WO2021046892A1 - 一种阻尼减震式机器人底盘 - Google Patents

一种阻尼减震式机器人底盘 Download PDF

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Publication number
WO2021046892A1
WO2021046892A1 PCT/CN2019/106961 CN2019106961W WO2021046892A1 WO 2021046892 A1 WO2021046892 A1 WO 2021046892A1 CN 2019106961 W CN2019106961 W CN 2019106961W WO 2021046892 A1 WO2021046892 A1 WO 2021046892A1
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Prior art keywords
damping
support
expansion device
shock
fixed
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PCT/CN2019/106961
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English (en)
French (fr)
Inventor
彭晓芳
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苏州鸿渺智能科技有限公司
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Publication of WO2021046892A1 publication Critical patent/WO2021046892A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the invention relates to the field of robots, in particular to a damping and shock-absorbing robot chassis.
  • robots have become more and more widely used, such as welcoming robots, food delivery robots, educational robots, bionic robots, and so on.
  • a robot is a machine device that automatically performs work. It can accept human commands, run pre-arranged programs, and act according to the principles established by artificial intelligence technology.
  • the purpose of the embodiments of the present invention is to provide a damping and shock-absorbing robot chassis to solve the above-mentioned problems in the background art.
  • a damping and shock-absorbing robot chassis includes a bottom plate.
  • the bottom of the bottom plate is elastically supported with sleeves on both sides, and the lower sides of the two sleeves are hingedly provided with a first damping expansion device and a second damping expansion device.
  • the lower ends of each of the second damping and expansion devices are hinged to the top ends of the circular wheel frame, and the lower ends of the two first damping and expansion devices are articulated with steering motors, and the lower ends of the two steering motors are mounted with steering Support wheels, the steering motor is also fixed with a fixing sleeve, and a connecting rod is connected and fixed between the fixing sleeve and the circular wheel frame;
  • the driving support wheel is installed on the circular wheel frame through a rotating shaft, One side is also provided with a driving motor for driving the rotating shaft to rotate.
  • a first installation groove is opened on both sides of the bottom of the bottom plate, a guide rod is installed and fixed in the first installation groove, and the sleeve is fitted on the guide rod in cooperation with a sliding sleeve.
  • a first spring is sleeved on the guide rod on both sides, a sliding block is fixed on the upper side of the sleeve, and the top of the first mounting groove is provided with a track groove that cooperates with the sliding block to slide.
  • the upper ends of the first damping expansion device and the second damping expansion device are hingedly connected to the sleeve through the first hinge support, and the lower end of the first damping expansion device is connected to the steering motor through the second hinge support
  • the lower end of the second damping expansion device is hingedly connected to the top of the circular wheel frame through the third hinge support;
  • the two second damping expansion devices are arranged at an angle of 45° to the outside from the upper end, and the two first damping expansion devices are arranged at an angle of 45° to the outside.
  • the damping expansion devices are all inclined at 45° to the outside from the lower end.
  • the lower end surface of the driving support wheel is flush with the lower end surface of the steering support wheel.
  • the bottom of the bottom plate is also provided with a second installation groove, a brake telescopic cylinder is installed and fixed on the second installation groove, and the lower end of the brake telescopic cylinder is installed and fixed for supporting the driving wheel.
  • a movable brake plate, the driving support wheel is provided with a ring-shaped brake groove vertically corresponding to the brake plate, and both ends of the brake plate are arc-shaped upturned.
  • the drive support wheel is arranged inside the circular wheel frame, the middle of the drive support wheel is fixed with a rotating shaft, both sides of the circular wheel frame are provided with through holes, and the rotating shaft is rotatably connected with the through hole through a bearing
  • the upper and lower sides of the middle part of the back-shaped wheel frame are also provided with protrusions.
  • the first damping telescopic device and the second damping telescopic device both include a support tube and a telescopic rod, the support tube and the telescopic rod are connected in a sliding manner, and one end of the telescopic rod extends into the support tube,
  • a plurality of elliptical elastic support rings are arranged in the support cylinder, a plurality of second springs are arranged on the outer side between two adjacent elastic support rings, and the telescopic rod is also connected with the outermost elastic support ring Fixed, the inner cavity of the support cylinder is also filled with damping fluid.
