CN217146148U

CN217146148U - Chassis damping mechanism, robot chassis and robot

Info

Publication number: CN217146148U
Application number: CN202122423031.6U
Authority: CN
Inventors: 郭耀文; 刘贤林; 何林
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-10-08
Filing date: 2021-10-08
Publication date: 2022-08-09
Anticipated expiration: 2031-10-08

Abstract

The utility model relates to a chassis damper, robot chassis and robot, wherein, chassis damper includes: a wheel coupling assembling that is used for the bottom plate coupling assembling that is connected with outside bottom plate, is used for the wheel coupling assembling that is connected with outside wheel assembly, bottom plate coupling assembling with wheel coupling assembling passes through elastic component and connects elastically for the power that wheel assembly received can not directly transmit to the bottom plate on, but by on elastic component absorbs on the bottom plate of retransmission again after partly, the fuselage of vibration direct transmission to robot that has avoided producing on the wheel assembly effectively improves stability. The robot chassis adopting the chassis damping mechanism and the robot have the characteristics of good stability, strong damping performance and strong adaptability.

Description

Chassis damping mechanism, robot chassis and robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a chassis damper, robot chassis and robot.

Background

In the prior art, the robot can generate vibration due to various reasons in the operation process, and the impact on the robot body during the operation of the robot is very large. As shown in fig. 1, in the prior art, a wheel assembly 2 of a robot is directly and rigidly connected to a bottom plate 1 in a chassis through screws and some rigid connectors 3, and such a connection manner would allow vibrations generated on the wheel assembly to be directly transmitted to a body on the chassis, so that the robot has poor smoothness and shock absorption performance during operation.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the shortcoming of above-mentioned prior art, providing a chassis damper, robot chassis and robot that stability is high, the performance is good, strong adaptability.

In order to achieve the above object, the utility model discloses a chassis damper, robot chassis and robot have following constitution:

this chassis damper, its key feature is, chassis damper includes:

the bottom plate connecting assembly is used for connecting with an external bottom plate;

the wheel connecting assembly is used for being connected with an external wheel assembly;

the bottom plate connecting assembly is elastically connected with the wheel connecting assembly through an elastic assembly.

As one preferable aspect of the above, the bottom plate connection assembly includes:

a floating part elastically connected with the wheel connection assembly through the elastic assembly;

and one end of the bottom plate connecting part is connected with the floating part, and the other end of the bottom plate connecting part is fixedly connected with the bottom plate.

As one preferable aspect of the above, the wheel connecting assembly includes:

the first connecting part is provided with an accommodating cavity, the floating part and the elastic component are positioned in the accommodating cavity, and the floating part is elastically connected with the first connecting part through the elastic component; the bottom of the first connecting part is provided with a slotted hole, and the slotted hole is used for the bottom plate connecting part to pass through and move in a limited range;

a second connecting portion connected with the first connecting portion and for being connected with the wheel assembly.

As one preferable mode, the floating portion includes a slider member, and the base plate connection portion includes a screw member;

the screw part sequentially penetrates through the bottom plate and the slotted hole at the bottom of the first connecting part and then is connected with the sliding block part;

the slider member is elastically connected to the first connection portion through the elastic member.

As a preferable technical solution, the elastic assembly includes a first elastic member, the first elastic member is disposed on two sides of the slider member, the slider member is connected to the first connection portion through the first elastic member, and the first elastic member is configured to absorb a lateral vibration force between the slider member and the first connection portion.

As a preferable technical solution, the slider part includes a slider, or the slider part includes an upper slider and a lower slider;

when the slider part comprises an upper slider and a lower slider, the elastic assembly further comprises a second elastic part; the second elastic part is arranged between the upper sliding block and the lower sliding block and used for absorbing the longitudinal vibration force between the sliding block part and the first connecting part; the screw part passes through the lower sliding block, the second elastic part and the upper sliding block in sequence.

