CN207790250U - Torsion beam damping chassis - Google Patents

Abstract

A torsion beam shock-absorbing chassis includes: a chassis frame, which includes a front bottom plate and a rear bottom plate; a bottom plate connection assembly, which enables the front bottom plate and the rear bottom plate to be connected in a relatively rotatable manner; a torsion beam cantilever assembly, which is installed on the Between the front bottom plate and the rear bottom plate, cushioning is provided for the relative rotation of the front bottom plate and the rear bottom plate; a motion component is installed on the chassis frame for driving the chassis frame to move. The chassis structure of the utility model adopts the front and rear separate bottom plates to strengthen the overall stability of the robot chassis. They will interact with each other, making it easier for the robot to pass through bad road conditions; at the same time, the torsion beam is used for shock absorption, so that the robot has a stronger shock absorption effect and ensures that various equipment on the mobile robot work smoothly.

Description

Torsion beam shock-absorbing chassis

technical field

The utility model belongs to the technical field of mobile robots, and more specifically relates to a chassis structure of a mobile robot.

Background technique

The robot chassis is a key part of controlling the motion of a mobile robot. According to the way of movement, the general robot chassis is divided into wheel type, crawler type, leg type, snake type and jump type. Among them, the wheel structure has the advantages of light weight, strong bearing capacity, simple mechanism, relatively convenient driving and control, fast walking speed, and high work efficiency, and is widely used in various fields. But there is also a disadvantage: the motion stability of the wheeled structure has a lot to do with the road conditions. When the working environment is rough and uneven, the overall stability of the robot will decrease, and the equipment on the robot cannot be guaranteed to work well. Therefore, how to It is a key issue to improve the overall mechanism of the wheeled chassis so that it can effectively absorb vibrations.

Chinese invention patent CN106114101A (application number: CN201610597288.4) discloses a linear suspension shock absorber for the chassis of a wheeled mobile robot. The device includes a suspension shock absorber assembly for connecting the robot chassis, and a motion assembly connected to the bottom of the suspension shock absorber assembly, wherein: the suspension shock absorber assembly includes a bracket 10, a motion main shaft 20 and a motion secondary shaft 30, and the bracket 10 has two There is elasticity between the ends, and the main shaft 20 and the auxiliary shaft 30 are arranged at the two ends of the support 10 respectively. The top surface of 10 remains in elastic contact; the motion assembly includes a motor 40, a motor base 50 and a wheel 60 connected in sequence, and the motor 40 and the motor base 50 are connected to the bottom surface of the support 10, and the motor 40 is fixed below the motion sub-shaft 30, and the motor base 50 is fixed below the main shaft 20; the main shaft 20 is used to withstand the impact of the wheels 60 excited by the road surface; the secondary shaft 30 is used to buffer the main shaft 20 of the impact. The kinematic spindle 20 is elastically compressed relative to the frame 10 under the force of gravity, forcing the wheels 60 to grip the ground in the opposite direction. When a wheeled mobile robot walks on an uneven road surface, it is inevitable that the motion spindle 20 will be offset by an angle due to the excitation of the road surface, causing the output shaft of the motor 40 to be subjected to a rigid impact force. The elastic expansion and contraction of the shaft 30 shares the rigid impact force transmitted to the output shaft of the motor by the excitation of the road surface.

The structure of the damping device proposed in this patent is relatively complex, requiring a large space to install the damping device, which has certain restrictions on the size of the chassis of the mobile robot, which increases the height of the chassis of the robot and reduces the stability of the mobile robot. Sex; at the same time, the cost of the mobile robot is increased, and the maintenance of the chassis becomes very difficult.

Chinese utility model patent CN206327100U (application number: CN201621333565.2) discloses a wheeled robot chassis, comprising: a chassis frame 100, which includes a floor frame 101 and a convex frame 102; wheels 200, the number of which is 4 or More, each of the wheels is provided with a hub motor 201, and the wheels 200 are movably connected to the chassis frame 100 through the wheel connection assembly 500; the suspension unit 300 is movably connected to the protrusion frame 102, and movably connect the wheel connection assembly 500, so that the chassis of the wheeled robot can be cushioned; the steering unit 400, the steering unit is fixedly connected to the chassis frame 100, and the steering unit is also movably connected to the Described wheel connection assembly 500.

