CN114313006A - Robot chassis device for enhancing stability and regulating and controlling method thereof - Google Patents
Robot chassis device for enhancing stability and regulating and controlling method thereof Download PDFInfo
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- CN114313006A CN114313006A CN202111662564.8A CN202111662564A CN114313006A CN 114313006 A CN114313006 A CN 114313006A CN 202111662564 A CN202111662564 A CN 202111662564A CN 114313006 A CN114313006 A CN 114313006A
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Abstract
The invention discloses a robot chassis device for enhancing stability and a regulation and control method thereof, wherein the robot chassis device comprises a vice wheel frame (1); the supporting plate (2) is arranged on the upper side of the auxiliary wheel frame (1); the two bearing frames (3) are respectively arranged on two sides of the auxiliary wheel frame (1), and each bearing frame (3) is provided with a group of roller components; the two groups of first suspension assemblies are respectively arranged on the two bearing frames (3); the four groups of second suspension assemblies are respectively arranged at the four corners of the top of the auxiliary wheel frame (1). The first swing arm and the second swing arm are connected in a triangular mode to enhance the stability of the bearing frame, so that the stability of the whole structure is enhanced, the thrust of the I-shaped sliding frame is reduced through the second spring, the vibration is further reduced, four groups of second suspension assemblies are arranged between the auxiliary wheel frame and the supporting plate, the supporting plate is guaranteed to have enough stability, the stability of the whole structure is effectively enhanced, and the vibration generated in the moving process of the robot chassis is controlled.
Description
Technical Field
The invention relates to the field of wheeled robots, in particular to a robot chassis device for enhancing stability and a regulation and control method thereof.
Background
At present, various working intelligent robots are widely applied in production and life, and the popularization rate is increased, for example, the service providing scene of the robots can be seen in the application fields of express delivery and delivery, environmental cleaning and disinfection, pedestrian guidance, hotel and restaurant service and the like.
The working type intelligent robot is generally divided into a chassis and an upper working part. The upper working part is arranged on the chassis to execute the working task of the robot, and can be constructed into various compositions and forms according to the function of the robot, for example, the upper working part of the robot for express delivery can be constructed into a cargo warehouse form, the upper working part of the disinfection robot can be constructed into a disinfection sprayer form, and the like.
The chassis is a master control part, a communication part, a walking part, a bearing part and a power supply part of the robot, and generally integrates a master control part, a communication circuit, a battery, a driving part, a laser point cloud radar, a camera and other parts. At present, the chassis of most working intelligent robots adopts a wheel type driving structure. 3 to 4 universal wheels are assembled on the chassis, and each universal wheel can be independently driven to steer, so that the robot is flexible and convenient to move. The wheel type driving structure also has the advantages of simple and easy structure and high running speed.
However, the wheeled robot chassis has a high requirement on the flatness of the road surface, and jolts, vibrations and shakes easily occur during the operation on an uneven road surface, particularly a road surface with bulges, depressions and steps, which not only affects the smooth running of the robot, but also affects the normal running of the function of the working part arranged on the robot, such as damage to goods to be delivered and the like, and even causes the robot to topple over.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a robot chassis device for enhancing stability and a regulation and control method thereof.
In order to solve the problems, the invention adopts the following technical scheme:
a robot chassis apparatus comprising:
a vice wheel frame;
the supporting plate is arranged on the upper side of the auxiliary wheel frame, the two sides of the supporting plate are connected with fastening frames through bolts, and a plurality of second mounting holes are formed in the side portion of the supporting plate;
the two bearing frames are respectively arranged on two sides of the auxiliary wheel frame, and each bearing frame is provided with a group of roller components;
the two groups of first suspension assemblies are respectively arranged on the two bearing frames and are connected with the auxiliary wheel frame and the fastening frame;
and the four groups of second suspension assemblies are respectively arranged at the four corners of the top of the auxiliary wheel frame.
As a preferable scheme of the present invention, each of the roller assemblies includes a transmission shaft, a first driving connector and a second driving connector, the second driving connector is rotatably connected inside the bearing frame, one end of the transmission shaft is connected to the second driving connector through a universal connector, the other end of the transmission shaft is connected to the first driving connector through a universal connector, and the second driving connector is provided with a brake pad.
