CN113021302A - Robot chassis walking device capable of stably crossing roadblocks - Google Patents
Robot chassis walking device capable of stably crossing roadblocks Download PDFInfo
- Publication number
- CN113021302A CN113021302A CN202110596533.0A CN202110596533A CN113021302A CN 113021302 A CN113021302 A CN 113021302A CN 202110596533 A CN202110596533 A CN 202110596533A CN 113021302 A CN113021302 A CN 113021302A
- Authority
- CN
- China
- Prior art keywords
- plate
- universal wheel
- connecting frame
- buffer
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot chassis walking device capable of stably passing through a roadblock, which comprises a top plate, a bottom plate and driving mechanisms, wherein two groups of driving mechanisms are arranged on the driving mechanisms, the two groups of driving mechanisms are symmetrically arranged on two sides between the top plate and the bottom plate, each driving mechanism comprises a driving wheel, a first universal wheel, a second universal wheel, a first connecting frame, a second connecting frame and a third connecting frame, the third connecting frame is arranged between the first connecting frame and the second connecting frame, the driving wheels are fixed in the middle of the bottom of the third connecting frame, each first connecting frame comprises a first transverse plate and a hinged frame, the top of each first transverse plate is fixedly connected with the top plate, and the first universal wheels are fixed at one end, far away from the driving wheels, of the bottom of each first transverse plate.
Description
Technical Field
The invention relates to the technical field of walking robots, in particular to a robot chassis walking device capable of stably passing through roadblocks.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has the basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, enlarges or extends the activity and the capability range of the human beings, can move the robot by adding a driving mechanism which can drive the robot to walk, and further can finish more complex work.
Among the prior art, walking robot usually carries out work in a flat ground region, when having the deceleration strip through some, the ground of roadblocks such as protective strip, easily take place to empty, block and jolt the scheduling problem, the potential safety hazard easily takes place under this kind of condition, the robot that possesses the roadblock function simultaneously is when crossing the roadblock, the situation of the short and ground separation of drive wheel can appear, can lead to the short disappearance of drive power under this kind of situation, only rely on the inertia of advancing to cross the roadblock, the problem that the inertia dynamics is not enough can't pass through the roadblock can appear, the stability that leads to crossing the roadblock exists not enoughly.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the robot chassis walking device capable of stably passing through the roadblock, which can improve the stability of the robot when passing through the roadblock so as to solve the problem that the existing robot is not stable enough and is easy to cause potential safety hazards when passing through the roadblock.
In order to achieve the purpose, the invention is realized by the following technical scheme: a robot chassis walking device capable of stably passing through roadblocks comprises a top plate, a bottom plate and two groups of driving mechanisms, wherein the two groups of driving mechanisms are symmetrically arranged on two sides between the top plate and the bottom plate;
the driving mechanism comprises a driving wheel, a first universal wheel, a second universal wheel, a first connecting frame, a second connecting frame and a third connecting frame, the third connecting frame is arranged between the first connecting frame and the second connecting frame, and the driving wheel is fixed in the middle of the bottom of the third connecting frame;
the first connecting frame comprises a first transverse plate and a hinge frame, the top of the first transverse plate is fixedly connected with the top plate, the first universal wheel is fixed at one end of the bottom of the first transverse plate, which is far away from the driving wheel, the hinge frame is fixed at one end of the bottom of the first transverse plate, which is close to the driving wheel, and the bottom of the hinge frame is fixedly connected with the bottom plate;
the second connecting frame comprises a second transverse plate and a vertical plate, the top of the second transverse plate is fixedly connected with the top plate, one end, far away from the driving wheel, of the second transverse plate protrudes out of the top plate, the second universal wheel is arranged at one end, protruding out of the top plate, of the bottom of the second transverse plate, the second universal wheel is movably connected with the second transverse plate, a first buffer piece is arranged between the second universal wheel and the bottom of the second transverse plate, the vertical plate is fixed at one end, close to the driving wheel, of the bottom of the second transverse plate, and the bottom of the vertical plate is fixedly connected with the bottom plate;
one end of the third connecting frame, which is close to the second universal wheel, is movably connected with the vertical plate through a buffer component, one end of the third connecting frame, which is close to the first universal wheel, is rotatably connected with the hinge frame through a hinge piece, and when the bottom surfaces of the first universal wheel, the second universal wheel and the driving wheel are positioned at the same horizontal plane, the buffer component is in a compressed state;
the driving wheel is internally provided with a power assembly, the power assembly is electrically connected with a battery module in the robot, and the power assembly can drive the driving wheel to rotate positively and negatively.
