CN213920585U - Damping buffer structure of robot motion chassis - Google Patents
Damping buffer structure of robot motion chassis Download PDFInfo
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- CN213920585U CN213920585U CN202022997524.6U CN202022997524U CN213920585U CN 213920585 U CN213920585 U CN 213920585U CN 202022997524 U CN202022997524 U CN 202022997524U CN 213920585 U CN213920585 U CN 213920585U
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- bottom plate
- mounting
- driving motor
- hinged
- shock absorber
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Abstract
A damping buffer structure of a robot motion chassis comprises a bottom plate, a driving motor and a shock absorber, and is characterized in that a mounting bracket is arranged on the bottom plate, and the driving motor is arranged between the bottom plate and the mounting bracket; the driving motor is provided with a multi-link assembly which is connected with the bottom plate in a hanging manner; the mounting bracket has a shock absorber hinge; the shock absorber is hinged with the multi-link assembly; the two sides of the bottom plate are provided with driving wheels, and the driving wheels are in transmission connection with a driving motor; universal wheels are arranged below the bottom plate for connection; compared with the prior art, the motor of the utility model is fixed with the bottom plate in a suspension mode, and when encountering obstacles, the kinetic energy is transferred to the oil pressure damper through displacement to be absorbed, thereby effectively reducing the shaking and bumping of the robot through the obstacles; and the robot can quickly complete the operations of steering, turning and the like of the robot by being driven by a single-side driving motor and matched with universal wheels, and has simple structure and small occupied space.
Description
Technical Field
The utility model relates to a robot motion chassis buffering technical field specifically is a damping buffer structure on robot motion chassis.
Background
The robot chassis is an important component of the robot; particularly for a wheeled robot which moves by means of driving wheels, when the robot runs outdoors, the robot can easily encounter obstacles and directly cross the obstacles, and if the chassis of the robot is not provided with a buffer mechanism, the connection of components in the chassis is easy to loosen, or the robot inclines left and right to influence the action of the robot; the prior wheeled robot drives a plurality of driven wheels to move through a plurality of driving wheels, and when the robot turns, because the number of wheels is large, the differential turning needs larger turning or turning radius, and a complex transmission system occupies larger space in the robot body.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a damping buffer structure on robot motion chassis is provided, the problem of proposing in the above-mentioned background art can effectively be solved.
In order to solve the above problems, the utility model adopts the following technical proposal: a damping buffer structure of a robot motion chassis comprises a bottom plate, a driving motor and a shock absorber, and is characterized in that a mounting bracket is arranged on the bottom plate, and the driving motor is arranged between the bottom plate and the mounting bracket; the driving motor is provided with a multi-link assembly which is connected with the bottom plate in a hanging manner; the mounting bracket has a shock absorber hinge; the shock absorber is hinged with the multi-link assembly; the two sides of the bottom plate are provided with driving wheels, and the driving wheels are in transmission connection with a driving motor; and universal wheels are arranged below the bottom plate for connection.
As a further preferred scheme of the utility model, a storage battery connection is arranged on the bottom plate; the bottom plate is provided with a controller, and the controller is electrically connected with the storage battery; the controller is electrically connected with the driving motor; the bottom plate is provided with a concave position matched with the driving motor.
As a further preferable scheme of the utility model, the mounting bracket is provided with a first mounting plate, a second mounting plate and a third mounting plate from bottom to top in sequence, and the first mounting plate, the second mounting plate and the third mounting plate are connected through screw threads; the first mounting plate and the second mounting plate are aluminum plates; the third mounting plate is an acrylic plate.
As a further preferable scheme of the utility model, the top end of the screw rod is provided with a nut which is in threaded limit connection with the mounting bracket; the bottom end of the screw rod is provided with a nut which is in threaded limit connection with the bottom plate.
As a further preferred aspect of the present invention, the multi-link assembly includes an installation flap, a first link, and a second link; the mounting folding piece is fixedly connected with the driving motor; the lower part of the mounting folding piece is hinged with one end of the first connecting rod, and the other end of the first connecting rod is provided with a connecting folding piece for hinging; the connecting folding piece is arranged with the bottom plate; the upper part of the mounting folding piece is hinged with one end of a second connecting rod, and the other end of the second connecting rod is provided with a connecting folding piece; the connecting folding piece is fixedly connected with the first mounting plate.