  • the damping and shock-absorbing robot chassis can move stably and elastically at the bottom of the bottom plate by setting the sleeve, and has a heavy shock-absorbing support effect; the two first damping and telescopic devices and the second damping and telescopic device can respectively support the steering motor and the return
  • the shaped wheel frame is elastically supported and has the effect of dual shock absorption support; controls the operation of the drive motor and the steering motor, which can respectively drive the drive support wheel to rotate and steer the steering support wheel; through the setting of the connecting rod, the first damping telescopic device and the second
  • the combined damping effect of the second damping expansion device by setting the brake expansion cylinder and the brake plate, the driving support wheel can be braked quickly and effectively; in addition, the structure of the first damping expansion device and the second damping expansion device can be According to the arrangement, the elastic support ring, the second spring, and the damping fluid have a better elastic damping support effect on the telescopic rod, and the stability is better.
  • the device solves the technical problem of poor shock absorption ability of the robot when operating in a complex environment in the related technology, and can ensure the stable running posture of the robot.
  • Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
  • Fig. 2 is a schematic top view of the structure of the part of the round frame in the embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the three-dimensional structure of the circular wheel frame in the embodiment of the present invention.
  • Fig. 4 is a partial cross-sectional view of the structure of the first and second damping expansion devices in the embodiment of the present invention.
  • a damping and shock-absorbing robot chassis includes a bottom plate 11, and two sleeves 9 are elastically supported on both sides of the bottom of the bottom plate 11. Both are hingedly provided with a first damping expansion device 12 and a second damping expansion device 18, the lower ends of the two second damping expansion devices 18 are hinged to the top ends of the circular wheel frame 23, and the two first damping expansion devices
  • the lower ends of the device 12 are articulated with steering motors 14, and the lower ends of the two steering motors 14 are equipped with steering support wheels 16, and the steering motors 14 are also fixed with a fixing sleeve 15, a fixing sleeve 15 and a round wheel frame.
  • a connecting rod 17 is connected and fixed between 23; a driving support wheel 20 is installed on the circular wheel frame 23 through a rotating shaft 21, and one side of the circular wheel frame 23 is also provided with a driving motor 24 for driving the rotating shaft 21 to rotate. .
  • the bottom two sides of the bottom plate 11 are provided with first mounting grooves 1, and a guide rod 5 is installed and fixed in the first mounting groove 1, and the sleeve 9 is slidingly sleeved on the guide rod 5, so A first spring 4 is sleeved on the guide rod 5 on both sides of the sleeve 9, and the sleeve 9 can be elastically supported by the two first springs 4.
  • the upper side of the sleeve 9 is fixedly provided with a slider 2
  • the top of the first mounting groove 1 is provided with a track groove 3 that cooperates with the sliding block 2 to slide. The arrangement of the sliding block 2 and the track groove 3 improves the stability of the movement of the sleeve 9.
  • the lower end surface of the driving support wheel 20 and the lower end surface of the steering support wheel 16 are flush, and the specific structure of the steering support wheel 16 may use the existing technology.
  • the upper ends of the first damping expansion device 12 and the second damping expansion device 18 are hingedly connected to the sleeve 9 through the first hinge support 10, and the lower end of the first damping expansion device 12 is through the second hinge support. 13 is hingedly connected to the steering motor 14, the lower end of the second damping telescopic device 18 is hingedly connected to the top of the circular wheel frame 23 through the third hinge support 19; and in the initial state, the two second damping telescopic devices 18 are both The upper end is inclined at 45° to the outside, and both of the first damping and telescopic devices 12 are arranged at the lower end at 45° to the outside, which has a better elastic support effect.
  • the bottom of the bottom plate 11 is also provided with a second mounting groove 6, a brake telescopic cylinder 7 is installed and fixed on the second mounting groove 6, and the lower end of the brake telescopic cylinder 7 is installed and fixed for driving
  • the brake plate 8 braked by the support wheel 20 is provided with an annular brake groove 25 vertically corresponding to the brake plate 8 on the drive support wheel 20.
  • both of the brake plate 8 The ends are curved upwards.
  • the driving support wheel 20 is arranged inside the circular wheel frame 23, a rotating shaft 21 is installed and fixed in the middle of the driving supporting wheel 20, a through hole 26 is opened on both sides of the circular wheel frame 23, and the rotating shaft 21 passes through a bearing. It is rotatably connected with the through hole 26; in order to improve the structural strength of the round frame 23, the upper and lower sides of the middle part of the round frame 23 are also provided with protrusions 22.
  • the first damping telescopic device 12 and the second damping telescopic device 18 both include a support tube 27 and a telescopic rod 31.
  • the support tube 27 and the telescopic rod 31 are connected in a sliding manner, and one end of the telescopic rod 31 extends into
  • a plurality of elliptical elastic support rings 28 are provided in the support cylinder 27, and a plurality of second springs 29 are provided on the outer side between two adjacent elastic support rings 28. 29 can elastically support two adjacent elastic support rings 28, and the telescopic rod 31 is also connected and fixed with the outermost elastic support ring 28, and the elastic support ring 28 and the second spring 29 cooperate with each other to have a pair of expansion and contraction.
  • the rod 31 has a better elastic support effect; the inner cavity of the support cylinder 27 is also filled with a damping fluid 30.
  • the damping fluid 30 can be glycerin, shear thickening fluid, etc., which acts as a support for the elastic support ring 28 and the second spring. 29 The effect of damping support.
  • the damped shock-absorbing robot chassis can be stably and elastically moved at the bottom of the bottom plate 11 by setting the sleeve 9 in actual application, and has a heavy shock-absorbing support effect; through two first damping expansion devices 12 and a second damping expansion and contraction device
  • the device 18 can respectively elastically support the steering motor 14 and the circular wheel frame 23, and has a dual shock absorption support effect; control the operation of the drive motor 24 and the steering motor 14, and can respectively drive the drive support wheel 20 to rotate and turn the steering support wheel 16
  • the connecting rod 17 Through the setting of the connecting rod 17, the combined shock absorption effect of the first damping telescopic device 12 and the second damping telescopic device 18 is improved; by setting the brake telescopic cylinder 7 and the brake plate 8 can quickly and effectively drive the support wheel 20 Braking;
  • the elastic support ring 28, the second spring 29 and the damping fluid 30 cooperate to have a better elastic damping for the expansion rod 31 Supporting effect and better stability.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Manipulator (AREA)

Abstract

一种阻尼减震式机器人底盘，包括底板（11），底板（11）的底部两侧弹性支撑设置有套管（9），两个套管（9）的下侧均铰接设有第一阻尼伸缩装置（12）和第二阻尼伸缩装置（18），两个第二阻尼伸缩装置（18）的下端铰接于回形轮架（23）的顶部两端，两个第一阻尼伸缩装置（12）的下端均铰接设有转向电机（14），转向电机（14）上还安装固定有固定套（15），固定套（15）和回形轮架（23）之间连接固定有连杆（17）；回形轮架（23）上通过转轴（21）安装有驱动支撑轮（20）。

Description

一种阻尼减震式机器人底盘 技术领域
本发明涉及机器人领域，具体是一种阻尼减震式机器人底盘。
背景技术
随着机器人技术的迅速发展，机器人应用越来越广泛，例如，迎宾机器人、送餐机器人以及教育机器人、仿生机器人等等。机器人是自动执行工作的机器装置，它可以接受人类指挥，也可以运行预先编排的程序，还可以依据人工智能技术制定的原则行动。
随着国家宏观战略的重视，我国移动机器人的研究已经进入空前热门的时期。各种各样的移动机器人底盘逐渐地映入人们视线，在现有技术中，具有底盘的移动机器人多种多样，已基本满足功能，但仍存在一些不足，比如相关技术中机器人在复杂环境运行时减震能力差，不能保证机器人平稳的运行姿态，影响机器人的寿命和作业效果。
发明内容
本发明实施例的目的在于提供一种阻尼减震式机器人底盘，以解决上述背景技术中提出的问题。
为实现上述目的，本发明实施例提供如下技术方案：
一种阻尼减震式机器人底盘，包括底板，所述底板的底部两侧弹性支撑设置有套管，两个套管的下侧均铰接设有第一阻尼伸缩装置和第二阻尼伸缩装置，两个所述第二阻尼伸缩装置的下端铰接于回形轮架的顶部两端，两个所述第一阻尼伸缩装置的下端均铰接设有转向电机，两个所述转向电机的下端安装有转向支撑轮，所述转向电机上还安装固定有固定套，固定套和回形轮架之间连接固定有连杆；所述回形轮架上通过转轴安装有驱动支撑轮，回形轮架的一侧还设有用于驱动所述转轴转动的驱动电机。
作为本发明进一步的方案：所述底板的底部两侧开设有第一安装槽，第一安装槽内安装固定有导向杆，所述套管配合滑动套设于导向杆上，所述套管的两侧于导向杆上还套设有第一弹簧，所述套管的上侧固定设有滑块，所述第一安装槽的顶部开设有与滑块相配合滑动的轨道槽。
作为本发明进一步的方案：所述第一阻尼伸缩装置和第二阻尼伸缩装置的上端通过第一铰支座与套管铰接连接，第一阻尼伸缩装置的下端通过第二铰支座与转向电机铰接连接，第二阻尼伸缩装置的下端通过第三铰支座与回形轮架顶部铰接连接；两个所述第二阻尼伸缩装置均为上端向外侧45°倾斜设置，两个所述第一阻尼伸缩装置均为下端向外侧45°倾斜设置。
作为本发明进一步的方案：所述驱动支撑轮的下端面和转向支撑轮的下端面齐平。
作为本发明进一步的方案：所述底板的底部还开设有第二安装槽，第二安装槽上安装固定有制动伸缩缸，所述制动伸缩缸的下端安装固定有用于对驱动支撑轮制动的制动板，所述驱动支撑轮上开设有与制动板竖直对应的环状制动槽，所述制动板的两端为弧形上翘设置。
作为本发明进一步的方案：所述驱动支撑轮设于回形轮架内侧，驱动支撑轮的中部安装固定有转轴，回形轮架的两侧开设有通孔，转轴通过轴承与通孔转动连接；所述回形轮架的中部上下两侧还设有凸起。
作为本发明进一步的方案：所述第一阻尼伸缩装置和第二阻尼伸缩装置均包括支撑筒和伸缩杆，所述支撑筒和伸缩杆配合滑动连接，伸缩杆的一端伸入到支撑筒内，支撑筒内设置有多个椭圆形状的弹性支撑环，相邻的两个所述弹性支撑环之间的外侧设有多个第二弹簧，所述伸缩杆还与最外侧的一个弹性支撑环连接固定，所述支撑筒的内腔中还填充有阻尼液。
与现有技术相比，本发明实施例的有益效果是：
该阻尼减震式机器人底盘，通过设置套管能够在底板的底部稳定弹性移动，具有一重的减震支撑效果；通过两个第一阻尼伸缩装置和第二阻尼伸缩装置可分别对转向电机和回形轮架弹性支撑，具有二重减震支撑效果；控制驱动电机和转向电机工作，可分别驱动驱动支撑轮旋转以及对转向支撑轮转向；通过连杆的设置，提升第一阻尼伸缩装置和第二阻尼伸缩装置的组合减震效果；通过设置制动伸缩缸和制动板可对驱动支撑轮进行快速有效的制动；此外，通过对第一阻尼伸缩装置和第二阻尼伸缩装置的结构进行设置，通过弹性 支撑环、第二弹簧以及阻尼液配合具有对伸缩杆较佳的弹性阻尼支撑效果，稳定性较佳。
综上所述，该装置解决了相关技术中机器人在复杂环境运行时减震能力差的技术问题，可保证机器人平稳的运行姿态。
附图说明
图1为本发明实施例的结构示意图。
图2为本发明实施例中回形轮架部分的俯视结构示意图。
图3为本发明实施例中回形轮架的立体结构示意图。
图4为本发明实施例中第一、第二阻尼伸缩装置的局部剖视结构示意图。
图中：1-第一安装槽，2-滑块，3-轨道槽，4-第一弹簧，5-导向杆，6-第二安装槽，7-制动伸缩缸，8-制动板，9-套管，10-第一铰支座，11-底板，12-第一阻尼伸缩装置，13-第二铰支座，14-转向电机，15-固定套，16-转向支撑轮，17-连杆，18-第二阻尼伸缩装置，19-第三铰支座，20-驱动支撑轮，21-转轴，22-凸起，23-回形轮架，24-驱动电机，25-制动槽，26-通孔，27-支撑筒，28-弹性支撑环，29-第二弹簧，30-阻尼液，31-伸缩杆。
具体实施方式
下面结合具体实施方式对本专利的技术方案作进一步详细地说明。
下面详细描述本专利的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本专利，而不能理解为对本专利的限制。
在本专利的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本专利和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本专利的限制。
在本专利的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相 连”、“连接”、“设置”应做广义理解，例如，可以是固定相连、设置，也可以是可拆卸连接、设置，或一体地连接、设置。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本专利中的具体含义。
实施例1
请参阅图1-3，本发明实施例中，一种阻尼减震式机器人底盘，包括底板11，所述底板11的底部两侧弹性支撑设置有套管9，两个套管9的下侧均铰接设有第一阻尼伸缩装置12和第二阻尼伸缩装置18，两个所述第二阻尼伸缩装置18的下端铰接于回形轮架23的顶部两端，两个所述第一阻尼伸缩装置12的下端均铰接设有转向电机14，两个所述转向电机14的下端安装有转向支撑轮16，所述转向电机14上还安装固定有固定套15，固定套15和回形轮架23之间连接固定有连杆17；所述回形轮架23上通过转轴21安装有驱动支撑轮20，回形轮架23的一侧还设有用于驱动所述转轴21转动的驱动电机24。
本实施例中，所述底板11的底部两侧开设有第一安装槽1，第一安装槽1内安装固定有导向杆5，所述套管9配合滑动套设于导向杆5上，所述套管9的两侧于导向杆5上还套设有第一弹簧4，通过两个第一弹簧4可对套管9弹性支撑，所述套管9的上侧固定设有滑块2，所述第一安装槽1的顶部开设有与滑块2相配合滑动的轨道槽3，通过滑块2和轨道槽3的设置，提升套管9移动的稳定性。
本实施例中，所述驱动支撑轮20的下端面和转向支撑轮16的下端面齐平，转向支撑轮16的具体结构采用现有技术即可。
本实施例中，所述第一阻尼伸缩装置12和第二阻尼伸缩装置18的上端通过第一铰支座10与套管9铰接连接，第一阻尼伸缩装置12的下端通过第二铰支座13与转向电机14铰接连接，第二阻尼伸缩装置18的下端通过第三铰支座19与回形轮架23顶部铰接连接；且在初始状态下，两个所述第二阻尼伸缩装置18均为上端向外侧45°倾斜设置，两个所述第一阻尼伸缩装置12均为下端向外侧45°倾斜设置，具有较佳的弹性支撑效果。
本实施例中，所述底板11的底部还开设有第二安装槽6，第二安装槽6上安装固定有制动伸缩缸7，所述制动伸缩缸7的下端安装固定有用于对驱动支撑轮20制动的制动板8， 所述驱动支撑轮20上开设有与制动板8竖直对应的环状制动槽25，为了提升制动效果，所述制动板8的两端为弧形上翘设置。
本实施例中，所述驱动支撑轮20设于回形轮架23内侧，驱动支撑轮20的中部安装固定有转轴21，回形轮架23的两侧开设有通孔26，转轴21通过轴承与通孔26转动连接；为了提升回形轮架23的结构强度，所述回形轮架23的中部上下两侧还设有凸起22。
实施例2
请参阅图4，本实施例与实施例1的不同之处在于：
本实施例中，所述第一阻尼伸缩装置12和第二阻尼伸缩装置18均包括支撑筒27和伸缩杆31，所述支撑筒27和伸缩杆31配合滑动连接，伸缩杆31的一端伸入到支撑筒27内，支撑筒27内设置有多个椭圆形状的弹性支撑环28，相邻的两个所述弹性支撑环28之间的外侧设有多个第二弹簧29，通过第二弹簧29可对相邻的两个所述弹性支撑环28进行弹性支撑，所述伸缩杆31还与最外侧的一个弹性支撑环28连接固定，通过弹性支撑环28和第二弹簧29配合具有对伸缩杆31较佳的弹性支撑效果；所述支撑筒27的内腔中还填充有阻尼液30，阻尼液30可以为甘油、剪切增稠液等，起到对弹性支撑环28和第二弹簧29阻尼支撑的效果。
该阻尼减震式机器人底盘，在实际应用时，通过设置套管9能够在底板11的底部稳定弹性移动，具有一重的减震支撑效果；通过两个第一阻尼伸缩装置12和第二阻尼伸缩装置18可分别对转向电机14和回形轮架23弹性支撑，具有二重减震支撑效果；控制驱动电机24和转向电机14工作，可分别驱动驱动支撑轮20旋转以及对转向支撑轮16转向；通过连杆17的设置，提升第一阻尼伸缩装置12和第二阻尼伸缩装置18的组合减震效果；通过设置制动伸缩缸7和制动板8可对驱动支撑轮20进行快速有效的制动；此外，通过对第一阻尼伸缩装置12和第二阻尼伸缩装置18的结构进行设置，通过弹性支撑环28、第二弹簧29以及阻尼液30配合具有对伸缩杆31较佳的弹性阻尼支撑效果，稳定性较佳。
以上的仅是本发明的优选实施方式，应当指出，对于本领域的技术人员来说，在不脱离本发明构思的前提下，还可以作出若干变形和改进，这些也应该视为本发明的保护范围， 这些都不会影响本发明实施的效果和专利的实用性。

Claims (7)

  1. 一种阻尼减震式机器人底盘，包括底板(11)，其特征在于，所述底板(11)的底部两侧弹性支撑设置有套管(9)，两个套管(9)的下侧均铰接设有第一阻尼伸缩装置(12)和第二阻尼伸缩装置(18)，两个所述第二阻尼伸缩装置(18)的下端铰接于回形轮架(23)的顶部两端，两个所述第一阻尼伸缩装置(12)的下端均铰接设有转向电机(14)，两个所述转向电机(14)的下端安装有转向支撑轮(16)，所述转向电机(14)上还安装固定有固定套(15)，固定套(15)和回形轮架(23)之间连接固定有连杆(17)；所述回形轮架(23)上通过转轴(21)安装有驱动支撑轮(20)，回形轮架(23)的一侧还设有用于驱动所述转轴(21)转动的驱动电机(24)。
  2. 根据权利要求1所述的阻尼减震式机器人底盘，其特征在于，所述底板(11)的底部两侧开设有第一安装槽(1)，第一安装槽(1)内安装固定有导向杆(5)，所述套管(9)配合滑动套设于导向杆(5)上，所述套管(9)的两侧于导向杆(5)上还套设有第一弹簧(4)，所述套管(9)的上侧固定设有滑块(2)，所述第一安装槽(1)的顶部开设有与滑块(2)相配合滑动的轨道槽(3)。
  3. 根据权利要求2所述的阻尼减震式机器人底盘，其特征在于，所述第一阻尼伸缩装置(12)和第二阻尼伸缩装置(18)的上端通过第一铰支座(10)与套管(9)铰接连接，第一阻尼伸缩装置(12)的下端通过第二铰支座(13)与转向电机(14)铰接连接，第二阻尼伸缩装置(18)的下端通过第三铰支座(19)与回形轮架(23)顶部铰接连接；两个所述第二阻尼伸缩装置(18)均为上端向外侧45°倾斜设置，两个所述第一阻尼伸缩装置(12)均为下端向外侧45°倾斜设置。
  4. 根据权利要求3所述的阻尼减震式机器人底盘，其特征在于，所述驱动支撑轮(20)的下端面和转向支撑轮(16)的下端面齐平。
  5. 根据权利要求1-4任一项所述的阻尼减震式机器人底盘，其特征在于，所述底板(11)的底部还开设有第二安装槽(6)，第二安装槽(6)上安装固定有制动伸缩缸(7)，所述制动伸缩缸(7)的下端安装固定有用于对驱动支撑轮(20)制动的制动板(8)，所述驱动支撑轮(20)上开设有与制动板(8)竖直对应的环状制动槽(25)，所述制动板 (8)的两端为弧形上翘设置。
  6. 根据权利要求5所述的阻尼减震式机器人底盘，其特征在于，所述驱动支撑轮(20)设于回形轮架(23)内侧，驱动支撑轮(20)的中部安装固定有转轴(21)，回形轮架(23)的两侧开设有通孔(26)，转轴(21)通过轴承与通孔(26)转动连接；所述回形轮架(23)的中部上下两侧还设有凸起(22)。
  7. 根据权利要求5所述的阻尼减震式机器人底盘，其特征在于，所述第一阻尼伸缩装置(12)和第二阻尼伸缩装置(18)均包括支撑筒(27)和伸缩杆(31)，所述支撑筒(27)和伸缩杆(31)配合滑动连接，伸缩杆(31)的一端伸入到支撑筒(27)内，支撑筒(27)内设置有多个椭圆形状的弹性支撑环(28)，相邻的两个所述弹性支撑环(28)之间的外侧设有多个第二弹簧(29)，所述伸缩杆(31)还与最外侧的一个弹性支撑环(28)连接固定，所述支撑筒(27)的内腔中还填充有阻尼液(30)。
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