CN220923723U - Mobile robot suspension mechanism and mobile robot - Google Patents
Mobile robot suspension mechanism and mobile robot Download PDFInfo
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- CN220923723U CN220923723U CN202322494886.7U CN202322494886U CN220923723U CN 220923723 U CN220923723 U CN 220923723U CN 202322494886 U CN202322494886 U CN 202322494886U CN 220923723 U CN220923723 U CN 220923723U
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- 239000000725 suspension Substances 0.000 title claims abstract description 85
- 230000007246 mechanism Effects 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 210000001503 joint Anatomy 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The application provides a mobile robot suspension mechanism and a mobile robot, wherein the mobile robot suspension mechanism comprises a lever plate and travelling wheels, and the lever plate can swing left and right around a first axis extending in the front-back direction; the walking wheel is including setting up first walking wheel and the second walking wheel on the lever board, and first walking wheel and second walking wheel are located the left and right sides of first axis respectively, and first walking wheel can rotate with the walking around the second axis, and the second walking wheel can rotate with the walking around the third axis, and wherein, the walking wheel is when the direction walking around, and the extending direction of second axis and the extending direction of third axis are all different with the extending direction of first axis. In the process of moving the mobile robot in the front-back direction, if the mobile robot encounters a road surface with high and low fluctuation, the lever plate swings left and right relative to the chassis around the first axis, so that the chassis basically keeps balanced, and the chassis can keep the same height during no-load and heavy load so as to realize smooth butt joint.
Description
Technical Field
The application relates to the technical field of robots, in particular to a mobile robot suspension mechanism and a mobile robot.
Background
At present, the heavy backpack AMR (Autonomous Mobile Robo) is an important product in mobile robots, can be used as a carrier for production line station transmission, a heavy material handling and docking tool and the like, and has important roles in industries such as manufacturing industry, port and dock logistics and the like. The rationality of the AMR chassis suspension mechanism plays a critical role in both operational stability and efficiency.
The AMR suspension mechanism in the related art adopts spring type damping wheels, can basically and stably pass under the conditions of small road surface fluctuation and small gradient, but the vehicle shakes obviously when passing through a large fluctuation road surface, and can generate suspension height change when in no-load and heavy load, and can generate difficult butt joint when the AMR is in a load scene at the same height.
Disclosure of utility model
The application provides a mobile robot suspension mechanism and a mobile robot, which are used for reducing shaking when passing through a fluctuated road surface, keeping the same height when in no-load and heavy-load, and realizing smooth butt joint.
In a first aspect, the present application provides a mobile robot suspension mechanism comprising: the lever plate can swing left and right around a first axis extending in the front-back direction; and the walking wheels comprise first walking wheels and second walking wheels which are arranged on the lever plate, the first walking wheels and the second walking wheels are respectively positioned at the left side and the right side of the first axis, the first walking wheels can rotate around the second axis to walk, the second walking wheels can rotate around the third axis to walk, and when the walking wheels walk in the front-back direction, the extending direction of the second axis and the extending direction of the third axis are different from the extending direction of the first axis.
In some embodiments, the extending direction of the second axis and the extending direction of the third axis are perpendicular to the extending direction of the first axis when the travelling wheel travels in the front-rear direction.
In some embodiments, the mobile robot suspension mechanism comprises: the mounting base plate is provided with a bearing seat; the lever plate is rotatably installed on the bearing seat through a rotating shaft, and the axis of the rotating shaft is the first axis.
In some embodiments, the first road wheel is a drive wheel and the second road wheel is a driven wheel.
In some embodiments, the rotating shaft is disposed closer to the first road wheel than the second road wheel.
In some embodiments, the first traveling wheel is rotatably disposed on the lever plate about a fourth axis extending in an up-down direction; the second travelling wheel is rotatably arranged on the lever plate around a fifth axis extending in the vertical direction.
In some embodiments, the mounting base plate is provided with a relief hole, and the lever plate is located in the relief hole.
In a second aspect, the present application also provides a mobile robot comprising: a chassis; a front suspension mechanism provided at a front portion of the chassis; a rear suspension mechanism provided at a rear portion of the chassis; wherein the front suspension mechanism and the rear suspension mechanism are both mobile robot suspension mechanisms as described in any of the embodiments above.
In some embodiments, the rotation axis of the front suspension mechanism and the rotation axis of the rear suspension mechanism are arranged in a staggered manner in the left-right direction.
In some embodiments, the first travel wheel of the front suspension mechanism is disposed diagonally to the first travel wheel of the rear suspension mechanism and the second travel wheel of the front suspension mechanism is disposed diagonally to the second travel wheel of the rear suspension mechanism.
