阅读说明：本技术 一种移动机器人及其行走机构 (Mobile robot and walking mechanism thereof ) 是由 陈焕昌 张涛 周兴凯 王远志 于 2020-12-31 设计创作，主要内容包括：本发明公开了一种移动机器人及其行走机构,行走机构包括：底板,两个主动轮,两个主动轮悬架总成,连接架,以及至少一个从动轮；主动轮悬架总成包括：固定座,摆臂,减震组件,以及连接件；固定座固定在底板上,摆臂铰接在固定座上,减震组件连接在摆臂与连接件之间,主动轮可转动的安装在摆臂上；连接件用于与移动机器人本体连接,连接架连接在两个主动轮悬架总成的摆臂上。移动机器人过坎时,一侧的主动轮向上移动而带动该侧的摆臂向上摆动,并通过连接架带动另一侧的摆臂向上摆动,使得两侧的主动轮同步摆动,以避免移动机器人在移动过程中出现悬空而引起主动轮打滑的现象,进而避免倾倒事故的发生。(The invention discloses a mobile robot and a walking mechanism thereof, wherein the walking mechanism comprises: the device comprises a base plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame and at least one driven wheel; the action wheel suspension assembly includes: the damping device comprises a fixed seat, a swing arm, a damping component and a connecting piece; the fixing seat is fixed on the bottom plate, the swing arm is hinged on the fixing seat, the damping assembly is connected between the swing arm and the connecting piece, and the driving wheel is rotatably arranged on the swing arm; the connecting piece is used for being connected with the mobile robot body, and the connecting frame is connected on the swing arms of the two driving wheel suspension assemblies. When the mobile robot crosses the bank, the driving wheel of one side moves upwards to drive the swing arm of the side to swing upwards, and the swing arm of the other side is driven by the connecting frame to swing upwards, so that the driving wheels of the two sides swing synchronously, the phenomenon that the driving wheel slips due to suspension in the moving process of the mobile robot is avoided, and the occurrence of dumping accidents is avoided.)

1. A traveling mechanism of a mobile robot, comprising: the device comprises a base plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame and at least one driven wheel; the two driving wheel suspension assemblies and the driven wheel are arranged on the bottom plate; the two driving wheel suspension assemblies correspond to the two driving wheels one by one, and each driving wheel suspension assembly comprises: the damping device comprises a fixed seat, a swing arm, a damping component and a connecting piece; the fixing seat is fixed on the bottom plate, the swing arm is hinged to the fixing seat, the damping assembly is connected between the swing arm and the connecting piece, and the driving wheel is rotatably mounted on the swing arm; the connecting piece is used for being fixedly connected with the mobile robot body; the connecting frame is connected to the swing arms of the two driving wheel suspension assemblies.

2. The travel mechanism of a mobile robot according to claim 1, wherein said drive wheel suspension assembly further comprises: the positioning part is arranged between the connection parts of the swing arm and the damping assembly and is used for positioning the damping assembly.

3. The traveling mechanism of a mobile robot according to claim 2, wherein the positioning part is a positioning post fixed between the joints of the swing arms and the damping member; the shock absorption assembly is a spring, and part of the spring is sleeved on the positioning column.

4. The traveling mechanism of a mobile robot according to claim 1, wherein the link frame comprises: and two ends of the connecting beam are respectively connected between the swing arms of the two driving wheel suspension assemblies.

5. The traveling mechanism of a mobile robot according to claim 4, wherein said link frame further comprises: one ends of the two supporting beams are respectively fixed on the swing arms of the two driving wheel suspension assemblies, and two ends of the connecting beam are respectively connected between the two supporting beams.

6. The travel mechanism of a mobile robot according to claim 1, wherein said drive wheel suspension assembly further comprises: a rotating shaft; the fixing seat is provided with a first through hole, a clamping groove is formed in the hinged position of the swing arm and the fixing seat, second through holes penetrating through the clamping groove are further formed in two groove walls of the clamping groove, the fixing seat is accommodated in the clamping groove, the first through hole is coaxial with the second through hole, and the rotating shaft penetrates through the first through hole and the second through hole.

7. The traveling mechanism of a mobile robot according to claim 1, wherein the bottom plate further comprises two receiving holes, and the two driving wheels are received in the receiving holes and exposed to the bottom of the bottom plate through the receiving holes.

8. The traveling mechanism of a mobile robot according to claim 1, wherein there are two driven wheels, two driven wheels are disposed opposite to each other, and two driving wheel suspension assemblies are symmetrical to each other with respect to a straight line on which the two driven wheels are disposed.