As a further preferable scheme of the utility model, the outer side of the connecting end of the second connecting rod and the mounting folding piece is provided with a shock absorber which is hinged and fixed; the top of the shock absorber is provided with a connecting folding piece which is hinged and fixed with the mounting bracket.
As a further preferred aspect of the present invention, the shock absorber includes an upper connecting portion, an oil damper, and a lower connecting portion; the outer side of the oil pressure damper is provided with a spiral spring which is movably sleeved, and the spiral spring is positioned between the upper connecting part and the lower connecting part; the upper connecting part is hinged with the mounting bracket; the lower connecting part is hinged with the motor.
As a further preferred scheme of the utility model, the rotating end of the driving motor is provided with a coupler which is fixedly connected with the driving wheel; a tire is arranged on the outer side of the driving wheel, and anti-skid grains are arranged on the outer edge of the tire; the tire manufacturing material is elastic rubber.
Compared with the prior art, the utility model provides a damping buffer structure on robot motion chassis possesses following beneficial effect:
the motor of the utility model is fixed with the bottom plate in a suspension mode, and when encountering obstacles, the kinetic energy is transferred to the oil pressure damper through displacement to be absorbed, thereby effectively reducing the shaking and jolting of the robot through the obstacles; and the robot can quickly complete the operations of steering, turning and the like of the robot by being driven by a single-side driving motor and matched with universal wheels, and has simple structure and small occupied space.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention in another direction;
FIG. 3 is a schematic view of the mounting bracket of the present invention;
FIG. 4 is a connecting structure diagram of the multi-link assembly and the driving motor according to the present invention;
fig. 5 is a schematic view of a suspension structure of the driving motor and the bottom plate of the present invention;
FIG. 6 is a schematic view of the shock absorber of the present invention;
wherein: 1. the device comprises a base plate, 1-1 parts, a storage battery, 1-2 parts, a controller, 2 parts, a mounting bracket, 2-1 parts, a first mounting plate, 2-2 parts, a second mounting plate, 2-3 parts, a third mounting plate, 2-4 parts, a screw, 3 parts, a driving motor, 3-1 parts, a coupler, 4 parts, a multi-link assembly, 4-1 parts, a mounting folded piece, 4-2 parts, a first link, 4-3 parts, a second link, 4-4 parts, a connecting folded piece, 5 parts, a shock absorber, 5-1 parts, an upper connecting part, 5-2 parts, an oil pressure damper, 5-3 parts, a lower connecting part, 5-4 parts, a spiral spring, 6 parts, a driving wheel, 6-1 parts, a tire, 7 parts and a universal wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
The utility model provides a damping buffer structure of a robot motion chassis, which comprises a bottom plate 1, a driving motor 3 and a shock absorber 5, and is characterized in that the bottom plate 1 is provided with a mounting bracket 2, and the driving motor 3 is arranged between the bottom plate 1 and the mounting bracket 2; the driving motor 3 is provided with a multi-link assembly 4 which is connected with the bottom plate 1 in a hanging way; the mounting bracket 2 is hinged with a shock absorber 5; the shock absorber 5 is hinged with the multi-link assembly 4; two sides of the bottom plate 1 are provided with driving wheels 6, and the driving wheels 6 are in transmission connection with a driving motor 3; and universal wheels 7 are arranged below the bottom plate 1 for connection.
As a further preferable scheme of the utility model, a storage battery 1-1 is arranged on the bottom plate 1 for connection; the bottom plate 1 is provided with a controller 1-2, and the controller 1-2 is electrically connected with the storage battery 1-1; the controller 1-2 is electrically connected with the driving motor 3; the bottom plate 1 is provided with a concave position matched with the driving motor 3; the controller 1-2 is independently connected with the driving motor 3 and can realize the functions of steering and turning around by matching with the universal wheel 7.
As a further preferable scheme of the present invention, the mounting bracket 2 is provided with a first mounting plate 2-1, a second mounting plate 2-2, and a third mounting plate 2-3 in sequence from bottom to top, and the first mounting plate 2-1, the second mounting plate 2-2, and the third mounting plate 2-3 are connected by a screw 2-4 through a thread; the first mounting plate 2-1 and the second mounting plate 2-2 are aluminum plates; the third mounting plate 2-3 is an acrylic plate.
As a further preferable scheme of the utility model, the top end of the screw rod 2-4 is provided with a nut which is in threaded limit connection with the mounting bracket 2; the bottom end of the screw rod 2-4 is provided with a nut which is in threaded limit connection with the bottom plate 1; the screws 2-4 are used for fixing the position of each mounting plate and preventing the mounting plates from moving or inclining.