The chassis design scheme proposed in this patent is also complex in structure, and its application to mobile robots reduces the reliability of the robot and increases the cost of the robot. Its electric control method is complicated and expensive. Excitement on uneven roads will cause the wheels to vibrate, causing the main shaft of the motion to deviate at an included angle, and thus make the output shaft of the motor work in the state of an included angle for a long time, accelerating the fatigue damage of the motor.

Utility model content

Based on the above problems, this utility model is proposed. This utility model proposes a chassis structure that can improve the deficiencies in the shock absorption effect of the chassis of the mobile robot, so that the mobile robot can adapt to various road conditions and enhance the stability of the movement without affecting the cost of the robot. , maintenance and appearance.

A torsion beam shock-absorbing chassis, comprising:

a chassis frame comprising a front floor and a rear floor;

a bottom plate connecting assembly, which enables the front bottom plate and the rear bottom plate to be rotatably connected to each other;

a torsion beam cantilever assembly installed between the front base plate and the rear base plate to provide buffering for the relative rotation of the front base plate and the rear base plate;

A motion component is installed on the chassis frame for driving the chassis frame to move.

In one embodiment, the bottom plate connection assembly includes a rotating shaft, a rotating shaft bracket and a rotating shaft fixing frame, one end of the rotating shaft is fixed to the rotating shaft fixing frame, and the other end of the rotating shaft is rotatably connected to the rotating shaft bracket, so that The rotating shaft fixing frame is connected to one of the front bottom board and the rear bottom board, and the rotating shaft bracket is connected to the other of the front bottom board and the rear bottom board.

In one embodiment, the rotating shaft extends along the front-rear direction of the chassis frame.

In one embodiment, there are two or more rotating shaft supports, and the rotating shaft is connected to the rotating shaft supports via bearings.

In one embodiment, the torsion beam damping chassis includes two torsion beam cantilever assemblies, and the two torsion beam cantilever assemblies are respectively located on the left and right sides of the bottom plate connection assembly.

In one embodiment, the torsion beam cantilever assembly includes a torsion beam cantilever and a buffer unit, one end of the torsion beam cantilever is fixedly connected to one of the front bottom plate and the rear bottom plate, and the torsion beam cantilever The other end of the other end is elastically connected to the other of the front bottom plate and the rear bottom plate through a buffer unit.

In one embodiment, the motion assembly includes a motor, a motor base and wheels, the motor is connected to the motor base, the motor base is fixed under the chassis frame, and the output shaft of the motor is connected to to the wheels.

In one embodiment, the buffer unit is a spring and/or a hydraulic device.

In one embodiment, the wheels are Mecanum wheels.

In one embodiment, the rollers of the two wheels located at the diagonal positions of the chassis frame have the same rotation direction.

The chassis structure of the utility model adopts the front and rear separated bottom plates to strengthen the overall stability of the robot chassis. They will interact with each other, making it easier for the robot to pass through bad road conditions; at the same time, the torsion beam is used for shock absorption, so that the robot has a stronger shock absorption effect and ensures that various equipment on the mobile robot work smoothly.

Description of drawings

FIG. 1 shows a schematic structural view of a prior art linear suspension damping device for a chassis.

Fig. 2 shows a perspective view of a chassis of a wheeled robot in the prior art.

Fig. 3 shows a perspective view of the torsion beam damping chassis of the embodiment of the present invention.

Fig. 4 shows a front view of the torsion beam damping chassis of the embodiment of the present invention.

Fig. 5 shows a right view of the torsion beam damping chassis of the embodiment of the present invention.

Fig. 6 shows a bottom view of the torsion beam damping chassis of the embodiment of the present invention.

Explanation of reference signs

10 brackets, 20 motion spindles, 30 motion sub-shafts, 40 motors, 50 motor seats, 60 wheels;

100 chassis frame, 101 floor frame, 102 boss frame, 200 wheels, 201 hub motor, 300 suspension unit, 400 steering unit, 500 wheel connection assembly;

1 chassis frame, 11 front floor, 12 rear floor, 2 floor connection assembly, 21 shaft, 22 shaft bracket, 23 shaft fixing frame, 3 torsion beam cantilever assembly, 31 torsion beam cantilever, 32 spring, 4 motion assembly, 41 motor, 42 motor seats, 43 wheels, 44 rollers.

Detailed ways

Embodiments of the present utility model will be described below with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the utility model, and are not intended to exhaust all possible modes of the utility model, nor are they used to limit the scope of the utility model.

As shown in FIGS. 3-6 , a torsion beam shock-absorbing chassis proposed by the utility model includes a chassis frame 1 , a bottom plate connecting component 2 , a torsion beam cantilever component 3 and a moving component 4 .

As shown in FIG. 3 , the chassis frame 1 includes a front chassis 11 and a rear chassis 12 connected by a chassis connecting assembly 2 , and the front chassis 11 and the rear chassis 12 are connected by the chassis connecting assembly 2 to form a plane. The base plate connection assembly 2 enables the front base plate 11 and the rear base plate 12 to be twisted into two planes at a certain angle when subjected to external force, thereby adapting to rough road conditions.

As shown in Figures 3 and 5, the bottom plate connection assembly 2 includes a rotating shaft 21, a rotating shaft bracket 22 and a rotating shaft fixing frame 23. The rotating shaft fixing frame 23 can be connected to the front bottom plate 11 by bolts, and the rotating shaft bracket 22 can be connected to the rear bottom plate 12 by bolts. superior. Two rotating shaft brackets 22 can be provided, and the two rotating shaft brackets 22 and the rotating shaft fixing mount 23 are arranged on a straight line along the length direction (front and rear direction). Pass two rotating shaft supports 22, link to each other with two rotating shaft supports 22 by bearing, when passing through uneven road surface, make front base plate 11 and rear base plate 12 can rotate around rotating shaft 21.

As shown in Figure 3-5, the torsion beam cantilever assembly 3 includes two torsion beam cantilevers 31 and a buffer unit. On the other hand, one end of the torsion beam cantilever 31 can be fixedly connected to the front floor 11 by bolts, and the other end of the torsion beam cantilever 31 is connected to the rear floor 12 through a buffer unit such as a spring 32 . When passing through the uneven road surface, the front base plate 11 and the rear base plate 12 can be twisted at a certain angle, and the torsion beam cantilever assembly 3 can generate resistance to the twist through the buffer unit, slow down the speed of the twist, and make the chassis frame 1 of the robot more stable, thereby ensuring Smooth work of various devices on the robot.

As shown in Figures 4 and 6, the moving assembly 4 includes a motor 41, a motor base 42 and a wheel 43, the motor 41 is fixedly connected to the motor base 42, and the motor base 41 is fixedly connected to the chassis frame 1 so that the motor 41 is fixed on the bottom of the chassis frame 1. Below, the output shaft of the motor 41 is connected with the wheel 43 . Generally, four wheels 43 can be set, which are respectively located at the four corners of the chassis frame 1, two of which are located under the front base plate 11, and the other two are located under the rear base plate 12, and each wheel 43 can be a Mecanum wheel. Motion and rotation in any direction can be realized by differential driving of the motor 41 .

As shown in Figure 6, the periphery of the mecanum wheel is a rotating roller 44, the rotating shaft of the roller 44 and the rotating shaft of the wheel 43 can be inclined at 45°, and the rollers 44 of the two wheels 43 located at the diagonal position of the chassis frame 1 The rotating shafts of the two wheels 43 on the same side of the chassis frame 1 are located in the direction in which the rotating shafts of the rollers 44 of the two wheels 43 rotate and tilt relative to the rotating shafts of the wheels 43 (abbreviated as the rotating direction). on the contrary.

The moving components 4 are distributed symmetrically along the center of the rotating shaft 21 .

In this embodiment, the spring 32 is a spring with strong rigidity, which can support the torsion beam cantilever 31 to a certain extent, so that no torsion will easily occur between the front bottom plate 11 and the rear bottom plate 12. The specific elastic coefficient of the spring is according to The mobile robot is determined by its own weight, and the elastic coefficient directly affects the shock absorption effect of the chassis. The larger the elastic coefficient, the less obvious the shock absorption effect of the chassis.