9. The traveling mechanism of a mobile robot according to claim 8, further comprising: two driven wheel suspension assemblies in one-to-one correspondence with the two driven wheels, the driven wheel suspension assemblies comprising: the shell is mounted on the bottom plate; the shell is provided with a mounting cavity protruding out of the shell, and the shock absorber is mounted in the mounting cavity; the driven wheel is fixedly connected with the shock absorber.

10. A mobile robot, comprising: the mobile robot body, its characterized in that still includes: the traveling mechanism of the mobile robot according to any one of claims 1 to 9, wherein the mobile robot body is fixedly connected to the connecting members of the two driving wheel suspension assemblies.

Technical Field

The application relates to the technical field of mobile robots, in particular to a mobile robot and a walking mechanism thereof.

Background

Mobile robots are being used in service areas, for example, for distribution services in restaurants, hotels, and office buildings, delivery services between buildings, and the like, and the movement of the mobile robot is performed by a traveling mechanism of the mobile robot, which generally includes a suspension system and a driving system, and the suspension system determines the stability of the movement of the robot. In practical application, if the robot encounters rough ground, the driving wheels on two sides are easy to suspend in the air and slip, even leading to the occurrence of robot toppling accidents.

Disclosure of Invention

The application aims at providing a mobile robot and running gear thereof, can make two action wheels swing in step, avoids the unsettled phenomenon that skids that appears of action wheel, and then avoids leading to the emergence that mobile robot emptys the accident.

According to a first aspect of the present application. The application provides a running gear of mobile robot includes: the device comprises a base plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame and at least one driven wheel; the two driving wheel suspension assemblies and the driven wheel are arranged on the bottom plate; the two driving wheel suspension assemblies correspond to the two driving wheels one by one, and each driving wheel suspension assembly comprises: the damping device comprises a fixed seat, a swing arm, a damping component and a connecting piece; the fixing seat is fixed on the bottom plate, the swing arm is hinged to the fixing seat, the damping assembly is connected between the swing arm and the connecting piece, and the driving wheel is rotatably mounted on the swing arm; the connecting piece is used for being fixedly connected with the mobile robot body; the connecting frame is connected to the swing arms of the two driving wheel suspension assemblies.

Further, the drive wheel suspension assembly further comprises: the positioning part is arranged between the connection parts of the swing arm and the damping assembly and is used for positioning the damping assembly.

Furthermore, the positioning part is a positioning column which is fixed between the connection part of the swing arm and the damping assembly; the shock absorption assembly is a spring, and part of the spring is sleeved on the positioning column. Further, the link frame includes: and two ends of the connecting beam are respectively connected between the swing arms of the two driving wheel suspension assemblies.

Further, the link frame further includes: one ends of the two supporting beams are respectively fixed on the swing arms of the two driving wheel suspension assemblies, and two ends of the connecting beam are respectively connected between the two supporting beams.

Further, the drive wheel suspension assembly further comprises: a rotating shaft; the fixing seat is provided with a first through hole, a clamping groove is formed in the hinged position of the swing arm and the fixing seat, second through holes penetrating through the clamping groove are further formed in two groove walls of the clamping groove, the fixing seat is accommodated in the clamping groove, the first through hole is coaxial with the second through hole, and the rotating shaft penetrates through the first through hole and the second through hole.

Furthermore, the bottom plate is further provided with two accommodating holes, and the two driving wheels are respectively accommodated in the accommodating holes and exposed out of the bottom plate through the accommodating holes.

Furthermore, two driven wheels are arranged, the two driven wheels are arranged oppositely, and the two driving wheel suspension assemblies are mutually symmetrical about a straight line where the two driven wheels are located.

Further, the running gear still includes: two driven wheel suspension assemblies in one-to-one correspondence with the two driven wheels, the driven wheel suspension assemblies comprising: the shell is mounted on the bottom plate; the shell is provided with a mounting cavity protruding out of the shell, and the shock absorber is mounted in the mounting cavity; the driven wheel is fixedly connected with the shock absorber.

According to a second aspect of the present application, there is also provided a mobile robot comprising: the mobile robot body, its characterized in that still includes: and the mobile robot body is fixedly connected with the connecting pieces of the two driving wheel suspension assemblies.

According to the mobile robot and the walking mechanism thereof provided by the application, when the mobile robot crosses the bank, the driving wheel of one side moves upwards and drives the swing arm of the side to swing upwards, and the swing arm of the other side is driven by the connecting frame to swing upwards, so that the driving wheels of two sides swing synchronously, the phenomenon that the driving wheel slips when the mobile robot is suspended in the moving process is avoided, and the occurrence of the accident that the mobile robot topples over is avoided.

Drawings

Fig. 1 is a perspective view of a traveling mechanism of a mobile robot provided in the present application;

FIG. 2 is a schematic structural view of a driven wheel suspension assembly and a driven wheel provided herein;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

fig. 4 is a state diagram of the traveling mechanism of the mobile robot provided by the present application traveling on a flat road;

fig. 5 is a state diagram of the traveling mechanism of the mobile robot according to the present invention when the traveling mechanism crosses the threshold.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

The application provides a mobile robot and a traveling mechanism thereof, wherein the mobile robot drives the mobile robot to travel through the traveling mechanism, and the mobile robot can be used for carrying out distribution service in restaurants, hotels and office buildings, or carrying out delivery service between buildings and the like.

The first embodiment,

Referring to fig. 1 to 3, the traveling mechanism of the mobile robot provided in this embodiment mainly includes: the base plate 10, the two driving wheels 20, the two driving wheel suspension assemblies 30, the connecting frame 40, and the at least one driven wheel 50, wherein the two driving wheel suspension assemblies 30 and the driven wheel 50 are all arranged on the base plate 10, and the two driving wheel suspension assemblies 30 are symmetrical about the driven wheel 50.

In this embodiment, there are two driven wheels 50, two driven wheels 50 are oppositely disposed at two ends of the base plate 10, and the two driving wheel suspension assemblies 30 are symmetrical to each other about a straight line where the two driven wheels 50 are located. For example, the two driven wheels 50 are respectively disposed at both ends of the base plate 10 corresponding to the front-rear direction of the mobile robot body, and the two driving wheel suspension assemblies 30 are respectively disposed at both sides of the base plate 10 corresponding to both side surfaces of the mobile robot body.

Two drive wheel suspension assemblies 30 correspond to two drive wheels 20 one-to-one, and each drive wheel suspension assembly 30 all includes: a fixed seat 31, a swing arm 32, a shock absorbing assembly 33, and a connecting member 34. The fixing base 31 is fixed on the bottom plate 10, one end of the swing arm 32 is hinged on the fixing base 31, the damping assembly 33 can generate certain elastic deformation to provide elastic resetting force, and the damping assembly 33 is arranged along the height direction of the mobile robot body, namely, the damping assembly 33 is arranged along the vertical direction. The bottom end of the shock-absorbing assembly 33 is connected to the top surface of the other end of the swing arm 32, the driving wheel 20 is rotatably mounted on the side surface of the other end of the swing arm 32, and the connecting member 34 is fixed to the top end of the shock-absorbing assembly 33. The connecting member 34 is used to be fixedly connected with the mobile robot body, that is, the damping assembly 33 is located between the connecting member 43 and the top surface of the other end of the swing arm 32, and the connecting member 43 can limit the upward elastic deformation of the damping assembly 33 by the weight of the mobile robot body. The connecting frame 40 is connected to the other end of the swing arm 32 of the two driving wheel suspension assemblies 30.

In this embodiment, the two driving wheels 20 and the two driven wheels 50 can stably support the traveling mechanism. The driving wheel 20 can generate driving force under the driving of a power source (driving motor) to drive the mobile robot body to move. As shown in fig. 4, fig. 4 shows a state where the running gear is in a flat road form, and two driving wheels 20 contact a flat ground so that the two driving wheels 20 are in the same plane. As shown in fig. 5, fig. 5 shows a state when the traveling mechanism crosses the threshold, when the driving wheel 20 on one side moves upward due to an uneven road, the other end of the swing arm 32 on the side is driven to swing upward around one end thereof, and the damping assembly 34 on the side deforms upward, the swing arm 32 swinging upward in the side drives the swing arm 32 on the other side to swing upward through the connecting frame 40, and then the swing arm 32 on the other side swinging upward drives the driving wheel 29 on the other side to swing upward, so that the two driving wheels swing synchronously, thereby avoiding the phenomenon that the driving wheel slips due to suspension of the mobile robot in the moving process, and further avoiding the occurrence of the tilting accident of the mobile robot.

In this application, two follow driving wheels 50 are the universal wheel, when mobile robot need turn to, through the action wheel 20 stall of control one side, the action wheel 20 of opposite side rotates, can control this mobile robot to turn to towards the direction of the action wheel 20 that stops rotating.

In one embodiment, the active wheel suspension assembly 30 further comprises: a rotating shaft 36. The fixing seat 31 is provided with a first through hole penetrating through the thickness direction of the fixing seat 31, one end of the swing arm 32 is provided with a clamping groove 321, two groove walls of the clamping groove 321 are provided with second through holes penetrating through the clamping groove 321, the distance between the two groove walls of the clamping groove 321 is larger than or equal to the thickness of the fixing seat 31, the clamping groove 321 is inserted into the fixing seat 31, namely, the fixing seat 31 is accommodated in the clamping groove 321, the first through hole and the second through hole are coaxial, the rotating shaft 36 is penetrated into the first through hole and the second through hole which are coaxial, and the positioning is carried out through the positioning pin 37, so that the other end of the swing arm 31 can swing around one end.

In an embodiment, the distance between the two groove walls of the locking groove 321 is equal to the thickness of the fixing seat 31, so as to avoid the phenomenon of left-right shaking in the swinging process of the swing arm 32, ensure the swinging stability of the swing arm 32, and further improve the stability of the active wheel suspension assembly 30.

In one embodiment, as shown in fig. 1, a buffer member 38 is further disposed between the swing arm 32 and the base plate 10, and the buffer member 38 is used for buffering the swing of the swing arm 32 to avoid the swing arm 32 from colliding with the base plate 10.

The buffer member 38 may be an elastic member (spring), a rubber member, or the like, and the buffer member 38 may be mounted on the swing arm 32 or the base plate 10.

In this embodiment, the arrangement direction of the swing arm 32 corresponds to the front-rear direction of the mobile robot body, the top surface of the other end of the swing arm 32 is the top surface along the height direction of the mobile robot body, and the side surface of the other end of the swing arm 32 corresponds to the side surface of the mobile robot body.

In an embodiment, two receiving holes 11 are further formed in the bottom plate 10 at positions corresponding to two side surfaces of the mobile robot body, two driving wheels 20 corresponding to the two driving wheel suspension assemblies 30 are respectively received in the two receiving holes 11, and each driving wheel 20 can be exposed out of the bottom plate 10 through the receiving hole 11 to support the traveling mechanism.

As shown in fig. 1, each drive wheel suspension assembly 30 further includes: and a positioning portion 35, the positioning portion 35 being provided on the top surface of the other end of the swing arm 32, the positioning portion 35 being used to position one end of the damper assembly 33.

In one embodiment, the positioning portion 34 is a positioning column, the bottom end of the positioning column is fixed on the top surface of the other end of the swing arm 32, the damping component 33 is a spring, and one end of the spring is sleeved on the positioning column.

Of course, in other embodiments, the damping assembly 33 may also be a gas spring, a hydraulic spring, etc., and the positioning portion 34 may not be provided, and the bottom end of the gas spring or the hydraulic spring is hinged to the top surface of the other end of the swing arm 32 for damping.

With continued reference to fig. 1, the aforementioned attachment bracket 40 includes: and two ends of the connecting beam 41 are respectively connected to the other ends of the swing arms 32 in the two driving wheel suspension assemblies 30, so that when the driving wheel 20 on one side swings upwards to drive the other end of the swing arm 32 on the other side to swing upwards around one end of the swing arm, the other end of the swing arm 32 on the other side is driven to swing upwards around one end of the swing arm, and thus the driving wheel 20 on the other side is driven to swing upwards to realize synchronous swing.

In one embodiment, the connecting frame 40 further comprises: two support beams 42, one end of each support beam 42 is fixed to the other end of the swing arm 32 in the two drive wheel suspension assemblies 30, and two ends of the connecting beam 41 are connected to the other ends of the two support beams 42. The design of the support beam 42 provides a mounting space for the connecting beam 41 relative to other components, and the structure is simple and compact.

In this embodiment, the traveling mechanism further includes: two driven wheel suspension assemblies 60, two driven wheel suspension assemblies 60 corresponding one-to-one to two driven wheels 50, as shown in fig. 2 and 3, each driven wheel suspension assembly 60 includes: a housing 61 and a damper 62, the housing 61 being mounted on the base plate 10, the housing 61 having a mounting cavity 611 protruding from the housing 61, the damper 62 being mounted in the mounting cavity 611. The driven wheel 50 is fixedly connected with the shock absorber 62 through the connecting seat 51.

Example II,

The present embodiment also provides a mobile robot including: the mobile robot body and the traveling mechanism of the mobile robot according to the first embodiment are fixedly connected to the connecting parts 34 in the two driving wheel suspension assemblies 30. All functions and features of the traveling mechanism are described in detail in the embodiment, and are not described in detail herein.

In summary, according to the mobile robot and the traveling mechanism thereof provided by this embodiment, when the mobile robot crosses the bank, the driving wheel on one side moves upward to drive the swing arm on the side to swing upward, and the swing arm on the other side is driven by the connecting frame to swing upward, so that the driving wheels on both sides swing synchronously, thereby avoiding the phenomenon that the driving wheel slips when the mobile robot is suspended in the air during the moving process, and further avoiding the occurrence of the accident that the mobile robot topples over.

The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.