As a further preferable scheme of the present invention, the multi-link assembly 4 includes a mounting flap 4-1, a first link 4-2, and a second link 4-3; the mounting folding piece 4-1 is fixedly connected with the driving motor 3; the lower part of the mounting folding piece 4-1 is hinged with one end of the first connecting rod 4-2, and the other end of the first connecting rod 4-2 is provided with a connecting folding piece 4-4 which is hinged; the connecting folding piece 4-4 is arranged with the bottom plate 1; the upper part of the mounting folding piece 4-1 is hinged with one end of a second connecting rod 4-3, and the other end of the second connecting rod 4-3 is provided with a connecting folding piece 4-4 which is hinged; the connecting folding piece 4-4 is fixedly connected with the first mounting plate 2-1; the movable suspension of the motor and the bottom plate is realized.
As a further preferable proposal of the utility model, a shock absorber 5 is arranged at the outer side of the connecting end of the second connecting rod 4-3 and the mounting folding piece 4-1 and is hinged and fixed; the top of the shock absorber 5 is provided with a connecting folding piece 4-4 which is hinged and fixed with the mounting bracket 2; the damper 5 provides support for the drive motor 3 and provides damping for the mounting bracket 2.
As a further preferable scheme of the utility model, the shock absorber 5 comprises an upper connecting part 5-1, an oil pressure damper 5-2 and a lower connecting part 5-3; a spiral spring 5-4 is movably sleeved outside the oil pressure damper 5-2, and the spiral spring 5-4 is positioned between the upper connecting part 5-1 and the lower connecting part 5-3; the upper connecting part 5-1 is hinged with the mounting bracket 2; the lower connecting part 5-3 is hinged with the motor; the oil pressure damper 5-2 can absorb the kinetic energy transmitted when the driving wheel 6 moves upwards to play a role of buffering, and the spiral spring 5-4 provides the power for resetting the oil pressure damper 5-2.
As a further preferable scheme of the utility model, the rotating end of the driving motor 3 is provided with a shaft coupling 3-1 for fixed connection, and the shaft coupling 3-1 is fixedly connected with the driving wheel 6; a tire 6-1 is arranged on the outer side of the driving wheel 6, and anti-skid lines are arranged on the outer edge of the tire 6-1; the tyre 6-1 is made of elastic rubber; the tyre 6-1 made of elastic rubber is in flexible contact with the ground, so that jolt in the running process is reduced, and meanwhile, the antiskid lines are arranged, so that the skidding risk of the driving wheel 6 can be reduced.
As a specific embodiment of the present invention:
the utility model drives the driving wheel 6 to move the chassis through the driving motor 3; when the driving wheel passes through an obstacle in the movement process, the driving wheel 6 is jacked upwards by the obstacle protruding out of the ground, and because the driving wheel 6 and the driving motor 3 are connected with the bottom plate 1 in a hanging manner through the multi-link assembly 4, the driving wheel 6 moves upwards relative to the bottom plate 1, the bottom plate 1 and the mounting bracket 2 keep an approximately horizontal state, and the left-right balance of the machine body is maintained; meanwhile, when the driving wheel 6 moves upwards, the lower connecting part 5-3 pushes upwards to compress the spiral spring 5-4 of the shock absorber 5, and meanwhile, the kinetic energy transmitted by the lower connecting part 5-3 is absorbed through the oil pressure damper 5-2; when the driving wheel 6 passes through an obstacle, the driving wheel 6 falls under the action of gravity, and meanwhile, the spiral spring 5-4 releases elastic potential energy to reset the oil pressure damper 5-2, so that the driving wheel 6 is contacted with the ground again, and the universal wheel 7 and the driving wheel 6 form a triangular support in the movement process, and the stability of movement is ensured.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.
Claims (8)
1. A damping buffer structure of a robot motion chassis comprises a bottom plate (1), a driving motor (3) and a shock absorber (5), and is characterized in that a mounting bracket (2) is arranged on the bottom plate (1), and the driving motor (3) is arranged between the bottom plate (1) and the mounting bracket (2); the driving motor (3) is provided with a multi-link assembly (4) which is connected with the bottom plate (1) in a hanging manner; the mounting bracket (2) is hinged with a shock absorber (5); the shock absorber (5) is hinged with the multi-link assembly (4); the driving wheels (6) are arranged on two sides of the bottom plate (1), and the driving wheels (6) are in transmission connection with the driving motor (3); the universal wheels (7) are arranged below the bottom plate (1) for connection.
