CN219856716U - Robot suspension damping system and robot - Google Patents

Abstract

The utility model discloses a robot suspension damping system and a robot. The robot suspension damping system comprises a robot chassis, a driving wheel, a driven wheel assembly and a first damping structure; the driven wheel assembly comprises a first driven wheel and a second driven wheel which are arranged on the chassis of the robot; the first damping structure comprises a first damping spring and a damper matched with the first damping spring, wherein both ends of the first damping spring and both ends of the damper are connected with the driving wheel and the second driven wheel. According to the technical scheme provided by the utility model, when the robot is impacted by the ground, the first damping spring can absorb vibration energy through compression deformation of the first damping spring, and further, the machine shake caused by rapid compression and rebound of the first damping spring can be prevented through the damper, so that the robot can still keep stable when the robot runs on a bad road, the integrity of conveyed objects is ensured, the use experience of a user is improved, and the use rate of the robot is improved.

Description

Robot suspension damping system and robot

Technical Field

The utility model relates to the technical field of intelligent mobile equipment, in particular to a robot suspension damping system and a robot.

Background

Mobile robots are increasingly used in everyday life, for example: restaurant meal delivery, hotels, building delivery, mall guides, etc. Moreover, various topography exists in the distribution scene, such as pits, slopes and curves exist in the uneven ground, or a plurality of barriers and the like possibly appear on the ground, so that the normal and stable running of the robot is influenced, the robot is easy to topple over, leak or damage food or objects to be delivered, the using satisfaction degree of the robot cannot meet the requirement, the price value of the robot cannot be displayed, and the robot cannot be popularized in a large scale.

Disclosure of Invention

Therefore, the technical problem to be solved by the utility model is that when the traditional robot encounters bad road conditions in the transfer process, the movement is unstable, the service effects such as meal delivery and the like are affected, and the utilization rate of the robot is affected.

In order to solve the above technical problems, the present utility model provides a suspension damping system for a robot, comprising:

a robot chassis;

the driving wheel is arranged on the robot chassis;

the driven wheel assembly comprises a first driven wheel and a second driven wheel which are arranged on the robot chassis, the first driven wheel is positioned in front of the driving wheel, and the second driven wheel is positioned behind the driving wheel;

the first damping structure comprises a first damping spring and a damper matched with the first damping spring, wherein both ends of the first damping spring and both ends of the damper are connected with the driving wheel and the second driven wheel.

Optionally, the damper includes the oil pressure bumper shock absorber, the oil pressure bumper shock absorber includes the bumper shock absorber main part and flexible activity locates the piston head on the bumper shock absorber main part, the both ends of first damping spring are connected the bumper shock absorber main part with the piston head, the bumper shock absorber main part with the piston head is connected respectively the drive wheel with the second follows the driving wheel.

Optionally, the first shock absorbing structure further includes:

the chassis connecting piece is arranged on the robot chassis;

the two ends of the first connecting structure are respectively hinged to one end of the chassis connecting piece and one end of the oil pressure damper, and the second driven wheel is arranged on the first connecting structure;

and the two ends of the second connecting structure are respectively hinged to the chassis connecting piece and the other end of the oil pressure damper, and the driving wheel is arranged on the second connecting structure and is connected with the second connecting structure.

Optionally, the first connecting structure includes a first fixed plate, and with the first connecting plate that the first fixed plate is connected, the second is from the driving wheel to be located on the first fixed plate, the first connecting plate respectively with chassis connecting piece with the one end of oil pressure bumper shock absorber articulates mutually.

Optionally, the second connection structure includes a second connection board, the driving wheel is disposed on the second connection board, and the second connection board is hinged with the chassis connection piece and the other end of the hydraulic shock absorber respectively.

Optionally, the first damper spring is configured as a variable pitch spring.

Optionally, in a direction along the expansion and contraction of the first damper spring, a pitch of two end portions of the first damper spring is smaller than a pitch at a middle portion of the first damper spring; or,

in a telescopic direction along the first damper spring, a pitch of one end of the first damper spring is larger than a pitch of the other end of the first damper spring.

Optionally, the suspension damping system of the robot further comprises a second damping structure, and the second damping structure is arranged corresponding to the first driven wheel.

Optionally, the second shock absorbing structure includes:

the second fixed plate is connected with the robot chassis and provided with a sliding groove;

the first driven wheel is arranged on the first connecting plate;

and two ends of the second damping spring are connected with the second fixing plate and the third connecting plate.

The utility model also provides a robot, which comprises the robot suspension damping system.