Further, the articulated elements includes rotor plate, bearing and pivot, rotor plate and third link fixed connection, the bearing sets up the inside at the rotor plate, the intermediate junction of bearing has the pivot, the both ends of pivot respectively with link fixed connection.
Furthermore, the bearing is a double-row deep groove ball bearing, the rotating plate is fixedly connected with the outer ring of the double-row deep groove ball bearing, and the rotating shaft is fixedly connected with the inner ring of the double-row deep groove ball bearing.
Further, one side intermediate position that the second link is close to the action wheel is provided with first cushion socket, one side that the third link is close to the second universal wheel is fixed with the second cushion socket, first cushion socket sets up directly over the second cushion socket, buffering subassembly swing joint is between first cushion socket and second cushion socket.
Further, the buffering subassembly includes buffer beam and second bolster, the buffer beam runs through first cushion socket and second cushion socket, be provided with the activity festival in first cushion socket and the second cushion socket respectively, first cushion socket and second cushion socket are connected with the rotation of activity festival multi-angle, activity festival and buffer beam sliding connection, the second bolster sets up the position that is located between first cushion socket and the second cushion socket at the buffer beam, the second bolster possesses the deformability and the elasticity of certain degree, the both ends of buffer beam are provided with a locating part respectively.
Further, the second buffer is provided as a spring.
Further, the top of second universal wheel is fixed with the loose axle, the loose axle runs through the second diaphragm, first bolster cover is established in the position that the loose axle is located second diaphragm bottom, first bolster possesses deformability and elasticity of certain degree, the top of loose axle is provided with the locating part.
Further, the first buffer is provided as a spring.
Further, power component includes wheel hub motor, third link bottom middle division is equipped with the drive spread groove, wheel hub motor and drive spread groove fixed connection.
Further, the direction of the second universal wheel facing the first universal wheel is set as the advancing direction of the driving wheel.
The invention has the beneficial effects that: according to the invention, the first buffer parts are arranged on the second universal wheels, when the first universal wheels encounter a roadblock in the walking process of the robot, the first universal wheels are lifted upwards, the second universal wheels can move upwards along the second transverse plate and compress the first buffer parts, the relative positions of the driving wheels can be closer to the ground, and meanwhile, the whole buffering and damping effect can be improved.
According to the invention, the first buffer seat and the second buffer seat are movably connected with the buffer assembly, and the movable joints capable of rotating at multiple angles are arranged in the first buffer seat and the second buffer seat, so that the stability of the first buffer seat and the second buffer seat and the buffer assembly during shaking can be improved, the stability of the driving wheel during position change can be improved, and the stability of the robot during integral movement can be ensured.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a view showing a structure of a set of driving mechanisms connected to a top plate and a bottom plate;
FIG. 4 is a side view of the drive mechanism;
FIG. 5 is a cross-sectional view of the drive mechanism;
fig. 6 is a partial connection structure view of the buffer member and the first and second buffer seats.
In the figure: 1. a top plate; 2. a base plate; 3. a drive mechanism; 31. a first universal wheel; 32. a driving wheel; 321. a hub motor; 33. a second universal wheel; 331. a movable shaft; 332. a first buffer member; 34. a first connecting frame; 341. a first transverse plate; 342. a hinged frame; 35. a second link frame; 351. a second transverse plate; 352. a vertical plate; 353. a first buffer seat; 36. a third connecting frame; 361. a second buffer seat; 362. driving a connecting groove; 37. a buffer assembly; 371. a buffer rod; 372. a second buffer member; 38. an articulation member; 381. a rotating plate; 382. a bearing; 383. a rotating shaft.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Please refer to fig. 1 and 2, a robot chassis walking device capable of stably crossing roadblocks, including a top plate 1, a bottom plate 2 and driving mechanisms 3, the driving mechanisms 3 are provided with two sets, two sets of driving mechanisms 3 are symmetrically arranged at two sides between the top plate 1 and the bottom plate 2, two sets of driving mechanisms 3 can stably support the top plate 1 and the bottom plate 2, thereby driving the top plate 1 and the bottom plate 2 to stably move, and simultaneously the top and the bottom of the two sets of driving mechanisms 3 are respectively connected with the top plate 1 and the bottom plate 2, so as to ensure that the top plate 1 and the bottom plate 2 can be mutually matched when the roadblocks are inclined, thereby improving the strength of the whole anti-distortion of the walking device.
