CN213502642U - Chassis suspension system of mobile robot - Google Patents
Chassis suspension system of mobile robot Download PDFInfo
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- CN213502642U CN213502642U CN202022103525.1U CN202022103525U CN213502642U CN 213502642 U CN213502642 U CN 213502642U CN 202022103525 U CN202022103525 U CN 202022103525U CN 213502642 U CN213502642 U CN 213502642U
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- connecting rod
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Abstract
The utility model discloses a mobile robot chassis suspension. The automatic feeding device comprises a chassis, a driving wheel assembly and a driven wheel assembly are arranged on the chassis, the driving wheel assembly comprises a driving wheel, the driven wheel assembly comprises a driven wheel corresponding to the driving wheel, the driving wheel is connected with the chassis through a driving wheel fixing frame, a linear bearing guide pillar is arranged on the chassis, a linear bearing capable of being sleeved on the linear bearing guide pillar is arranged on the driving wheel fixing frame, the driven wheel is connected with the chassis through a pin shaft, a sector gear is arranged at the driven wheel, a connecting rod assembly is arranged on the chassis and comprises a gear connecting rod, two middle connecting rods and a swing arm connecting rod which are sequentially connected, the gear connecting rod is connected with the sector gear, the two middle connecting rods are connected with the driving wheel fixing frame, and the two middle.
Description
Technical Field
The utility model relates to a mobile robot chassis suspension belongs to mobile robot technical field.
Background
The wheeled mobile robot is a machine device that automatically performs work, and can receive the command of an operator, run a preprogrammed program, and perform actions according to a principle schema (navigation algorithm) specified by an artificial intelligence technique. Its task is to assist or replace the repetitive, dangerous work of human beings, let human beings do more valuable or meaningful things.
For the wheeled robot, the chassis is an important supporting component of the whole system, and is used for supporting various components and subsystems such as a driving wheel, a suspension device, a motor, a battery, a control device, positioning navigation, audio and video and bearing the power of the driving motor, so that the normal running of the wheeled robot is ensured. The robot chassis suspension system is a general name of a force or moment transmission connecting device between a robot chassis body and a driving wheel, and mainly has the functions of transmitting force and moment acting between the driving wheel and the chassis, such as supporting force, braking force, driving force and the like, ensuring that the driving wheel is always attached to the ground and keeps a certain positive pressure, relieving impact load transmitted to the chassis from an uneven road surface, attenuating vibration caused by the impact load, and reducing dynamic load of the robot chassis and other subsystems.
Currently, for wheeled mobile robots, the following three types of chassis suspension systems are commonly used:
guide pillar type: the guide post type suspension system is straight up and straight down, the threshold passing capability is weak in this way, a non-vertical upward force is generated when an obstacle is met, and the force can generate a certain blocking effect on the vertical movement of the suspension system.
A towing bracket type: the suspension system rotates about a pivot axis. The mode has strong threshold passing capability and simple structure, but the front threshold passing capability and the rear threshold passing capability are inconsistent, the rotating shaft is in the front, the forward threshold passing capability is strong, and the rotating shaft is in the rear, the backward threshold passing capability is strong.
The polygonal form: the structure of the mode is relatively complex, and the threshold-passing capability is strong.
In the prior art, most wheeled robots adopt a fixed chassis design, and when the chassis of the robot is connected with a driving wheel, the driving wheel can only drive the chassis to move, so that the ground trafficability is neglected while the large bearing capacity is ensured. When the elevator passes through uneven ground, particularly a gully and a step of an elevator shielding door, the situation that the elevator cannot pass through the ground, the service life of the machine body is influenced by overlarge impact on the machine body, instability is directly caused and the like can occur.
And, in prior patents, patent application No.: CN 109532366 a, patent name: a robot chassis suspension system and a robot; a suspension system is disclosed, in which a driven wheel is coupled with a driving wheel through a connecting rod, and the ground adaptability of a robot is improved through the linkage of the driven wheel and the driving wheel. Although the technical scheme improves the adaptability of the wheeled robot to the ground through the link mechanism, the connecting mechanism of the connecting mechanism and the driving wheels is the swing arm type link mechanism, so that the vertical movement of the driving wheels relative to the ground cannot be ensured, and the rotating axes of the two driving wheels are probably not positioned on a plane vertical to the ground at the same time because the ground is not flat in the advancing direction of the vehicle.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides a mobile robot chassis suspension system.