The mobile robot suspension mechanism and the mobile robot have the following technical effects:
1. In the moving process of the mobile robot in the front-back direction, if a high-low fluctuation road surface is met, the chassis can basically keep balanced and not shake left and right by swinging the lever plate around the first axis relative to the chassis, so that the mobile robot can stably pass through the fluctuation road surface, and the chassis can keep the same height when in no-load and heavy load so as to realize smooth butt joint.
2. The mounting bottom plate plays a role in supporting and fixing the whole suspension mechanism, so that the suspension mechanism is formed into a modularized whole, and the whole is convenient to transport and install quickly. The bearing pedestal plays a limiting role on the rotating shaft on one hand, and on the other hand, the bearing pedestal is positioned between the mounting bottom plate and the chassis, and the height of the bearing pedestal enables a certain avoiding gap to be formed between the mounting bottom plate and the chassis, so that interference with the chassis in the process of left-right swing of the lever plate is prevented.
3. According to the lever balance principle, as the first travelling wheel is a driving wheel, the travelling is realized mainly by virtue of the friction force between the first travelling wheel and the ground, and the closer the rotating shaft is to the first travelling wheel, the smaller the moment arm between the first travelling wheel and the lever supporting point is, so that the moment between the first travelling wheel and the second travelling wheel can be balanced, and the slipping phenomenon in the starting or accelerating process of the first travelling wheel is prevented.
4. The rotating shaft of the front suspension mechanism and the rotating shaft of the rear suspension mechanism are arranged in a staggered manner in the left-right direction. That is, the axis of the rotation axis of the front suspension mechanism is not collinear with the axis of the rotation axis of the rear suspension mechanism. By the structure, the mobile robot can be prevented from tilting to one side, and stability in the walking process is further improved.
5. The first travelling wheels and the second travelling wheels which are diagonally arranged are adopted, so that the power balance of the left side and the right side of the vehicle body can be ensured when the mobile robot walks, and the vehicle body is prevented from deviating from a movement track when the mobile robot walks; in addition, the in-situ rotation action of the mobile robot and the transverse and other angle actions can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a mobile robot suspension mechanism according to some embodiments of the present application;
FIG. 2 is a front view of a mobile robotic suspension mechanism provided in some embodiments of the application;
FIG. 3 is a top view of a mobile robotic suspension mechanism provided in some embodiments of the application;
Fig. 4 is a top view of a mobile robot suspension mechanism mounted on a chassis according to some embodiments of the present application.
Reference numerals:
a mobile robot suspension mechanism 100; a front suspension mechanism 101; a rear suspension mechanism 102;
A mounting base plate 10; a relief hole 11;
A lever plate 20;
A rotating shaft 30;
A bearing housing 40;
A first travel wheel 50;
A second road wheel 60;
A chassis 200;
A first axis L1; a second axis L2; a third axis L3; a fourth axis L4; a fifth axis L5.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present application, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship conventionally put in place when the product of this application is used, or the orientation or positional relationship conventionally understood by those skilled in the art, is merely for convenience of describing the present application and simplifying the description, and is not indicative or implying that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Referring to fig. 1-4, an embodiment of the present application provides a mobile robot suspension mechanism 100 including a lever plate 20 and road wheels.
The lever plate 20 is swingable about a first axis L1 extending in the front-rear direction. The walking wheel comprises a first walking wheel 50 and a second walking wheel 60 which are arranged on the lever plate 20, the first walking wheel 50 and the second walking wheel 60 are respectively positioned at the left side and the right side of the first axis L1, the first walking wheel 50 can rotate around the second axis L2 to walk, the second walking wheel 60 can rotate around the third axis L3 to walk, and when the walking wheel walks in the front-back direction, the extending direction of the second axis L2 and the extending direction of the third axis L3 are different from the extending direction of the first axis L1.
The front and rear parts of the chassis 200 of the mobile robot may be respectively provided with the mobile robot suspension mechanism 100, and when the mobile robot moves in the front and rear directions, if a high-low undulating road surface is encountered, the chassis 200 may be kept substantially balanced by swinging the lever plate 20 around the first axis L1 left and right relative to the chassis 200, without swinging left and right, so that the mobile robot may stably pass the undulating road surface, and the chassis may be kept at the same height when no load and heavy load are carried out, so as to realize smooth docking.
For example, when the travelling wheel travels in the front-rear direction, the extending direction of the second axis L2 and the extending direction of the third axis L3 are perpendicular to the extending direction of the first axis L1.
The lever plate 20 swings left and right about a first axis L1 extending in the front-rear direction, the first traveling wheel 50 rotates about a second axis L2 extending in the left-right direction, and the second traveling wheel 60 rotates about a third axis L3 extending in the left-right direction, so that the mobile robot travels in the front-rear direction.
In some embodiments, the mobile robot suspension 100 includes a mounting base plate 10 with a bearing mount 40 disposed on the mounting base plate 10. The lever plate 20 is rotatably mounted on the bearing housing 40 through a rotation shaft 30, and the axis of the rotation shaft 30 is a first axis L1. I.e., the axis of the rotary shaft 30 extends in the front-rear direction. The bearing housing 40 and the mounting base plate 10 may be mounted on the chassis 200.
The mounting base plate 10 plays a role in supporting and fixing the whole suspension mechanism 100, so that the suspension mechanism 100 is formed into a modularized whole, thereby facilitating transportation and quick installation. The bearing seat 40 plays a limiting role on the rotating shaft 30 on one hand, and on the other hand, the bearing seat 40 is positioned between the mounting bottom plate 10 and the chassis 200, and the height of the bearing seat 40 enables a certain avoiding gap to be formed between the mounting bottom plate 10 and the chassis 200, so that interference with the chassis 200 in the left-right swinging process of the lever plate 20 is prevented.
Illustratively, the mounting base plate 10 is provided with a relief hole 11, and the lever plate 20 is positioned in the relief hole 11. The lever plate 20 is retracted through the retraction hole 11 during the left-right pivoting of the lever plate 20 about the pivot shaft 30 relative to the mounting base plate 10.
In some embodiments, the first road wheel 50 is a drive wheel and the second road wheel 60 is a driven wheel. For example, the first traveling wheel 50 may be driven by a motor to travel the second traveling wheel 60 together.
In some embodiments, the shaft 30 is disposed closer to the first road wheel 50 than the second road wheel 60. Referring to fig. 2, the horizontal length d1 between the shaft center of the rotating shaft 30 and the connection point of the first traveling wheel 50 with the lever plate 20 is smaller than the horizontal length d2 between the shaft center of the rotating shaft 30 and the connection point of the second traveling wheel 60 with the lever plate 20. I.e. the spindle 30 is closer to the driving wheel.
According to the lever balance principle, since the first traveling wheel 50 is a driving wheel, traveling is mainly realized by means of friction force between the first traveling wheel 50 and the ground, the closer the rotating shaft 30 is to the first traveling wheel 50, the smaller the moment arm between the first traveling wheel 50 and the lever supporting point is, so that moment between the first traveling wheel 50 and the second traveling wheel 60 can be balanced, and slipping phenomenon in the starting or accelerating process of the first traveling wheel 50 is prevented.
In some embodiments, the first traveling wheel 50 is rotatably provided on the lever plate 20 about a fourth axis L4 extending in the up-down direction; the second traveling wheel 60 is rotatably provided on the lever plate 20 about a fifth axis L5 extending in the up-down direction, thereby realizing steering during traveling.
For example, the first traveling wheel 50 is rotatably connected to the left end portion of the lever plate 20 by a first vertical shaft having an axis of the fourth axis L4. The second traveling wheel 60 is rotatably connected to the right end portion of the lever plate 20 by a second vertical shaft having a fifth axis L5.
The first traveling wheel 50 is connected with an outer gear ring, which is connected with a steering motor, and the outer gear ring is driven to rotate by the steering motor to realize rotation of the first traveling wheel 50 about a fourth axis L4 extending in the up-down direction. The first running wheel 60 may be, for example, a universal wheel.
The embodiment of the application also provides a mobile robot, which comprises: chassis 200, front suspension 101 disposed at the front of the chassis, and rear suspension 102 disposed at the rear of chassis 200, wherein front suspension 101 and rear suspension 102 are mobile robot suspension 100 as described in any of the embodiments above.
In the process of moving the mobile robot in the front-rear direction, if a road surface with high and low fluctuation is encountered, the lever plate 20 can swing left and right relative to the chassis 200 around the first axis L1, so that the chassis 200 is basically balanced and does not shake left and right, the mobile robot can stably pass through the road surface with fluctuation, and the chassis can keep the same height in no-load and heavy load so as to realize smooth butt joint.
In some embodiments. The rotation shaft 30 of the front suspension mechanism 101 and the rotation shaft 30 of the rear suspension mechanism 102 are arranged in a staggered manner in the left-right direction. That is, the axis of the rotation shaft 30 of the front suspension mechanism 101 is not collinear with the axis of the rotation shaft 30 of the rear suspension mechanism 102. By the structure, the mobile robot can be prevented from tilting to one side, and stability in the walking process is further improved.
In some embodiments. The first road wheel 50 of the front suspension mechanism 101 is disposed diagonally to the first road wheel 50 of the rear suspension mechanism 102, and the second road wheel 60 of the front suspension mechanism 101 is disposed diagonally to the second road wheel 60 of the rear suspension mechanism 102.
The first running wheel 50 of the front suspension mechanism 101 being diagonally arranged with respect to the first running wheel 50 of the rear suspension mechanism 102 means that the first running wheel 50 of the front suspension mechanism 101 is not on the same side as the first running wheel 50 of the rear suspension mechanism 102, e.g. the first running wheel 50 of the front suspension mechanism 101 is located on the left side of the front of the chassis 200 and the first running wheel 50 of the rear suspension mechanism 102 is located on the right side of the rear of the chassis 200. Similarly, the diagonal placement of the second road wheel 60 of the front suspension 101 with the second road wheel 60 of the rear suspension 102 means that the second road wheel 60 of the front suspension 101 is not on the same side as the second road wheel 60 of the rear suspension 102, e.g., the second road wheel 60 of the front suspension 101 is on the right side of the front of the chassis 200 and the second road wheel 60 of the rear suspension 102 is on the left side of the rear of the chassis 200.
The first traveling wheel 50 and the second traveling wheel 60 which are diagonally arranged are adopted, so that the power balance of the left side and the right side of the vehicle body can be ensured when the mobile robot walks, and the vehicle body is prevented from deviating from a motion track when the mobile robot walks; in addition, the in-situ rotation action of the mobile robot and the transverse and other angle actions can be realized.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A mobile robot suspension mechanism comprising:
The lever plate can swing left and right around a first axis extending in the front-back direction; and
The walking wheel, the walking wheel including set up in first walking wheel and the second walking wheel on the lever board, first walking wheel with the second walking wheel is located respectively the left and right sides of first axis, first walking wheel can rotate with the walking around the second axis, the second walking wheel can rotate with the walking around the third axis, wherein, when walking in fore-and-aft direction, the extending direction of second axis with the extending direction of third axis is all different with the extending direction of first axis.
2. The mobile robot suspension mechanism of claim 1 wherein,
When the travelling wheel walks in the front-back direction, the extending direction of the second axis and the extending direction of the third axis are perpendicular to the extending direction of the first axis.
3. The mobile robotic suspension mechanism of claim 2, wherein the mobile robotic suspension mechanism comprises:
The mounting base plate is provided with a bearing seat;
The lever plate is rotatably installed on the bearing seat through a rotating shaft, and the axis of the rotating shaft is the first axis.
4. The mobile robot suspension mechanism of claim 3 wherein,
The first travelling wheel is a driving wheel, and the second travelling wheel is a driven wheel.
5. The mobile robot suspension mechanism of claim 4 wherein,
The setting position of pivot compare the second walking wheel is closer to first walking wheel.
6. The mobile robot suspension mechanism of claim 4 wherein,
The first travelling wheel is rotatably arranged on the lever plate around a fourth axis extending in the up-down direction;
The second travelling wheel is rotatably arranged on the lever plate around a fifth axis extending in the vertical direction.
7. The mobile robot suspension mechanism of claim 3 wherein,
The mounting bottom plate is provided with an avoidance hole, and the lever plate is positioned in the avoidance hole.
8. A mobile robot, comprising:
A chassis;
a front suspension mechanism provided at a front portion of the chassis;
A rear suspension mechanism provided at a rear portion of the chassis;
Wherein the front suspension mechanism and the rear suspension mechanism are each the mobile robot suspension mechanism as claimed in any one of claims 1 to 7.
9. The mobile robot of claim 8, wherein the mobile robot is configured to move,
The rotating shaft of the front suspension mechanism and the rotating shaft of the rear suspension mechanism are arranged in a staggered manner in the left-right direction.
10. The mobile robot of claim 8 or 9, wherein the robot is configured to move,
The first travelling wheel of the front suspension mechanism and the first travelling wheel of the rear suspension mechanism are arranged diagonally, and the second travelling wheel of the front suspension mechanism and the second travelling wheel of the rear suspension mechanism are arranged diagonally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322494886.7U CN220923723U (en) | 2023-09-14 | 2023-09-14 | Mobile robot suspension mechanism and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322494886.7U CN220923723U (en) | 2023-09-14 | 2023-09-14 | Mobile robot suspension mechanism and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220923723U true CN220923723U (en) | 2024-05-10 |
Family
ID=90939685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322494886.7U Active CN220923723U (en) | 2023-09-14 | 2023-09-14 | Mobile robot suspension mechanism and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220923723U (en) |
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2023
- 2023-09-14 CN CN202322494886.7U patent/CN220923723U/en active Active
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