Referring to fig. 3-5, the driving mechanism 3 includes a driving wheel 32, a first universal wheel 31, a second universal wheel 33, a first connecting frame 34, a second connecting frame 35, and a third connecting frame 36, wherein the third connecting frame 36 is disposed between the first connecting frame 34 and the second connecting frame 35, and the driving wheel 32 is fixed in the middle of the bottom of the third connecting frame 36.
The first connecting frame 34 comprises a first transverse plate 341 and a hinge frame 342, the top of the first transverse plate 341 is fixedly connected with the top plate 1, the first universal wheel 31 is fixed at one end of the bottom of the first transverse plate 341 far away from the driving wheel 32, the hinge frame 342 is fixed at one end of the bottom of the first transverse plate 341 near the driving wheel 32, and the bottom of the hinge frame 342 is fixedly connected with the bottom plate 2; first link 34 is through first diaphragm 341 and hinge mount 342 respectively with roof 1 and bottom plate 2 fixed connection, and this design can make roof 1 and bottom plate 2 form an organic whole structure from upper and lower both sides cooperation, improves holistic antitorque intensity, improves holistic life and the stability when meeting the roadblock.
The second connecting frame 35 includes second diaphragm 351 and riser 352, second diaphragm 351 top and roof 1 fixed connection, the one end protrusion in roof 1 that the action wheel 32 was kept away from to second diaphragm 351, the second universal wheel 33 sets up the one end of protrusion in roof 1 at second diaphragm 351 bottom, second universal wheel 33 and second diaphragm 351 swing joint, be provided with first bolster 332 between second universal wheel 33 and the second diaphragm 351 bottom, riser 352 is fixed in the one end that is close to action wheel 32 in second diaphragm 351 bottom, the bottom and the bottom plate 2 fixed connection of riser 352, second connecting frame 35 respectively with roof 1 and bottom plate 2 fixed connection through second diaphragm 351 and riser 352, this design cooperation first connecting frame 34 can further improve the stability of mutually supporting of roof 1 and bottom plate 2, improve holistic antitorque intensity.
The first universal wheel 31 and the second universal wheel 33 are respectively arranged at one ends, far away from the driving wheel 32, of the first transverse plate 341 and the second transverse plate 351, so that the distance between the first universal wheel 31 and the second universal wheel 33 can be maximized, the supporting area of the first universal wheel 31 and the second universal wheel 33 is maximized, and the supporting stability is effectively guaranteed.
One end of the third connecting frame 36 close to the second universal wheel 33 is movably connected with the vertical plate 352 through a buffer component 37, one end of the third connecting frame 36 close to the first universal wheel 31 is rotatably connected with the hinge frame 342 through a hinge component 38, when the bottom surfaces of the first universal wheel 31, the second universal wheel 33 and the driving wheel 32 are on the same horizontal plane, the buffer component 37 is in a compressed state, when the driving wheel 32 is lifted relatively when encountering a roadblock, the buffer component 37 can be released from the compressed state at the moment to drive one end of the third connecting frame 36 close to the second universal wheel 33 to rotate downwards, the other end of the third connecting frame 36 is rotatably connected with the hinge frame 342 through the hinge component 38, so that the relative position of the driving wheel 32 moves downwards, the driving wheel 32 can be always attached to the ground, continuous and stable driving force is provided, and the walking device can smoothly pass through the roadblock.
The inside power component that is provided with of action wheel 32, power component and the inside battery module electricity of robot are connected, and power component can drive action wheel 32 and carry out corotation and reversal, through the rotation direction of the action wheel 32 in controlling two sets of actuating mechanism 3, can remove to turn to running gear, and the rotation direction of controlling two sets of action wheels 32 is the same can drive running gear and carry out rectilinear movement.
The power assembly comprises an in-wheel motor 321, a driving connecting groove 362 is formed in the middle of the bottom of the third connecting frame 36, the in-wheel motor 321 is fixedly connected with the driving connecting groove 362, and the driving wheel 32 is driven to rotate by starting the in-wheel motor 321 to drive the traveling device to move.