The utility model discloses a realize through following technical scheme:
a chassis suspension system of a mobile robot comprises a chassis, wherein a driving wheel assembly and a driven wheel assembly are arranged on the chassis, the driving wheel component comprises a driving wheel, the driven wheel component comprises a driven wheel corresponding to the driving wheel, the driving wheel is connected with the chassis through a driving wheel fixing frame, a linear bearing guide post is arranged on the chassis, the driving wheel fixing frame is provided with a linear bearing which can be sleeved on a guide post of the linear bearing, the driven wheel is connected on the chassis through a pin shaft, and a sector gear is arranged at the driven wheel, a connecting rod assembly is arranged on the chassis, the connecting rod assembly comprises a gear connecting rod, two middle connecting rods and a swing arm connecting rod which are connected in sequence, the gear connecting rod is connected with the sector gear, the two middle connecting rods are connected with the driving wheel fixing frame, and the two middle connecting rods are connected through tension springs.
The chassis suspension system of the mobile robot is characterized in that a tensioning pin is arranged at the middle connecting rod, and the tension spring is connected with the tensioning pin.
According to the mobile robot chassis suspension system, the driven wheel is connected with the chassis through the driven wheel mounting plate, and the sector gear is arranged on the driven wheel mounting plate.
According to the mobile robot chassis suspension system, a pin shaft mounting hole is formed in one side of the driven wheel mounting plate, the pin shaft is mounted in the pin shaft mounting hole, and the pin shaft is connected to the driven wheel support.
The chassis suspension system of the mobile robot is characterized in that two connecting rod fixing frames are arranged on the chassis and are respectively connected with a gear connecting rod and a swing arm connecting rod.
According to the mobile robot chassis suspension system, the gear connecting rod and the swing arm connecting rod are symmetrically arranged on two sides of the axis of the driving wheel.
The utility model discloses the beneficial effect who reaches:
the chassis suspension system of the robot improves the ground adaptability on the premise of ensuring the bearing capacity of the chassis suspension system; a relatively horizontal posture can be maintained when the robot passes through the obstacle, and meanwhile, the impact on the robot body when the robot passes through the obstacle is reduced, so that the service life of the robot body and the safety of loaded goods are ensured; the obstacle crossing capability of the robot is improved, the technical requirements on the performance of the motor are reduced, the design requirements on wheel type selection are reduced, the type selection of the motor and the type selection of the driving wheel are wider, and the design cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a plan view of the present invention.
Fig. 3 is a cross-sectional view along AA in fig. 2.
Fig. 4 is an exploded view of the present invention.
Fig. 5 is a schematic view of the present invention on the over-convex surface.
In the figure: 1. the device comprises a driving wheel, 2, a driven wheel, 3, a driven wheel mounting plate, 4, a sector gear, 5, a pin shaft, 6, a driven wheel support, 7, a chassis, 8, a driving wheel fixing frame, 9, a first connecting rod fixing frame, 10, a linear bearing, 11, a linear bearing guide pillar, 12, a second connecting rod fixing frame, 13, a linear bearing guide pillar fixing frame, 14, a swing arm connecting rod, 15, a middle connecting rod, 16, a gear connecting rod, 17, a tensioning pin, 18 and a tension spring.
Detailed Description
The present invention is further described below. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in the figure, the utility model discloses a mobile robot chassis suspension, including chassis 7, be provided with driving wheel subassembly, driven wheel subassembly and link assembly on the chassis.
The driving wheel assembly comprises a driving wheel 1 and a driving wheel fixing frame 8, and a linear bearing 10 is arranged on the driving wheel fixing frame 8; the chassis 7 is provided with a linear bearing guide post fixing frame 13, the linear bearing guide post 11 is arranged on the linear bearing guide post fixing frame 13, and the linear bearing 10 can be sleeved on the linear bearing guide post 11. And a pin shaft hole is formed in the driving wheel fixing frame 8.
