CN109732559A - A mobile device and robot - Google Patents
A mobile device and robot Download PDFInfo
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- CN109732559A CN109732559A CN201910190911.8A CN201910190911A CN109732559A CN 109732559 A CN109732559 A CN 109732559A CN 201910190911 A CN201910190911 A CN 201910190911A CN 109732559 A CN109732559 A CN 109732559A
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- connecting rod
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- wheel
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Abstract
本发明涉及机器人技术领域，公开了一种移动装置及机器人，移动装置包括：减震系统、轮子、驱动组件以及底盘；所述驱动组件包括轮毂连接轴以及用于驱动所述轮毂连接轴的驱动部，所述轮毂连接轴的一端与所述轮子相连；所述减震系统包括轴承座和减震器，所述轴承座转动连接于所述轮毂连接轴，并通过所述减震器与所述底盘连接。机器人包括移动装置。本发明中的移动装置能够改善现有技术中移动装置在移动过程中的抗震性能。
The invention relates to the technical field of robots, and discloses a mobile device and a robot. The mobile device includes a shock absorption system, a wheel, a drive assembly and a chassis; the drive assembly includes a hub connecting shaft and a drive for driving the hub connecting shaft One end of the hub connecting shaft is connected to the wheel; the shock absorption system includes a bearing seat and a shock absorber, the bearing seat is rotatably connected to the hub connecting shaft, and is connected to the wheel through the shock absorber. the chassis connection described above. Robots include mobile devices. The mobile device in the present invention can improve the anti-vibration performance of the mobile device in the prior art during the moving process.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of mobile device and robot.
Background technique
Robot technology is the mainstream hard-core technology of the world today.After it have passed through 50 years developments, Robot industry
The completely new epoch are welcome.In following 3 to 5 years, global Robot industry will be presented blowout and increase, and China will become
One of most important market in the whole world.
The present age such as is more and more applied in various Work places, for example detects, is explosion-proof at high risk industries, the Huo Zheti
Educate race, in machine first masters' tournament.In the prior art, robot is difficult to ensure robot entirety on rugged road in moving process
The stabilization of structure；And it can not efficiently quickly finish and climb on the slope, and anti-seismic performance during climbing slope
Difference cannot keep the integrally-built stabilization of robot.
Summary of the invention
The purpose of the present invention is to provide a kind of mobile device and robot, mobile device in the prior art can be improved and existed
In moving process the problem of poor seismic behavior.
The embodiment of the present invention is achieved in that
In a first aspect, the embodiment of the present invention provides a kind of mobile device, comprising: shock mitigation system, wheel, driving assembly and
Chassis；The driving component includes wheel hub connecting shaft and the driving portion for driving the wheel hub connecting shaft, and the wheel hub connects
One end of spindle is connected with the wheel；The shock mitigation system includes bearing block and damper, and the bearing block is rotationally connected with
The wheel hub connecting shaft, and connect by the damper with the chassis.
Optionally, in preferred embodiments of the present invention, the shock mitigation system further includes support component, and supporting element includes connecting
Rod base and connecting rod, the connecting rod pedestal are connected to the bearing block, and one end of the connecting rod is rotationally connected with the connecting rod base
Seat, the other end of the connecting rod are rotationally connected with the chassis, the connecting rod be connected to the chassis position and the damping
The position that device is connected to the chassis is spaced apart from each other.
Optionally, in preferred embodiments of the present invention, the damper is connected to the chassis by shock-absorbing fixing seat,
The damper is rotatably connected at the shock-absorbing fixing seat.
Optionally, in preferred embodiments of the present invention, the support component includes two connecting rods, two companies
Bar is rotatably connected at the connecting rod pedestal, and two connecting rods are mutual relative to the pivot center of the connecting rod pedestal
Every.
Optionally, in preferred embodiments of the present invention, the connecting rod is connected to the chassis, the company by connecting rod base
Bar can be rotated relative to the connecting rod base.
Optionally, in preferred embodiments of the present invention, the damper is spring damper.
Optionally, in preferred embodiments of the present invention, the cargo bed for carrying material is provided on the chassis.
Optionally, in preferred embodiments of the present invention, grasping mechanism, the grasping mechanism are additionally provided on the chassis
For grabbing the material in the cargo bed.
Optionally, in preferred embodiments of the present invention, guide pad is provided on the grasping mechanism.
Second aspect, the embodiment of the present invention also provide a kind of robot, including above-mentioned mobile device.
The beneficial effect of the embodiment of the present invention includes:
A kind of mobile device provided in an embodiment of the present invention and robot, in tray bottom, wheel is logical for shock mitigation system setting
Component of overdriving is connected in shock mitigation system, forms mobile device.The shifting of mobile device can be realized by driving portion driving wheel
It is dynamic, and there is good damping effect in the moving process of mobile device.One end of wheel hub connecting shaft is connected to bearing block
Above and with driving portion it is connected, wheel is connected to wheel hub connecting shaft one end opposite with bearing block, realizes that passing through driving portion drives company
The wheel connect on wheel hub connecting shaft rotates.Mobile device in the process of moving, when wheel is in rugged road surface uplink
It sails, when the bumps by ground act on, ground can pass to wheel hub connecting shaft by wheel in face of the impact forces that wheel generates,
Wheel hub connecting shaft can be assemblied in bearing block by bearing, thus ground in face of wheel impact force by the axis that is assemblied in bearing block
It bears, passes to driving portion without the impact force by ground in face of wheel, protection is played to driving portion to a certain extent
Effect, and improve the service life of driving portion.The impact force on the ground being subject on bearing block then passes to damper, damper
After the impact force by ground, travel, which shortens, can generate elastic force, to face the impact force of wheel with offsetting, pass through
This form can play the shake for reducing chassis and the component being arranged on chassis, move to improve mobile device
Stability in the process.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of mobile device of the embodiment of the present invention；
Fig. 2 is that shock mitigation system, wheel, driving assembly and the package assembly on chassis are shown in mobile device of the embodiment of the present invention
It is intended to；
Fig. 3 is shock mitigation system, the assembly structure diagram of wheel and driving assembly in mobile device of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of grasping mechanism in mobile device of the embodiment of the present invention.
Icon: 100- mobile device；110- shock mitigation system；111- bearing block；112- damper；1121- shock-absorbing fixing seat；
113- support component；1131- connecting rod pedestal；1132- connecting rod；1133- connecting rod base；120- wheel；The chassis 130-；131- cargo bed；
132- grasping mechanism；1321- guide pad；140- driving assembly；141- wheel hub connecting shaft；142- driving portion.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that the orientation or position of the instructions such as term " center ", "inner", "outside"
Relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the orientation or position usually put
Relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second " etc. is only used for distinguishing description, is not understood to indicate or imply relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Referring to Fig.1 and 2, the present embodiment provides a kind of mobile devices 100, comprising: shock mitigation system 110, wheel 120,
Driving assembly 140 and chassis 130；Driving assembly 140 is including wheel hub connecting shaft 141 and is used for drive hub connecting shaft 141
Driving portion 142, one end of wheel hub connecting shaft 141 is connected with wheel 120；Shock mitigation system 110 includes bearing block 111 and damper
112, bearing block 111 is rotationally connected with wheel hub connecting shaft 141, and is connect by damper 112 with chassis 130；Optionally, damping
Device 112 is spring damper 112.
Specifically, shock mitigation system 110, which is arranged on chassis 130, is used to bearing chassis 130, wheel 120 is connected to driving portion
On wheel hub connecting shaft 141 in 142, what wheel hub connecting shaft 141 rotated is connected on bearing block 111, and bearing block 111 passes through damping
Device 112 is connected on chassis 130.Wheel hub connecting shaft 141 is connect by shaft coupling with driving portion 142, is driven by driving portion 142
Wheel 120 rotates, final to realize that mobile device 100 realizes movement entirely through driving portion 142.
It should be noted that in an embodiment of the present invention, as shown in Figure 1, first, on the chassis 130 of mobile device 100
It is provided with four wheels 120 altogether, and the independent outfit shock mitigation system 110 of each wheel 120, each wheel 120 pass through independence
Driving portion 142 driven, the movement speed and anti-seismic performance of mobile device 100 can be improved.Second, each shock mitigation system
Be respectively coupled Mecanum wheel on wheel hub connecting shaft 141 in 110, using Mecanum wheel on the ground adhesive force compared with
By force, and by mobile achievable the forward, traversing of mobile device 100 of the differential between four Mecanum wheels, diagonal and its
The motion modes such as combination.Third, in an embodiment of the present invention, driving portion 142 are motor.Third, in the present embodiment, example
, damper 112 is spring damper 112.By selecting spring damper 112 guaranteeing what mobile device 100 steadily moved
The manufacturing cost of mobile device 100 can also be reduced in the process.
A kind of mobile device 100 provided in an embodiment of the present invention, shock mitigation system 110 are arranged in 130 bottom of chassis, wheel
120 are connected in shock mitigation system 110 by driving assembly 140, form mobile device 100.Pass through 142 driving wheel of driving portion
120 can realize the movement of mobile device 100, and have good damping effect in the moving process of mobile device 100.Wheel
One end of hub connecting shaft 141 is connected on bearing block 111 and is connected with driving portion 142, and wheel 120 is connected to wheel hub connecting shaft
141 one end opposite with bearing block 111 are realized and are drivingly connected the wheel 120 on wheel hub connecting shaft 141 by driving portion 142
It rotates.Mobile device 100 in the process of moving, when wheel 120 travels on rugged road surface, the bumps by ground
When effect, ground can pass to wheel hub connecting shaft 141, wheel hub connection in face of the impact forces that wheel 120 generates by wheel 120
Axis 141 can be assemblied in bearing block 111 by bearing, therefore ground faces the impact force of wheel 120 by being assemblied in bearing block 111
Bearing bear, without ground is passed to driving portion 142 in face of the impact force of wheel 120, to a certain extent to driving portion
142 play protective effect, and improve the service life of driving portion 142.The impact force on the ground being subject on bearing block 111 is then
Damper 112 is passed to, for damper 112 after the impact force by ground, travel, which shortens, can generate elastic force, to support
Face wheel 120 impact force with disappearing can play the portion for reducing chassis 130 and being arranged on chassis 130 by this form
The shake of part, to improve the stability of mobile device 100 during the motion.
Optionally, referring to figure 2. and Fig. 3, in preferred embodiments of the present invention, shock mitigation system 110 further includes support group
Part 113, supporting element include connecting rod pedestal 1131 and connecting rod 1132, and connecting rod pedestal 1131 is connected to bearing block 111, connecting rod 1132
One end is rotationally connected with connecting rod pedestal 1131, and the other end of connecting rod 1132 is rotationally connected with chassis 130, and connecting rod 1132 is connected to bottom
The position that the position of disk 130 is connected to chassis 130 with damper 112 is spaced apart from each other；Optionally, in preferred embodiments of the present invention
In, damper 112 is connected to chassis 130 by shock-absorbing fixing seat 1121, and damper 112 is rotatably connected at shock-absorbing fixing seat
1121。
Specifically, in an embodiment of the present invention, connecting rod pedestal 1131, connecting rod base 1133 are provided on bearing block 111
It is connected on chassis 130 by connecting rod 1132, is wherein hinged between connecting rod 1132 and connecting rod pedestal 1131.Damper 112
It is arranged on connecting rod pedestal 1131, and arranged in a crossed manner on connecting rod pedestal 1131 with connecting rod 1132, damper 112 is far from connecting rod
One end of 1132 pedestals is arranged on chassis 130, is triangle between damper 112, connecting rod 1132 and chassis 130.Wheel
Behind the impact by rugged ground, impact force can be transmitted to bearing block 111 along wheel 120 and be connected to bearing block 120
On connecting rod pedestal 1131 on 111, due to being hingedly, so connecting rod 1132 can be opposite between connecting rod pedestal 1131 and connecting rod 1132
Connecting rod pedestal 1131 rotates, and connecting rod 1132 consumes a part of impact force in the course of rotation, and by remaining impact force
It is transferred to chassis 130.Connection connecting rod pedestal 1131 and the damper 112 on chassis 130 compress travel generation elastic force at this time,
To face the impact force on chassis 130 with realizing buffering, the anti-seismic performance on chassis 130 is improved, it is final to guarantee the steady of chassis 130
It is mobile.
Wherein, damper 112 far from 1132 substrate of connecting rod one end be arranged shock-absorbing fixing seat 1121, it can be achieved that facilitate by
Damper 112 is rotatably connected on chassis 130, final to guarantee that damper 112 preferably plays anti-seismic performance, guarantees chassis 130
Steady movement.
Optionally, referring to figure 3., in preferred embodiments of the present invention, support component 113 includes two connecting rods 1132,
And two connecting rods 1132 are respectively hinged at two ends of connecting rod pedestal 1131；Optionally, in two connecting rods 1132 far from connecting rod
One end of pedestal 1131 is connected with connecting rod base 1133, and connecting rod 1132 can be rotatably connected on chassis 130 by connecting rod base 1133.
Specifically, two 1132 parallel intervals of connecting rod are connected on connecting rod pedestal 1131, by connecting rod pedestal 1131
Both ends are respectively articulated with connecting rod 1132, and bearing block 111 may be implemented, be connected to the wheel on bearing block 111 by wheel hub connecting shaft 141
Son 120 and the more firm setting of the driving portion 142 that is connect by shaft coupling with wheel hub connecting shaft 141 are on chassis 130.It needs
To illustrate that in an embodiment of the present invention, be respectively hinged at the connecting rod 1132 at 1131 both ends of connecting rod pedestal collectively as with subtract
Shake a line of the triangle of device 112 and the connection of chassis 130 composition.Scabland is transmitted to company in face of the active force of wheel 120
After rod base 1131, the connecting rod 1132 by being hinged on 1131 both ends of connecting rod pedestal rotates with respect to connecting rod pedestal 1131, from
And 112 travel of damper is caused to change, elastic force is generated, the impact force on ground is buffered, guarantees the flat of chassis 130
Surely.
Wherein, connecting rod base 1133 is set far from one end of connecting rod pedestal 1131 in two connecting rods 1132 respectively, it is ensured that
Connecting rod pedestal 1131 is connected on chassis 130 by the way that the connecting rod 1132 hinged with 1131 both ends of connecting rod pedestal is more firm, can
To avoid wheel 120 behind the impact by rugged ground, single link 1132 is because excessive being fractureed by impacting.
Optionally, Fig. 1 and Fig. 4 are please referred to, in preferred embodiments of the present invention, is provided on chassis 130 for carrying
The cargo bed 131 of material；Optionally, grasping mechanism 132 is additionally provided on chassis 130, grasping mechanism 132 is for grabbing cargo bed 131
Interior material；Preferably, guide pad 1321 is provided on grasping mechanism 132.
Specifically, mobile device 100 is in application process, grasping mechanism 132 is fixed on chassis 130, cargo bed 131
Also it is fixed on chassis 130, and is located at the lower section of grasping mechanism 132.Material is grabbed by grasping mechanism 132 or is filled
After the cabinet of material, material or the intracorporal material of case are poured into cargo bed 131 again by the driving portion 142 of grasping mechanism 132, last real
Existing transport of the mobile device 100 to material.Cargo bed 131, which is arranged in below crawl structure, facilitates crawl structure to cargo bed 131
It is interior to launch the material grabbed or the intracorporal material of the case for filling material is poured into cargo bed 131, improve the fortune of mobile device 100
The working efficiency of defeated material.By the way that grasping mechanism 132 and cargo bed 131 are arranged on the mobile device 100, it can be achieved that this implementation
The stability and flexibility of 100 transported material of mobile device in example.
Wherein, the mobile device 100 in the present embodiment is applied under competitive sports environment, when transporting bullet, by
Bullet fills on the cabinet of bullet and the infrared inductor that can be incuded mutually is respectively set on grasping mechanism 132,
The guide pad 1321 being arranged on grasping mechanism 132 can guide grasping mechanism 132 to the bullet for having infrared inductor
Perhaps the mobile working efficiency for improving grasping mechanism 132 and grabbing bullet or filling the cabinet of bullet at the cabinet of bullet is filled.
The embodiment of the present invention also provides a kind of robot, including above-mentioned mobile device 100.Specifically, mobile device 100
Functional structure and beneficial effect all described in above content it is clear, robot in another embodiment of the present invention have with
Above-mentioned identical beneficial effect, details are not described herein.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190911.8A CN109732559B (en) | 2019-03-13 | 2019-03-13 | Mobile device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190911.8A CN109732559B (en) | 2019-03-13 | 2019-03-13 | Mobile device and robot |
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| Publication Number | Publication Date |
|---|---|
| CN109732559A true CN109732559A (en) | 2019-05-10 |
| CN109732559B CN109732559B (en) | 2025-01-24 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910190911.8A Active CN109732559B (en) | 2019-03-13 | 2019-03-13 | Mobile device and robot |
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Cited By (6)
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| CN110281252A (en) * | 2019-08-07 | 2019-09-27 | 四川省众望科希盟科技有限公司 | A kind of small-sized robot of jettisoninging |
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| CN111301559A (en) * | 2020-03-09 | 2020-06-19 | 苗广厚 | Robot for engineering surveying and mapping |
| CN111533043A (en) * | 2020-05-13 | 2020-08-14 | 安徽伽马莱恩机器人有限公司 | Mobile chassis for robot |
| CN112479099A (en) * | 2020-11-19 | 2021-03-12 | 腾讯科技（深圳）有限公司 | Robot |
| CN116085589A (en) * | 2023-01-10 | 2023-05-09 | 诠航科技有限公司 | A walking device for an inspection robot and an inspection robot |
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| CN116085589A (en) * | 2023-01-10 | 2023-05-09 | 诠航科技有限公司 | A walking device for an inspection robot and an inspection robot |
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| Publication number | Publication date |
|---|---|
| CN109732559B (en) | 2025-01-24 |
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