CN111907280A - Chassis with reversing transmission suspension and robot - Google Patents

Abstract

The invention provides a chassis and a robot with a reversing transmission suspension, comprising: a base, a driving wheel set, a first universal wheel set and a second universal wheel set, the driving wheel set, the first Both the set of universal wheels and the set of second universal wheels are arranged on the base, the set of driving wheels is arranged between the set of first universal wheels and the set of second universal wheels, the set of driving wheels The set includes two oppositely disposed drive wheel assemblies, and the first swivel wheel assembly includes two oppositely disposed first swivel wheel assemblies. According to the chassis and the robot provided with the reversing transmission suspension provided by the present invention, the effect of superimposed vibration reduction is produced.

Description

Chassis and robot with reversing transmission suspension

technical field

The invention relates to the technical field of robots, in particular to a chassis and a robot with a reversing transmission suspension.

Background technique

Mobile robots have been gradually applied in public service scenarios, such as restaurants, hotels, and office buildings. In the actual environment, the indoor ground where the robot moves is not completely flat, and there may be obstacles on the ground, such as ridges higher than the ground. In the prior art, the robot will be impacted by the ridge when passing through the ridge, so that the robot has the risk of tipping over.

SUMMARY OF THE INVENTION

The present invention has been made in view of the above-mentioned existing situation, and its purpose is to provide a chassis and a robot with a reversing transmission suspension, which can significantly improve the impact resistance and stability of the robot over sills.

In order to achieve the above purpose, embodiments of the present invention provide the following technical solutions:

The present invention provides a chassis with a reversing transmission suspension, comprising:

a base, a driving wheel set, a first universal wheel set and a second universal wheel set, the driving wheel set, the first universal wheel set and the second universal wheel set are all arranged on the base, The driving wheel set is arranged between the first universal wheel set and the second universal wheel set, the driving wheel set includes two oppositely arranged driving wheel assemblies, the first universal wheel set Including two oppositely arranged first universal wheel assemblies;

The drive wheel assembly includes a first swing member, an elastic shock absorber, a first fixed portion and a drive wheel, and the first universal wheel assembly includes a first swing arm, a second swing arm, a second swing member, a second swing arm, and a second swing arm. a fixed part and a first universal wheel, the first swinging member is hinged to the first fixed part at a first hinged position, the first swinging member is hinged to the elastic shock absorber at a second hinged position, the elastic The shock absorber is hinged to the first swing arm at a third hinge position, the first swing arm is hinged to the second fixed portion at a fourth hinge position, and the first swing arm is hinged to the second swing arm at the first hinge position. Five hinge positions, the second swinging member is hinged to the second fixed portion at a sixth hinged position, the second swinging member is hinged to the second swing arm at a seventh hinged position, and the first universal wheel is provided on the second swinging member;

The driving wheel has a connecting section protruding from the driving wheel, the driving wheel is rotatable relative to the connecting section, and the connecting section is fixed between the first hinge position and the second hinge position , the first fixing part and the second fixing part are both arranged on the base;

Wherein, in the forward direction of the chassis, a first hinge position, a second hinge position, a fourth hinge position, a fifth hinge position and a seventh hinge position are sequentially set on the base from front to back, and the sixth hinge position The position is set before the seventh hinge position, the fourth hinge position is set between the third hinge position and the fifth hinge position, the third hinge position, the fourth hinge position, all the The fifth hinge position is set higher relative to the base than the sixth hinge position.

In this case, the position of the first hinge position of the first swing member is in front of the driving wheel, that is, the first drive wheel swings to a limited extent during the movement process with the first hinge position as the center of the circle, and the first hinge position of the second swing member swings to a limited extent. The position of the six hinge positions is in front of the first universal wheel, that is, the first universal wheel takes the sixth hinge position as the center to swing to a limited extent during the movement process. The elastic force is in contact with the ground. When passing the sill, the driving wheel swings around the first hinge position under the resistance of the horizontal direction of the sill, and the driving wheel before passing the sill is in the horizontal direction relative to the first hinge position. In comparison, the position of the drive wheel relative to the first hinge position has a horizontal backward displacement when passing the sill, which slows down the impact of the sill on the chassis and helps to improve the stability of the chassis. Similarly, the first universal wheel There will also be backward displacement when crossing the ridge, which can effectively alleviate the impact from the ridge, thereby improving the overall stability of the chassis movement. In addition, the first universal wheel is linked with the first swing member through the hinged relationship between the first swing arm and the second swing arm, and the transmission relationship between the first universal wheel and the driving wheel makes the driving wheel and the first The wheel-to-ground pressure forms a relatively stable proportional relationship, and the driving wheel-to-ground pressure can change according to the change of the chassis load, ensuring that the chassis driving wheel has a good grounding force at any time. Therefore, this linkage method generally produces the effect of superimposed vibration reduction.

Wherein, both the first hinge position and the sixth hinge position are arranged close to the base.

Therefore, the first hinge position and the sixth hinge position are made closer to the ground as much as possible, which is beneficial to improve the smooth performance of the chassis when passing over the sill.

Wherein, the elastic damper is arranged substantially perpendicular to the base, and the setting height of the third hinge position is higher than the setting height of the second hinge position relative to the base.

As a result, when the driving wheel passes over the ridge, it lifts upward, and the first universal wheel is linked by the first swing arm and the second swing arm, so that the second swinging member pushes the first universal wheel downward, and lifts the first universal wheel. The 10000-wheel-to-ground pressure improves the stability, and in the case of linkage, the feedback of the 1st swivel wheel is more timely relative to the driving wheel, so as to prevent the 1st swivel wheel from hanging in the air and improve the stability of the chassis over sills sex.

Wherein, the second fixing portion is arranged perpendicular to the base portion, the fourth hinge position is arranged near the top end of the second fixing portion, and the sixth hinge position is arranged near the root portion of the second fixing portion.

Wherein, the base has an opening penetrating the upper and lower surfaces of the base, and the first universal wheel is arranged in the opening.

Wherein, the second swinging member includes a laterally extending portion, the laterally extending portion extends from the second swinging member to the middle of the base portion, the laterally extending portion is disposed above the opening, and the first A universal wheel is disposed on the laterally extending portion.

Thereby, the installation position of the first universal wheel can be located inside the opening.

Wherein, the second hinge position is set at the end of the first swing member, and the third hinge position and the fifth hinge position are respectively set at both ends of the first swing arm.

Therefore, under the premise of satisfying the force relationship, the size of the components is reduced to the greatest extent, and the material is saved.

Wherein, the elastic shock absorber is an adjustable compression spring.

Wherein, the first fixing part includes a supporting part, the supporting part is used for supporting the body structure of the robot, and the driving wheel is arranged close to the first fixing part.

Therefore, the gravity of the robot body can be transmitted to the base through the support part, and the driving wheel is arranged close to the first fixing part, which is beneficial to set the center of gravity of the robot near the driving wheel to improve the stability of the chassis.

The present invention also provides a robot, which includes the above-mentioned chassis with a reversing transmission suspension, and also includes a body, and the body is fixed to the chassis.

According to the chassis and robot with reversing transmission suspension provided by the present invention, the position of the first hinge position of the first swinging member is in front of the driving wheel, that is, the first driving wheel takes the first hinge position as the center of the circle during the movement process. Swing to a limited extent, the position of the sixth hinge position of the second swinging member is in front of the first universal wheel, that is, the first universal wheel takes the sixth hinge position as the center of the circle to swing to a limited extent during the movement process, before passing the sill. , the driving wheel is in contact with the ground by the downward elastic force of the elastic shock absorber. When passing the sill, the driving wheel swings around the first hinge position under the resistance of the horizontal direction of the sill, and is opposite to the driving wheel before passing the sill. Compared with the position of the first hinge position in the horizontal direction, the driving wheel has a horizontal backward displacement relative to the position of the first hinge position when passing the ridge, which slows down the impact on the robot when passing the ridge, and is conducive to improving the stability of the robot. In the same way, the first universal wheel will also have a backward displacement when passing through the ridge, which can effectively alleviate the impact force from the ridge, thereby improving the overall stability of the robot's movement. In addition, the first universal wheel is linked with the first swing member through the hinged relationship between the first swing arm and the second swing arm, and the transmission relationship between the first universal wheel and the driving wheel makes the driving wheel and the first A relatively stable proportional relationship is formed between the wheel-to-ground pressure, and the driving wheel-to-ground pressure can change according to the change of the robot's load, which ensures that the robot's driving wheel has a good grounding force at any time. Therefore, this linkage method generally produces the effect of superimposed vibration reduction.

Description of drawings

FIG. 1 shows a schematic three-dimensional structure diagram of a chassis with a reversing transmission suspension according to an embodiment of the present invention;

FIG. 2 shows a schematic side view of the drive wheel of the chassis with reversing transmission suspension according to the embodiment of the present invention before crossing the sill;

FIG. 3 shows a schematic side view of the chassis with reversing transmission suspension according to the embodiment of the present invention after the driving wheel passes through the sill.

Detailed ways

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are assigned to the same components, and overlapping descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratios of the dimensions of the members, the shapes of the members, and the like may be different from the actual ones.

As shown in FIG. 1 , the present invention provides a chassis 1 with a reversing transmission suspension, which is used to support the robot body and drive the robot to perform delivery tasks.

In this embodiment, the chassis 1 with the reversing transmission suspension includes a base 40, a drive wheel set, and a first and second cardan wheel set. The driving wheel set, the first universal wheel set and the second universal wheel set are all disposed on the base 40 . The drive wheel set is arranged between the first universal wheel set and the second universal wheel set. The driving wheel set includes two oppositely arranged driving wheel assemblies 20 , and the first universal wheel set includes two oppositely arranged first universal wheel assemblies 10 .

Further, the driving wheel assembly 20 includes a first swing member 21 , an elastic damper 22 , a first fixing portion 23 and a driving wheel 24 . The first universal wheel assembly 10 includes a first swing arm 11 , a second swing arm 12 , a second swing member 13 , a second fixing portion 14 and a first universal wheel 15 . The first swinging member 21 is hinged to the first fixing portion 23 at the first hinge position 211 . The first swing member 21 is hinged to the elastic damper 22 at the second hinge position 212 . The elastic damper 22 is hinged to the first swing arm 11 at the third hinge position 111 . The first swing arm 11 is hinged to the second fixing portion 14 at the fourth hinge position 112 . The first swing arm 11 is hinged to the second swing arm 12 at a fifth hinge position 113 . The second swinging member 13 is hinged to the second fixing portion 14 at the sixth hinge position 131 . The second swing member 13 is hinged to the second swing arm 12 at the seventh hinge position 132 . The first universal wheel 15 is disposed on the second swinging member 13 .

Further, the driving wheel 24 has a connecting section 241 protruding from the driving wheel 24 . The driving wheel 24 is rotatable relative to the connecting segment 241 . The connecting segment 241 is fixed between the first hinge position 211 and the second hinge position 212 . The first fixing portion 23 and the second fixing portion 14 are both disposed on the base portion 40 .

Further, in the forward direction of the chassis 1 , the base 40 is provided with a first hinge position 211 , a second hinge position 212 , a fourth hinge position 112 , a fifth hinge position 113 and a seventh hinge position in sequence from front to back Location 132. The sixth hinge position 131 is set before the seventh hinge position 132 . The fourth hinge position 112 is provided between the third hinge position 111 and the fifth hinge position 113 . The positions of the third hinge position 111 , the fourth hinge position 112 , and the fifth hinge position 113 relative to the base 40 are higher than the sixth hinge position 131 .

In this case, the position of the first hinge position of the first swing member is in front of the driving wheel, that is, the first drive wheel swings to a limited extent during the movement process with the first hinge position as the center of the circle, and the first hinge position of the second swing member swings to a limited extent. The position of the six hinge positions is in front of the first universal wheel, that is, the first universal wheel takes the sixth hinge position as the center to swing to a limited extent during the movement process. The elastic force is in contact with the ground. When passing the sill, the driving wheel swings around the first hinge position under the resistance of the horizontal direction of the sill, and the driving wheel before passing the sill is in the horizontal direction relative to the first hinge position. In comparison, the position of the drive wheel relative to the first hinge position has a horizontal backward displacement when passing the sill, which slows down the impact of the sill on the chassis and helps to improve the stability of the chassis. Similarly, the first universal wheel There will also be backward displacement when crossing the ridge, which can effectively alleviate the impact from the ridge, thereby improving the overall stability of the chassis movement. In addition, the first universal wheel is linked with the first swing member through the hinged relationship between the first swing arm and the second swing arm, and the transmission relationship between the first universal wheel and the driving wheel makes the driving wheel and the first The wheel-to-ground pressure forms a relatively stable proportional relationship, and the driving wheel-to-ground pressure can change according to the change of the chassis load, ensuring that the chassis driving wheel has a good grounding force at any time. Therefore, this linkage method generally produces the effect of superimposed vibration reduction.

As shown in Figures 2 and 3, before the driving wheel 24 passes the sill, the angle between the swinging member 21 and the horizontal plane is negative. When the driving wheel passes the sill, the swinging member 21 rotates counterclockwise to make the angle between the swinging member 21 and the horizontal plane. roughly close to zero. Therefore, the position of the drive wheel relative to the first hinge position has a horizontal rearward displacement when passing the sill, compared to the position of the drive wheel relative to the first hinge position in the horizontal direction before the sill.

In this embodiment, the first hinge position 211 and the sixth hinge position 131 are both disposed close to the base 40 . Therefore, the first hinge position and the sixth hinge position are made closer to the ground as much as possible, which is beneficial to improve the smooth performance of the chassis when passing over the sill.

In the present embodiment, the elastic shock absorber 22 is arranged substantially perpendicular to the base portion 40 , and relative to the base portion 40 , the setting height of the third hinge position 111 is higher than that of the second hinge position 212 set height. As a result, when the driving wheel passes over the ridge, it lifts upward, and the first universal wheel is linked by the first swing arm and the second swing arm, so that the second swinging member pushes the first universal wheel downward, and lifts the first universal wheel. The 10000-wheel-to-ground pressure improves the stability, and in the case of linkage, the feedback of the 1st swivel wheel is more timely relative to the driving wheel, so as to prevent the 1st swivel wheel from hanging in the air and improve the stability of the chassis over sills sex.

In this embodiment, the second fixing portion 14 is arranged perpendicular to the base portion 40 . The fourth hinge position 112 is disposed near the top of the second fixing portion 14 . The sixth hinge position 131 is disposed close to the root of the second fixing portion 14 .

In this embodiment, the base portion 40 has an opening 41 penetrating the upper and lower surfaces of the base portion 40 , and the first universal wheel 15 is disposed in the opening 41 .

In this embodiment, the second rocking member 13 includes a laterally extending portion 137 . The laterally extending portion 137 extends from the second rocking member 13 toward the middle of the base portion 40 . The laterally extending portion 137 is disposed above the opening 41 . The first universal wheel 15 is disposed on the laterally extending portion 137 . Thereby, the installation position of the first universal wheel can be located inside the opening.

In this embodiment, the second hinge position 212 is set at the end of the first swinging member 21 . The third hinge position 111 and the fifth hinge position 113 are respectively disposed at both ends of the first swing arm 11 . Therefore, under the premise of satisfying the force relationship, the size of the components is reduced to the greatest extent, and the material is saved.

In this embodiment, the elastic damper 22 is an adjustable compression spring.

In this embodiment, the first fixing portion 23 includes a supporting portion 231 . The support portion 231 is used to support the body structure of the robot. The driving wheel 24 is disposed close to the first fixing portion 23 . Therefore, the gravity of the robot body can be transmitted to the base through the support part, and the driving wheel is arranged close to the first fixing part, which is beneficial to set the center of gravity of the robot near the driving wheel to improve the stability of the chassis.

In some examples, the support portion 231 may be a groove.

In the present embodiment, the first swing member 21 , the second swing member 13 , and the first swing arm 11 are arranged substantially parallel to the surface of the base portion 40 . The first swing member 21 , the second swing member 13 , and the first swing arm 11 are all extended along the advancing direction of the chassis 1 . The first swinging member 21 is generally elongated. The first swing arm 11 and the second swing arm 12 may also be generally elongated.

In this embodiment, the second swivel wheel set may include at least one second swivel wheel assembly 30 . The second castor assembly 30 may include a pair.

In this embodiment, the paired driving wheel assemblies 20 , the first universal wheel assemblies 10 , and the second universal wheel assemblies 30 are all disposed on both sides of the base portion 40 .

Embodiments of the present invention also relate to a robot comprising a chassis 1 with a reversing transmission suspension as described above. The specific implementation of the chassis 1 with the reversing transmission suspension will not be repeated here. The robot further includes a body, and the body is fixed to the chassis. In this case, the position of the first hinge position of the first swing member is in front of the driving wheel, that is, the first drive wheel swings to a limited extent during the movement process with the first hinge position as the center of the circle, and the first hinge position of the second swing member swings to a limited extent. The position of the six hinge positions is in front of the first universal wheel, that is, the first universal wheel takes the sixth hinge position as the center to swing to a limited extent during the movement process. The elastic force is in contact with the ground. When passing the sill, the driving wheel swings around the first hinge position under the resistance of the horizontal direction of the sill, and the driving wheel before passing the sill is in the horizontal direction relative to the first hinge position. In comparison, the position of the drive wheel relative to the first hinge position has a horizontal backward displacement when passing over the ridge, which slows down the impact of the sill on the robot and helps to improve the stability of the robot. Similarly, the first universal wheel There will also be backward displacement when crossing the ridge, which can effectively alleviate the impact force from the ridge, thereby improving the overall stability of the robot's movement. In addition, the first universal wheel is linked with the first swing member through the hinged relationship between the first swing arm and the second swing arm, and the transmission relationship between the first universal wheel and the driving wheel makes the driving wheel and the first A relatively stable proportional relationship is formed between the wheel-to-ground pressure, and the driving wheel-to-ground pressure can change according to the change of the robot's load, which ensures that the robot's driving wheel has a good grounding force at any time. Therefore, this linkage method generally produces the effect of superimposed vibration reduction.

The above-mentioned embodiments do not constitute a limitation on the protection scope of the technical solution. Any modifications, equivalent replacements and improvements made within the spirit and principles of the above-mentioned embodiments shall be included within the protection scope of this technical solution.

Claims (10)

1. a chassis with reversing transmission suspension, is characterized in that, comprises: a base, a driving wheel set, a first universal wheel set and a second universal wheel set, the driving wheel set, the first universal wheel set and the second universal wheel set are all arranged on the base, The driving wheel set is arranged between the first universal wheel set and the second universal wheel set, the driving wheel set includes two oppositely arranged driving wheel assemblies, the first universal wheel set Including two oppositely arranged first universal wheel assemblies; The drive wheel assembly includes a first swing member, an elastic shock absorber, a first fixed portion and a drive wheel, and the first universal wheel assembly includes a first swing arm, a second swing arm, a second swing member, a second swing arm, and a second swing arm. a fixed part and a first universal wheel, the first swinging member is hinged to the first fixed part at a first hinged position, the first swinging member is hinged to the elastic shock absorber at a second hinged position, the elastic The shock absorber is hinged to the first swing arm at a third hinge position, the first swing arm is hinged to the second fixed portion at a fourth hinge position, and the first swing arm is hinged to the second swing arm at the first hinge position. Five hinge positions, the second swinging member is hinged to the second fixed portion at a sixth hinged position, the second swinging member is hinged to the second swing arm at a seventh hinged position, and the first universal wheel is provided on the second swinging member; The driving wheel has a connecting section protruding from the driving wheel, the driving wheel is rotatable relative to the connecting section, and the connecting section is fixed between the first hinge position and the second hinge position , the first fixing part and the second fixing part are both arranged on the base; Wherein, in the forward direction of the chassis, a first hinge position, a second hinge position, a fourth hinge position, a fifth hinge position and a seventh hinge position are sequentially set on the base from front to back, and the sixth hinge position The position is set before the seventh hinge position, the fourth hinge position is set between the third hinge position and the fifth hinge position, the third hinge position, the fourth hinge position, all the The fifth hinge position is set higher relative to the base than the sixth hinge position. 2 . The chassis with reversing transmission suspension according to claim 1 , wherein the first hinge position and the sixth hinge position are both disposed close to the base. 3 . 3. The chassis with a reversing drive suspension of claim 1, wherein the elastic damper is disposed generally perpendicular to the base, and wherein the third articulation position is relative to the base The setting height is higher than the setting height of the second hinge position. 4 . The chassis with reversing transmission suspension according to claim 1 , wherein the second fixing part is arranged perpendicular to the base part, and the fourth hinge position is close to the top end of the second fixing part. 5 . The sixth hinge position is arranged close to the root of the second fixing part. 5 . The chassis with reversing transmission suspension according to claim 1 , wherein the base has an opening penetrating through the upper and lower surfaces of the base, and the first universal wheel is arranged in the opening. 6 . 6 . The chassis with a reversing transmission suspension according to claim 5 , wherein the second swinging member comprises a lateral extension, the lateral extending portion extending from the second swinging member to the base of the base. 7 . The middle portion extends in the direction, the laterally extending portion is arranged above the opening, and the first universal wheel is arranged on the laterally extending portion. 7 . The chassis with reversing transmission suspension according to claim 1 , wherein the second hinge position is provided at the end of the first swing member, the third hinge position and the first Five hinge positions are respectively arranged at both ends of the first swing arm. 8 . The chassis with reversing transmission suspension according to claim 1 , wherein the elastic damper is an adjustable compression spring. 9 . 9 . The chassis with reversing transmission suspension according to claim 1 , wherein the first fixing part comprises a supporting part, and the supporting part is used for supporting the body structure of the robot, and the driving wheel is close to the driving wheel. 10 . The first fixing part is set. 10 . A robot, characterized in that it comprises the chassis with a reversing transmission suspension according to any one of claims 1 to 9 , and a body, and the body is fixed to the chassis. 11 .

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