2. The damping and buffering structure of the robot motion chassis is characterized in that a storage battery (1-1) is arranged on the bottom plate (1) for connection; the bottom plate (1) is provided with a controller (1-2), and the controller (1-2) is electrically connected with the storage battery (1-1); the controller (1-2) is electrically connected with the driving motor (3); the bottom plate (1) is provided with a concave position matched with the driving motor (3).
3. The damping and buffering structure of the robot motion chassis is characterized in that a first mounting plate (2-1), a second mounting plate (2-2) and a third mounting plate (2-3) are sequentially arranged on the mounting bracket (2) from bottom to top, and the first mounting plate (2-1), the second mounting plate (2-2) and the third mounting plate (2-3) are in threaded connection through a screw (2-4); the first mounting plate (2-1) and the second mounting plate (2-2) are aluminum plates; the third mounting plate (2-3) is an acrylic plate.
4. The damping and buffering structure of the robot motion chassis is characterized in that a nut is arranged at the top end of each screw (2-4) and is in threaded limit connection with the mounting bracket (2); the bottom end of the screw rod (2-4) is provided with a nut which is in threaded limit connection with the bottom plate (1).
5. A damping and cushioning structure of a robot motion chassis according to claim 1, characterized in that the multi-link assembly (4) comprises a mounting flap (4-1), a first link (4-2), a second link (4-3); the mounting folding piece (4-1) is fixedly connected with the driving motor (3); the lower part of the mounting folding piece (4-1) is hinged with one end of a first connecting rod (4-2), and the other end of the first connecting rod (4-2) is provided with a connecting folding piece (4-4) which is hinged; the connecting folding piece (4-4) is arranged with the bottom plate (1); the upper part of the mounting folding piece (4-1) is hinged with one end of a second connecting rod (4-3), and the other end of the second connecting rod (4-3) is provided with a connecting folding piece (4-4) which is hinged; the connecting folding piece (4-4) is fixedly connected with the first mounting plate (2-1).
6. The damping and buffering structure of the robot motion chassis is characterized in that a shock absorber (5) is arranged on the outer side of the connecting end of the second connecting rod (4-3) and the mounting folding piece (4-1) in a hinged mode and fixed; the top of the shock absorber (5) is provided with a connecting folding piece (4-4) which is hinged and fixed with the mounting bracket (2).
7. A damping and cushioning structure of a robot motion chassis according to claim 1, characterized in that the shock absorber (5) comprises an upper connecting part (5-1), an oil pressure damper (5-2), and a lower connecting part (5-3); a spiral spring (5-4) is movably sleeved outside the oil pressure damper (5-2), and the spiral spring (5-4) is positioned between the upper connecting part (5-1) and the lower connecting part (5-3); the upper connecting part (5-1) is hinged with the mounting bracket (2); the lower connecting part (5-3) is hinged with the motor.
8. The damping and buffering structure of the robot motion chassis is characterized in that a coupling (3-1) is arranged at the rotating end of the driving motor (3) and fixedly connected with the driving wheel (6), and the coupling (3-1) is fixedly connected with the driving wheel (6); a tire (6-1) is arranged on the outer side of the driving wheel (6), and anti-skid grains are arranged on the outer edge of the tire (6-1); the tyre (6-1) is made of elastic rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022997524.6U CN213920585U (en) | 2020-12-15 | 2020-12-15 | Damping buffer structure of robot motion chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022997524.6U CN213920585U (en) | 2020-12-15 | 2020-12-15 | Damping buffer structure of robot motion chassis |
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| Publication Number | Publication Date |
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| CN213920585U true CN213920585U (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022997524.6U Active CN213920585U (en) | 2020-12-15 | 2020-12-15 | Damping buffer structure of robot motion chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116687281A (en) * | 2023-08-02 | 2023-09-05 | 深圳聚腾智能机器人有限公司 | Robot chassis and robot of sweeping floor |
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2020
- 2020-12-15 CN CN202022997524.6U patent/CN213920585U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116687281A (en) * | 2023-08-02 | 2023-09-05 | 深圳聚腾智能机器人有限公司 | Robot chassis and robot of sweeping floor |
| CN116687281B (en) * | 2023-08-02 | 2023-10-13 | 深圳聚腾智能机器人有限公司 | Robot chassis and robot of sweeping floor |
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