CN210851933U

CN210851933U - Robot chassis suspension system and robot

Info

Publication number: CN210851933U
Application number: CN201920947557.4U
Authority: CN
Inventors: 孙博; 陈焕昌; 迟惠松
Original assignee: Shanghai Yogo Robot Co Ltd
Current assignee: Shanghai Yogo Robot Co Ltd
Priority date: 2019-06-23
Filing date: 2019-06-23
Publication date: 2020-06-26
Anticipated expiration: 2029-06-23

Abstract

The utility model provides a robot chassis suspension system and a robot, the robot chassis suspension system comprises a chassis, a first driven wheel component rotationally connected on the chassis, a driving wheel corresponding to the first driven wheel component one by one and a suspension component with two ends respectively rotationally connected with the first driven wheel component and the driving wheel, the first driven wheel component and the suspension component are respectively positioned on two sides of the chassis back to back; the suspension assembly comprises a support frame fixed on the chassis, a cantilever connected with the support frame in a rotating mode by taking the support frame as a fulcrum, and a damping structure connected with one end of the cantilever in a rotating mode, one end, far away from the cantilever, of the damping structure is connected with a first driven wheel assembly in a rotating mode, and one end, far away from the damping structure, of the cantilever is fixedly connected with the driving wheel. The utility model provides a chassis suspension and robot of robot has improved the ground adaptability of robot when guaranteeing the bearing capacity of robot.

Description

Robot chassis suspension system and robot

[ technical field ] A method for producing a semiconductor device

The utility model relates to a wheeled robot field especially relates to a chassis suspension of robot and robot.

[ background of the invention ]

A mobile Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. According to the moving mode, the method can be divided into: wheeled mobile robots, walking mobile robots (single-legged, double-legged, and multi-legged), crawler mobile robots, crawling robots, peristaltic robots, and swimming robots, and the like. For the wheeled mobile robot, the chassis is an important supporting part of the whole system and is used for supporting and installing wheels, suspension, motors, batteries, a control system, positioning, audio frequency and other parts and assemblies, bearing the power of the motors and ensuring the normal running of the wheeled robot. The suspension system of the robot chassis is a general name of all force transmission connecting devices between the robot chassis and the driving wheels, and the suspension mainly has the functions of transmitting all forces and moments acting between the driving wheels and the chassis, such as supporting force, braking force, driving force and the like, relieving impact loads transmitted to the chassis from uneven road surfaces, attenuating vibration caused by the impact loads, and reducing dynamic loads of goods and the chassis.

Currently, for wheeled mobile robots, the following three types of chassis suspension systems are commonly used: (1) the guide column type suspension system is straight up and down, the threshold passing capability is weak in this way, a force in a non-vertical direction is generated when the suspension system meets an obstacle, and the force can generate a certain blocking effect on the straight up and down movement of the suspension system; (2) the towed-frame type suspension system rotates around a rotating shaft, the mode has strong threshold passing capability and simple structure, but the front and rear threshold passing capabilities are inconsistent, the rotating shaft is in the front, the front threshold passing capability is strong, and the rear threshold passing capability is strong; (3) the polygonal suspension system has a relatively complex structure although it has a strong over-threshold capability.

In the prior art, most of common wheeled mobile robots adopt a fixed chassis design, when the chassis of the robot is connected with a traveling wheel, the traveling wheel can only drive the chassis to move, and in some occasions with poor working environments, such as the ground has uneven slopes or small obstacles, the driving wheel cannot be tightly attached to the ground, so that a safe and stable traveling state cannot be provided. Therefore, the chassis structure and the traveling wheel of the service robot often affect the overall performance of the service robot, and are not favorable for the service robot to smoothly complete corresponding work.

In view of the above, it is desirable to provide a new chassis suspension system for a robot and a robot to overcome the above-mentioned drawbacks.

[ Utility model ] content

The utility model aims at providing a chassis suspension and robot of robot has improved the ground adaptability of robot when guaranteeing the bearing capacity of robot.

In order to realize the above-mentioned purpose, the utility model provides a robot chassis suspension, including the chassis, rotate connect in first driven wheel subassembly, one-to-one on the chassis the subassembly that hangs of connecting a first driven wheel subassembly and an action wheel is rotated respectively at the action wheel and the both ends of first driven wheel subassembly, wherein first driven wheel subassembly with it is located respectively to hang the subassembly the both sides that the chassis was carried on the back mutually.