The technical scheme provided by the utility model has the following advantages:

the utility model provides a robot suspension damping system, which comprises a robot chassis, a driving wheel, a driven wheel assembly and a first damping structure, wherein the driving wheel can rotate and run under the driving of the driving mechanism, so that a first driven wheel and a second driven wheel which are respectively positioned in front of and behind the driving wheel are driven to rotate and run, and a plurality of wheel bodies are supported at the bottom of the robot, so that the robot is more stable in moving; and still be equipped with first shock-absorbing structure between driven driving wheel and second driving wheel, can carry out the shock attenuation to driving wheel and second from driving wheel department simultaneously through first shock-absorbing structure, make the robot also can more steadily drive when meetting bad road surface, first shock-absorbing structure comprises first damping spring and attenuator moreover, when the robot receives ground impact, first damping spring accessible self compression deformation absorbs vibration energy, when the impact disappears, first damping spring can resume original state, further can prevent through the attenuator that first damping spring compresses rapidly and the machine that the resilience brought rocks, thereby make the robot still can keep steadily when going in bad road surface, thereby guarantee to transport the good of article, promote user's use experience sense, thereby improve the utilization ratio of robot.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a suspension damping system for a robot according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a portion of the suspension damping system of the robot of FIG. 1;

FIG. 3 is a schematic view of the first damper spring and the hydraulic damper shown in FIG. 1;

FIG. 4 is a schematic view of another embodiment of the first damper spring shown in FIG. 3;

fig. 5 is a schematic view of the bottom structure of the suspension damping system of the robot shown in fig. 1.

Reference numerals illustrate:

100-a robot suspension damping system; 1-a robot chassis; 2-driving wheels; 3-a driven wheel assembly; 31-a first driven wheel; 32-a second driven wheel; 4-a first shock absorbing structure; 41-a first shock-absorbing spring; 42-an oil pressure damper; 421-a shock absorber body; 422-piston head; 43-chassis connection; 44-a first connection structure; 441-a first fixing plate; 442-first connection plate; 45-a second connection structure; 451-a second connection plate; 5-a second shock absorbing structure; 51-a second fixing plate; 52-a third connecting plate; 53-second damper springs.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. The utility model will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In the present utility model, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present utility model.

Example 1

The utility model provides a robot suspension damping system 100 which is suitable for a mobile robot, and can enable the robot to be more stable and stable during movement, so that when objects are conveyed, the objects are more stable on the robot, and the conveying effect is better.

Specifically, referring to fig. 1 and 5, a robot suspension damping system 100 includes a robot chassis 1, a driving wheel 2 provided on the robot chassis 1, a driven wheel assembly 3, and a first damping structure 4; the driving wheel 2 can rotate under the driving action of a driving mechanism on the robot main body, so that the robot is driven to integrally move forwards or backwards and the like; the driven wheel assembly 3 can rotate under the drive of the driving wheel 2 so as to be supported at the bottom of the robot together with the driving wheel 2, so that the robot is more stable in moving, the driven wheel assembly 3 comprises a first driven wheel 31 and a second driven wheel 32 which are arranged on the robot chassis 1, the first driven wheel 31 is positioned in front of the driving wheel 2, and the second driven wheel 32 is positioned behind the driving wheel 2 so as to be supported by the driven wheels formed in front of and behind the driving wheel 2, so that the robot is more stable in moving; the first damping structure 4 comprises a first damping spring 41 and a damper matched with the first damping spring 41, wherein both ends of the first damping spring 41 and both ends of the damper are connected with the driving wheel 2 and the second driven wheel 32.

The driving wheel 2 and the second driven wheel 32 can be damped simultaneously through the first damping structure 4, so that the robot can drive through the first damping structure 4 more stably when encountering a bad road surface, the first damping structure 4 consists of the first damping spring 41 and a damper, when the robot is impacted by the ground, the first damping spring 41 can absorb vibration energy through self compression deformation, when the impact disappears, the first damping spring 41 can be restored to the original state, further, the machine shake caused by rapid compression and rebound of the first damping spring 41 can be prevented through the damper, and therefore, the robot can still keep stable when driving on the bad road surface, the object conveying integrity is ensured, the user experience is improved, and the use rate of the robot is improved.

It should be noted that, when the robot suspension damping system 100 is mounted on the robot main body and works normally, the first driven wheel 31 forms a front wheel, the second driven wheel 32 forms a rear wheel, and the front-back direction of the robot suspension damping system 100 is the direction along the first driven wheel 31 toward the second driven wheel 32, and the following description about the direction can be referred to as follows.

In one embodiment, the first damping spring 41 and the damper may be disposed in parallel to compress and rebound synchronously, and the speed of compressing and rebounding of the first damping spring 41 may be slowed down by the damper, so that the shaking degree is effectively reduced when the driving wheel 2 and the second driven wheel 32 of the robot are impacted by a bad road surface.

