CN208827508U - A kind of robot chassis suspension and robot - Google Patents
A kind of robot chassis suspension and robot Download PDFInfo
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- CN208827508U CN208827508U CN201821453967.5U CN201821453967U CN208827508U CN 208827508 U CN208827508 U CN 208827508U CN 201821453967 U CN201821453967 U CN 201821453967U CN 208827508 U CN208827508 U CN 208827508U
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- robot chassis
- driven wheel
- shaft
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- 239000000725 suspension Substances 0.000 title claims abstract description 34
- 230000004888 barrier function Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Abstract
The utility model provides a kind of robot chassis suspension and robot, comprising: at least one driving wheel；With the one-to-one driven wheel of the driving wheel；With the one-to-one link assembly of the driving wheel, the link assembly includes: two shaft bearing seats, is oppositely arranged on robot chassis；Driving wheel shaft is arranged above the shaft bearing seat；Driven wheel shaft is arranged below the shaft bearing seat；Driving wheel connecting rod is fixed in the driving wheel shaft, and one end is connected with the driving wheel, and the other end is connected with the upper end of elastic parts；Driven wheel connecting rod is fixed in the driven wheel shaft, and one end is connected with the driven wheel, and the other end is connected with the lower end of the elastic parts.The robot chassis suspension and robot of the utility model improve the ground adaptability of robot while guaranteeing the bearing capacity of robot.
Description
Technical field
The utility model relates to the technical fields of robot, more particularly to a kind of robot chassis suspension and machine
People.
Background technique
Wheeled robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run pre-
The program of first layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace
The work of human work, such as production industry, construction industry, or dangerous work.
For wheeled robot, chassis is the important bearing part of whole system, take turns and hang for supporting installation,
Each component such as motor, battery, control system, positioning, audio, assembly, and motor power is born, guarantee wheeled robot just
Often traveling.Robot chassis suspension is the general name of all force transmission connections between robot chassis and driving wheel, is hanged
The main function of frame is a shear force and the torque that transmitting acts between driving wheel and chassis, such as support force, brake force and drive
Power etc., and mitigate and the shock loading on chassis is transmitted to by uneven road surface, the thus caused vibration that decays, reduce cargo and chassis
The dynamic loading of itself.
Currently, common chassis suspension has following three kinds for wheeled robot:
(1) guide colume type
Wherein, suspension is straight up and down.It is weaker that this mode crosses a ridge ability, and one can be generated when encountering barrier
Power on non-vertical direction, this power can generate certain inhibition to the movement of suspension straight up and down.
(2) posture is pulled
Wherein, suspension is rotated around a shaft.This mode crosses a ridge that ability is strong, and structure is simple, but front and back
It is inconsistent to cross a ridge ability, for shaft preceding, then the ability that crosses a ridge of advancing is strong, and shaft then retreats that cross a ridge ability strong rear.
(3) polygon form
Which structure is relatively complicated, and it is strong to cross a ridge ability.
In the prior art, most robot chassis suspensions have ignored while guaranteeing larger load-bearing capacity to ground
The guarantee of passability.By the ground that is uneven, especially elevator shield door gully and when step, it may appear that can not by,
Excessive influence organism life-span is impacted on body, directly results in situations such as unstability.
Utility model content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide a kind of suspensions of robot chassis
System and robot improve the ground adaptability of robot while guaranteeing the bearing capacity of robot.
In order to achieve the above objects and other related objects, the utility model provides a kind of robot chassis suspension, packet
It includes: at least one driving wheel；With the one-to-one driven wheel of the driving wheel；With the one-to-one connection rod set of the driving wheel
Part, the link assembly include: two shaft bearing seats, are oppositely arranged on robot chassis；Driving wheel shaft is arranged in institute
It states above shaft bearing seat；Driven wheel shaft is arranged below the shaft bearing seat；Driving wheel connecting rod is fixed at institute
It states in driving wheel shaft, and one end is connected with the driving wheel, the other end is connected with the upper end of elastic parts；Driven wheel connecting rod,
It is fixed in the driven wheel shaft, and one end is connected with the driven wheel, the lower end of the other end and the elastic parts
It is connected.
In an embodiment of the present invention, the elastic parts includes spring support and spring, on the spring support
End is connected with the driving wheel connecting rod, and lower end is connected with the driven wheel connecting rod, and is provided with upper limit position block, and the spring is arranged
On the spring support and one end is fixed on the upper limit position block.
In an embodiment of the present invention, the spring uses flexure spring.
In an embodiment of the present invention, the driven wheel uses universal wheel.
Further include at least one universal wheel in an embodiment of the present invention, is arranged on the robot chassis.
Further include motor in an embodiment of the present invention, be connected with the driving wheel, for driving the active
Wheel.
In addition, the utility model also provides a kind of robot, including above-mentioned robot chassis suspension.