In a preferred embodiment, the first driven wheel assembly comprises a connecting head, a connecting plate rotationally connected to the connecting head, and a first driven wheel fixed to the connecting plate; the chassis is provided with a through hole, the connector is fixedly connected to the chassis, part of the connector is contained in the through hole, part of the connecting plate is contained in the through hole, and the first driven wheel penetrates through the through hole to be fixedly connected with the connecting plate.

In a preferred embodiment, the connector comprises a fixing portion and a first sleeve extending from one end of the fixing portion; the connecting plate comprises a base plate and a second shaft sleeve formed by extending one end of the base plate, the second shaft sleeve corresponds to the first shaft sleeve and penetrates through the corresponding first shaft sleeve and the second shaft sleeve through a rotating shaft to realize the rotating connection of the connecting plate and the connector.

In a preferred embodiment, the connecting plate further comprises a clamping plate formed by extending from the edge of the base plate; an elastic pad is fixed on the chassis corresponding to the clamping plate.

In a preferred embodiment, the suspension assembly comprises a support frame, a cantilever which is rotatably connected with the support frame as a pivot, and a damping structure which is rotatably connected with one end of the cantilever; one end of the damping structure, which is far away from the cantilever, is rotatably connected to one end of the base plate, which is far away from the second shaft sleeve.

In a preferred embodiment, each driving wheel comprises an annular rotating wheel and a motor arranged in the rotating wheel, and one end of each cantilever, which is far away from the corresponding damping structure, is fixedly connected with the motor of one driving wheel.

In a preferred embodiment, the motor includes a main body part and a fixed shaft, the main body part is cylindrical and is coaxially arranged with the rotating wheel, and the fixed shaft is fixed at the position of the center of the main body part; the cantilever is far away from the one end of damping structure has seted up first shaft hole, the fixed axle passes first shaft hole and with first shaft hole card fixed connection.

In a preferred embodiment, a clamping structure is fixed at one end of the fixing shaft, which is far away from the main body part.

In a preferred embodiment, bayonets for placing the driving wheel are formed on two opposite sides of the chassis; the support frame is fixed on the chassis and is positioned between the through hole and the bayonet.

A robot comprising a robot chassis suspension system as described.

The utility model provides a robot chassis suspension connects through the suspension assembly first driven wheel subassembly and action wheel makes on the one hand the action wheel can be based on first rotation from the driving wheel is in time adjusted the action wheel axle center is relative the distance on chassis, on the other hand makes the action wheel axle center is relative not influence when the distance on chassis changes first from the state of driving wheel, and then stable the chassis is balanced. The utility model provides a chassis suspension of robot when guaranteeing the bearing capacity of robot, has improved the ground adaptability of robot.

[ description of the drawings ]

Fig. 1 is a perspective view of the robot chassis suspension system provided by the present invention.

Fig. 2 is an exploded view of the robotic chassis suspension system shown in fig. 1.

Fig. 3 is a schematic connection diagram of the first driven wheel assembly, the driving wheel and the suspension assembly in the suspension system of the robot chassis shown in fig. 2.

Fig. 4 is an exploded view of the first driven wheel assembly shown in fig. 3.

Fig. 5 is an exploded view of the suspension assembly shown in fig. 3.

Fig. 6 is a perspective view of the drive pulley shown in fig. 3.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantageous technical effects of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and the following detailed description. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration only and not by way of limitation.

Referring to fig. 1 to 3, the present invention provides a robot chassis suspension system 100, including a chassis 10, a first driven wheel assembly 20 rotatably connected to the chassis 10, a driving wheel 30 corresponding to the first driven wheel assembly 20, and a suspension assembly 40 having two ends rotatably connected to the first driven wheel assembly 20 and the driving wheel 30, wherein the first driven wheel assembly 20 and the suspension assembly 40 are respectively located on two opposite sides of the chassis 10; the suspension assembly 40 includes a support frame 41 fixed on the chassis, a suspension arm 42 rotatably connected to the support frame 41 as a pivot, and a damping structure 43 rotatably connected to one end of the suspension arm, wherein one end of the damping structure 43 far away from the suspension arm 42 is rotatably connected to the first driven wheel assembly 10, and one end of the suspension arm 42 far away from the damping structure 43 is fixedly connected to the driving wheel 30.