The driven wheel assembly comprises a driven wheel 2 corresponding to the driving wheel 1, the driven wheel 2 is connected with a chassis 7 through a driven wheel mounting plate 3, a pin shaft mounting hole is formed in the driven wheel mounting plate 3, a sector gear 4 is covered on the driven wheel mounting plate 3, and the driven wheel mounting plate 3 is arranged on a driven wheel bracket 6 through a pin shaft 5 and is jointly arranged on the chassis support 7; the driven wheel mounting plate 3 can rotate along the axis of the pin shaft mounting hole;
the connecting rod assembly comprises two connecting rod fixing frames (9, 12) which are symmetrically arranged and correspond to the two sides of the axis of the driving wheel 1 one by one. The gear connecting rod 16 and the swing arm connecting rod 14 are symmetrically arranged on two sides of the axis of the driving wheel, wherein a gear on the gear connecting rod 16 is meshed with the sector gear 4 on the driven wheel assembly, so that when the driven wheel assembly is stressed to rotate, torque can be effectively transmitted to the gear connecting rod 16.
The gear connecting rod 16 and the swing arm connecting rod 14 are respectively connected to a pin shaft hole on the driving wheel fixing frame 8 through the middle connecting rod 15. The middle connecting rod 15 is provided with tensioning pins 17 which are symmetrically arranged at two sides of the axle center of the driving wheel, and two tensioning pins 17 are provided with tension springs 18. The pretightening force of the tension spring 18 is transmitted and synthesized through the connecting rod mechanism, so that the driving wheel assembly continuously presses downwards to the ground, and the driving wheel 1 is ensured to be contacted with the ground at any time.
As shown in fig. 5, when the driven wheel 2 passes through the convex surface, the driven wheel mounting plate 3 rotates around the pin 5, so as to drive the sector gear 4 to rotate, that is, the gear connecting rod 16 rotates, and the linear bearing 10 on the driving wheel fixing frame 8 is driven to move downwards on the linear bearing guide post 11 through the intermediate connection 15, so as to ensure that the driving wheel 1 contacts the ground.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (6)
1. A chassis suspension system of a mobile robot comprises a chassis, wherein a driving wheel assembly and a driven wheel assembly are arranged on the chassis, the driving wheel component comprises a driving wheel, the driven wheel component comprises a driven wheel corresponding to the driving wheel, it is characterized in that the driving wheel is connected with a chassis through a driving wheel fixing frame, a linear bearing guide post is arranged on the chassis, the driving wheel fixing frame is provided with a linear bearing which can be sleeved on a guide post of the linear bearing, the driven wheel is connected on the chassis through a pin shaft, and a sector gear is arranged at the driven wheel, a connecting rod assembly is arranged on the chassis, the connecting rod assembly comprises a gear connecting rod, two middle connecting rods and a swing arm connecting rod which are connected in sequence, the gear connecting rod is connected with the sector gear, the two middle connecting rods are connected with the driving wheel fixing frame, and the two middle connecting rods are connected through tension springs.
2. The mobile robot chassis suspension system of claim 1, wherein a tension pin is disposed at the intermediate link, and the tension spring is connected to the tension pin.
3. A mobile robot chassis suspension system as claimed in claim 1 wherein the driven wheel is connected to the chassis by a driven wheel mounting plate on which the sector gear is mounted.
4. The mobile robot chassis suspension system of claim 3, wherein one side of the driven wheel mounting plate is provided with a pin mounting hole, the pin is mounted in the pin mounting hole, and the pin is connected to the driven wheel bracket.
5. The mobile robot chassis suspension system of claim 1, wherein the chassis is provided with two link holders, respectively connected to the gear link and the swing arm link.
6. The mobile robot chassis suspension system of claim 1 or 5, wherein the gear link and the swing arm link are symmetrically disposed on both sides of the axis of the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022103525.1U CN213502642U (en) | 2020-09-23 | 2020-09-23 | Chassis suspension system of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022103525.1U CN213502642U (en) | 2020-09-23 | 2020-09-23 | Chassis suspension system of mobile robot |
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| Publication Number | Publication Date |
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| CN213502642U true CN213502642U (en) | 2021-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022103525.1U Active CN213502642U (en) | 2020-09-23 | 2020-09-23 | Chassis suspension system of mobile robot |
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| CN (1) | CN213502642U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211923A (en) * | 2021-11-01 | 2022-03-22 | 佛山科学技术学院 | Self-adaptive suspended wheel type chassis of robot |
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2020
- 2020-09-23 CN CN202022103525.1U patent/CN213502642U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211923A (en) * | 2021-11-01 | 2022-03-22 | 佛山科学技术学院 | Self-adaptive suspended wheel type chassis of robot |
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