CN213973487U - Chassis of independent swing arm type suspension and robot - Google Patents
Chassis of independent swing arm type suspension and robot Download PDFInfo
- Publication number
- CN213973487U CN213973487U CN202021867551.5U CN202021867551U CN213973487U CN 213973487 U CN213973487 U CN 213973487U CN 202021867551 U CN202021867551 U CN 202021867551U CN 213973487 U CN213973487 U CN 213973487U
- Authority
- CN
- China
- Prior art keywords
- chassis
- universal wheel
- wheel set
- driving wheel
- fixing portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The utility model provides a chassis and robot of independent swing arm formula suspension, include: the driving wheel set comprises two driving wheel assemblies which are oppositely arranged, and each driving wheel assembly comprises a swinging piece, an elastic shock absorber, a first fixing part, a second fixing part and a driving wheel. According to the utility model provides a chassis and robot of independent swing arm formula suspension can promote the chassis and cross the ride comfort performance when the bank.
Description
Technical Field
The utility model relates to the technical field of robot, in particular to chassis and robot of independent swing arm formula suspension.
Background
Mobile robots have been increasingly used in mass-service scenarios, such as restaurant, hotel, office, etc. indoor scenarios. In a real environment, the floor of the room where the robot moves is not completely flat, and there may be obstacles on the floor, such as a sill above the floor. In the prior art, when the robot passes through the threshold, the robot is impacted by the threshold, so that the robot has a risk of toppling.
SUMMERY OF THE UTILITY MODEL
The utility model discloses in view of foretell current situation and accomplish, its aim at provides a chassis and robot of independent swing arm formula suspension, can show the anti-impact force and the stationarity that promote the robot and cross the bank.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the utility model provides a chassis of independent swing arm formula suspension, include:
the driving wheel set is arranged on the base and comprises two driving wheel assemblies which are oppositely arranged, and each driving wheel assembly comprises a swinging piece, an elastic shock absorber, a first fixing part, a second fixing part and a driving wheel;
the swinging piece is hinged with the first fixed part at a first hinged position, one end of the swinging piece is hinged with the elastic shock absorber at a third hinged position, the other end of the elastic shock absorber is hinged with the second fixed part at a second hinged position, the driving wheel is provided with a connecting section extending out of the driving wheel, the driving wheel can rotate relative to the connecting section, and the connecting section is fixed between the first hinged position and the third hinged position on the swinging piece,
the first fixing portion is fixed to the base portion, the first hinge position is provided adjacent to the base portion, and the first hinge position is provided closer to the front in the chassis advancing direction with respect to the drive wheel, the second fixing portion is fixedly provided with respect to the first fixing portion, and the first hinge position is provided closer to the base portion with respect to the second hinge position.
Under the condition, the first hinge position is located in front of the driving wheel, namely the driving wheel swings in the moving process by taking the first hinge position as the center of circle, before the threshold is passed, the driving wheel is contacted with the ground by the downward elastic force of the elastic shock absorber, when the threshold is passed, the driving wheel swings around the first hinge position under the condition of the resistance of the threshold in the horizontal direction, and compared with the position of the driving wheel before the threshold in the horizontal direction relative to the first hinge position, the driving wheel has the backward displacement in the horizontal direction relative to the position of the first hinge position when the threshold is passed, the impact of the threshold on the chassis is relieved, and the stability of the chassis is favorably improved.
The base part further comprises a first universal wheel set and a second universal wheel set, the driving wheel set is arranged between the first universal wheel set and the second universal wheel set, and the first universal wheel set and the second universal wheel set are both provided with shock absorbers.
From this, through setting up the equilibrium that universal wheel group can promote the chassis around, the universal wheel group sets up the stationarity that the shock absorber can promote the chassis when passing through the obstacle, consequently the totality has promoted the stationarity of chassis.
The first universal wheel set comprises two first universal wheel assemblies which are oppositely arranged, the second universal wheel set comprises two second universal wheel assemblies which are oppositely arranged, and the first universal wheel set, the driving wheel set and the second universal wheel set are arranged in parallel.
The first fixing part is arranged perpendicular to the base part, and the second fixing part is arranged parallel to the base part.
The first fixing part and the third fixing part are respectively used for supporting two ends of the second fixing part.
Thereby, the first fixing portion and the third fixing portion support the second fixing portion so that the second hinge position can be stably hinged.
The support part is connected with the two first fixing parts which are oppositely arranged, and the second fixing part is fixed on the support part.
In this case, the fixing of the second fixing portion is made more firm, and the support portion may be used to support the body structure of the robot.
The third fixing part is parallel to the supporting part, and the second fixing part is perpendicular to the third fixing part.
Wherein the fixing position of the connecting section to the oscillating piece in the forward direction of the chassis is arranged between the first articulation position and the second articulation position.
Therefore, the swing angle of the swing piece can be restrained, the swing angle is controlled within a small swing range, the vibration amplitude of the driving wheel during threshold passing is reduced, and the threshold passing stability of the chassis is improved.
Wherein the base is a plate body.
The utility model also provides a robot, include as above the chassis of independent swing arm formula suspension, still include the body, the body is fixed in the chassis.
According to the utility model provides a chassis and robot of independent swing arm formula suspension, the position of first articulated position is in the front of drive wheel, the drive wheel uses first articulated position to swing at the removal in-process as the centre of a circle promptly, cross before the bank, the drive wheel receives decurrent elasticity of elastic shock absorber and ground contact, when crossing the bank, the drive wheel centers on first articulated position swing under the condition that receives the horizontal direction's of bank resistance, and the drive wheel position before crossing the bank has horizontal direction backward position, the impact of crossing the bank to the robot has been slowed down, be favorable to promoting the stationarity of robot, because first articulated position is close to the basal portion setting, make first articulated position be close to ground more as far as possible, be favorable to promoting the smooth-going performance of robot when crossing the bank.
Drawings
Fig. 1 is a schematic perspective view illustrating a chassis of an independent swing arm type suspension according to an embodiment of the present invention;
fig. 2 is a schematic perspective view showing another example of a chassis of an independent swing arm type suspension according to an embodiment of the present invention;
fig. 3 is a schematic side view of a driving wheel of a chassis of an independent swing arm type suspension according to an embodiment of the present invention before passing a threshold;
fig. 4 is a schematic side view of the chassis of the independent swing arm type suspension according to the embodiment of the present invention after the driving wheel passes the threshold.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
As shown in fig. 1, the utility model provides a chassis 1 of independent swing arm type suspension for bear the weight of the robot body, drive the robot and carry out the distribution task. The robot 1 comprises a base 10 and a set of drive wheels. The driving wheel set is disposed on the base 10. The drive wheel assembly includes two oppositely disposed drive wheel assemblies 20. The driving wheel set 20 includes a swinging member 21, an elastic damper 22, a first fixing portion 23, a second fixing portion 24, and a driving wheel 25.
Further, the swinging member 21 is hinged to the first fixing portion 23 at a first hinge position 50. The oscillating member 21 is hinged to one end of the elastic damper 22 in a third hinge position 70. The other end of the elastic damper 22 is hinged to the second fixed portion 24 at a second hinge position 60. The driving wheel 25 has a connecting section 251 protruding from the driving wheel 25. The drive wheel 25 is rotatable relative to the connecting segment 251. The connecting segment 251 is fixed on the oscillating piece 21 between the first hinge position 50 and the third hinge position 70.
Further, the first fixing portion 23 is fixed to the base 10. The first hinge point 50 is arranged adjacent to the base 10 and the first hinge point 50 is arranged closer to the front in the chassis advancement direction with respect to the drive wheel 25. The second fixing portion 24 is fixed to the first fixing portion 23. The first hinge position 50 is arranged closer to the base part 10 than the second hinge position 60.
Under the condition, the first hinge position is located in front of the driving wheel, namely the driving wheel swings in the moving process by taking the first hinge position as the center of circle, before the threshold is passed, the driving wheel is contacted with the ground by the downward elastic force of the elastic shock absorber, when the threshold is passed, the driving wheel swings around the first hinge position under the condition of the resistance of the threshold in the horizontal direction, and compared with the position of the driving wheel before the threshold in the horizontal direction relative to the first hinge position, the driving wheel has the backward displacement in the horizontal direction relative to the position of the first hinge position when the threshold is passed, the impact of the threshold on the chassis is relieved, and the stability of the chassis is favorably improved.
In some examples, the first hinge location 50 may be located at one end of the pendulum 21. The third hinge position 70 may be located at the other end of the pendulum 21.
As shown in fig. 3 and 4, before the driving wheel 25 passes the threshold, the angle between the swinging member 21 and the horizontal plane is negative, and when the driving wheel 25 passes the threshold, the swinging member 21 rotates counterclockwise, so that the angle between the swinging member 21 and the horizontal plane is approximately zero. Therefore, the position of the drive wheel with respect to the first hinge position at the time of passing the threshold has a rearward displacement in the horizontal direction as compared with the position of the drive wheel with respect to the first hinge position in the horizontal direction before passing the threshold.
In the present embodiment, the elastic damper 22 is disposed substantially perpendicular to the base 10. The elastic damper 22 may include a spring.
In the present embodiment, the drive wheel 25 includes an in-wheel motor.
In this embodiment, the base 10 further includes a first universal wheel set 30 and a second universal wheel set 40. The driving wheel set is disposed between the first universal wheel set 30 and the second universal wheel set 40. The first universal wheel set 30 and the second universal wheel set 40 are both provided with a damper (not shown). From this, through setting up the equilibrium that universal wheel group can promote the chassis around, the universal wheel group sets up the stationarity that the shock absorber can promote the chassis when passing through the obstacle, consequently the totality has promoted the stationarity of chassis.
As shown in fig. 2, in some examples, the first universal wheel assembly 30 may include one first universal wheel assembly. And the second universal wheel set 40 may include a second universal wheel assembly. The first and second universal wheel assemblies may be provided in the middle of the base 10.
In some examples, the first steerable wheel assembly 30 includes two oppositely disposed first steerable wheel assemblies. The second universal wheel set 40 includes two oppositely disposed second universal wheel assemblies. The first universal wheel set 30, the driving wheel set and the second universal wheel set 40 are arranged in parallel.
In the present embodiment, the first fixing portion 23 is provided perpendicular to the base portion 10. The second fixing portion 24 is disposed parallel to the base portion 10.
In some examples, the first fixing portion 23 may be substantially plate-shaped. The second fixing portion 24 may be elongated.
In the present embodiment, the chassis 1 of the independent swing arm type suspension further includes a third fixing portion 80. The third fixing portion 80 is vertically disposed on the base portion 10. The first fixing portion 23 and the third fixing portion 80 support both ends of the second fixing portion 24, respectively. Thereby, the first fixing portion and the third fixing portion support the second fixing portion so that the second hinge position can be stably hinged. It will be appreciated that the second fixing portions 24 are provided in pairs on both sides of the base 10.
In some examples, the third fixing portion 80 may be plate-shaped.
In the present embodiment, the chassis 1 of the independent swing arm type suspension further includes a support portion 90. The supporting portion 90 connects the two first fixing portions 23 disposed oppositely. The second fixing portion 24 is fixed to the support portion 90. In this case, the fixing of the second fixing portion is made more firm, and the support portion may be used to support the body structure of the robot.
In some examples, the support 90 may be elongated.
In the present embodiment, the third fixing portion 80 may be disposed in parallel with the supporting portion 90, and the second fixing portion 24 may be perpendicular to the third fixing portion 80. In some examples, an end of the second fixing portion 24 may be overlapped with the supporting portion 90.
In the present embodiment, the fixing position of the connecting segment 251 to the swinging member 21 in the forward direction of the chassis 1 is provided between the first hinge position 50 and the second hinge position 70. Therefore, the swing angle of the swing piece can be restrained, the swing angle is controlled within a small swing range, the vibration amplitude of the driving wheel during threshold passing is reduced, and the threshold passing stability of the chassis is improved.
In some examples, it is preferred that the fixing position of the connecting segment 251 to the oscillating piece 21 is arranged close to the second hinge position 70.
The embodiment of the present invention also relates to a robot (not shown), including the chassis 1 of the independent swing arm type suspension as described above. The detailed description of the chassis 1 of the independent swing arm type suspension is omitted. The robot further comprises a body, and the body is fixed on the chassis. Under the condition, the position of the first hinge position is in front of the driving wheel, namely the driving wheel swings in the moving process by taking the first hinge position as the center of a circle, before the threshold is crossed, the driving wheel is contacted with the ground by the downward elastic force of the elastic shock absorber, when the threshold is crossed, the driving wheel swings around the first hinge position under the condition of the resistance of the threshold in the horizontal direction, and the driving wheel position before the threshold is provided with a backward position in the horizontal direction, so that the impact of the threshold on the robot is relieved, the stability of the robot is favorably improved, and the first hinge position is arranged close to the base, so that the first hinge position is closer to the ground as much as possible, and the smoothness performance of the robot when the threshold is crossed is favorably improved.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. A chassis of an independent swing arm type suspension, comprising:
the driving wheel set is arranged on the base and comprises two driving wheel assemblies which are oppositely arranged, and each driving wheel assembly comprises a swinging piece, an elastic shock absorber, a first fixing part, a second fixing part and a driving wheel;
the swinging piece is hinged with the first fixed part at a first hinged position, one end of the swinging piece is hinged with the elastic shock absorber at a third hinged position, the other end of the elastic shock absorber is hinged with the second fixed part at a second hinged position, the driving wheel is provided with a connecting section extending out of the driving wheel, the driving wheel can rotate relative to the connecting section, and the connecting section is fixed between the first hinged position and the third hinged position on the swinging piece,
the first fixing portion is fixed to the base portion, the first hinge position is provided adjacent to the base portion, and the first hinge position is provided closer to the front in the chassis advancing direction with respect to the drive wheel, the second fixing portion is fixedly provided with respect to the first fixing portion, and the first hinge position is provided closer to the base portion with respect to the second hinge position.
2. The chassis of the independently swinging arm suspension of claim 1, wherein the base further comprises a first universal wheel set and a second universal wheel set, the drive wheel set is disposed between the first universal wheel set and the second universal wheel set, and the first universal wheel set and the second universal wheel set are each provided with a damper.
3. The chassis of the independently swinging arm type suspension of claim 2, wherein the first universal wheel set comprises two oppositely disposed first universal wheel assemblies, and the second universal wheel set comprises two oppositely disposed second universal wheel assemblies, and the first universal wheel set, the driving wheel set and the second universal wheel set are disposed in parallel.
4. The chassis of the independently swinging arm suspension of claim 1, wherein the first fixed portion is disposed perpendicular to the base portion, and the second fixed portion is disposed parallel to the base portion.
5. The chassis of the independent swing arm suspension of claim 4, further comprising a third fixing portion vertically disposed on the base portion, the first fixing portion and the third fixing portion supporting both ends of the second fixing portion, respectively.
6. The chassis of the independently swinging arm type suspension as claimed in claim 5, further comprising a support portion connecting the two first fixing portions disposed oppositely, the second fixing portion being fixed to the support portion.
7. The chassis of the independently swinging arm type suspension of claim 6, wherein the third fixing portion is disposed in parallel with the supporting portion, and the second fixing portion is perpendicular to the third fixing portion.
8. The chassis of the independent swing arm suspension of claim 1, wherein the attachment position of the attachment section to the swing member in the forward direction of the chassis is disposed between the first hinge position and the second hinge position.
9. The chassis of the independently swinging arm suspension of claim 1, wherein the base is a plate.
10. A robot comprising the chassis of the independent swing arm suspension according to any one of claims 1 to 9, further comprising a body fixed to the chassis.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021867551.5U CN213973487U (en) | 2020-08-30 | 2020-08-30 | Chassis of independent swing arm type suspension and robot |
| PCT/CN2021/077417 WO2022041666A1 (en) | 2020-08-30 | 2021-02-23 | Chassis having independent swing arm suspension, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021867551.5U CN213973487U (en) | 2020-08-30 | 2020-08-30 | Chassis of independent swing arm type suspension and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213973487U true CN213973487U (en) | 2021-08-17 |
Family
ID=77252962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021867551.5U Active CN213973487U (en) | 2020-08-30 | 2020-08-30 | Chassis of independent swing arm type suspension and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN213973487U (en) |
| WO (1) | WO2022041666A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN218967014U (en) * | 2022-12-13 | 2023-05-05 | 丰巢网络技术有限公司 | Chassis mechanism and distribution robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1755810B2 (en) * | 1967-06-22 | 1976-07-01 | Moulton Developments Ltd., Bradfordon-Avon, Wiltshire (Grossbritannien) | CHASSIS FOR MULTI-AXLE COMMERCIAL VEHICLES WITH TORSION-RESISTANT VEHICLE FRAME, SINGLE-WHEEL SUSPENSION AND HYDRAULIC WHEEL PRESSURE COMPENSATION |
| WO2005058620A1 (en) * | 2003-12-17 | 2005-06-30 | Macisaac William L | Vehicle with movable and inwardly tilting safety body |
| CN103754080B (en) * | 2014-01-15 | 2016-04-13 | 国网四川省电力公司电力科学研究院 | Intelligent Mobile Robot chassis of vehicle body |
| CN106379124B (en) * | 2016-11-03 | 2019-03-12 | 四川阿泰因机器人智能装备有限公司 | A kind of multidirectional damping device of damping automatic adjustment applied to wheeled mobile robot |
| CN110722954A (en) * | 2019-11-18 | 2020-01-24 | 广东博智林机器人有限公司 | Chassis and automatic material conveying robot |
-
2020
- 2020-08-30 CN CN202021867551.5U patent/CN213973487U/en active Active
-
2021
- 2021-02-23 WO PCT/CN2021/077417 patent/WO2022041666A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022041666A1 (en) | 2022-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111907280A (en) | Chassis with reversing transmission suspension and robot | |
| KR0180370B1 (en) | Steering wheel suspension system | |
| CN212737667U (en) | Chassis with reversing transmission suspension and robot | |
| CN108099537B (en) | Torsion beam damping chassis | |
| CN213973487U (en) | Chassis of independent swing arm type suspension and robot | |
| CN104354777A (en) | Rocker arm type four-bar linkage suspension system for crawler vehicle | |
| CN111137089A (en) | Mecanum wheel independent suspension mechanism | |
| CN111605643A (en) | Robot chassis and robot | |
| KR102586324B1 (en) | Suspension system for vehicle | |
| CN212737668U (en) | Linkage oscillating type suspension chassis and robot | |
| CN215149032U (en) | Suspension system and robot | |
| JPH0194005A (en) | Suspension system for car | |
| KR20200072989A (en) | Suspension system for vehicle | |
| CN210062595U (en) | Suspension system and robot | |
| CN112248733A (en) | Chassis suspension mechanism, chassis and robot | |
| CN115140317B (en) | Passive gentle cis all-terrain planet detection vehicle | |
| CN213973486U (en) | Universal wheel swing type suspension chassis and robot | |
| KR102440585B1 (en) | Suspension system for vehicle | |
| WO2022143632A1 (en) | Mobile robot and traveling mechanism thereof | |
| CN205632009U (en) | Hang mechanism, chassis and mobile robot | |
| CN111907281A (en) | Linkage oscillating type suspension chassis and robot | |
| CN210139751U (en) | Independent suspension structure of Mecanum wheel omnidirectional mobile robot | |
| CN212146510U (en) | Connect stable robot fixed bolster | |
| CN210592220U (en) | Robot with double-bridge suspension | |
| KR20100059391A (en) | Suspension having automatic controll link |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |