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Mobile robot and walking mechanism thereof

A mobile robot and walking mechanism technology, applied in the field of mobile robots, can solve problems such as robot toppling over, driving wheels easy to hang, slipping, etc., and achieve the effect of avoiding dumping accidents

Pending Publication Date: 2021-04-20
SHENZHEN PUDU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In practical applications, if encountering rough ground, the driving wheels on both sides are likely to hang in the air and slip, which may even cause the robot to overturn accidents.

Method used

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  • Mobile robot and walking mechanism thereof
  • Mobile robot and walking mechanism thereof
  • Mobile robot and walking mechanism thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] see Figure 1-Figure 3 As shown, the walking mechanism of the mobile robot provided in this embodiment mainly includes: a base plate 10, two driving wheels 20, two driving wheel suspension assemblies 30, a connecting frame 40, and at least one driven wheel 50, two driving wheels Both the suspension assembly 30 and the driven wheel 50 are arranged on the bottom plate 10 , and the two driving wheel suspension assemblies 30 are symmetrical about the driven wheel 50 .

[0025] In this embodiment, there are also two driven wheels 50 , and the two driven wheels 50 are oppositely arranged at both ends of the bottom plate 10 , and the two driving wheel suspension assemblies 30 are symmetrical to each other about the straight line where the two driven wheels 50 are located. For example, two driven wheels 50 are respectively arranged on both ends of the bottom plate 10 corresponding to the front and rear directions of the mobile robot body, and then two driving wheel suspension a...

Embodiment 2

[0042] This embodiment also provides a mobile robot, which includes: a mobile robot body, the walking mechanism of the mobile robot described in Embodiment 1, and the connecting parts between the mobile robot body and the two driving wheel suspension assemblies 30 34 fixed connections. Wherein, all the functions and features of the running gear have been described in detail in the first embodiment, and will not be repeated here.

[0043] To sum up, in the mobile robot and its walking mechanism provided by this embodiment, when the mobile robot crosses a hurdle, the driving wheel on one side moves upwards to drive the swing arm on this side to swing upwards, and drives the other side to swing upwards through the connecting frame. The swing arm of the robot swings upwards, so that the driving wheels on both sides swing synchronously, so as to avoid the phenomenon that the driving wheels slip due to the suspension of the mobile robot during the movement, and then avoid the accide...

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Abstract

The invention discloses a mobile robot and a walking mechanism thereof. The walking mechanism comprises a bottom plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame and at least one driven wheel. The driving wheel suspension assembly comprises a fixing base, a swing arm, a damping assembly and a connecting piece. The fixing base is fixed to the bottom plate, the swing arm is hinged to the fixing base, the damping assembly is connected between the swing arm and the connecting piece, and the driving wheel is rotatably installed on the swing arm. The connecting piece is used for being connected with a mobile robot body, and the connecting frame is connected to swing arms of the two driving wheel suspension assemblies. When the mobile robot passes through a ridge, the driving wheel on one side moves upwards to drive the swing arm on the side to swing upwards, and the swing arm on the other side is driven by the connecting frame to swing upwards, so that the driving wheels on the two sides swing synchronously, and the phenomenon that the driving wheels slip due to suspension in the moving process of the mobile robot is avoided; therefore, the occurrence of toppling accidents is avoided.

Description

technical field [0001] The present application relates to the technical field of mobile robots, in particular to a mobile robot and its walking mechanism. Background technique [0002] Mobile robots are gradually being used in the service field, for example, delivery services in restaurants, hotels, and office buildings, delivery services between buildings, etc. The movement of mobile robots is completed by the walking mechanism of mobile robots. Usually composed of a suspension system and a drive system, the suspension system determines the stability of the robot's movement. In practical applications, if encountering rough ground, the driving wheels on both sides are likely to hang in the air and slip, which may even cause the robot to overturn and cause accidents. Contents of the invention [0003] The purpose of this application is to provide a mobile robot and its walking mechanism, which can make the two driving wheels swing synchronously, avoid the slipping phenomen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D61/00B60G17/00B60G3/14B60G7/02
CPCB60G17/00B60G7/02B62D61/00B60G3/14B62D57/02
Inventor 陈焕昌张涛周兴凯王远志
Owner SHENZHEN PUDU TECH CO LTD
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