As described above, the robot chassis suspension and robot of the utility model, have the advantages that
(1) higher barrier ability excessively is provided for robot chassis in the case where guaranteeing high load-bearing capacity；
(2) when can still maintain a more horizontal posture when breaking the barriers, while reduce barrier again pair
The impact of body ensure that the safety of organism life-span and institute's bearing goods；
(3) it crosses barrier and anti-vibration performance has obtained the verifying of simulation analysis and model verifying；
(4) improve robot crosses barrier ability, reduces the technical requirements to motor or hub motor performance, reduces
The design requirement of pair wheel type selection, keeps choice of electrical machine and active-passive wheel type selecting more wide in range, reduces design cost.
Detailed description of the invention
Fig. 1 is shown as overall structure diagram of the robot chassis suspension of the utility model in an embodiment；
Fig. 2 is shown as side view of the robot chassis suspension of the utility model in an embodiment；
Fig. 3 shows the first state schematic diagram when robot chassis suspension of the utility model crosses barrier；
Fig. 4 shows the second status diagram when the robot chassis suspension of the utility model crosses barrier.
Component label instructions
1 driving wheel
2 driven wheels
3 link assemblies
31 shaft bearing seats
32 driving wheel shafts
33 driven wheel shafts
34 driving wheel connecting rods
35 elastic parts
351 spring supports
352 springs
3511 upper limit position blocks
36 driven wheel connecting rods
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this
Content disclosed by specification understands other advantages and effect of the utility model easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the utility model enforceable restriction item so that those skilled in the art understands and reads
Part, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing
Under the effect of the utility model can be generated and the purpose that can reach, should all still it fall in the revealed technology of the utility model
In the range of Rong get Neng is covered.Meanwhile it is cited such as "upper", "lower", "left", "right", " centre " and " one " in this specification
Deng term, be merely convenient to being illustrated for narration, rather than to limit the enforceable range of the utility model, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
The robot chassis suspension and robot of the utility model mention while guaranteeing the bearing capacity of robot
The ground adaptability of Gao Liao robot reduced to can still maintain a more horizontal posture when breaking the barriers
To the impact of body when barrier, the safety of organism life-span and institute's bearing goods ensure that.
As depicted in figs. 1 and 2, in an embodiment, the robot chassis suspension of the utility model includes:
At least one driving wheel 1, for driving robot chassis mobile.In Fig. 1 and embodiment shown in Fig. 2, in machine
The two sides on device people chassis are respectively arranged with a driving wheel 1, to guarantee the stationarity on robot chassis.
With the one-to-one driven wheel 2 of the driving wheel 1, for driving the machine under the drive of the driving wheel 1
People chassis is mobile.In Fig. 1 and embodiment shown in Fig. 2, in the two sides on robot chassis, it is respectively arranged with a driven wheel 2,
To be further ensured that the stationarity on robot chassis.
With the one-to-one link assembly 3 of the driving wheel 1, the link assembly 3 includes:
Two shaft bearing seats 31, are oppositely arranged on robot chassis.Specifically, described two shaft bearing seats 31 with
The setting in the same direction of driving wheel 1.
Driving wheel shaft 32 is arranged above the shaft bearing seat 31.
Driven wheel shaft 33 is arranged below the shaft bearing seat 31.
Driving wheel connecting rod 34 is fixed in the driving wheel shaft 32, and one end is connected with the driving wheel 1, separately
One end is connected with the upper end of elastic parts 35.Therefore, the driving wheel connecting rod 34 is fulcrum with the driving wheel shaft 32, by institute
The upper end for stating driving wheel 1 and the elastic parts connects together.
Driven wheel connecting rod 36 is fixed in the driven wheel shaft 33, and one end is connected with the driven wheel 2, separately
One end is connected with the lower end of the elastic parts 35.Therefore, the driven wheel connecting rod 36 is fulcrum with the driven wheel shaft 33,
The lower end of the driven wheel 2 and the elastic parts 36 is connected together.
In an embodiment of the present invention, the elastic parts 35 includes spring support 351 and spring 352, the bullet
351 upper end of spring bracket is connected with the driving wheel connecting rod 34, and lower end is connected with the driven wheel connecting rod 36, and is provided with upper limit
Block 3511, the spring 352 is set on the spring support 351 and one end is fixed on the upper limit position block 3511.Therefore, with
Up and down motion of the driving wheel connecting rod 34 relative to the driven wheel connecting rod 35, realize the compression of the spring 352 and multiple
Position.
In an embodiment of the present invention, the spring 352 uses flexure spring.
In an embodiment of the present invention, the driven wheel 2 uses universal wheel.
The working principle of the robot chassis suspension of the utility model is described below.
As shown in figure 3, the driven wheel is upward first when the robot chassis suspension needed barrier
It walks, the driving wheel connecting rod brings up the driven wheel connecting rod by the elastic parts, and then the driven wheel is driven to get over
The barrier is crossed, and guarantees the stationarity on robot chassis.Then, as shown in figure 4, the driving wheel is walked upwards, with institute
The raising of driving wheel position is stated, one end that the driving wheel connecting rod is connect with the elastic parts dips down under the effect of gravity
Tiltedly, so that the spring is compressed, the robot chassis at the driven wheel end compressing force downward by the spring, from
And it ensure that the stationarity on robot chassis.Therefore, the buffering to move up and down just because of the spring to robot chassis is protected
The bulk life time of body has been protected with the safety of institute's conveying articles.
In an embodiment of the present invention, the robot chassis suspension of the utility model further include at least one ten thousand
To wheel, it is arranged on the robot chassis, so that enough support forces are provided for the robot chassis, to guarantee robot
The bearing capacity on chassis.Preferably, two universal wheels are symmetrical arranged on robot chassis.
In an embodiment of the present invention, the robot chassis suspension of the utility model further includes motor, with institute
It states driving wheel to be connected, for driving the driving wheel.
The robot of the utility model includes above-mentioned robot chassis suspension, thus guaranteeing high load-bearing capacity
In the case of for robot chassis provide it is higher cross barrier ability.
In conclusion the robot chassis suspension and robot of the utility model are the case where guaranteeing high load-bearing capacity
Higher barrier ability excessively is provided down for robot chassis；A more horizontal posture can be still maintained when breaking the barriers,
Impact when reducing barrier again simultaneously to body, ensure that the safety of organism life-span and institute's bearing goods；Cross barrier with
And anti-vibration performance has obtained the verifying of simulation analysis and model verifying；Improve robot crosses barrier ability, reduces to electricity
The technical requirements of machine or hub motor performance reduce the design requirement of pair wheel type selection, make choice of electrical machine and active-passive
It is more wide in range to take turns type selecting, reduces design cost.So the utility model effectively overcome various shortcoming in the prior art and
Has high industrial utilization value.
The above embodiments are only illustrative of the principle and efficacy of the utility model, and not for limitation, this is practical new
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model
All equivalent modifications or change completed under mind and technical idea, should be covered by the claim of the utility model.
Claims (7)
1. a kind of robot chassis suspension characterized by comprising
At least one driving wheel；
With the one-to-one driven wheel of the driving wheel；
With the one-to-one link assembly of the driving wheel, the link assembly includes:
Two shaft bearing seats, are oppositely arranged on robot chassis；
Driving wheel shaft is arranged above the shaft bearing seat；
Driven wheel shaft is arranged below the shaft bearing seat；
Driving wheel connecting rod is fixed in the driving wheel shaft, and one end is connected with the driving wheel, the other end and elasticity
The upper end of component is connected；
Driven wheel connecting rod is fixed in the driven wheel shaft, and one end is connected with the driven wheel, the other end with it is described
The lower end of elastic parts is connected.
2. robot chassis suspension according to claim 1, it is characterised in that: the elastic parts includes spring branch
Frame and spring, the spring support upper end are connected with the driving wheel connecting rod, and lower end is connected with the driven wheel connecting rod, and are arranged
There is upper limit position block, the spring is set on the spring support and one end is fixed on the upper limit position block.
3. robot chassis suspension according to claim 2, it is characterised in that: the spring uses flexure spring.
4. robot chassis suspension according to claim 1, it is characterised in that: the driven wheel uses universal wheel.
5. robot chassis suspension according to claim 1, it is characterised in that: it further include at least one universal wheel,
It is arranged on the robot chassis.
6. robot chassis suspension according to claim 1, it is characterised in that: further include motor, with the active
Wheel is connected, for driving the driving wheel.
7. a kind of robot, it is characterised in that: including robot chassis suspension described in one of claim 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821453967.5U CN208827508U (en) | 2018-09-06 | 2018-09-06 | A kind of robot chassis suspension and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821453967.5U CN208827508U (en) | 2018-09-06 | 2018-09-06 | A kind of robot chassis suspension and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208827508U true CN208827508U (en) | 2019-05-07 |
Family
ID=66312137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821453967.5U Active CN208827508U (en) | 2018-09-06 | 2018-09-06 | A kind of robot chassis suspension and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208827508U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109228810A (en) * | 2018-09-06 | 2019-01-18 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
| CN111409736A (en) * | 2020-03-18 | 2020-07-14 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis with single-drive center |
-
2018
- 2018-09-06 CN CN201821453967.5U patent/CN208827508U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109228810A (en) * | 2018-09-06 | 2019-01-18 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
| CN111409736A (en) * | 2020-03-18 | 2020-07-14 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis with single-drive center |
| CN111409736B (en) * | 2020-03-18 | 2021-05-14 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis with single-drive center |
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