Suspension system and whole backpack-type mobile robot

Abstract

The invention discloses a suspension system and a whole backpack-type mobile robot. The robot includes a vehicle frame, the suspension system arranged at the bottom of the vehicle frame and a jackingmechanism arranged on the vehicle frame; the suspension system includes two suspension mechanisms on the left and right sides, each suspension mechanism includes a supporting girder, a driving wheel,a connector and a first driven wheel, each first driven wheel and the corresponding driving wheel are used for supporting the front and rear ends of the corresponding supporting girder respectively, and each connector is connected to the corresponding supporting girder and positioned between the corresponding driving wheel and the corresponding first driven wheel; the jacking mechanism includes multiple jacking assembles, a first driving system used for driving the jacking assembles and a transmission system used for transmitting a driving force of the first driving system to the jacking assembles; each jacking assembly includes a group of ball screw nut pairs and a mounting base used for installing the ball screw nut pairs, a first fixing base is arranged at the lower end of each first mounting base, and each first mounting base is arranged on a substrate board. Force is uniformly performed on the whole backpack-type robot, and the robot can achieve jacking with a large load.

Description

technical field [0001] The present application relates to the technical field of mobile robots, in particular to a suspension system and a full backpack mobile robot using the suspension system. Background technique [0002] With the advancement of science and technology, more and more enterprises are shifting to the intelligent factory model. Among them, the role of the automatic guided transport vehicle (AGV for short) should not be underestimated. This kind of intelligent mobile robot performs the function of "porter" in the actual factory. The use of the automatic guided transport vehicle not only greatly improves the actual operation of the factory. Efficiency, and release workers from daily monotonous and frequent tasks, reduce the rate of operational errors and liberate the labor force. [0003] In the field of mobile robots, the movement of the robot is mainly powered by the driving wheel, and the power of the driving wheel is mainly guaranteed by the friction force...

AI Technical Summary

Problems solved by technology

In this way, there will be several problems: ①When the load is relatively large, because the spring force is constant, the friction force of the driving force against the ground is constant, and the driving wheel is prone to slipping; The design is relatively large. At this time, when the robot is unloaded, the spring force of the driving wheel may push the robot up, causing the driven wheel to hang in the air; The spring stretches (compression spring) or shortens (extension spring), the spring force becomes smaller, and the contact force of the driving wheel also becomes smaller, which is prone to slipping

④ On roads with complex terrain, the force of the driving wheel spring may decrease when passing through pits, making it impossible to continue driving normally

For the above-mentioned technical problems, there is an existing patent document with the publication number CN107235092A: A disclosed technology of the chassis device of an adaptive mobile robot solves the above-mentioned technical problems correspondingly, but another thorny problem arises thereupon : During the working process, the rotating connection between the swing arm and the chassis body is likely to cause uneven force and bending deformation, which has limitations for applications with large loads on the back. At the same time, the existing knapsack warehouse logistics robot , when lifting a large load, limited by the overall strength of the mechanical structure, the stability of the robot's lifting is poor, thus causing the carrying capacity of this backpack-type mobile robot to be limited. The publication number is CN104192762B, and the patent name is "A Rotary Jacking Mechanism and an AGV trolley including a rotary jacking mechanism" discloses a mobile robot based on a rotary jacking mechanism, which has a strong carrying capacity, good lifting stability, and a large lifting stroke (up to 60-100mm)

In terms of the realization of the jacking movement, the electrical control of the robot body is also relatively complicated, and the car body needs to perform differential movement in the opposite direction relative to the pallet on the jacking mechanism.

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