CN218112773U - Mobile robot chassis - Google Patents
Mobile robot chassis Download PDFInfo
- Publication number
- CN218112773U CN218112773U CN202221932026.6U CN202221932026U CN218112773U CN 218112773 U CN218112773 U CN 218112773U CN 202221932026 U CN202221932026 U CN 202221932026U CN 218112773 U CN218112773 U CN 218112773U
- Authority
- CN
- China
- Prior art keywords
- wheel set
- hub flange
- differential
- robot chassis
- bottom plate
- 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.)
- Active
Links
Images
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The application discloses mobile robot chassis includes: the universal wheel set and the differential wheel set are arranged below the bottom plate, and the differential wheel set is a driving wheel; the suspension arm is arranged in the differential wheel set below the bottom plate, a sliding groove is formed in the suspension arm, a damping device is arranged in the sliding groove, the top end of the damping device is connected with the bottom plate, a hub flange is arranged at the bottom end of the damping device and connected with a hub motor in the differential wheel set, and the hub flange can move up and down along the sliding groove under the action of external force. The robot chassis and the suspension structure disposed below the robot chassis can support the weight of the robot body and bear loads and external loads. And in the steering or running process of the robot, the smooth running of the robot can be kept by the suspension structure and the damping device arranged in the suspension structure in the face of the vibration generated by the road bumping. The robot can uniformly land on the road when passing through roadblocks and pothole roads, and the adhesive force between the tire and the ground is kept.
Description
Technical Field
The application relates to the field of robots, in particular to a mobile robot chassis.
Background
With the improvement of living standard of people, more and more robots appear in the life of people.
However, during the turning or running of the robot, there may be a bumpy road condition, and when the conventional robot is placed in the face of the bump, it is often difficult to balance the stability of the robot and the adhesion between the tires and the ground.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the present application provides a mobile robot chassis, including:
the universal wheel set and the differential wheel set are arranged below the bottom plate, and the differential wheel set is a driving wheel;
the bottom plate below be provided with the suspension arm in the differential wheelset, the inside spout that is provided with of suspension arm, be provided with damping device in the spout, the damping device top with the bottom plate is connected, the damping device bottom is provided with the wheel hub flange, the wheel hub flange with wheel hub motor in the differential wheelset is connected, just the wheel hub flange can be under the effect of external force, follows the spout up-and-down motion.
In one example, the shock absorbing device includes:
the top end of the hydraulic damper comprises a first baffle plate which is fixed below the bottom plate, the bottom end of the hydraulic damper comprises a second baffle plate which is fixed on the hub flange, and the hydraulic damper can stretch out and draw back under the action of external force;
and the damping spring is arranged on the periphery of the hydraulic damper.
In one example, the hydraulic damper and the damping spring are flange-connected to the hub by bolts, and the hydraulic damper and the damping spring are connected to the base plate by screws.
In one example, the hub flange is of a cross-shaped structure, and the hub flange is matched with the suspension arm for limiting, so that the hub flange moves up and down along the sliding groove.
In one example, the hub flange is provided with rollers on both sides adjacent to the chute, the rollers being capable of rolling as the hub flange moves up and down within the chute.
In one example, the hub flange is provided with first protruding portions at two sides close to the sliding groove, hollow structures are arranged in the first protruding portions, and a plurality of rollers are arranged in the hollow structures.
In one example, the suspension arm is of a U-shaped structure, second protruding parts are arranged on two sides of the top end of the U-shaped structure, and the suspension arm is fixed below the bottom plate through the second protruding parts.
In one example, the universal wheel set includes two universal wheels, the differential wheel set includes two differential wheels, the differential wheel set is disposed along the middle axis of the bottom plate, the universal wheel set is disposed in front of the differential wheel set, and the size of the universal wheel is smaller than that of the differential wheels.
The mobile robot chassis provided by the application can bring the following beneficial effects:
the robot chassis and the suspension structure disposed below the robot chassis can support the weight of the robot body and bear loads and external loads. And in the steering or running process of the robot, the smooth running of the robot can be kept by the suspension structure and the damping device arranged in the suspension structure in the face of the vibration generated by the road bumping. The robot can uniformly land on the road when passing through roadblocks and pothole roads, and the adhesive force between the tire and the ground is kept.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural diagram of a robot chassis according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural view of a suspension arm according to an embodiment of the present application;
FIG. 3 is a schematic structural view of the interior of a suspension arm in the embodiment of the present application;
the device comprises a base plate 1, a bottom plate 2, a universal wheel set 3, a differential wheel set 301, a suspension arm 302, a hydraulic damper 303, a damping spring 304, a hub motor 305, a hub flange 306 and a roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that the terms of orientation such as left, right, up, down, front and back in the embodiments of the present invention are only relative concepts or are referred to the normal use state of the product, i.e. the traveling direction of the product, and should not be considered as limiting.
In addition, it should be noted that the dynamic terms such as "relative movement" mentioned in the embodiments of the present invention include not only a change in position but also a movement in which a state changes without a relative change in position such as rotation or rolling.