As a preferred technical solution, the second connecting portion includes a driving wheel connecting portion and a driven wheel connecting portion respectively located at two sides of the accommodating cavity;

the driving wheel connecting part is connected with a driving wheel in the wheel assembly through a driving wheel swing rod assembly;

the driven wheel connecting part is connected with a driven wheel in the wheel assembly through a driven wheel swing rod assembly.

As a preferred technical scheme, the driving wheel swing link assembly comprises a driving wheel connecting swing link and a driving wheel fixing block;

the first end of the driving wheel connecting swing rod is rotatably connected with the driving wheel connecting part; the second end of the driving wheel connecting swing rod is connected with the driving wheel fixing block, and a motor shaft in a hub motor assembly in the driving wheel is locked and fixed in a groove between the second end of the driving wheel connecting swing rod and the driving wheel fixing block;

the driven wheel swing rod assembly comprises a driven wheel connecting swing rod;

the first end of the driven wheel connecting swing rod is rotatably connected with the driven wheel connecting part; and the second end of the driven wheel connecting swing rod is connected with the driven wheel through a driven wheel fixing piece.

As a preferred technical solution, the chassis damping mechanism further includes a damper assembly, one end of the damper assembly is connected to the second end of the driving wheel connecting swing rod through a first damping support member, and the other end of the damper assembly is connected to the second end of the driven wheel connecting swing rod through a second damping support member.

As a preferable technical solution, the top of the first connecting portion is provided with a pressing plate separately fixed on the second connecting portion, or is provided with an upper plate integrally connected with the second connecting portion.

As a preferable technical solution, an anti-wear gasket is disposed between the first connecting portion and the bottom plate.

The robot chassis is mainly characterized in that the chassis comprises a bottom plate, two groups of wheel assemblies and two groups of chassis damping mechanisms;

the bottom plates are respectively connected with the corresponding bottom plate connecting components in the chassis damping mechanism; the two groups of wheel assemblies are respectively and correspondingly connected with the wheel connecting assemblies in the two groups of chassis damping mechanisms.

The robot is mainly characterized by comprising the robot chassis.

The utility model discloses a chassis damper, robot chassis and robot's beneficial effect includes:

adopt this chassis damper, be connected bottom plate coupling assembling and wheel coupling assembling elastically through elastic component for the power that wheel component received can not directly transmit to the bottom plate on, but by transmitting to the bottom plate after elastic component absorbs partly, avoided the direct fuselage that transmits to the robot of vibration that produces on the wheel component, effectively improved stability. The robot chassis adopting the chassis damping mechanism and the robot have the characteristics of good stability, strong damping performance and strong adaptability.

Drawings

Fig. 1 is a schematic structural diagram of a robot chassis in the prior art.

Fig. 2 is a schematic diagram showing a relative connection relationship between components in the chassis damping mechanism according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a chassis damping mechanism in a robot chassis according to an embodiment of the present invention.

Fig. 4 is a schematic cross-sectional structure view of the chassis damping mechanism in fig. 3 in a robot chassis.

Fig. 5 is an exploded view of the chassis shock absorbing mechanism of fig. 3 in a robot chassis.

Fig. 6 is a schematic structural diagram of a chassis damping mechanism in a robot chassis according to another embodiment of the present invention.

FIG. 7 is a schematic cross-sectional view of the chassis damping mechanism in FIG. 6 in a robot chassis

Fig. 8 is an exploded view of the chassis shock absorbing mechanism of fig. 6 in a robot chassis.

Reference numerals

1 base plate

2 wheel assembly

21 driving wheel

22 driven wheel

3 rigid connecting piece

4 bottom plate connecting assembly

411 lower sliding block

412 upper slide block

413 slider

421 screw parts

5 wheel connecting assembly

51 slotted hole

521 pressure plate

522 upper plate

6 elastic component

71 driving wheel connecting swing rod

72 driving wheel fixing block

81 driven wheel connecting swing rod

82 driven wheel fixing piece

91 first shock-absorbing support

92 second shock absorbing support

10 POM gasket

11 rat-proof cover

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to some embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiment of the present invention, those skilled in the art

All other embodiments obtained without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "center", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In one embodiment, a chassis shock absorbing mechanism is used for a dispensing robot, the robot comprising: a housing for carrying items, a robot chassis, a function controller for providing user operations, an underlying controller for map generation and path planning, and an element controller for controlling the mobile unit and the environment detection unit; the travel speed of the drive wheel is controlled by the element controller. A driving wheel 21 is arranged on a robot chassis in the robot, the driving wheels 21 are respectively positioned at two sides of the robot chassis, a pair of driven wheels 22 are arranged at the front and the rear of the robot chassis, and a wheel assembly 2 consisting of the driving wheels 21 and the driven wheels 22 supports the robot; and the chassis damping mechanism is located at the junction of the driving pulley 21 and the driven pulley 22.

The structure and principle of the chassis damping mechanism of the present invention will be further described with reference to fig. 2 to 8 (note that fig. 2 and 8 only show the relative positions of the chassis damping mechanism with respect to the base plate 1 and the wheel assembly 2, and therefore the complete structure of the chassis is not drawn):

as shown in fig. 2, the chassis damping mechanism includes:

the bottom plate connecting assembly 4 is connected with a bottom plate 1 in the robot chassis;

the wheel connecting assembly 5 is connected with the wheel assembly 2 in the robot chassis;

the floor connecting assembly 4 and the wheel connecting assembly 5 are elastically connected by an elastic assembly 6.

The robot chassis in the embodiment comprises a bottom plate 1, two groups of wheel assemblies 2 and two groups of chassis damping mechanisms, wherein the bottom plate 1 on the chassis is respectively connected with a bottom plate connecting assembly 4 in the corresponding chassis damping mechanism; the two groups of wheel assemblies 2 are respectively and correspondingly connected with the wheel connecting assemblies 5 in the two groups of chassis damping mechanisms.

Since the floor connecting assembly 4 and the wheel connecting assembly 5 in this embodiment are not fixedly connected, but the floor connecting assembly 4 and the wheel connecting assembly 5 are elastically connected by the elastic assembly 6, when the force on the wheel is transmitted to the floor 1, the force is transmitted to the floor connecting assembly 4 and then to the floor 1 through the wheel connecting assembly 5 and the elastic assembly 6 in sequence. In the power transmission process, because elastic component 6 has certain compression space volume, can absorb the power of transmitting from wheel coupling assembling 5 to bottom plate coupling assembling 4 to can absorb the vibrational force on the robot chassis, thereby can effectively improve the stability on chassis, promote the operation stationarity and the complete machine shock attenuation performance of robot. Simultaneously, because elastic component 6's setting, can effectively carry on spacingly to the relative position between bottom plate coupling assembling 4 and the wheel coupling assembling 5 for the relation of connection is stable.

As shown in fig. 2 to 5, in this embodiment, the floor panel connecting assembly 4 includes:

a floating portion elastically connected to the wheel connecting assembly 5 through the elastic assembly 6;

and one end of the bottom plate connecting part is connected with the floating part, and the other end of the bottom plate connecting part is fixedly connected with the bottom plate 1.

In this embodiment, the wheel connecting assembly 5 includes:

the first connecting part is provided with an accommodating cavity, the floating part and the elastic component 6 are positioned in the accommodating cavity, and the floating part is elastically connected with the first connecting part through the elastic component 6; the bottom of the first connecting part is provided with a slotted hole 51, and the slotted hole 51 is used for the bottom plate connecting part to pass through and move in a limited range;

a second connecting portion connected with the first connecting portion and adapted to be connected with the wheel assembly 2.

As shown in fig. 3 to 5, the wheel connecting assembly 5 in this embodiment is a concave structure, the second connecting portions are respectively located on two sides of the first connecting portion, the first connecting portion and the second connecting portion are of an integral structure, the first connecting portion is provided with an accommodating cavity, the floating portion is in contact with a cavity wall of the accommodating cavity through the elastic assembly 6, the elastic assembly 6 elastically connects the floating portion with the first connecting portion, and the vibration force between the wheel connecting assembly 5 and the bottom plate connecting assembly 4 is absorbed. The wheel connecting assembly 5 is connected with the wheel assembly 2 through the openings on the second connecting parts on the two sides.

In this embodiment, the floating portion includes a slider member, and the base plate connecting portion includes a screw member 421;

the screw member 421 sequentially passes through the bottom plate 1 and the slot 51 at the bottom of the first connecting part and then is connected with the slider member;

the slider member is elastically connected to the first connecting portion by the elastic member 6.

Because the floating part in the bottom plate connecting assembly 4 is arranged in the accommodating cavity in the first connecting part of the wheel connecting assembly 5, and meanwhile, the floating part is connected with the bottom plate 1 positioned below the wheel connecting assembly 5 through the bottom plate connecting part, and meanwhile, the bottom plate connecting part can move in the limited range in the slotted hole 51 at the bottom of the first connecting part, so that the floating part is driven to move in the accommodating cavity of the first connecting part, and the rigid connection between the chassis and the vehicle is effectively avoided. Meanwhile, the floating part is in contact with the cavity wall of the accommodating cavity through the elastic component 6, so that the floating part is elastically connected with the first connecting part in the wheel connecting component 5 through the elastic component 6, collision between the floating part and the cavity wall of the accommodating cavity during relative movement can be avoided, a part of component force is absorbed, and vibration is reduced.

In this embodiment, the slot 51 is formed by a kidney-shaped hole, and in other embodiments, the slot may be formed by a hole having another shape that allows the floor attachment portion to move within a certain range.

In this embodiment, the elastic assembly 6 includes a first elastic member disposed at both sides of the slider member, and the slider member is connected to the first connection portion through the first elastic member, and the first elastic member is configured to absorb a vibration force in a lateral direction between the slider member and the first connection portion.

As shown in fig. 4, in this embodiment, the first elastic component includes rubber columns at two sides of the slider component, and the two rubber columns are respectively located between the two sides of the slider component and the gap between the two sides of the slider component and the cavity wall of the accommodating cavity. The rubber column has the characteristic of certain compression space amount, so that left and right vibration can be effectively absorbed, and the stability of the machine is improved.

In this embodiment, the slider parts include an upper slider 412 and a lower slider 411;

when the slider parts comprise an upper slider 412 and a lower slider 411, the elastic assembly 6 further comprises a second elastic part; the second elastic component is arranged between the upper slider 412 and the lower slider 411, and the second elastic component is used for absorbing the longitudinal vibration force between the slider component and the first connecting part; the screw member 421 sequentially passes through the lower slider 411, the second elastic member and the upper slider 412.

In this embodiment, the second elastic member includes a rubber sheet provided between the upper slider 412 and the lower slider 411. The characteristic that the rubber sheet has certain compressed space amount is utilized, the vertical vibration of the chassis can be effectively reduced, and therefore the stability of the machine is further improved.

As shown in fig. 4 and 5, the screw member 421 in this embodiment includes three tightening screws, and the tightening screws can drive the lower slider 411, the rubber sheet and the upper slider 412 to move in a small range between the two rubber columns in the accommodating cavity, so that the lower slider, the rubber sheet and the upper slider 412 do not collide with the rigid material, and vibration is reduced.

In this embodiment, the second connecting portion includes a driving wheel connecting portion and a driven wheel connecting portion respectively located at two sides of the accommodating cavity in the first connecting portion;

the driving wheel connecting part is connected with a driving wheel 21 in the wheel assembly 2 through a driving wheel swing rod assembly;

the driven wheel connecting part is connected with a driven wheel 22 in the wheel assembly 2 through a driven wheel swing rod assembly.

In this embodiment, the top of the first connecting portion is provided with a pressing plate 521 detachably fixed to the second connecting portion, and as shown in fig. 4 and 5, the pressing plate 521 is fixed to the wheel connecting assembly 5 by screws. The slider parts (the upper slider 412 and the lower slider 411) and the second elastic part are limited in the accommodating cavity by the pressing plate 521.

In this embodiment, the driving wheel swing link assembly includes a driving wheel connecting swing link 71 and a driving wheel fixing block 72;

wherein, the first end of the driving wheel connecting swing rod 71 is rotatablely connected with the driving wheel connecting part; the second end of the driving wheel connecting swing rod 71 is connected with the driving wheel fixing block 72, and a motor shaft in a hub motor assembly in the driving wheel 21 is locked and fixed in a groove between the second end of the driving wheel connecting swing rod 71 and the driving wheel fixing block 72;

the driving wheels 21 in the robot chassis in this embodiment are provided with motors, and the driving force of the driving wheels 21 is provided by the motors. The driving motor is a hub motor and is arranged in the driving wheel hub. In this embodiment, a screw is used to connect the second end of the driving wheel connecting swing rod 71 with the driving wheel fixing block 72, the motor shaft is limited in the groove between the second end of the driving wheel connecting swing rod 71 and the driving wheel fixing block 72, and the screw locks the groove of the D-shaped cross section of the motor shaft extension end to fix the hub motor.

The driven wheel swing rod assembly comprises a driven wheel connecting swing rod 81;

wherein, the first end of the driven wheel connecting swing link 81 is rotatably connected with the driven wheel connecting part; the second end of the driven wheel connecting swing rod 81 is connected with the driven wheel 22 through a driven wheel fixing piece 82.

In this embodiment, the chassis damping mechanism further includes a damper assembly, one end of which is connected to the second end of the driving wheel connecting swing link 71 through a first damping support 91, and the other end of which is connected to the second end of the driven wheel connecting swing link 81 through a second damping support 92.

In this embodiment, the first shock-absorbing supporting member 91 is screwed to the second end of the driving wheel connecting swing link 71, and the second shock-absorbing supporting member 92 is screwed to the second end of the driven wheel connecting swing link 81;

one end of the damper assembly is connected to the first damping supporter 91 through a perforated pin, the other end of the damper assembly is connected to the second damping supporter 92 through a perforated pin, and then the position of the perforated pin is restricted by an R-shaped pin to restrict the relative movement angle between the damper assembly and the first and second damping

supporters

91 and 92.

The driving wheel connecting part is connected with a driving wheel 21 in the wheel assembly 2 through a driving wheel swing rod assembly; the driven wheel connecting part is connected with a driven wheel 22 in the wheel assembly 2 through a driven wheel swing rod assembly, and meanwhile, a shock absorber assembly connected between the driving wheel 21 and the driven wheel 22 is further arranged. In this embodiment, the driven wheel 22 is formed of a universal wheel assembly. The design structure for hanging the driving wheel 21 with the shock absorption function and the rear universal wheel assembly on the same side can effectively reduce the influence of impact on the robot body during the operation of the robot.

In this embodiment, an anti-wear gasket is disposed between the wheel connecting assembly 5 and the bottom plate 1. The anti-abrasion gasket can be formed by a POM gasket 10 (namely a polyformaldehyde gasket), and sliding friction resistance between the wheel connecting assembly 5 and the bottom plate 1 can be effectively reduced through the arrangement of the anti-abrasion gasket. The joint of the POM gasket 10 and the bottom plate is provided with a single-sided back adhesive.

In some embodiments, a rat-proof cover 11 can be further arranged below the bottom plate 1 and at a position corresponding to the driving wheel connecting swing rod 71.

In this embodiment, a rat-proof cover 11 is provided just below the base plate 1 at a position corresponding to the driving wheel coupling swing lever 71.

In this embodiment, the chassis damping mechanisms on both sides of the chassis can be respectively installed on the chassis of the robot by the following installation methods:

the screw member 421 formed by screwing sequentially passes through the bottom plate 1, the POM gasket 10, the slotted hole 51 at the bottom of the wheel connecting assembly 5, the lower slider 411, the rubber sheet and the upper slider 412, so that the bottom plate connecting assembly 4 and the wheel connecting assembly 5 are fixed on the bottom plate 1, and the two rubber columns are arranged at two sides of the lower slider 411, the rubber sheet and the upper slider 412, thereby playing the role of limiting and damping. Then, the pressing plate 521 is fixed above the wheel connecting assembly 5, and the bottom plate connecting assembly 4, the lower slider 411, the rubber sheet and the upper slider 412 are limited in the accommodating cavity in the wheel connecting assembly 5.

The first end of the driving wheel connecting swing rod 71 is connected to the driving wheel connecting portion of the wheel connecting assembly 5 through a hole pin, the second end of the driving wheel connecting swing rod 71 is connected to the driving wheel fixing block 72, and a motor shaft in the hub motor assembly in the driving wheel 21 is locked and fixed to the second end of the driving wheel connecting swing rod 71 and a groove between the driving wheel fixing blocks 72, so that the wheel connecting assembly 5 is connected with the driving wheel 21.

The first end of the driven wheel connecting swing rod 81 is connected with the driven wheel connecting part through a hole pin, the second end of the driven wheel connecting swing rod 81 is connected with the driven wheel 22 through a driven wheel fixing part 82, and the driven wheel 22 is locked on the driven wheel connecting swing rod 81.

One end of a shock absorber assembly is connected with the second end of the driving wheel connecting swing rod 71 through a first shock absorbing support member 91, the other end of the shock absorber assembly is connected with the second end of the driven wheel connecting swing rod 81 through a second shock absorbing support member 92, wherein two ends of the shock absorber assembly are respectively connected with the first shock absorbing support member 91 and the second shock absorbing support member 92 through corresponding hole pins, in the embodiment, one end of the shock absorber assembly connected with the second shock absorbing support member 92 is a free end of the shock absorber, and the connection is completed by pressing the free end of the shock absorber assembly into a corresponding notch of the driven wheel swing rod assembly.

A rat-proof cover 11 is locked under the base plate 1.

As shown in fig. 6 to 8, the structure and the operation principle of the chassis damping mechanism in another embodiment are substantially the same as those of the chassis damping mechanism in the above embodiment, only the different parts in the two embodiments are described below, and the description of the parts that are the same is omitted here:

in this embodiment, the slider part includes a slider 413, a screw part 421 is connected to the slider 413, and rubber posts are provided on both sides of the slider 413.

In this embodiment, the top of the receiving cavity in the first connecting portion of the wheel connecting assembly 5 is provided with an upper plate 522 integrally connected with the second connecting portion, so that the sliding block 413 is limited between the bottom of the receiving cavity and the upper plate 522, and fig. 6 can visually see that the first connecting portion, the second connecting portion and the upper plate 522 in this embodiment are integrally formed. The upper plate 522 may also have slots formed therein.

In the embodiment, the rubber column is also utilized to absorb the vibration, so that the stability of the machine is improved.

The upper plate 522 in this embodiment has a similar function to the pressing plate 521 in the previous embodiment, and both have a function of limiting the floating portion (i.e., the slider component mentioned in this embodiment) in the accommodating cavity, so that the accommodating cavity forms a slide for the floating portion to move only left and right, thereby reducing the up-and-down movement of the floating portion, ensuring the strength of each part in the chassis damping mechanism, and prolonging the service life.

the screw member 421 including three plug screws sequentially passes through the bottom plate 1, the POM gasket 10, the slot hole at the bottom of the accommodating cavity in the first connecting portion, and the slider 413 (the slot hole is not drawn in fig. 6 and 8 due to the angle relationship), so that the bottom plate connecting assembly 4 and the wheel connecting assembly 5 are fixed on the bottom plate 1, and the two rubber columns are arranged on the two sides of the slider member, thereby playing the role of limiting and damping. Then, since the upper plate 522 is fixed above the wheel connecting assembly 5, the bottom plate connecting assembly 4 and the rubber column are limited in the accommodating cavity in the wheel connecting assembly 5.