Preferably, as shown in fig. 2 and 3, the damper includes an oil pressure damper 42, the oil pressure damper 42 includes a damper main body 421 and a piston head 422 telescopically movably provided on the damper main body 421, the first damper spring 41 may be sleeved on the outside of the oil pressure damper 42, and both ends of the first damper spring 41 are connected with the damper main body 421 and the piston head 422, and the damper main body 421 and the piston head 422 are respectively connected with the driving wheel 2 and the second driven wheel 32, so that the driving wheel 2 and the second driven wheel 32 may be damped under the action of a set of first damper structures 4, the structure is simpler, and the damping effect is better.

Further, as shown in fig. 2, the first shock absorbing structure 4 further includes a chassis connecting member 43, a first connecting structure 44 and a second connecting structure 45, where the chassis connecting member 43 is disposed on the robot chassis 1 and fixedly connected with the robot chassis 1; two ends of the first connecting structure 44 are respectively hinged to one end of the chassis connecting piece 43 and one end of the hydraulic damper 42, and the second driven wheel 32 is arranged on the first connecting structure 44; the two ends of the second connecting structure 45 are respectively hinged to the chassis connecting member 43 and the other end of the hydraulic damper 42, the driving wheel 2 is connected to the second connecting structure 45, the chassis connecting member 43, the first connecting structure 44, the hydraulic damper 42 and the second connecting structure 45 are sequentially hinged to form a set of four-bar structure together, so that when the driving wheel 2 receives impact force, the second connecting structure 45 can swing forwards or backwards, thereby applying compression or tension force to the first damping spring 41, and the compression or tension deformation of the first damping spring 41 itself absorbs vibration energy to reduce vibration on the driving wheel 2, so that the driving is smoother, and when the impact force disappears, the hydraulic damper 42 can prevent the shaking caused by rapid compression and rebound of the first damping spring 41 when the first damping spring 41 returns to the deformation, so that the robot can still keep stable when driving on a bad road.

Further, as shown in fig. 1 and 2, the first connecting structure 44 includes a first fixing plate 441, and a first connecting plate 442 connected to the first fixing plate 441, the second driven wheel 32 is disposed on the first fixing plate 441, and the first connecting plate 442 is hinged to one end of the chassis connecting member 43 and one end of the hydraulic damper 42, so that the assembly is more convenient, and a routed movable space of the first fixing plate 441 is ensured, so that the damping can be better performed.

Preferably, the second connection structure 45 includes a second connection plate 451, on which the driving wheel 2 is provided, and the second connection plate 451 is hinged to the other ends of the chassis connection member 43 and the hydraulic damper 42, respectively. The diameters of the first driven wheel 31 and the second driven wheel 32 are the same, so that the supporting effect of the front end and the rear end of the robot chassis 1 is consistent, and the diameter of the driving wheel 2 is larger than the diameter of the first driven wheel 31 and the diameter of the second driven wheel 32, so that the driving wheel 2 can have enough driving force to drive the first driven wheel 31 and the second driven wheel 32 to move.

Further, to further enhance the shock absorbing effect, the first shock absorbing springs 41 are provided as variable pitch springs, the pitches of which are different so as to correspond to different rigidities, the smaller the pitch, the smaller the rigidity, and the larger the pitch, the larger the rigidity. When the robot runs on a generally flat ground and has small load, the road surface is slightly uneven, namely, when the impact force applied to the driving wheel 2 or the second driven wheel 32 is small, the robot can be compressed in advance by the part with smaller rigidity (smaller pitch), so that the smoothness is better. When the robot is in a heavy load, a sudden braking state or encounters a large pit, that is, the impact force received by the driving wheel 2 or the second driven wheel 32 is larger, the compression of the first damping spring 41 can reach the part with larger rigidity (larger pitch), and enough supporting force can be ensured, so that the suspension damping system 100 of the robot can adapt to the damping requirements of different environments, and has stronger adaptability.

In an embodiment, as shown in fig. 3, in the extending and contracting direction along the first damper spring 41, the pitch of the two ends of the first damper spring 41 is smaller than the pitch at the middle of the first damper spring 41, so that when the driving wheel 2 and the second driven wheel 32 are subjected to smaller impact, the damping effect of the driving wheel 2 and the second driven wheel 32 is more balanced by the small pitch ends of the two ends of the first damper spring 41.

In another embodiment, as shown in fig. 4, in the expansion and contraction direction along the first damper spring 41, the pitch of one end of the first damper spring 41 is larger than the pitch of the other end of the first damper spring 41, so that the portion with the larger pitch is longer, and thus the rigidity is better and the supporting force is better.

Furthermore, the suspension damping system 100 further includes a second damping structure 5, where the second damping structure 5 is disposed corresponding to the first driven wheel 31 to damp the shock of the first driven wheel 31.

Preferably, as shown in fig. 1, the second shock absorbing structure 5 includes a second fixing plate 51, a third connecting plate 52, and a second shock absorbing spring 53, the second fixing plate 51 is connected with the robot chassis 1 to be fixed on the robot chassis 1, and a sliding groove is provided on the second fixing plate 51; the third connecting plate 52 is movably sleeved in the sliding groove, one end of the third connecting plate 52 extends into the sliding groove, the other end of the third connecting plate 52 extends out of the sliding groove, and the first driven wheel 31 is arranged on the part of the third connecting plate 52 extending out of the sliding groove; the second damping spring 53 is arranged in the sliding groove, two ends of the second damping spring 53 are connected with the second fixing plate 51 and the third connecting plate 52, the second damping spring 53 extends along the up-down direction, when the first driving wheel 2 receives impact force, the second damping spring 53 can be compressed, the second damping spring 53 absorbs vibration energy through compression deformation of the second damping spring, so that the damping of the first driven wheel 31 is achieved, the damping of each wheel body of the robot suspension damping system 100 can be effectively achieved, and the robot suspension damping system 100 is stable during running.

Preferably, as shown in fig. 5, two first driven wheels 31 are provided, two second driven wheels 32 are provided, two driving wheels 2 are also provided, two first driven wheels 31 are parallel to the front end of the robot chassis 1, two second driven wheels 32 are parallel to the rear end of the robot chassis 1, two driving wheels 2 are parallel to the middle part of the robot chassis 1, and two first damping structures 4 and two second damping structures 5 are correspondingly provided, respectively, so that the robot suspension damping system 100 is more stable and smoother when applied to a robot.

Example 2

This embodiment provides a robot, and this robot includes the robot main part and locates the robot suspension shock mitigation system 100 in the robot main part to make the robot travel on various bad road surfaces, can be more steady, when the robot carries the article, the article is more stable, can effectively promote user's use experience and feel, thereby improve the rate of utilization of robot.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the utility model. Based on the embodiments of the present utility model, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present utility model.

Claims (10)

1. A robotic suspension damping system, comprising:

a robot chassis;

the driving wheel is arranged on the robot chassis;

the driven wheel assembly comprises a first driven wheel and a second driven wheel which are arranged on the robot chassis, the first driven wheel is positioned in front of the driving wheel, and the second driven wheel is positioned behind the driving wheel;

the first damping structure comprises a first damping spring and a damper matched with the first damping spring, wherein both ends of the first damping spring and both ends of the damper are connected with the driving wheel and the second driven wheel.

2. The robotic suspension damping system according to claim 1, wherein the damper includes an oil pressure damper including a damper body and a piston head telescopically movably disposed on the damper body, the damper body and the piston head being connected at opposite ends of the first damping spring, the damper body and the piston head being connected to the drive wheel and the second driven wheel, respectively.

3. The robotic suspension damping system according to claim 2, wherein the first damping structure further comprises:

the chassis connecting piece is arranged on the robot chassis;

the two ends of the first connecting structure are respectively hinged to one end of the chassis connecting piece and one end of the oil pressure damper, and the second driven wheel is arranged on the first connecting structure;

and the two ends of the second connecting structure are respectively hinged to the chassis connecting piece and the other end of the oil pressure damper, and the driving wheel is arranged on the second connecting structure and is connected with the second connecting structure.

4. A robotic suspension damping system as claimed in claim 3, in which the first connection structure includes a first fixed plate and a first connection plate connected to the first fixed plate, the second driven wheel being provided on the first fixed plate, the first connection plate being hinged to one end of the chassis connection and one end of the hydraulic damper, respectively.

5. A robotic suspension damping system as claimed in claim 3 in which the second connection structure includes a second connection plate on which the drive wheel is located, the second connection plate being hinged to the chassis connection and the other end of the hydraulic damper respectively.

6. The robotic suspension damping system according to claim 1, wherein the first damping spring is configured as a variable pitch spring.

7. The robotic suspension damping system according to claim 6, wherein a pitch of the ends of the first damping spring is less than a pitch at a middle of the first damping spring in a telescoping direction along the first damping spring; or,

in a telescopic direction along the first damper spring, a pitch of one end of the first damper spring is larger than a pitch of the other end of the first damper spring.

8. The robotic suspension shock absorbing system according to claim 1, further comprising a second shock absorbing structure disposed in correspondence with the first driven wheel.

9. The robotic suspension shock absorbing system according to claim 8, wherein the second shock absorbing structure comprises:

the second fixed plate is connected with the robot chassis and provided with a sliding groove;

the first driven wheel is arranged on the first connecting plate;

and two ends of the second damping spring are connected with the second fixing plate and the third connecting plate.

10. A robot comprising a robot suspension damping system according to any one of claims 1 to 9.