shaft is coupled to the second shaft hole 122, the third rotating shaft may be a solid rotating shaft, and the third rotating shaft is directly mounted on the second shaft hole 122. Of course, the third rotating shaft may also be a hollow rotating shaft, and a pin shaft sequentially penetrates through the hollow channel of the third rotating shaft and the second shaft hole 122 to realize the coupling between the damper 13 and the driving wheel carrier 12. Preferably, the motor may be a general motor disposed outside the driving wheel 11, and when the motor is a general motor, the general motor is mounted on the driving wheel carrier 12 to drive the driving wheel 11. Of course, the motor may also be an in-wheel motor 14, and since the in-wheel motor 14 is disposed in the hub of the driving wheel 11, the structure of the chassis 3 can be simplified, and the space occupancy rate of the chassis 3 can be reduced. Preferably, the end of the driving wheel carrier 12 close to the chassis 3 is provided with a first shaft hole 121, the chassis 3 is provided with a fourth shaft hole corresponding to the first shaft hole 121, and a second rotating shaft 34 sequentially penetrates through the fourth shaft hole and the first shaft hole 121 to realize the coupling of the driving wheel carrier 12 and the chassis 3. Of course, the end of the driving wheel carrier 12 close to the chassis 3 may also be provided with a fourth rotating shaft, and the driving wheel carrier 12 is coupled to the chassis 3 by the fourth rotating shaft being coupled to the fourth shaft hole.
In the seventh embodiment, as shown in fig. 1 and 5, on the basis of the fifth or sixth embodiment, the universal wheel suspension mechanism 2 comprises a universal wheel 21, a damping spring 22, a damping shaft core 23 and a damping fixing seat 24 for connecting with the chassis 3; a connecting column is arranged at the upper end of the universal wheel 21 in a protruding manner and is connected with the damping shaft core 23; the damping shaft core 23 is connected with the damping fixed seat 24 in a shaft mode, and the plane where the damping shaft core 23 rotates is parallel to the ground; the damping spring 22 is sleeved outside the damping shaft core 23, one end of the damping spring 22 abuts against the universal wheel 21, and the other end of the damping spring 22 abuts against the damping fixing seat 24. Preferably, a bearing is arranged between the damping shaft core 23 and the damping fixing seat 24. Preferably, the damping shaft core 23 is preferably sleeved outside the connecting column to realize the connection between the universal wheel 21 and the damping shaft core 23, and the damping shaft core 23 and the connecting column can be in threaded connection or tight fit; the damping fixed seat 24 comprises a sleeve and a connecting seat, the connecting seat is provided with a through hole corresponding to the hollow channel of the sleeve, and the connecting seat is arranged close to one side of the damping spring 22; thereby be convenient for shock attenuation axle core 23 run through shock attenuation fixing base 24 and realize shock attenuation axle core 23 and shock attenuation fixing base 24's coupling, in order to avoid dropping of shock attenuation axle core 23, the upper end of shock attenuation axle core 23 is equipped with supports and establishes the portion, supports the radial dimension who establishes the portion and is greater than telescopic internal diameter size to realize shock attenuation axle core 23 and can hang on shock attenuation fixing base 24, preferably, damping spring 22 pre-compaction sets up between shock attenuation fixing base 24 and universal wheel 21. In practical application, the connecting seat can realize the connection of the damping fixing seat 24 and the chassis 3 through a connecting piece, and the connecting piece can be a nut, a screw and the like. Because universal wheel 21, shock attenuation axle core 23 are detachable connection (spiro union or tight fit), and shock attenuation axle core 23 runs through and is connected with universal wheel 21 behind the shock attenuation fixing base 24, and then realizes the fixed mounting to the spring for universal wheel suspension mechanism 2 easily dismouting and maintenance.
In the eighth embodiment, as shown in fig. 1 to 5, on the basis of the fifth, sixth or seventh embodiment, the chassis 3 includes an upper bottom plate 31 and a middle bottom plate 32 sequentially arranged from top to bottom along the height direction, wherein the upper surface of the upper bottom plate 31 is provided with a door frame for installing the shock absorber 13, the door frame includes two vertical plates arranged at intervals along the front-rear direction, and transverse plates located at the upper ends of the two vertical plates and respectively connecting the two vertical plates, and the shock absorber 13 is coupled to the two vertical plates. The upper plate 31 is provided with a through groove corresponding to the position of the shock absorber 13, the lower end of the shock absorber 13 is coupled to the lower surface of the middle plate 32, the middle plate 32 is disposed between the two shock absorbers 13, and the upper plate 31 is connected to the middle plate 32. Preferably, the anti-collision plate 33 is arranged below the middle bottom plate 32, the anti-collision plate 33 is provided with a notch corresponding to each universal wheel 21 and each driving wheel 11, so that the driving wheel 11 and the universal wheel 21 can be moved conveniently, and the peripheral wall of the anti-collision plate 33 protrudes out of the universal wheels 21 and the driving wheel 11 along the horizontal direction, so that when the chassis 3 collides, the anti-collision plate 33 firstly contacts with an obstacle, the universal wheels 21 and the driving wheel 11 are protected from being collided, and the service lives of the universal wheels 21 and the driving wheel 11 are prolonged. And the space between the upper plate 31 and the middle plate 32 can accommodate other components such as a battery pack, a communication module, and an upper body of the robot. Preferably, the chassis 3 is provided with heat dissipation holes corresponding to heat generating components (e.g., battery assembly, communication module).
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robot chassis suspension device, comprising:
the driving wheel suspension mechanism and the universal wheel suspension mechanism;
the two driving wheel suspension mechanisms are oppositely arranged on two sides of the chassis along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism,
each driving wheel suspension mechanism is provided with the universal wheel suspension mechanism in front of and behind the driving wheel suspension mechanism along a second direction;
more than four universal wheel suspension mechanisms are arranged on the chassis and support the chassis;
the right end of the left driving wheel suspension mechanism is connected to the chassis in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected to the chassis in a shaft mode; the driving wheels of more than two driving wheel suspension mechanisms are contacted with the ground; the plane where the left driving wheel suspension mechanism and the right driving wheel suspension mechanism rotate is perpendicular to the ground.
2. A robot chassis suspension arrangement according to claim 1, wherein:
the driving wheel suspension mechanism also comprises a driving wheel frame, a shock absorber and a motor for driving the driving wheel to rotate;
one end of the driving wheel frame is connected with the motor, and the other end of the driving wheel frame is connected with the chassis in a shaft mode;
the upper end of the driving wheel frame is hinged with the lower end of the shock absorber, and the upper end of the shock absorber is hinged with the chassis, so that the driving wheel is in contact with the ground under the elastic action of the shock absorber.
3. A robot chassis suspension arrangement according to claim 2, wherein:
the motor is a hub motor.
4. A robot chassis suspension according to any of claims 1-3, characterized by:
the universal wheel suspension mechanism comprises a universal wheel, a damping spring, a damping shaft core and a damping fixed seat which is connected with the chassis;
a connecting column is arranged at the upper end of the universal wheel in a protruding mode and is connected with the damping shaft core;
the damping shaft core is connected to the damping fixed seat, and the plane where the damping shaft core rotates is parallel to the ground;
the damping spring is sleeved outside the damping shaft core, one end of the damping spring is abutted to the universal wheel, and the other end of the damping spring is abutted to the damping fixing seat.
5. A robot chassis suspension arrangement according to claim 4, wherein:
and a bearing is arranged between the damping shaft core and the damping fixed seat.
6. A gimbal wheel suspension mechanism, comprising:
the damping device comprises universal wheels, a damping spring, a damping shaft core and a damping fixed seat which is connected with a chassis;
a connecting column is arranged at the upper end of the universal wheel in a protruding mode and is connected with the damping shaft core;
the damping shaft core is connected to the damping fixed seat, and the plane where the damping shaft core rotates is parallel to the ground;
the damping spring is sleeved outside the damping shaft core, one end of the damping spring is abutted to the universal wheel, and the other end of the damping spring is abutted to the damping fixing seat.
7. The gimbal wheel suspension mechanism of claim 6, wherein:
and a bearing is arranged between the damping shaft core and the damping fixed seat.
8. A robot chassis, comprising:
the robot chassis suspension device comprises a driving wheel suspension mechanism and a universal wheel suspension mechanism;
the two driving wheel suspension mechanisms are oppositely arranged on two sides of the chassis along a first direction to form a left driving wheel suspension mechanism and a right driving wheel suspension mechanism,
each driving wheel suspension mechanism is provided with the universal wheel suspension mechanism in front of and behind the driving wheel suspension mechanism along a second direction;
more than four universal wheel suspension mechanisms are arranged on the chassis and support the chassis;
the right end of the left driving wheel suspension mechanism is connected to the chassis in a shaft mode, and the left end of the right driving wheel suspension mechanism is connected to the chassis in a shaft mode; the driving wheels of more than two driving wheel suspension mechanisms are contacted with the ground; the plane where the left driving wheel suspension mechanism and the right driving wheel suspension mechanism rotate is perpendicular to the ground.
9. The robot chassis of claim 8, wherein:
the driving wheel suspension mechanism also comprises a driving wheel frame, a shock absorber and a motor for driving the driving wheel to rotate;
one end of the driving wheel frame is connected with the motor, and the other end of the driving wheel frame is connected with the chassis in a shaft mode;
the upper end of the driving wheel frame is hinged with the lower end of the shock absorber, and the upper end of the shock absorber is hinged with the chassis, so that the driving wheel is in contact with the ground under the elastic action of the shock absorber.
10. A robot chassis according to claim 8 or 9, characterized in that:
the universal wheel suspension mechanism comprises a universal wheel, a damping spring, a damping shaft core and a damping fixed seat which is connected with the chassis;
a connecting column is arranged at the upper end of the universal wheel in a protruding mode and is connected with the damping shaft core;
the damping shaft core is connected to the damping fixed seat, and the plane where the damping shaft core rotates is parallel to the ground;
the damping spring is sleeved outside the damping shaft core, one end of the damping spring is abutted to the universal wheel, and the other end of the damping spring is abutted to the damping fixing seat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921057246.7U CN210212568U (en) | 2019-07-09 | 2019-07-09 | Robot chassis, robot chassis suspension device and universal wheel suspension mechanism |
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| CN201921057246.7U CN210212568U (en) | 2019-07-09 | 2019-07-09 | Robot chassis, robot chassis suspension device and universal wheel suspension mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806597A (en) * | 2020-08-21 | 2020-10-23 | 黑龙江瑞物科技有限公司 | AGV intelligent movement chassis |
| WO2021219015A1 (en) * | 2020-04-29 | 2021-11-04 | 京东数科海益信息科技有限公司 | Robot chassis and robot |
| CN114227714A (en) * | 2021-12-29 | 2022-03-25 | 天津中科智能技术研究院有限公司 | Intelligent mobile platform for medicine delivery |
| WO2022262067A1 (en) * | 2021-06-18 | 2022-12-22 | 南京涵铭置智能科技有限公司 | Stable transport robot and transport method therefor |
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2019
- 2019-07-09 CN CN201921057246.7U patent/CN210212568U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021219015A1 (en) * | 2020-04-29 | 2021-11-04 | 京东数科海益信息科技有限公司 | Robot chassis and robot |
| CN111806597A (en) * | 2020-08-21 | 2020-10-23 | 黑龙江瑞物科技有限公司 | AGV intelligent movement chassis |
| WO2022262067A1 (en) * | 2021-06-18 | 2022-12-22 | 南京涵铭置智能科技有限公司 | Stable transport robot and transport method therefor |
| CN114227714A (en) * | 2021-12-29 | 2022-03-25 | 天津中科智能技术研究院有限公司 | Intelligent mobile platform for medicine delivery |
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Effective date of registration: 20220913 Address after: 201508 1st floor, No. 1000, Tingwei Road, Jinshan District, Shanghai (Bay area science and Innovation Center) Patentee after: Shanghai Hongxing Cloud Computing Technology Co.,Ltd. Address before: 2000 2nd Floor, 979 Yunhan Road, Nicheng Town, Pudong New District, Shanghai Patentee before: SHANGHAI YUNSHEN INTELLIGENT TECHNOLOGY Co.,Ltd. |