The direction that second universal wheel 33 faced first universal wheel 31 sets up to the direction of advance of action wheel 32, when setting up this direction as the direction of advance, can make first universal wheel 31 meet the roadblock earlier, relative position when first universal wheel 31 meets the roadblock rises, can drive the holistic focus of running gear and move to the direction of second universal wheel 33, make second universal wheel 33 can be better compress the buffering, can cushion when crossing the roadblock, guarantee the ride comfort of crossing the roadblock in-process, when contrast by the direction removal of first universal wheel 31 to second universal wheel 33, second universal wheel 33 meets the roadblock earlier, the buffer power of second universal wheel 33 comes from the conflict power with between the roadblock, this kind of mode makes the running gear meet the roadblock earlier buffering again and climbs, transient card pause can appear, lead to crossing the roadblock and be steady inadequately.
Referring to fig. 5, the hinge 38 includes a rotating plate 381, a bearing 382, and a rotating shaft 383, the rotating plate 381 is fixedly connected to the third connecting frame 36, the bearing 382 is disposed inside the rotating plate 381, the rotating shaft 383 is connected to the middle of the bearing 382, two ends of the rotating shaft 383 are respectively fixedly connected to the hinge frame 342, the third connecting frame 36 is rotatably connected to the bearing 382 through the rotating plate 381 when rotating, the bearing 382 is rotatably connected to the rotating shaft 383, and the rotating shaft 383 is fixed to the hinge frame 342, so that the third connecting frame 36 and the rotating plate 381 rotate relative to the hinge frame 342.
The bearing 382 is a double-row deep groove ball bearing, the rotating plate 381 is fixedly connected with the outer ring of the double-row deep groove ball bearing, and the rotating shaft 383 is fixedly connected with the inner ring of the double-row deep groove ball bearing. The deep groove ball bearing shaped raceway and the raceway have excellent tightness with the steel ball, and the double-row deep groove ball bearing can bear radial loads and axial loads acting in two directions. The stability of the driving wheel 32 in moving up and down can be further improved.
Referring to fig. 5, a first buffer seat 353 is disposed at a middle position of a side of the second connecting frame 35 close to the driving wheel 32, a second buffer seat 361 is fixed at a side of the third connecting frame 36 close to the second universal wheel 33, the first buffer seat 353 is disposed directly above the second buffer seat 361, the buffer member 37 is movably connected between the first buffer seat 353 and the second buffer seat 361, the buffer member 37 can respectively provide a reverse acting force to the first buffer seat 353 and the second buffer seat 361 in two directions during the process of releasing from the compressed state, because the first buffer seat 353 is fixed on a vertical plate 352 of the second connecting frame 35 and the second connecting frame 35 is respectively fixedly connected with the top plate 1 and the bottom plate 2, the position of the first buffer seat 353 and the top plate 1 and the bottom plate 2 maintain a relative stable state, which is equivalent to that the buffer member 37 only provides a reverse acting force to the second buffer seat 361, because the other end of the third connecting piece is rotatably connected with the hinge frame 342 through the hinge element 38, so as to convert the reverse acting force into a force for driving the third connecting frame 36 to rotate, when the end of the third connecting frame 36 located on the second buffer seat 361 rotates downwards, the relative position of the driving wheel 32 can be moved downwards, and the driving stability of the driving wheel 32 can be ensured by ensuring that the driving wheel is always in a fitting state with the ground.
Referring to fig. 6, the damping unit 37 includes a damping rod 371 and a second damping member 372, the damping rod 371 passes through the first damping seat 353 and the second damping seat 361, the first damping seat 353 and the second damping seat 361 are respectively provided with a movable joint, the first damping seat 353 and the second damping seat 361 are rotatably connected with the movable joint at multiple angles, the movable joint is slidably connected with the damping rod 371, the second damping member 372 is disposed at a position where the damping rod 371 is located between the first damping seat 353 and the second damping seat 361, the second damping member 372 has a certain degree of deformability and elasticity, two ends of the damping rod 371 are respectively provided with a limiting member, the second damping member 372 is configured as a spring, when the bottom surfaces of the driving wheel 32, the first universal wheel 31, and the second universal wheel 33 move on the same horizontal plane, the damping rod 371 is in a state relatively perpendicular to the horizontal plane, when the second damping member 372 is released, when reverse acting force turns into the ascending power of rotation direction, can drive second cushion seat 361 and pull buffer rod 371 and take place the slope, the activity can take place the effect enough this moment, the activity festival can select the spherical structure, spherical groove and activity festival match have been seted up in relative first cushion seat 353 and second cushion seat 361, set up the through-hole in the middle of the activity festival simultaneously and be used for buffer rod 371 to pass, also can be steady when making buffer rod 371 take place the slope slide along first cushion seat 353 and second cushion seat 361, stability when guaranteeing action wheel 32 activity from top to bottom.