The first end of the driving wheel connecting swing rod 71 is connected to a driving wheel connecting portion of the wheel connecting assembly 5 through a hole pin, the driving wheel is connected to the second end of the swing rod 71, the driving wheel fixing block 72 is connected, and a motor shaft in a hub motor assembly in the driving wheel 21 is locked and fixed to the second end of the driving wheel connecting swing rod 71 and a groove between the driving wheel fixing blocks 72, so that the wheel connecting assembly 5 is connected with the driving wheel 21.

A first end of the driven wheel connecting swing rod 81 is connected with the driven wheel connecting part through a hole pin, a second end of the driven wheel connecting swing rod 81 is connected with the driven wheel 22 through a driven wheel fixing part 82, and the driven wheel is locked on the driven wheel connecting swing rod 81.

One end of a shock absorber assembly is connected with the second end of the driving wheel connecting swing rod 71 through a first shock absorbing support member 91, the other end of the shock absorber assembly is connected with the second end of the driven wheel connecting swing rod 81 through a second shock absorbing support member 92, wherein two ends of the shock absorber assembly are respectively connected with the first shock absorbing support member 91 and the second shock absorbing support member 92 through corresponding hole pins, in the embodiment, one end of the shock absorber assembly connected with the second shock absorbing support member 92 is a free end of the shock absorber, and the connection is completed by pressing the free end of the shock absorber assembly into a corresponding notch of the driven wheel swing rod assembly 8.

A rat-proof cover 11 is locked under the base plate 1.

Can see from above-mentioned two embodiments, the utility model discloses a chassis damper provides a low cost's structure, adopts elastic connection's bottom plate coupling assembling 4 and wheel coupling assembling 5, keeps apart driving motor's vibration to this promotes the operation stationarity and the complete machine damping performance of robot, simultaneously, through will have the absorbing action wheel 21 and hang the design with homonymy rear universal wheel subassembly (driven wheel subassembly promptly), can reduce the impact that the robot receives when moving and influence the fuselage.

In the robot chassis of an embodiment, the robot chassis may include a bottom plate 1, two sets of wheel assemblies 2, and two sets of chassis damping mechanisms, wherein the chassis damping mechanisms may be formed by the chassis damping mechanisms in the above embodiments;

the bottom plates 1 are respectively connected with corresponding bottom plate connecting components 4 in the chassis damping mechanism; the two groups of wheel assemblies 2 are respectively and correspondingly connected with the wheel connecting assemblies 5 in the two groups of chassis damping mechanisms.

Wherein, the bottom plate can be made of 45# steel.

In the robot of an embodiment, the robot may include the robot chassis of the above-described embodiment. Then the machine body is arranged on the chassis, so that the machine body can move stably under the drive of the chassis.

The robot chassis and the robot in the embodiment have the following advantages:

through the design of the chassis damping mechanism of the utility model, the vibration from the driving motor can be isolated, the running stability of the whole machine is obviously improved, and the damping performance is good; the driving wheel 21 with shock absorption and the rear driven wheel 22 at the same side are suspended, so that the influence of impact on the robot body during the operation of the robot can be reduced; meanwhile, the structure is simple, and the cost is low; the adaptability is strong, and the method is suitable for fast iteration of products.

Several specific examples of the feasible ways of implementing the chassis damping mechanism of the present technical solution are listed below for the reference of the skilled person:

detailed description of the preferred embodiment

In this embodiment, the chassis shock absorbing mechanism includes:

Detailed description of the invention

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

Detailed description of the preferred embodiment

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

Detailed description of the invention

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

In this embodiment, the floating portion includes a slider member, and the base plate connecting portion includes a screw member;

Detailed description of the preferred embodiment

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

The elastic assembly comprises a first elastic part, the first elastic part is arranged on two sides of the sliding block part, the sliding block part is connected with the first connecting part through the first elastic part, and the first elastic part is used for absorbing transverse vibration force between the sliding block part and the first connecting part.

Detailed description of the preferred embodiment

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

the first connecting part is provided with an accommodating cavity, the floating part and the elastic component are positioned in the accommodating cavity, and the floating part is elastically connected with the first connecting part through the elastic component; a slotted hole is formed in the bottom of the first connecting part, and is used for the bottom plate connecting part to penetrate through and move in a limited range;

a second connecting portion connected with the first connecting portion and adapted to be connected with the wheel assembly.

The slide block component comprises a slide block, or the slide block component comprises an upper slide block and a lower slide block;

Detailed description of the preferred embodiment

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

In this embodiment, the second connecting portion includes a driving wheel connecting portion and a driven wheel connecting portion respectively located at two sides of the accommodating cavity;

Detailed description of the preferred embodiment

In this embodiment, the chassis damping mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

In this embodiment, the driving wheel swing link assembly comprises a driving wheel connecting swing link and a driving wheel fixing block;

Detailed description of the preferred embodiment

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

In the embodiment, the driving wheel swing rod assembly comprises a driving wheel connecting swing rod and a driving wheel fixing block;

In this embodiment, the chassis damping mechanism further includes a damper assembly, one end of the damper assembly is connected to the second end of the driving wheel connecting swing rod through a first damping support member, and the other end of the damper assembly is connected to the second end of the driven wheel connecting swing rod through a second damping support member.

Detailed description of the preferred embodiment

In this embodiment, the chassis damping mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

In this embodiment, the top of the first connecting portion is provided with a pressing plate separately fixed on the second connecting portion, or provided with an upper plate integrally connected with the second connecting portion.

Detailed description of the invention

In this embodiment, the chassis shock absorbing mechanism includes:

In this embodiment, the floor panel connection assembly includes:

In this embodiment, the wheel connecting assembly includes:

In this embodiment, an anti-wear gasket is disposed between the accommodating cavity of the wheel connecting assembly and the bottom plate.

In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims

1. A chassis damping mechanism, comprising:

the bottom plate connecting assembly is elastically connected with the wheel connecting assembly through an elastic assembly;

wherein, the bottom plate coupling assembling includes: a floating part elastically connected with the wheel connection assembly through the elastic assembly; the floating part and the elastic component are positioned in the accommodating cavity, and the floating part is elastically connected with the first connecting part through the elastic component.

2. The chassis cushioning mechanism of claim 1, wherein said floor attachment assembly comprises:

3. The chassis cushioning mechanism of claim 2, wherein the wheel attachment assembly comprises:

a second connecting portion connected to the first connecting portion and configured to be connected to the wheel assembly;

the bottom of the first connecting part is provided with a slotted hole, and the slotted hole is used for the bottom plate connecting part to pass through and move in a limited range.

4. The chassis damping mechanism according to claim 2,

the floating portion includes a slider member, and the base plate connecting portion includes a screw member;

5. The chassis damping mechanism according to claim 4, wherein the elastic member includes a first elastic member disposed at both sides of the slider member, the slider member being connected to the first connecting portion through the first elastic member, the first elastic member being configured to absorb a lateral vibration force between the slider member and the first connecting portion.

6. The chassis damping mechanism of claim 4,

7. The chassis damping mechanism as claimed in claim 3, wherein the second connecting portion includes a driving wheel connecting portion and a driven wheel connecting portion respectively located at both sides of the accommodating chamber;

8. The chassis damping mechanism of claim 7,

the driving wheel swing rod assembly comprises a driving wheel connecting swing rod and a driving wheel fixing block;

9. The chassis damping mechanism as claimed in claim 8, further comprising a damper assembly, one end of which is connected to the second end of the driving wheel connecting link through a first damping support member, and the other end of which is connected to the second end of the driven wheel connecting link through a second damping support member.

10. The chassis damping mechanism as claimed in claim 3, wherein the top of the first connecting portion is provided with a pressing plate separately fixed on the second connecting portion or provided with an upper plate integrally connected with the second connecting portion.

11. A robot chassis, characterized in that the chassis comprises a base plate, two sets of wheel assemblies and two sets of chassis shock absorbing mechanisms according to any one of claims 1 to 10;

12. A robot, characterized in that the robot comprises a robot chassis as claimed in claim 11.