As a preferable scheme of the present invention, each of the roller assemblies further includes a hub, a tire, and an outer protection wheel disc, the hub is fixedly connected to the second driving connector by bolts, the tire is mounted on a circumferential surface of the hub, and the outer protection wheel disc is fixedly connected to a side portion of the hub by a fixing frame.
As a preferable scheme of the present invention, each group of the first suspension assemblies includes two groups of swing arm link assemblies, each group of the swing arm link assemblies includes a first swing arm, a ground shaft and a first U-shaped frame, the ground shaft is fixedly connected to the top of the auxiliary wheel frame through a first mounting plate, the first U-shaped frame is fixedly connected to the side of the bearing frame, one end of the first swing arm is rotatably connected between the inner walls of the first U-shaped frame, and the other end of the first swing arm is rotatably connected to the circumferential surface of the ground shaft.
As a preferable scheme of the present invention, each group of the first suspension assemblies further includes a second swing arm, a third U-shaped frame and a fourth U-shaped frame, the third U-shaped frame is fixedly connected to the top of the bearing frame, the fourth U-shaped frame is fixedly connected to the side of the fastening frame, one end of the second swing arm is rotatably connected between the inner walls of the third U-shaped frame, and the other end of the second swing arm is rotatably connected between the inner walls of the fourth U-shaped frame.
As a preferable scheme of the present invention, each of the second suspension assemblies includes a telescopic rod and a first spring, the telescopic rod is located between the fastening frame and the sub-frame, the top and the bottom of the telescopic rod are both fixedly connected with a second mounting plate, the first spring is sleeved on the circumferential surface of the telescopic rod, and the upper and lower sides of the telescopic rod are provided with movable assemblies.
As a preferable scheme of the present invention, each group of the movable assemblies includes two second U-shaped frames, two movable swing rods, and two third mounting discs, one of the second U-shaped frames is fixedly connected to the top of the auxiliary wheel frame, one end of each of the two movable swing rods is rotatably connected between the inner walls of the two second U-shaped frames, the two third mounting discs are fixedly connected to the other ends of the two movable swing rods, and the two third mounting discs are fixedly connected to the two second mounting discs, respectively.
As a preferable scheme of the invention, each group of second suspension assemblies further includes an i-shaped carriage and a slide rail, the i-shaped carriage is fixedly connected to the top of the other second U-shaped frame, the slide rail is fixedly connected to the side of the fastening frame, the i-shaped carriage is slidably connected in the slide rail, and the top of the slide rail is provided with a first mounting hole.
As a preferable scheme of the present invention, each of the second suspension assemblies further includes a long rod and a second spring, the long rod is fixedly connected between the side inner walls of the slide rails, a through hole is formed in a side portion of the i-shaped carriage, the i-shaped carriage is slidably connected to the circumferential surface of the long rod through the through hole, and the second spring is sleeved on the circumferential surface of the long rod.
A robot chassis regulation and control method for enhancing stability comprises the following steps: when moving, the vibration is transmitted to the second driving connector through the tire, so as to drive the bearing frame to rock, finally drive the auxiliary wheel frame to rock, and the stability of the bearing frame is enhanced by the triangular connection of the first swing arm and the second swing arm, thereby enhancing the stability of the whole structure, utilizing the first spring to be sleeved on the circumferential surface of the telescopic rod, converting the vibration into the expansion of the first spring, reducing the vibration through the elasticity of the telescopic rod per se, achieving the effect of enhancing the shock absorption, the vibration of the sliding rail can be converted into the thrust of the I-shaped sliding frame, the through hole can slide on the circumferential surface of the long rod in the sliding rail, the thrust of the I-shaped sliding frame is reduced through the second springs, vibration is further reduced, the four groups of second suspension assemblies are arranged between the auxiliary wheel frame and the supporting plate, the supporting plate is guaranteed to have enough stability, the stability of the whole structure is effectively enhanced, and vibration generated in the moving process is controlled.
Compared with the prior art, the invention has the advantages that:
(1) the two ends of the second swing arm respectively rotate on the inner walls of the third U-shaped frame and the fourth U-shaped frame in a small-amplitude mode, movement of the bearing frame is further limited, during movement, vibration is transmitted to the second driving connector through tires, the bearing frame is driven to shake, the auxiliary wheel frame is driven to shake finally, the first swing arm and the second swing arm are connected in a triangular mode, stability of the bearing frame is enhanced, and stability of the whole structure is enhanced.
(2) According to the invention, the first spring is sleeved on the circumferential surface of the telescopic rod, vibration is converted into the expansion of the first spring, the vibration is reduced through the elasticity of the telescopic rod, the effect of enhancing the vibration reduction is achieved, the vibration can be converted into the thrust of the I-shaped sliding frame, the through hole can slide on the circumferential surface of the long rod in the sliding rail, and the thrust of the I-shaped sliding frame is reduced through the second spring, so that the vibration is further reduced.
(3) The I-shaped sliding frame slides on the circumferential surface of the long rod, so that the I-shaped sliding frame can stably move, and the second spring is sleeved on the circumferential surface of the long rod, so that the second spring is prevented from deforming in the repeated extrusion process, and the service life is prolonged.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a view of the construction of the sub-carrier of the present invention;
FIG. 4 is a diagram of a first suspension assembly of the present invention;
FIG. 5 is a diagram of a second suspension assembly of the present invention;
fig. 6 is an exploded view of a second suspension assembly of the present invention.
The reference numbers in the figures illustrate:
1. a vice wheel frame; 2. a support plate; 3. a bearing bracket; 4. a drive shaft; 5. a universal connector; 7. a first drive connector; 8. a second drive connector; 9. a hub; 10. a tire; 11. a brake pad; 12. a fixed mount; 13. an outer guard wheel disc; 14. a first swing arm; 15. a ground shaft; 16. a first U-shaped frame; 17. a second U-shaped frame; 18. a movable swing rod; 19. a telescopic rod; 20. a first spring; 21. an I-shaped sliding frame; 22. a through hole; 23. a long rod; 24. a second spring; 25. a fastening frame; 26. a slide rail; 27. a second swing arm; 28. a third U-shaped frame; 30. a fourth U-shaped frame; 32. a first mounting hole; 33. a first mounting plate; 35. a second mounting hole; 36. a second mounting plate; 37. and a third mounting plate.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "having," "nested/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1 to 6, a robot chassis device based on road condition detection includes:
a vice wheel frame 1; a supporting plate 2, the supporting plate 2 is arranged at the upper side of the auxiliary wheel frame 1, two bearing frames 3, the two bearing frames 3 are respectively arranged at two sides of the auxiliary wheel frame 1, each bearing frame 3 is provided with a group of roller components, each group of roller components comprises a transmission shaft 4, a first driving connector 7 and a second driving connector 8, the second driving connector 8 is rotatably connected inside the bearing frame 3, one end of the transmission shaft 4 is connected with the second driving connector 8 through a universal connector 5, the other end of the transmission shaft 4 is connected with the first driving connector 7 through the universal connector 5, the second driving connector 8 is provided with a brake pad 11, each group of roller components also comprises a wheel hub 9, the wheel hub 9 is fixedly connected with the second driving connector 8 through bolts, the tire 10 is installed on the circumferential surface of the wheel hub 9, and the outer protection wheel disc 13 is fixedly connected with the side portion of the wheel hub 9 through a fixing frame 12.
In this embodiment, two sets of swing arm link assemblies are connected between each bearing frame 3 and the sub-carrier 1, and the first swing arm 14 can rotate around the first U-shaped frame 16; the other end of the first swing arm 14 is rotatably connected to the circumferential surface of the ground shaft 15 so that the bearing bracket 3 can be moved up and down with a small amplitude. The second swing arm 27 is provided for connecting the fastening frame 25 and the bearing frame 3, and since the two ends of the second swing arm 27 are respectively and fixedly connected to the third U-shaped frame 28 and the fourth U-shaped frame 30, the second swing arm 27 can only rotate around the third U-shaped frame 28 and the fourth U-shaped frame 30 by a small angle, thereby limiting the movement of the bearing frame 3. In this embodiment, first drive connector 7 is connected with drive arrangement, and when the chassis removed, vibrations transmitted second drive connector 8 through tire 10 to drive bearing frame 3 and rock, drive auxiliary wheel carrier 1 at last and rock, utilize first swing arm 14 and second swing arm 27 triangular connection, strengthen bearing frame 3's stability, thereby strengthen overall structure's stationarity.