Referring to fig. 5, a movable shaft 331 is fixed at the top of the second universal wheel 33, the movable shaft 331 penetrates the second horizontal plate 351, the first buffer member 332 is sleeved at a position where the movable shaft 331 is located at the bottom of the second horizontal plate 351, the first buffer member 332 has a certain degree of deformability and elasticity, the first buffer member 332 is a spring, when the first universal wheel 31 encounters a road block, the first universal wheel 31 can be lifted relatively, at this time, the center of gravity of the traveling device moves towards the second universal wheel 33, the second universal wheel 33 moves towards the upper side of the second horizontal plate 351 through the movable shaft 331, at this time, the first buffer member 332 can be compressed, certain shock absorption and buffering are realized, at this time, one end of the traveling device, which is close to the second universal wheel 33, can move relatively downwards, so that the center of gravity of the whole body moves downwards, and stability of the traveling device when the traveling device encounters the road block is ensured.
The working principle is as follows: in the moving process, the first universal wheel 31 is lifted upwards after encountering a roadblock, the gravity centers of the walking device and the robot move towards the direction of the second universal wheel 33, the pressure borne by the second universal wheel 33 can move towards the upper part of the second transverse plate 351 after being increased, the first buffer material 332 is compressed, the relative position of the walking device and the robot is lowered, the integral gravity center is lowered, the moving stability can be effectively improved, the buffering effect can be improved by arranging the first buffer material 332, the jolt when the roadblock is passed is reduced, when the relative position of the first universal wheel 31 is raised, the position of the driving wheel 32 is relatively raised, the compressed potential energy of the buffering assembly 37 is released, the third connecting frame 36 can drive one side close to the second universal wheel 33 to rotate downwards, the third connecting frame 36 is rotatably connected with the hinge frame 342 through the hinge piece 38, and the driving wheel 32 can be always kept attached to the ground, therefore, stable driving force can be provided, and stability when the roadblock is crossed is guaranteed.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a can steadily cross robot chassis running gear of roadblock which characterized in that: the device comprises a top plate (1), a bottom plate (2) and two groups of driving mechanisms (3), wherein the two groups of driving mechanisms (3) are symmetrically arranged on two sides between the top plate (1) and the bottom plate (2);
the driving mechanism (3) comprises a driving wheel (32), a first universal wheel (31), a second universal wheel (33), a first connecting frame (34), a second connecting frame (35) and a third connecting frame (36), the third connecting frame (36) is arranged between the first connecting frame (34) and the second connecting frame (35), and the driving wheel (32) is fixed in the middle of the bottom of the third connecting frame (36);
the first connecting frame (34) comprises a first transverse plate (341) and a hinge frame (342), the top of the first transverse plate (341) is fixedly connected with the top plate (1), the first universal wheel (31) is fixed at one end of the bottom of the first transverse plate (341) far away from the driving wheel (32), the hinge frame (342) is fixed at one end of the bottom of the first transverse plate (341) close to the driving wheel (32), and the bottom of the hinge frame (342) is fixedly connected with the bottom plate (2);
the second connecting frame (35) comprises a second transverse plate (351) and a vertical plate (352), the top of the second transverse plate (351) is fixedly connected with the top plate (1), one end, far away from the driving wheel (32), of the second transverse plate (351) protrudes out of the top plate (1), the second universal wheel (33) is arranged at one end, protruding out of the top plate (1), of the bottom of the second transverse plate (351), the second universal wheel (33) is movably connected with the second transverse plate (351), a first buffer piece (332) is arranged between the second universal wheel (33) and the bottom of the second transverse plate (351), the vertical plate (352) is fixed at one end, close to the driving wheel (32), of the bottom of the second transverse plate (351), and the bottom of the vertical plate (352) is fixedly connected with the bottom plate (2);
one end of the third connecting frame (36) close to the second universal wheel (33) is movably connected with the vertical plate (352) through a buffer component (37), one end of the third connecting frame (36) close to the first universal wheel (31) is rotatably connected with the hinge frame (342) through a hinge piece (38), and when the bottom surfaces of the first universal wheel (31), the second universal wheel (33) and the driving wheel (32) are in the same horizontal plane, the buffer component (37) is in a compressed state;
the robot is characterized in that a power assembly is arranged inside the driving wheel (32), the power assembly is electrically connected with a battery module inside the robot, and the power assembly can drive the driving wheel (32) to rotate positively and reversely.
2. A robot chassis walking device capable of smoothly passing a road block according to claim 1, wherein: articulated piece (38) include rotor plate (381), bearing (382) and pivot (383), rotor plate (381) and third link span (36) fixed connection, bearing (382) set up the inside at rotor plate (381), the intermediate junction of bearing (382) has pivot (383), the both ends of pivot (383) respectively with hinge span (342) fixed connection.
3. A robot chassis walking device capable of smoothly passing a road block according to claim 2, wherein: the bearing (382) is a double-row deep groove ball bearing, the rotating plate (381) is fixedly connected with the outer ring of the double-row deep groove ball bearing, and the rotating shaft (383) is fixedly connected with the inner ring of the double-row deep groove ball bearing.
4. A robot chassis walking device capable of smoothly passing a road block according to claim 1, wherein: the utility model discloses a buffering assembly, including second link (35), third universal wheel (33), first buffer seat (353), buffer component (37) swing joint between first buffer seat (353) and second buffer seat (361), second link (35) are close to one side intermediate position of action wheel (32) and are provided with first buffer seat (353), one side that third link (36) are close to second universal wheel (33) is fixed with second buffer seat (361), first buffer seat (353) set up directly over second buffer seat (361), buffer component (37).
5. A robot chassis walking device capable of smoothly passing a road block according to claim 4, wherein: buffer unit (37) are including buffer beam (371) and second bolster (372), buffer beam (371) run through first cushion seat (353) and second cushion seat (361), be provided with the movable joint in first cushion seat (353) and second cushion seat (361) respectively, first cushion seat (353) and second cushion seat (361) are rotated with the movable joint multi-angle and are connected, movable joint and buffer beam (371) sliding connection, second bolster (372) set up the position that is located between first cushion seat (353) and second cushion seat (361) at buffer beam (371), second bolster (372) possess the deformability and the elasticity of certain degree, the both ends of buffer beam (371) are provided with a locating part respectively.
6. A robot chassis walking device capable of smoothly passing a road block according to claim 5, wherein: the second dampener (372) is configured as a spring.
7. A robot chassis walking device capable of smoothly passing a road block according to claim 1, wherein: the top of second universal wheel (33) is fixed with loose axle (331), loose axle (331) run through second diaphragm (351), the position that loose axle (331) is located second diaphragm (351) bottom is established in first bolster (332) cover, first bolster (332) possess the deformability and the elasticity of certain degree, the top of loose axle (331) is provided with the locating part.
8. A robot chassis walking device capable of smoothly passing a road block according to claim 7, wherein: the first dampener (332) is configured as a spring.
9. A robot chassis walking device capable of smoothly passing a road block according to claim 1, wherein: the power assembly comprises an in-wheel motor (321), a driving connecting groove (362) is formed in the middle of the bottom of the third connecting frame (36), and the in-wheel motor (321) is fixedly connected with the driving connecting groove (362).
10. A robot chassis walking device capable of smoothly passing a road block according to claim 1, wherein: the direction of the second universal wheel (33) facing the first universal wheel (31) is set as the advancing direction of the driving wheel (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110596533.0A CN113021302A (en) | 2021-05-31 | 2021-05-31 | Robot chassis walking device capable of stably crossing roadblocks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110596533.0A CN113021302A (en) | 2021-05-31 | 2021-05-31 | Robot chassis walking device capable of stably crossing roadblocks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113021302A true CN113021302A (en) | 2021-06-25 |
Family
ID=76456138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110596533.0A Pending CN113021302A (en) | 2021-05-31 | 2021-05-31 | Robot chassis walking device capable of stably crossing roadblocks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113021302A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227711A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN114770554A (en) * | 2022-05-24 | 2022-07-22 | 重庆大学 | Wheel-track-replaceable micro reconfigurable mobile robot |
| WO2023045091A1 (en) * | 2021-09-23 | 2023-03-30 | 江苏奇捷机器人智能科技有限公司 | Locomotion chassis for robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5766079A (en) * | 1980-10-03 | 1982-04-22 | Honda Motor Co Ltd | Suspension device for rocking type tricycle |
| US6752230B1 (en) * | 2003-01-13 | 2004-06-22 | Shao Shih Huang | Supplementary wheel support for a motorized wheelchair |
| CN103863435A (en) * | 2014-02-21 | 2014-06-18 | 全开 | Lever six-wheel tractor |
| DE102014225596A1 (en) * | 2014-12-11 | 2016-06-16 | Zf Friedrichshafen Ag | Wishbone arrangement |
| CN107599770A (en) * | 2017-08-17 | 2018-01-19 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
-
2021
- 2021-05-31 CN CN202110596533.0A patent/CN113021302A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5766079A (en) * | 1980-10-03 | 1982-04-22 | Honda Motor Co Ltd | Suspension device for rocking type tricycle |
| US6752230B1 (en) * | 2003-01-13 | 2004-06-22 | Shao Shih Huang | Supplementary wheel support for a motorized wheelchair |
| CN103863435A (en) * | 2014-02-21 | 2014-06-18 | 全开 | Lever six-wheel tractor |
| DE102014225596A1 (en) * | 2014-12-11 | 2016-06-16 | Zf Friedrichshafen Ag | Wishbone arrangement |
| CN107599770A (en) * | 2017-08-17 | 2018-01-19 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023045091A1 (en) * | 2021-09-23 | 2023-03-30 | 江苏奇捷机器人智能科技有限公司 | Locomotion chassis for robot |
| CN114227711A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN114227711B (en) * | 2021-12-24 | 2024-06-07 | 杭州申昊科技股份有限公司 | Underground power grid inspection robot |
| CN114770554A (en) * | 2022-05-24 | 2022-07-22 | 重庆大学 | Wheel-track-replaceable micro reconfigurable mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113021302A (en) | Robot chassis walking device capable of stably crossing roadblocks | |
| CN107571702B (en) | A kind of rocker arm suspension, wheel leg type motor platform and unmanned control system | |
| CN208665379U (en) | A kind of the steering wheel suspension and omnidirectional's automatic guided vehicle of automatic guided vehicle | |
| CN208802074U (en) | Differential AGV chassis structure and drive train | |
| CN110329392A (en) | A kind of novel parking AGV trolley | |
| CN111619296B (en) | Suspension system for wheel train movement device and automobile | |
| CN206125145U (en) | Four -wheel independent steering device mechanism | |
| CN206870775U (en) | Mobile platform | |
| CN112298397B (en) | Wheel-walking robot foot end mechanism suitable for all-terrain road conditions | |
| CN110065507B (en) | Miniature rail vehicle | |
| CN108583187A (en) | A kind of independent suspension type AGV trolleies | |
| CN208993812U (en) | A kind of Omnibearing wheel type mobile robot chassis | |
| CN111469948A (en) | AGV car | |
| CN212074255U (en) | Chassis and mobile robot | |
| CN209700811U (en) | A kind of robot suspension sheave and robot suspended structure | |
| CN113650463B (en) | Robot chassis suspension mechanism and working method thereof | |
| CN210591264U (en) | Mecanum wheel suspension mechanism and AGV trolley with same | |
| CN218257606U (en) | Buffer device and self-moving robot | |
| CN216269184U (en) | High-altitude operation car with locomotive stabilizing mean | |
| CN210680315U (en) | Steering wheel and translation vehicle | |
| CN213262780U (en) | Spring suspension for scooter | |
| CN208881515U (en) | One kind being used for heavy load AGV shock absorbing apparatus | |
| CN212353598U (en) | Heavy-load omnidirectional driving wheel set with hanging function | |
| CN211106828U (en) | Suspension actuating mechanism and active suspension device | |
| CN110329372B (en) | Stair climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |