Driving wheel and mobile robot with driving wheel

Abstract

The invention discloses a driving wheel comprising a drive wheel body; a bearing seat is arranged on an output shaft of the driving wheel body; at least one damping mechanism is arranged on the bearing seat; and the damping mechanism comprises a guide column, a fixing part, an elastic device and a limiting device. The fixing part is arranged at the top end of the guide column; the elastic device is used for driving the guide column to float up and down; when the driving wheel encounters an obstacle, the elastic device drives the guide column to float downwards, the overall gravity center is lowered, the driving wheel is tightly attached to the ground, the driving wheel is more stable in the operation process, the invention further discloses a mobile robot, and the mobile robot is excellentin damping effect and stable in operation.

Description

technical field [0001] The invention relates to a driving wheel, in particular to a driving wheel and a mobile robot containing the driving wheel. Background technique [0002] In the existing logistics transportation platform wheel train shock absorber, the upper end of the spring guide column is generally in a suspended state, the lower end is connected with the wheel fixing bracket, and the upper end is in a suspended state and can slide freely. [0003] For example, the Chinese patent "An AGV Drive Unit Damping Mechanism" with application number CN201611249608.3 provides a damping mechanism for an AGV drive unit, including a floating plate, a fixed bracket, at least two damping springs and a damping spring With the same number of spring guide columns, the side of the fixed bracket is provided with a traveling wheel installation part; in the unloaded state of the shock absorbing mechanism, there is a gap between the floating plate and the top of the fixed bracket; the sho...

AI Technical Summary

Problems solved by technology

[0006] Although the patent sets an elastic shock absorber, its shock absorption effect is limited and cannot fully adapt to road obstacles during transportation to ensure the smooth operation of the mobile robot

Moreover, the wheels of existing mobile robots generally use rubber or plastic wheels, which are easy to slip in the oily and watery environment of the factory floor. Therefore, it can be known that there are the following disadvantages in the prior art:

[0007] (1) In the existing shock absorbing device, the upper end of the spring guide post generally passes through the floating plate and is higher than a certain distance, and during the shock absorption process, in order to avoid the collision between the guide post and the car body, a safe distance should be left between them , which wastes space and raises the center of gravity of the transport platform, which is not conducive to the stability of transport

[0008] (2) In the existing shock absorbing device, the fixed plate of the shock absorbing guide column and the floating plate on the car body are fixed when the shock absorbing effect is played. It will cause severe impact, cause damage to the drive system, and also affect the stability of the load

[0009] (3) The upper end of the spring guide column in the existing shock absorbing device generally passes through the floating plate and is higher than a certain distance. When the shock absorbing mechanism is not loaded, there is a gap between the floating plate and the top of the fixed bracket, which cannot provide enough space. The elastic force makes the wheels fit closely with the ground, especially when encountering a pit on the ground, the elastic force is completely released, the driving wheel is suspended, and cannot provide enough power, resulting in the mobile robot not moving forward normally and affecting logistics transportation

[0010] (4) The wheels of existing mobile robots generally use traditional plastic wheels, which are easy to slip in the oily and watery environment on the factory floor

[0011] (5) The wheels of existing mobile robots are generally made of rubber, which is not strong, wear-resistant, and easy to age. Especially in the factory environment, it cannot adapt to the environment with metal debris or sharp objects

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