The chassis device also comprises two groups of first suspension assemblies which are respectively arranged on the two bearing frames 3 and connected with the auxiliary wheel frame 1 and the fastening frame 25; each first suspension assembly comprises two groups of swing arm connecting rod assemblies, each group of swing arm connecting rod assemblies comprises a first swing arm 14, a ground shaft 15 and a first U-shaped frame 16, the ground shaft 15 is fixedly connected to the top of the auxiliary wheel frame 1 through a first mounting disc 33, the first U-shaped frame 16 is fixedly connected to the side portion of the bearing frame 3, one end of the first swing arm 14 is rotatably connected between the inner walls of the first U-shaped frame 16, and the other end of the first swing arm 14 is rotatably connected to the circumferential surface of the ground shaft 15. Each set of first suspension assembly further comprises a second swing arm 27, a third U-shaped frame 28 and a fourth U-shaped frame 30, the third U-shaped frame 28 is fixedly connected to the top of the bearing frame 3, the fourth U-shaped frame 30 is fixedly connected to the side of the fastening frame 25, one end of the second swing arm 27 is rotatably connected between the inner walls of the third U-shaped frame 28, and the other end of the second swing arm 27 is rotatably connected between the inner walls of the fourth U-shaped frame 30.
The chassis device further comprises four groups of second suspension assemblies, the four groups of second suspension assemblies are respectively arranged at four corners of the top of the auxiliary wheel frame 1, each group of second suspension assemblies comprises a telescopic rod 19 and a first spring 20, the telescopic rod 19 is located between the fastening frame 25 and the auxiliary wheel frame 1, the top and the bottom of the telescopic rod 19 are fixedly connected with second mounting discs 36, the first spring 20 is sleeved on the circumferential surface of the telescopic rod 19, and movable assemblies are arranged on the upper side and the lower side of the telescopic rod 19. Each group of movable components comprises two second U-shaped frames 17, two movable swing rods 18 and two third mounting discs 37, wherein one second U-shaped frame 17 is fixedly connected to the top of the auxiliary wheel frame 1, one ends of the two movable swing rods 18 are respectively and rotatably connected between the inner walls of the two second U-shaped frames 17, the two third mounting discs 37 are respectively and fixedly connected to the other ends of the two movable swing rods 18, and the two third mounting discs 37 are respectively and fixedly connected with the two second mounting discs 36. Every group second hangs subassembly still includes worker's shape balladeur train 21 and slide rail 26, worker's shape balladeur train 21 fixed connection is in the top of another second U-shaped frame 17, slide rail 26 fixed connection is in the lateral part of fastening frame 25, worker's shape balladeur train 21 sliding connection is in slide rail 26, first mounting hole 32 has been seted up at slide rail 26's top, every group second hangs the subassembly and still includes stock 23 and second spring 24, stock 23 fixed connection is between the side inner wall of slide rail 26, through-hole 22 has been seted up to worker's shape balladeur train 21's lateral part, worker's shape balladeur train 21 passes through-hole 22 sliding connection in the circumferential surface of stock 23, the circumferential surface of stock 23 is located to second spring 24 cover.
In the embodiment, in each group of second suspension assemblies, two movable swing rods 18 are respectively arranged at the upper side and the lower side of a telescopic rod 19 to ensure that the telescopic rod 19 has enough movable distance and movable angle, a first spring 20 is sleeved on the telescopic rod 19 to convert vibration into expansion of the first spring 20, the elasticity of the telescopic rod 19 reduces vibration to achieve the effect of enhancing shock absorption, the vibration can be converted into thrust of an I-shaped carriage 21, through holes 22 can slide on the circumferential surface of a long rod 23 in a slide rail 26 to reduce the thrust of the I-shaped carriage 21 through a second spring 24 to further reduce the vibration, and four groups of second suspension assemblies are arranged between an auxiliary wheel frame 1 and a support plate 2 to ensure that the support plate 2 has enough stability, thereby effectively enhancing the stability of the whole structure, controlling the vibration generated in the moving process and improving the stability, and utilizing the I-shaped carriage 21 to slide on the circumferential surface of the long rod 23, guarantee the removal that I-shaped balladeur train 21 can be stable, and second spring 24 cover is established on stock 23's circumferential surface, can avoid second spring 24 to relapse the extrusion in-process and take place to warp increase of service life. It should be noted that: when the vibration amplitude is too large, the upper parts of the two groups of second suspension assemblies positioned on the same side can move in opposite directions, and the bearing frame 3 can move up and down in a small amplitude, so that the rotation of the tire 10 is not influenced while the damping effect is achieved.
Both sides of the support plate 2 are connected with fastening frames 25 through bolts, and the side part of the support plate 2 is provided with a plurality of second mounting holes 35; the second mounting hole 35 is used for fixing the device with a chassis outer shell of the robot, and the chassis outer shell can contain components such as a master control and communication circuit, a battery, a driving component, a laser point cloud radar and a camera.
A robot chassis regulation and control method for enhancing stability comprises the following steps: when moving, the vibration is transmitted to the second driving connector 8 through the tire 10, so as to drive the bearing frame 3 to rock, and finally drive the auxiliary wheel frame 1 to rock, the triangular connection between the first swing arm 14 and the second swing arm 27 is utilized to enhance the stability of the bearing frame 3, so as to enhance the stability of the whole structure, the first spring 20 is sleeved on the circumferential surface of the telescopic rod 19, the vibration is converted into the extension and contraction of the first spring 20, the elasticity of the telescopic rod 19 reduces the vibration, so as to achieve the effect of enhancing the shock absorption, the vibration can be converted into the thrust of the I-shaped sliding frame 21, the through hole 22 can slide on the circumferential surface of the long rod 23 in the slide rail 26, the thrust of the I-shaped sliding frame 21 is reduced through the second spring 24, the vibration is further reduced, and the four groups of second suspension assemblies are arranged between the auxiliary wheel frame 1 and the support plate 2, so as to ensure that the support plate 2 has enough stability, and effectively enhance the stability of the whole structure, controlling the vibration generated in the moving process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (10)
1. A robot chassis device for enhancing stationarity, comprising:
a sub-wheel carrier (1);
the supporting plate (2) is arranged on the upper side of the auxiliary wheel frame (1), two sides of the supporting plate (2) are connected with fastening frames (25) through bolts, and a plurality of second mounting holes (35) are formed in the side portion of the supporting plate (2);
the two bearing frames (3) are respectively arranged on two sides of the auxiliary wheel frame (1), and each bearing frame (3) is provided with a group of roller components;
the two groups of first suspension assemblies are respectively arranged on the two bearing frames (3) and are connected with the auxiliary wheel frame (1) and the fastening frame (25);
and the four groups of second suspension assemblies are respectively arranged at the four corners of the top of the auxiliary wheel frame (1).
2. The robot chassis device according to claim 1, wherein each group of the roller assemblies comprises a transmission shaft (4), a first driving connector (7) and a second driving connector (8), the second driving connector (8) is rotatably connected to the inside of the bearing frame (3), one end of the transmission shaft (4) is connected with the second driving connector (8) through a universal connector (5), the other end of the transmission shaft (4) is connected with the first driving connector (7) through the universal connector (5), and a brake pad (11) is installed on the second driving connector (8).
3. The robot chassis device according to claim 2, wherein each set of the roller assemblies further includes a hub (9), a tire (10), and an outer guard wheel disc (13), the hub (9) is fixedly connected to the second driving connector (8) by bolts, the tire (10) is mounted on a circumferential surface of the hub (9), and the outer guard wheel disc (13) is fixedly connected to a side portion of the hub (9) by a fixing frame (12).
4. The robot chassis device according to claim 3, wherein each set of the first suspension assemblies comprises two sets of swing arm link assemblies, each set of the swing arm link assemblies comprises a first swing arm (14), a ground shaft (15) and a first U-shaped frame (16), the ground shaft (15) is fixedly connected to the top of the auxiliary wheel frame (1) through a first mounting plate (33), the first U-shaped frame (16) is fixedly connected to the side of the bearing frame (3), one end of the first swing arm (14) is rotatably connected between the inner walls of the first U-shaped frame (16), and the other end of the first swing arm (14) is rotatably connected to the circumferential surface of the ground shaft (15).
5. The robot chassis device according to claim 4, wherein each set of the first suspension assemblies further comprises a second swing arm (27), a third U-shaped frame (28) and a fourth U-shaped frame (30), the third U-shaped frame (28) is fixedly connected to the top of the bearing frame (3), the fourth U-shaped frame (30) is fixedly connected to the side of the fastening frame (25), one end of the second swing arm (27) is rotatably connected between the inner walls of the third U-shaped frame (28), and the other end of the second swing arm (27) is rotatably connected between the inner walls of the fourth U-shaped frame (30).
6. The robot chassis device according to claim 5, wherein each set of the second suspension assemblies comprises a telescopic rod (19) and a first spring (20), the telescopic rod (19) is located between the fastening frame (25) and the auxiliary wheel frame (1), the top and the bottom of the telescopic rod (19) are both fixedly connected with a second mounting plate (36), the first spring (20) is sleeved on the circumferential surface of the telescopic rod (19), and the upper side and the lower side of the telescopic rod (19) are provided with movable assemblies.
7. The robot chassis device according to claim 5, wherein each set of movable components comprises two second U-shaped frames (17), two movable swing rods (18) and two third mounting plates (37), wherein one of the second U-shaped frames (17) is fixedly connected to the top of the auxiliary wheel frame (1), one end of each of the two movable swing rods (18) is rotatably connected between the inner walls of the two second U-shaped frames (17), one end of each of the two third mounting plates (37) is fixedly connected to the other end of each of the two movable swing rods (18), and the two third mounting plates (37) are fixedly connected with the two second mounting plates (36).
8. The robot chassis device according to claim 5, wherein each set of the second suspension assemblies further comprises a I-shaped carriage (21) and a slide rail (26), the I-shaped carriage (21) is fixedly connected to the top of the other second U-shaped frame (17), the slide rail (26) is fixedly connected to the side of the fastening frame (25), the I-shaped carriage (21) is slidably connected in the slide rail (26), and the top of the slide rail (26) is provided with a first mounting hole (32).
9. The robot chassis device according to claim 5, wherein each set of the second suspension assemblies further comprises a long rod (23) and a second spring (24), the long rod (23) is fixedly connected between the side inner walls of the slide rails (26), a through hole (22) is formed in the side portion of the I-shaped carriage (21), the I-shaped carriage (21) is slidably connected to the circumferential surface of the long rod (23) through the through hole (22), and the second spring (24) is sleeved on the circumferential surface of the long rod (23).
10. A robot chassis regulation and control method for enhancing stationarity, in particular using the robot chassis device of any one of claims 1-9, characterized by comprising: when moving, the vibration is transmitted to the second driving connector (8) through the tire (10), so as to drive the bearing frame (3) to rock, finally, the auxiliary wheel frame (1) is driven to rock, the first swing arm (14) and the second swing arm (27) are in triangular connection, the stability of the bearing frame (3) is enhanced, so as to enhance the stability of the whole structure, the first spring (20) is sleeved on the circumferential surface of the telescopic rod (19), the vibration is converted into the expansion of the first spring (20), the vibration is reduced through the elasticity of the telescopic rod (19), so as to achieve the effect of enhancing the shock absorption, the vibration can be converted into the thrust of the I-shaped sliding frame (21), the through hole (22) can slide on the circumferential surface of the long rod (23) in the sliding rail (26), the thrust of the I-shaped sliding frame (21) is reduced through the second spring (24), the vibration is further reduced, and the four groups of second suspension assemblies are arranged between the auxiliary wheel frame (1) and the supporting plate (2), the supporting plate (2) is guaranteed to have enough stability, the stability of the whole structure is effectively enhanced, and vibration generated in the moving process is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111662564.8A CN114313006B (en) | 2021-12-30 | 2021-12-30 | Robot chassis device for enhancing stability and regulation and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111662564.8A CN114313006B (en) | 2021-12-30 | 2021-12-30 | Robot chassis device for enhancing stability and regulation and control method thereof |
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| CN114313006A true CN114313006A (en) | 2022-04-12 |
| CN114313006B CN114313006B (en) | 2024-04-09 |
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