Balanced suspension chassis and robot

Abstract

The invention discloses a balanced suspension chassis and a robot. The balanced suspension chassis comprises a base plate, driving wheels, universal wheels and a damping support. The driving wheels and the universal wheels are arranged at the bottom of the base plate; the damping support is connected with the driving wheels and arranged at the bottom of the base plate; each universal wheel comprises an installation support, an upper support, a lower support and a wheel body, and the tops of the upper supports are connected to the installation supports through rolling bodies; the lower supportsare hinged to the upper supports through hinged shafts, and springs are arranged between the upper supports and the lower supports; and the wheel bodies are hinged to the bottoms of the lower supports, and the universal wheels are arranged at the bottom of the base plate through the installation supports. The balanced suspension chassis can be suitable for complex terrains and can pass vertical steps.

Description

technical field [0001] The invention relates to the field of chassis, in particular to a balanced suspension chassis and a robot. Background technique [0002] The robot chassis drive is the walking part of the robot, including the chassis structure, drive motor, drive board, power board, etc. Its basic working principle is that the upper computer (computer) gives a movement command, calculates through the drive board, and drives the motor to work, thereby completing the robot's indoor walking. [0003] At present, most of the robot chassis use 3, 4 or 6 wheels. Its advantages and disadvantages are described as follows: [0004] 3-wheel layout: 2 driving wheels and 1 follower wheel. Advantages: Each wheel is a load wheel, which can fully contact the ground, and the driving wheel has no risk of leaving the ground. Disadvantages Poor overturning resistance, unable to turn in place. [0005] 4-wheel layout: 2 driving wheels, 2 follower wheels, cross-axis layout, advantages ...

AI Technical Summary

Problems solved by technology

Disadvantages Poor overturning resistance, failure to turn in place

[0005] 4-wheel layout: 2 driving wheels, 2 follower wheels, cross-axis layout, advantages of turning in place, disadvantages of 4-point contact, driving wheels have the risk of leaving the ground, resulting in insufficient driving traction;

[0006] Suspension method: The driving wheel adopts a suspension structure, and the two follower wheels are rigidly connected to the chassis substrate. When the robot crosses the vertical steps, the contact point between the driving wheel and the ground will be uncertain, because the vertical load of the two driving wheels depends on the suspension such as springs The transmission of the original, due to the uneven transmission of the elastic elements and the local unevenness of the ground, will lead to insufficient contact between the driving wheel and the ground, and finally lead to risks such as slipping and yaw

[0007] Follower wheel suspension: The driving wheel has no suspension, and the vertical load of the chassis is supported by two driving wheels and the rear follower wheel. The front follower wheel is an auxiliary wheel with a single wheel suspension; the advantage is that the drive wheel does not leave the ground and maintains a certain driving force. The disadvantage The vertical load should be distributed on the 2 driving wheels and the rear follower wheel, which must be at the rear. When driving on flat ground, the robot will have a slight continuous pitching attitude, which is more obvious in actual scenarios such as deceleration and obstacle avoidance mode, downhill parking, etc., relying on the counterweight The block solution increases the load of the robot, which brings battery energy consumption and cost

[0008] The 6-wheel structure is the same as the 4-wheel drive wheel suspension, 2 drive wheels, 4 follower wheels, and all 6 wheels are load wheels, which cannot guarantee the maximum vertical load on the drive wheels. Multiple points of contact with the ground can easily cause the drive wheels to lift off the ground , springs and other suspension components are transmitted to the driving wheel load and the ground is partially uneven, which is very easy to slip, yaw and other risks

Images