Although the specific technical solutions of the present utility model have been described in detail in the above specific embodiments, it should also be noted that:

1. Although spring is used as buffer unit in the above-mentioned embodiment, the utility model is not limited to using spring, and for example hydraulic device (hydraulic shock absorber) can also be used as buffer unit, or hydraulic device and spring jointly as buffer unit.

2. Although the torsion beam cantilever 31 is fixed on the front floor 11 with bolts for the convenience of maintenance and disassembly in the above-mentioned embodiment, the utility model is not limited thereto, the torsion beam cantilever 31 can also be welded on the front floor 11, and further Improve structural strength.

3. Although one end of the torsion beam cantilever 31 is connected to the front floor 11 in the above embodiment, the present invention is not limited thereto, and the one end of the torsion beam cantilever can also be connected to the rear floor 12 .

4. Although the rotating shaft fixing frame 23 is connected on the front base plate 11 in the above-mentioned embodiment, and the rotating shaft support 22 is connected on the rear base plate 12, then the utility model is not limited thereto, in order to connect the front base plate 11 and the rear base plate 12 through the rotation shaft 21, The rotating shaft fixing frame 23 is connected on the rear bottom plate 12, and it is also possible that the rotating shaft support 22 is connected on the front bottom plate 11.

5. The front bottom plate 11 and the rear bottom plate 12 do not have to be flat plates, and the front bottom plate 11 and the rear bottom plate 12 can be in the shape of a frame that is not in the same plane or not in the same plane.

6. The torsion beam cantilever 31 does not need to be fixedly connected to the front base plate 11 at one end, and the other end is connected to the rear base plate 12 through a buffer unit. The torsion beam cantilever 31 can be connected to the front base plate 11 and the rear base plate 12 through the buffer unit at both ends.

Claims (10)

1. a kind of torsion beam damping chassis, which is characterized in that including：

Carrier frame comprising noseplate and rear bottom plate；

Bottom plate connection component enables the noseplate and the rear bottom plate to connect with relatively rotating with respect to each other；

Torsion beam slider assembly is installed between the noseplate and the rear bottom plate, bottom after being the noseplate and being described The relative rotation of plate provides buffering；

Moving parts are installed to the carrier frame for driving the carrier frame to move.

2. torsion beam damping chassis according to claim 1, which is characterized in that the bottom plate connection component include shaft, One end of rotary shaft rack and shaft fixed frame, the shaft is fixed to the shaft fixed frame, the other end of the shaft and institute Rotary shaft rack rotation connection is stated, the shaft fixed frame is connected on one of the noseplate and the rear bottom plate, described Rotary shaft rack is connected on the other of the noseplate and the rear bottom plate.

3. torsion beam damping chassis according to claim 2, which is characterized in that the shaft is before the carrier frame Rear direction extends.

4. torsion beam damping chassis according to claim 2, which is characterized in that the quantity of the rotary shaft rack be two or More, the shaft is connected to the rotary shaft rack via bearing.

5. torsion beam damping chassis according to claim 1, which is characterized in that the torsion beam damping chassis includes two The torsion beam slider assembly, two torsion beam slider assemblies are located at the left and right sides of the bottom plate connection component.

6. torsion beam damping chassis according to claim 1, which is characterized in that the torsion beam slider assembly includes torsion Girder cantilever and buffer cell, one end and the fixed company of one of the noseplate and the rear bottom plate of the torsion girder cantilever It connects, the other end and the other of the noseplate and the rear bottom plate of the torsion girder cantilever are connected by buffer cell elasticity It connects.

7. torsion beam damping chassis according to claim 1, which is characterized in that the moving parts include motor, motor Seat and wheel, the motor are connected on the motor cabinet, and the motor cabinet is fixed on the lower section of the carrier frame, the electricity The output shaft of machine is connected to the wheel.

8. torsion beam damping chassis according to claim 6, which is characterized in that the buffer cell is spring and/or liquid Pressure device.

9. torsion beam damping chassis according to claim 7, which is characterized in that the wheel is Mecanum wheel.

10. torsion beam damping chassis according to claim 9, which is characterized in that be located at the diagonal line of the carrier frame The roller rotation direction of two wheels of position is identical.