阅读说明：本技术 减震机构、底盘结构以及移动机器人 (Damping mechanism, chassis structure and mobile robot ) 是由 靳兴来 朱见平 章旺林 王国成 裴翔 于 2019-11-22 设计创作，主要内容包括：本发明提供一种减震机构、底盘结构以及移动机器人,属于移动设备领域,减震机构设置在驱动轮支架上,包括：减震弹簧组,设有两组,两组所述减震弹簧组分设在驱动轮支架的两侧,且分别与所述驱动轮支架连接；减震器,设置在两组所述减震弹簧组之间,且与所述驱动轮支架连接；缓冲板,设置在所述驱动轮支架的上方,用于固定减震弹簧组和减震器；底盘结构包括驱动轮机构、安装机构以及上述的减震机构；移动机器人包括车身、以及上述的底盘结构。本发明通过减震弹簧组以及减震器的变形压缩,能够缓冲车身行驶时地面给车轮的作用力,从而保持车身运行平稳,能够有效解决不同路面底盘的减震问题,适应性好。(The invention provides a damping mechanism, a chassis structure and a mobile robot, belonging to the field of mobile equipment, wherein the damping mechanism is arranged on a driving wheel bracket and comprises: the damping spring sets are arranged in two groups, and the two groups of damping spring sets are arranged on two sides of the driving wheel bracket and are respectively connected with the driving wheel bracket; the shock absorber is arranged between the two shock absorbing spring groups and is connected with the driving wheel bracket; the buffer plate is arranged above the driving wheel bracket and used for fixing the damping spring group and the damper; the chassis structure comprises a driving wheel mechanism, an installation mechanism and the damping mechanism; the mobile robot comprises a vehicle body and the chassis structure. The invention can buffer the acting force of the ground on wheels when the vehicle body runs by the deformation compression of the damping spring group and the damper, thereby keeping the vehicle body running stably, effectively solving the damping problem of chassis on different road surfaces and having good adaptability.)

1. Damper sets up on drive wheel support, its characterized in that includes:

the damping spring sets are arranged in two groups, and the two groups of damping spring sets are arranged on two sides of the driving wheel bracket and are respectively connected with the driving wheel bracket;

the shock absorber is arranged between the two shock absorbing spring groups and is connected with the driving wheel bracket;

and the buffer plate is arranged above the driving wheel bracket and used for fixing the damping spring group and the shock absorber.

2. The damper mechanism of claim 1, wherein the damper spring pack comprises:

the movable seat is connected with the driving wheel bracket;

the guide shaft is arranged on the movable seat, and one end of the guide shaft, which is far away from the movable seat, penetrates through the buffer plate and is fixed;

and the damping spring is sleeved on the guide shaft and is positioned between the movable seat and the buffer plate.

3. The damper mechanism according to claim 2, wherein a wire diameter of the damper spring is smaller than a spring wire diameter of the damper.

4. The damping mechanism according to claim 1, wherein two sets of damping springs are respectively hinged to a driving wheel bracket; one end of the shock absorber is hinged with the driving wheel support, and the other end of the shock absorber is hinged with the buffer plate.

5. The damping mechanism according to claim 4, wherein the damper is provided with a nut for adjusting the amount of compression of the spring.

6. Chassis structure, characterized in that it comprises a driving wheel mechanism, a mounting mechanism and a damping mechanism according to any of claims 1-5.

7. The chassis structure of claim 6, wherein the drive wheel mechanism comprises: a drive wheel;

the driving piece is fixed to the driving wheel support, and the output end of the driving piece is connected with the driving wheel through a transmission shaft.

8. The chassis structure of claim 7, wherein the mounting mechanism comprises:

and four groups of supporting plates are arranged at the top corners of the buffer plate and are used for connecting the vehicle body.

9. The chassis structure of claim 8, wherein the support plate is an S-shaped structure, and one end of the support plate is fixedly connected with the buffer plate, and the other end of the support plate is connected with the vehicle body.

10. Mobile robot, characterized in that it comprises a body and a chassis structure according to any of claims 6-9.

Technical Field

The invention belongs to the field of mobile equipment, and particularly relates to a damping mechanism, in addition, the invention also relates to a chassis structure comprising the damping mechanism, and a mobile robot comprising the chassis structure.

Background

The mobile robot is a wheeled robot with autonomous motion control and path planning, can move according to a set program and a track within a set range, and is widely applied to the fields of logistics storage, catering service, line inspection and the like at present.

The existing mobile robot is mostly a four-wheel robot, and although the damping mechanism arranged on the chassis can better solve the motion stability under the horizontal road surface, the multi-path surface adaptability of the used double-damping spring structure is poor, and the same good damping effect can not be obtained under different road surface conditions.

Disclosure of Invention

Based on the above background problem, the present invention aims to provide a damping mechanism, which can have good damping effect on different road surfaces, and which does not need to design different structures for different road surfaces, thereby solving the defect of poor adaptability of multiple road surfaces in the prior art. Another object of the present invention is to provide a chassis structure including the above-described shock-absorbing mechanism, and to provide a mobile robot including the above-described chassis structure.

Damper sets up on the drive wheel support, includes: the damping spring sets are arranged in two groups, and the two groups of damping spring sets are arranged on two sides of the driving wheel bracket and are respectively connected with the driving wheel bracket; the shock absorber is arranged between the two shock absorbing spring groups and is connected with the driving wheel bracket; and the buffer plate is arranged above the driving wheel bracket and used for fixing the damping spring group and the shock absorber.

In one embodiment, the damping spring set includes: the movable seat is connected with the driving wheel bracket; the guide shaft is arranged on the movable seat, and one end of the guide shaft, which is far away from the movable seat, penetrates through the buffer plate and is fixed; and the damping spring is sleeved on the guide shaft and is positioned between the movable seat and the buffer plate.

Preferably, the spring wire diameter of the damper spring is smaller than the spring wire diameter of the damper.

In one embodiment, two groups of damping spring groups are respectively hinged with the driving wheel bracket; one end of the shock absorber is connected with the driving wheel support, and the other end of the shock absorber is connected with the buffer plate.

Preferably, the shock absorber is provided with a nut for adjusting the compression amount of the spring.

In order to achieve the above object, the present invention further provides a chassis structure, which includes a driving wheel mechanism, a mounting mechanism, and the above damping mechanism.

In one embodiment, the drive wheel mechanism comprises: a drive wheel; the driving piece is fixed to the driving wheel support, and the output end of the driving piece is connected with the driving wheel through a transmission shaft.

In one embodiment, the mounting mechanism comprises: and four groups of supporting plates are arranged at the top corners of the buffer plate and are used for connecting the vehicle body.

Preferably, the supporting plate is of an S-shaped structure, one end of the supporting plate is fixedly connected with the buffer plate, and the other end of the supporting plate is connected with the vehicle body.

In order to achieve the above object, the present invention further provides a mobile robot, which includes a vehicle body and the above chassis structure.

Compared with the prior art, the invention has the following effects:

1. according to the invention, the damping system is formed by the damping spring group and the damper, and the acting force of the ground on the wheels can be buffered when the vehicle body runs through the deformation compression of the damping spring group and the damper, so that the vehicle body can be kept to run stably, the damping problem of chassis on different road surfaces can be effectively solved, and the adaptability is good.

2. The shock absorption spring is hinged with the driving wheel support through the movable seat, and two ends of the shock absorber are respectively hinged with the driving wheel support and the buffer plate and do not rotate relatively, so that a vehicle body is smoother when being started and stopped, and the vehicle body does not lean forward or lean backward.

3. The nut is arranged on the shock absorber, so that the compression amount of the spring can be adjusted, the shock absorption condition can be changed under the condition that the distance between the driving wheel and the ground is not changed, and a better shock absorption effect is obtained.

4. The spring wire diameter of the damping spring is smaller than that of the damper, so that the acting force can be more concentrated on the middle part of the driving wheel bracket, and in addition, the stress of the two damping spring groups is smaller, so that the damping spring has a gain effect on the driving stability in uniform speed running.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.

FIG. 1 is a front view of a chassis structure in an embodiment of the invention;

fig. 2 is a top view of fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings of the specification, and are only for convenience in describing the present invention and simplifying the 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. In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In order to solve the problem of poor adaptability of the existing double-spring buffer structure, the present embodiment provides a chassis structure, as shown in fig. 1 and 2, including a driving wheel mechanism, a damping mechanism, and an installation mechanism.

In the present embodiment, the drive wheel mechanism includes: the driving wheel comprises a driving wheel 1, a driving wheel support 101 and a driving piece, wherein a transmission shaft is connected to the circle center of the driving wheel 1, and one end, far away from the driving wheel 1, of the transmission shaft is tightly and fixedly connected with the output end of the driving piece. Specifically, as shown in fig. 2, the driving member includes a motor 102 and a speed reducer 103, an output end of the motor 102 is connected to the speed reducer 103, and an output shaft of the speed reducer 103 is tightly connected to the transmission shaft. It should be noted that the driving member is not limited to the above specific structure, and may be connected to the transmission shaft through the transmission mechanism, or may be directly connected to the transmission shaft through the motor, and the present invention is not limited thereto.

The driving wheel support 101 in this embodiment is a rectangular plate structure, as shown in fig. 2, a bearing mounting seat 104 is fixedly connected to the rear side of the driving wheel support 101, the motor 102 and the speed reducer 103 are fixed to the bearing mounting seat 104, and one end of the transmission shaft, which is far away from the driving wheel 1, passes through the driving wheel support 101, the bearing mounting seat 104 and is tightly connected to an output shaft of the speed reducer 103.

In the present embodiment, the damper mechanism is provided on the drive wheel bracket 101, and includes: a damping plate 2, a damping spring group, and a damper 201. As shown in fig. 1, the buffer plate 2 is disposed above the driving wheel bracket 101 for fixing the damping spring group and the top of the damper 201.

The damping spring sets are provided with two sets, which are respectively marked as a first damping spring set and a second damping spring set, the first damping spring set and the second damping spring set are symmetrically arranged on two sides of the driving wheel support 101 and are respectively connected with the driving wheel support 101, the first damping spring set and the second damping spring set have the same structure, and the first damping spring set is taken as an example to be described in detail.

As shown in fig. 1, the first damping spring group includes a first movable seat 202, a first guide shaft 203, and a first damping spring 204, the first movable seat 202 is connected to the right side of the driving wheel support 101, the first movable seat 202 in this embodiment is a cylindrical structure, the first guide shaft 203 is an optical axis, the first guide shaft 203 is fixed at the top end of the first movable seat 202, and the top end of the first guide shaft 203 penetrates through the buffer plate 2 upward and is fastened by a fastener.

More specifically, a through hole for the first guide shaft 203 to pass through is formed in the buffer plate 2, a linear bearing 205 is arranged in the through hole, the top end of the first guide shaft 203 passes through the linear bearing 205 and is fastened through a fastener, the problem of left-right shaking of the driving wheel 1 can be effectively avoided by arranging the linear bearing 205, and the driving route of the driving wheel 1 is prevented from being irregular; in this embodiment, the fastening member includes a first nut 206 and a second nut 207, the top of the corresponding first guide shaft 203 is provided with an external thread, and the damping mechanism is fixed by the cooperation of the first nut 206 and the second nut 207 which are arranged up and down and the external thread, so as to prevent the damping mechanism from falling off; in addition, the second nut 207 located below is isolated from the linear bearing 205 by a two-layer rubber gasket 208.

In the present embodiment, as shown in fig. 1 and 2, the damper 201 is disposed between the first damper spring group and the second damper spring group, preferably at a position intermediate in the left-right direction of the drive wheel carrier 101.

In order to enable the vehicle body to be smoother when the vehicle body is started or stopped, the vehicle body cannot be inclined forwards or inclined backwards, the first damping spring group and the second damping spring group are respectively hinged with the driving wheel support 101, and the shock absorber 201 is respectively hinged with the driving wheel support 101 and the buffer plate 2. Specifically, the first movable seat 202 and the second movable seat are hinged to the driving wheel bracket 101; as shown in fig. 2, a first hinge seat 209 is arranged on the bearing mounting seat 104, a second hinge seat 210 is arranged at the top of the buffer plate 2, the bottom end of the shock absorber 201 is fixed to the first hinge seat 209, and the top end of the shock absorber is fixed to the second hinge seat 210. The specific structure for realizing the hinge joint is not limited, and the hinge joint can be a hinge, a rotating shaft and the like.

In this embodiment, as shown in fig. 2, the first hinge seat 209 and the second hinge seat 210 are arranged in a staggered manner, that is, the shock absorber 201 of this embodiment is arranged obliquely, so that the moment arm can be increased, and the driving wheel 1 can operate more stably.

In order to adjust the damping condition of the damper 201 according to the use condition for body adjustment, an adjusting nut is arranged on the damper 201, and the compression amount of a spring on the damper 201 can be adjusted through the adjusting nut, so that a better damping effect is obtained. The damper 201 is an existing product, and the detailed structure thereof will not be described.

It should be noted that in this embodiment, the wire diameter of the first damping spring 204 is smaller than the wire diameter of the spring on the damper 201, so that the acting force can be more concentrated on the middle portion of the driving wheel bracket 101, and in addition, the stress of the first damping spring 204 and the second damping spring is smaller, which has a gain effect on the stability of the driving wheel 1 in uniform speed running. However, the first damper spring 204 and the spring wire diameter of the damper 201 are not limited thereto.

The damping mechanism of the embodiment can buffer the acting force of the ground to the wheels when the vehicle body runs through the deformation compression of the damper 201 and the damping spring, thereby keeping the vehicle body to run stably.

In the embodiment, as shown in fig. 1 and 2, the mounting mechanism comprises a support plate 3, and the support plate 3 is provided with four groups, wherein the four groups of support plates 3 are respectively arranged at the top corners of the buffer plate 2 and are used for connecting the vehicle body. Specifically, the supporting plate 3 is of a structure similar to an S shape, and comprises two horizontal sections and a vertical section for connecting the two horizontal sections, the horizontal section above the supporting plate is fixed with the buffer plate 2, and the horizontal section below the supporting plate is used for being connected with a vehicle body.

It should be noted that the horizontal section below is higher than the bottom end of the driving wheel 1, that is, when the driving wheel 1 contacts the ground, the horizontal section below is spaced from the ground.

The invention also provides a mobile robot, which comprises a vehicle body and the chassis structure, wherein the vehicle body is an existing structure, and the invention is not particularly limited.

It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications belong to the protection scope of the present invention.