In the present embodiment, the number of the first driven wheel assemblies 20 is two, and correspondingly, the number of the driving wheel 30 and the number of the hanging assemblies 40 are both two.

Referring to fig. 4, in detail, the first driven wheel assembly 20 includes a connection head 21, a connection plate 22 rotatably connected to the connection head 21, and a first driven wheel 23 fixed to the connection plate 22. The chassis 10 is provided with a through hole 11, the connector 21 is fixedly connected to the chassis 10 and is partially accommodated in the through hole 11, the connecting plate 22 is partially accommodated in the through hole 11, and the first driven wheel 23 penetrates through the through hole 11 and is fixedly connected with the connecting plate 22. The connecting plate 22 can rotate around the connecting head 21 as an axis, so as to drive the first driven wheel 23 to move towards the direction close to the chassis 10, and change the position of the first driven wheel 23 relative to the chassis 10. In other words, when the first driven wheel 23 needs to pass over an obstacle such as a non-slip belt, the first driven wheel 23 can be lifted by the connecting plate 22, and thus the center of gravity of the chassis 10 can be ensured to move within a certain range.

Furthermore, the connection head 21 includes a fixing portion 211 and a first shaft sleeve 212 extending from one end of the fixing portion 211. The fixing portion 211 is "L" shaped and includes a first fixing portion 2111 and a second fixing portion 2112 which are perpendicularly connected to each other, wherein the first sleeve 212 is connected to a surface of the second fixing portion 2112 which is away from the first fixing portion 2111. The first sleeve 212 is received in the through hole 11, the first fixing portion 2111 abuts against the chassis 10 and is fixedly connected to the chassis 10 by a fixing member such as a screw, and the surface of the second fixing portion 2112 departing from the first sleeve 212 abuts against the edge of the through hole 11. That is, the connecting head 21 is fixed to the chassis 10 and is fixed to the edge of the through hole 11, so that the connecting head 21 is fixed to the chassis 10 more firmly.

The connecting plate 22 includes a base plate 221 and a second shaft sleeve 222 extending from one end of the base plate 221, and the second shaft sleeve 222 corresponds to the first shaft sleeve 212 and passes through the corresponding first shaft sleeve 212 and second shaft sleeve 222 through a rotating shaft, so as to realize the rotational connection between the connecting plate 22 and the connecting head 21.

The connecting plate 22 further includes a clamping plate 223 formed by extending from an edge of the base plate 221. The substrate 221 is partially accommodated in the through hole 11 and can rotate with the connector 21, and the clamping plate 223 can abut against the edge of the through hole 11 and is used for limiting the rotation direction of the substrate 223 and preventing the first driven wheel 23 from being far away from the chassis 10. Furthermore, the number of the clamping plates 223 is two, and the two clamping plates 223 extend from two opposite edges of the substrate 221. An elastic pad 12 is fixed on the chassis 10 at a position corresponding to the clamping plate 223 for buffering the impact when the clamping plate 223 abuts against the chassis 10, and protecting the chassis 10 and the connecting plate 22.

Referring to fig. 5 and fig. 6, the suspension assembly 40 includes a supporting frame 41, a suspension arm 42 pivotally connected to the supporting frame 41 as a pivot, and a damping structure 43 pivotally connected to an end of the suspension arm 42. One end of the damping structure 43 away from the cantilever 42 is rotatably connected to one end of the base plate 221 away from the second shaft sleeve 222, and is used for connecting the cantilever 42 and the connecting plate 22 and playing a certain role in buffering.

One end of the cantilever 42 away from the damping structure 43 is rotatably connected to the driving wheel 30, and the driving wheel 30 rotates to provide power for the robot chassis suspension system 100. Specifically, each driving wheel 30 comprises an annular rotating wheel 31 and a motor 32 arranged in the rotating wheel 31, and each driving wheel 30 is driven by the corresponding motor 32 to rotate; one end of each arm 42 remote from the corresponding damping structure 43 is fixedly connected to the motor 32 of one of the drive wheels 30. Furthermore, the two driving wheels 30 are arranged in parallel at intervals, and the robot chassis suspension system 100 realizes various direction changes through the differential rotation of the motors of the two driving wheels 30.

The motor 32 includes a main body 321 and a fixing shaft 322, the main body 321 is cylindrical and is disposed coaxially with the rotating wheel 31, and the fixing shaft 322 is fixed at a center of the main body 321. A first shaft hole 421 is formed at one end of the cantilever 42 away from the damping structure 43, and the fixed shaft 322 passes through the first shaft hole 421 and is fixedly connected with the first shaft hole 421 in a clamping manner. Furthermore, the section without the first shaft hole 421 is semicircular, and the corresponding fixing shaft 321 is semicircular, so as to prevent the fixing shaft 322 from rotating when being clamped with the first shaft hole 421, and ensure the effectiveness of rotation of the main body 321.

Furthermore, in order to prevent the fixing shaft 322 from being separated from the first shaft hole 421, a locking structure 323 is fixed at one end of the fixing shaft 322 away from the main body 321. In this embodiment, the locking structure 323 is integrally formed with the fixing shaft 322, and the locking structure 323 is formed by bending the fixing shaft 322.

Two bayonets 13 for placing the driving wheel 30 are formed on two opposite sides of the chassis 10, and one end of each cantilever 42, which is far away from the damping structure 43, is rotatably connected with one driving wheel 30. The support frame 41 is fixed in on the chassis 10 and be located through-hole 11 with between the bayonet 13, the one end of cantilever 42 with the action wheel 30 rotates to be connected, the other end pass through damping structure 43 with first driven wheel subassembly 20 rotates to be connected, be used for adjusting the action wheel 30 with the dynamic balance of first driven wheel 23 avoids the great skew of focus on chassis 10. Specifically, the first driven wheel 30 is lifted when encountering an obstacle, so that the connecting plate 22 is turned over and drives the damping structure 43 to move upwards, the end of the cantilever 42, where the damping structure 43 is arranged, is lifted, the end of the cantilever 42, where the driving wheel 30 is arranged, is pressed downwards, so that the distance between the axis of the driving wheel 30 and the chassis 10 is increased, and the chassis 10 is ensured to be slightly inclined or not inclined; when the driving wheel 30 is lifted up when encountering an obstacle, so that one end of the cantilever 42, which is provided with the driving wheel 30, is lifted up (i.e. the distance between the axis of the driving wheel 30 and the chassis 10 becomes smaller), one end of the cantilever 42, which is provided with the damping structure 43, is pressed down, and the damping structure 43 is tightly compressed due to the clamping plate 223 of the connecting plate 22 being clamped with the edge of the through hole 11, so as to ensure that the chassis 10 is slightly inclined or not inclined.

The damping structure 43 includes a third shaft sleeve 431 and a fourth shaft sleeve 432 oppositely disposed at an interval, a telescopic rod 433 connecting the third shaft sleeve 431 and the fourth shaft sleeve 432, and a spring 434 sleeved on the telescopic rod 433. One end of the connecting plate 22, which faces away from the second shaft sleeve 222, extends to form a fifth shaft sleeve 224 corresponding to the third shaft sleeve 431, and a rotating shaft passes through the corresponding third shaft sleeve 431 and the fifth shaft sleeve 224 to realize the rotating connection between the connecting plate 22 and the damping structure 43. One end of the cantilever 42, which is far away from the driving wheel 30, corresponds to the second shaft hole 422 of the first shaft sleeve 432, and the rotating shaft passes through the corresponding first shaft sleeve 432 and the second shaft hole 422, so as to realize the rotating connection between the damping structure 43 and the cantilever 42.

The telescopic rod 433 comprises a sleeve rod 4331 and a sliding rod 4332 which is partially accommodated in the sleeve rod 4331 and can slide in the sleeve rod 4331 in a reciprocating manner. A first locking plate 4333 sleeved on the loop bar 4331 is fixed to one end of the loop bar 4331 far from the sliding bar 4332, a second locking plate 4334 sleeved on the sliding bar 4332 is fixed to one end of the sliding bar 4332 far from the loop bar 4331, two ends of the spring 434 abut against the first locking plate 4333 and the second locking plate 4334 respectively, and the spring 434 is in a compressed state. The damping structure 43 is used for providing buffering when the connecting plate 22 rotates and drives the cantilever 42 to rotate, so that the first driven wheel 13 can be smoothly matched with the driving wheel 30; on the other hand, when the distance between the axis of the driving wheel 30 and the chassis 10 becomes smaller, the damping structure 43 is compressed to provide a buffer stroke for the rotation of the cantilever 42, and the driving wheel 30 is tightly held.

The robot chassis suspension system 100 further comprises at least one second driven wheel 50 fixed on the chassis 10, for supporting the chassis 10, reducing the pressure of the first driven wheel assembly 20 and the driving wheel 30, and maintaining the balance of the chassis 10. In this embodiment, the number of the second driven wheels 50 is two and is located at one end of the chassis 10 away from the two first driven wheel assemblies 20. The second driven wheel 50 and the first driven wheel 13 are universal wheels.

The utility model provides a robot chassis suspension 100 connects through hanging subassembly 40 first driven wheel subassembly 20 and action wheel 30 make on the one hand action wheel 30 can be based on first rotation from driving wheel 13 is in time adjusted action wheel 30 axle center is relative the distance on chassis 10, on the other hand makes action wheel 300 axle center is relative not influence when the distance on chassis 10 changes first state from driving wheel 13, and then stable chassis 10 is balanced. The utility model provides a robot chassis suspension 100 when guaranteeing the bearing capacity of robot, has improved the ground adaptability of robot.

The utility model also provides a robot, use robot chassis suspension 100.

The invention is not limited solely to that described in the specification and the embodiments, and additional advantages and modifications will readily occur to those skilled in the art, and it is not intended to be limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims

1. A robot chassis suspension system characterized in that: the device comprises a chassis, a first driven wheel assembly rotationally connected to the chassis, driving wheels corresponding to the first driven wheel assembly one by one, and suspension assemblies, wherein two ends of each suspension assembly are rotationally connected with one first driven wheel assembly and one driving wheel respectively, and the first driven wheel assembly and the suspension assemblies are respectively positioned on two sides of the chassis which are opposite to each other; the suspension assembly comprises a support frame fixed on the chassis, a cantilever connected with the support frame in a rotating mode by taking the support frame as a fulcrum, and a damping structure connected with one end of the cantilever in a rotating mode, wherein the damping structure is far away from one end of the cantilever, the end of the cantilever is rotatably connected with the first driven wheel assembly, and one end of the cantilever, far away from the damping structure, is fixedly connected with the driving wheel.

2. The robotic chassis suspension system of claim 1, wherein: the first driven wheel assembly comprises a connector, a connecting plate rotationally connected to the connector and a first driven wheel fixed on the connecting plate; the chassis is provided with a through hole, the connector is fixedly connected to the chassis, part of the connector is contained in the through hole, part of the connecting plate is contained in the through hole, and the first driven wheel penetrates through the through hole to be fixedly connected with the connecting plate.

3. The robotic chassis suspension system of claim 2, wherein: the connector comprises a fixing part and a first shaft sleeve formed by extending from one end of the fixing part; the connecting plate comprises a base plate and a second shaft sleeve formed by extending one end of the base plate, the second shaft sleeve corresponds to the first shaft sleeve and penetrates through the corresponding first shaft sleeve and the second shaft sleeve through a rotating shaft to realize the rotating connection of the connecting plate and the connector.

4. The robotic chassis suspension system of claim 3, wherein: the connecting plate further comprises a clamping plate formed by extending from the edge of the substrate; an elastic pad is fixed on the chassis corresponding to the clamping plate.

5. The robotic chassis suspension system of claim 3, wherein: one end of the damping structure, which is far away from the cantilever, is rotatably connected to one end of the base plate, which is far away from the second shaft sleeve.

6. The robotic chassis suspension system of claim 5, wherein: each driving wheel comprises an annular rotating wheel and a motor arranged in the rotating wheel, and one end, far away from the corresponding damping structure, of each cantilever is fixedly connected with the motor of one driving wheel.

7. The robotic chassis suspension system of claim 6, wherein: the motor comprises a main body part and a fixing shaft, the main body part is cylindrical and is coaxially arranged with the rotating wheel, and the fixing shaft is fixed at the position of the circle center of the main body part; the cantilever is far away from the one end of damping structure has seted up first shaft hole, the fixed axle passes first shaft hole and with first shaft hole card fixed connection.

8. The robotic chassis suspension system of claim 7, wherein: and a clamping structure is fixed at one end of the fixed shaft, which is far away from the main body part.

9. The robotic chassis suspension system of claim 2, wherein: a bayonet used for placing the driving wheel is arranged on the chassis; the support frame is fixed on the chassis and is positioned between the through hole and the bayonet.

10. A robot, characterized by: comprising a robot chassis suspension system according to any of the claims 1-9.