Finally, it is noted that when an element is referred to as being "on" or "disposed" to another element, it can be on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
As shown in fig. 1, the present application provides a mobile robot chassis, which mainly includes a bottom plate 1, a universal wheel set 2 and a differential wheel set 3.
The base plate 1 serves as a support member of the robot, and can support other structures (including, for example, a battery pack, an electric component, a laser radar, and other components) of the robot disposed above, and can also support the universal wheel set 2 and the differential wheel set 3 disposed below. The universal wheel set 2 mainly plays a role in supporting a chassis of the robot and serves as a driven wheel to be matched with the differential wheel set 3 to realize smooth movement of advancing, retreating and pivot steering. The differential wheel set 3 is a driving wheel of the robot, and is mainly used for realizing the movement of the robot and realizing the pivot steering of the robot through the speed difference of two wheels.
Fig. 2 and 3 are a schematic structural diagram of a suspension arm and a schematic structural diagram of a suspension arm inside in the embodiment of the present application, and generally speaking, the suspension arm 301 is disposed inside the differential wheel set 3, and here, for the sake of clarity, the suspension arm 301 and the related structures are illustrated in fig. 2 as being located outside the differential wheel set 3. The partial structure shown in fig. 3 is illustrated and described after the structure inside the suspension arm 301 is taken out and rotated by a certain angle in the axial direction.
A suspension arm 301 is provided in the differential gear group 3 below the bottom plate 1, and when there are a plurality of differential wheels, the number of the suspension arms 301 is also correspondingly plural. The inside spout that is provided with of suspension arm 301 is provided with damping device in the spout, and the damping device top is connected with bottom plate 1, and the damping device bottom is provided with wheel hub flange 305, and wheel hub flange 305 is connected with the in-wheel motor 304 in the differential gear group 3 (for example, all fix in-wheel motor 304 and differential gear group 3 and wheel hub flange 305), and wheel hub flange 305 can be under the effect of external force, along spout up-and-down motion.
When the differential wheel set 3 is just suspended when the robot encounters a bumpy road surface, the gravity of the robot applies downward pressure to the differential wheel set 3, and when the differential wheel set 3 contacts the ground, the ground applies upward supporting force to the differential wheel set 3. At this time, the hub flange 305 transmits the load to the base plate 1 via the damper device, and the damper device damps the load. The hub flange 305 is a cross-shaped structure and can be matched with the suspension arm 301 for limiting, so that the hub flange 305 moves up and down along the suspension arm.
The robot chassis and the suspension structure disposed below the robot chassis can support the weight of the robot body and bear loads and external loads. And in the steering or running process of the robot, the smooth running of the robot can be kept by the suspension structure and the damping device arranged in the suspension structure in the face of the vibration generated by the road bumping. The robot can uniformly land on roadblocks and pothole road surfaces, and the adhesive force between the tire and the ground is kept.
The robot with the robot chassis can be widely applied to indoor environments, can be applied to industries such as indoor distribution, logistics carrying, guest greeting explanation and mobile sales, is high in product universalization and high in safety and reliability, can obviously improve intellectualization and automation degree, has a very high application prospect, and can bring considerable income for companies when products are on the market.
In one embodiment, the shock absorbing means comprises a hydraulic damper 302 and a shock absorbing spring 303. The hydraulic damper 302 comprises a first baffle plate at the top end, which is fixed below the bottom plate 1 through the first baffle plate, and a second baffle plate at the bottom end, which is fixed on the hub flange 305 through the second baffle plate, for example, the hydraulic damper 302 and the damping spring 303 are connected with the hub flange 305 through bolts, and the hydraulic damper 302 and the damping spring 303 are connected with the bottom plate 1 through screws. The hydraulic damper 302 can be extended and contracted by an external force. A damper spring 303 is provided at the outer periphery of the hydraulic damper 302.
When encountering a bumpy road surface, the hydraulic damper 302 and the damping spring 303 are adopted as supporting components of the differential wheel set 3 and the robot chassis, and the weight, the load and the external load of the robot body can be borne.
In one embodiment, the hub flange 305 is provided with rollers 306 on two sides near the sliding slot, and the rollers 306 can roll when the hub flange 305 moves up and down in the sliding slot, so as to reduce the friction resistance and ensure smooth and reliable up and down movement.
Further, the hub flange 305 is provided with first protruding portions on two sides near the sliding groove, the first protruding portions are provided on two sides, a hollow structure is provided in the first protruding portion, a plurality of rollers 306 are provided in the hollow structure, for example, 3 rollers are provided as shown in fig. 3, so as to ensure smooth and reliable up and down movement.
In one embodiment, the suspension arm 301 is a U-shaped structure, and the two sides of the top end of the U-shaped structure are provided with second protrusions, and the suspension arm 301 is fixed under the bottom plate 1 through the second protrusions, such as by screws.
In one embodiment, as shown in fig. 1, the universal wheel set 2 comprises two universal wheels, the differential wheel set 3 comprises two differential wheels, and the differential wheel set 3 is disposed along a central axis of the bottom plate 1, which is a diameter that takes a forward direction of the chassis of the robot during operation as a front direction and takes a middle position between the front direction and the rear direction as a central axis. The universal wheel set 2 is arranged in front of the differential wheel set 3, and the size of the universal wheel is smaller than that of the differential wheel, so that the auxiliary moving effect is achieved.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (8)
1. A mobile robot chassis, comprising:
the universal wheel set and the differential wheel set are arranged below the bottom plate, and the differential wheel set is a driving wheel;
the bottom plate below be provided with the suspension arm in the differential wheelset, the inside spout that is provided with of suspension arm, be provided with damping device in the spout, the damping device top with the bottom plate is connected, the damping device bottom is provided with the wheel hub flange, the wheel hub flange with wheel hub motor in the differential wheelset is connected, just the wheel hub flange can be under the effect of external force, follows the spout up-and-down motion.
2. The mobile robot chassis of claim 1, wherein the shock absorbing device comprises:
the top end of the hydraulic damper comprises a first baffle plate which is fixed below the bottom plate, the bottom end of the hydraulic damper comprises a second baffle plate which is fixed on the hub flange, and the hydraulic damper can stretch out and draw back under the action of external force;
and the damping spring is arranged on the periphery of the hydraulic damper.
3. The mobile robot chassis of claim 2, wherein the hydraulic damper and the shock absorbing spring are flange-connected to the hub by bolts, and the hydraulic damper and the shock absorbing spring are connected to the base plate by screws.
4. The mobile robot chassis of claim 1, wherein the hub flange is of a cross-shaped structure, and the hub flange is matched with the suspension arm for limiting, so that the hub flange moves up and down along the sliding groove.
5. The mobile robot chassis of claim 1, wherein the hub flange is provided with rollers on both sides adjacent to the chute, the rollers being capable of rolling as the hub flange moves up and down within the chute.
6. The mobile robot chassis of claim 5, wherein the hub flange is provided with first protrusions on both sides proximate the chute, the first protrusions having a hollow structure disposed therein, the hollow structure having a plurality of rollers disposed therein.
7. The mobile robot chassis of claim 1, wherein the suspension arm is a U-shaped structure, and second protrusions are disposed on two sides of the top end of the U-shaped structure, and the suspension arm is fixed under the bottom plate through the second protrusions.
8. The mobile robot chassis of claim 1, wherein the universal wheel set comprises two universal wheels, the differential wheel set comprises two differential wheels, the differential wheel set is disposed along a central axis of the bottom plate, the universal wheel set is disposed in front of the differential wheel set, and the universal wheels have a size smaller than that of the differential wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221932026.6U CN218112773U (en) | 2022-07-25 | 2022-07-25 | Mobile robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221932026.6U CN218112773U (en) | 2022-07-25 | 2022-07-25 | Mobile robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218112773U true CN218112773U (en) | 2022-12-23 |
Family
ID=84520765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221932026.6U Active CN218112773U (en) | 2022-07-25 | 2022-07-25 | Mobile robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218112773U (en) |
-
2022
- 2022-07-25 CN CN202221932026.6U patent/CN218112773U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110077184B (en) | Mecanum wheel omnidirectional mobile robot independent suspension structure | |
| CN105799503A (en) | Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method | |
| CN103038124A (en) | Omni-directional wheel assembly and omni-directional vehicle | |
| CN209064231U (en) | Unmanned guidance carrier and its chassis | |
| CN111377006A (en) | Chassis of all-terrain wheeled robot | |
| CN108583187A (en) | A kind of independent suspension type AGV trolleies | |
| CN111619296A (en) | Suspension system for wheel train movement device and automobile | |
| CN216185444U (en) | Four-wheel-drive four-rotation robot wheel train structure | |
| CN111361653A (en) | Four-wheel mobile robot chassis and four-wheel mobile robot | |
| CN209757251U (en) | Modular electrically-driven driving unit and multi-axis driving unit | |
| CN209225269U (en) | Unmanned guidance carrier and its chassis | |
| CN218112773U (en) | Mobile robot chassis | |
| CN210653323U (en) | Electronic back double bridge sanitation car chassis structure | |
| CN113135225A (en) | Front-turning rear-driving robot chassis and moving robot | |
| CN114834230A (en) | Double-differential-speed wheel driving unit with variable suspension rigidity | |
| CN212556585U (en) | Duplex shock absorber, double-upright-column single-swing-arm suspension system and suspension type moving platform | |
| CN209852463U (en) | Perpendicular independent suspended structure of AGV ladder support based on MECANUM wheel | |
| CN212579553U (en) | AGV damping device | |
| CN211223672U (en) | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot | |
| CN111137373B (en) | Unmanned guided vehicle and chassis thereof | |
| CN210436953U (en) | Take hinge type shock mitigation system's AGV chassis | |
| CN208881515U (en) | One kind being used for heavy load AGV shock absorbing apparatus | |
| CN208827482U (en) | A kind of super-micro electric car front driving axle | |
| CN220374211U (en) | Torsional driving assembly for wheeled robot chassis | |
| CN113428259B (en) | Wheeled mobile robot of high adaptability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |