Mobile device and robot

Abstract

The present invention relates to the field of robot technology, and discloses a mobile device and a robot, wherein the mobile device comprises: a shock absorbing system, wheels, a driving assembly and a chassis; the driving assembly comprises a hub connecting shaft and a driving part for driving the hub connecting shaft, one end of the hub connecting shaft is connected to the wheel; the shock absorbing system comprises a bearing seat and a shock absorber, the bearing seat is rotatably connected to the hub connecting shaft, and is connected to the chassis through the shock absorber. The robot comprises a mobile device. The mobile device in the present invention can improve the anti-seismic performance of the mobile device in the prior art during movement.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a mobile device and a robot. Background Art

[0002] Robotics is the mainstream cutting-edge technology in today's world. After more than 50 years of development, the robotics industry has ushered in a new era. In the next 3 to 5 years, the global robotics industry will show a spurt of growth, and China will become one of the most important markets in the world.

[0003] Nowadays, more and more robots are being used in various workplaces, such as high-risk industries such as exploration and explosion prevention, or in sports events and mecha master competitions. In the existing technology, it is difficult to ensure the stability of the overall structure of the robot when the robot moves on a rugged road; it is also impossible to climb on a slope efficiently and quickly, and the poor seismic performance during the climbing process cannot maintain the stability of the overall structure of the robot. Summary of the invention

[0004] The object of the present invention is to provide a mobile device and a robot, which can improve the problem of poor anti-vibration performance of the mobile device during movement in the prior art.

[0005] The embodiment of the present invention is achieved as follows:

[0006] In the first aspect, an embodiment of the present invention provides a mobile device, comprising: a shock absorbing system, wheels, a drive assembly and a chassis; the drive assembly comprises a hub connecting shaft and a drive unit for driving the hub connecting shaft, one end of the hub connecting shaft is connected to the wheel; the shock absorbing system comprises a bearing seat and a shock absorber, the bearing seat is rotatably connected to the hub connecting shaft, and is connected to the chassis through the shock absorber.

[0007] Optionally, in a preferred embodiment of the present invention, the shock absorption system also includes a support assembly, the support assembly includes a connecting rod base and a connecting rod, the connecting rod base is connected to the bearing seat, one end of the connecting rod is rotatably connected to the connecting rod base, and the other end of the connecting rod is rotatably connected to the chassis, and the position where the connecting rod is connected to the chassis is spaced apart from the position where the shock absorber is connected to the chassis.

[0008] Optionally, in a preferred embodiment of the present invention, the shock absorber is connected to the chassis via a shock-absorbing fixing seat, and the shock absorber is rotatably connected to the shock-absorbing fixing seat.

[0009] Optionally, in a preferred embodiment of the present invention, the support assembly includes two connecting rods, the two connecting rods are rotatably connected to the connecting rod base, and the two connecting rods are spaced apart from each other relative to the rotation axis of the connecting rod base.

[0010] Optionally, in a preferred embodiment of the present invention, the connecting rod is connected to the chassis via a connecting rod seat, and the connecting rod is rotatable relative to the connecting rod seat.

[0011] Optionally, in a preferred embodiment of the present invention, the shock absorber is a spring shock absorber.

[0012] Optionally, in a preferred embodiment of the present invention, a cargo bucket for carrying materials is provided on the chassis.

[0013] Optionally, in a preferred embodiment of the present invention, a grabbing mechanism is further provided on the chassis, and the grabbing mechanism is used to grab the materials in the cargo bucket.

[0014] Optionally, in a preferred embodiment of the present invention, a guide block is provided on the gripping mechanism.

[0015] In a second aspect, an embodiment of the present invention further provides a robot, comprising the above-mentioned moving device.

[0016] The beneficial effects of the embodiments of the present invention include:

[0017] A mobile device and a robot provided by an embodiment of the present invention, wherein a shock absorbing system is arranged at the bottom of a chassis, and a wheel is connected to the shock absorbing system through a driving assembly to form a mobile device. The mobile device can be moved by driving the wheel through a driving unit, and a good shock absorbing effect is achieved during the movement of the mobile device. One end of the hub connecting shaft is connected to the bearing seat and connected to the driving unit, and the wheel is connected to the end of the hub connecting shaft opposite to the bearing seat, so that the wheel connected to the hub connecting shaft is driven by the driving unit to rotate. During the movement of the mobile device, when the wheel is traveling on a rugged road surface and is affected by the unevenness of the ground, the impact force generated by the ground on the wheel will be transmitted to the hub connecting shaft through the wheel, and the hub connecting shaft will be assembled in the bearing seat through the bearing, so that the impact force of the ground on the wheel is borne by the bearing assembled in the bearing seat, and the impact force of the ground on the wheel will not be transmitted to the driving unit, which protects the driving unit to a certain extent and increases the service life of the driving unit. The impact force of the ground on the bearing seat is transmitted to the shock absorber. After being impacted by the ground, the shock absorber's own stroke becomes shorter and generates elastic force, thereby offsetting the impact force of the ground on the wheels. In this way, the vibration of the chassis and components installed on the chassis can be reduced, thereby improving the stability of the mobile device during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the structure of a mobile device according to an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the assembly structure of the shock absorbing system, wheels, driving components and chassis in the mobile device according to an embodiment of the present invention;

[0021] Figure 3 It is a schematic diagram of the assembly structure of the shock absorbing system, wheels and driving components in the mobile device according to an embodiment of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the grabbing mechanism in the mobile device according to an embodiment of the present invention.

[0023] Icons: 100-mobile device; 110-shock absorption system; 111-bearing seat; 112-shock absorber; 1121-shock absorber fixing seat; 113-support assembly; 1131-connecting rod base; 1132-connecting rod; 1133-connecting rod seat; 120-wheel; 130-chassis; 131-cargo box; 132-grabbing mechanism; 1321-guide block; 140-drive assembly; 141-wheel hub connecting shaft; 142-drive unit. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0027] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invented product is usually placed when in use, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Please refer to Figure 1 and Figure 2 The present embodiment provides a mobile device 100, including: a shock absorbing system 110, a wheel 120, a driving assembly 140 and a chassis 130; the driving assembly 140 includes a hub connecting shaft 141 and a driving part 142 for driving the hub connecting shaft 141, and one end of the hub connecting shaft 141 is connected to the wheel 120; the shock absorbing system 110 includes a bearing seat 111 and a shock absorber 112, the bearing seat 111 is rotatably connected to the hub connecting shaft 141, and is connected to the chassis 130 through the shock absorber 112; optionally, the shock absorber 112 is a spring shock absorber 112.

[0030] Specifically, the shock absorbing system 110 is arranged on the chassis 130 to support the chassis 130, the wheel 120 is connected to the hub connecting shaft 141 in the driving part 142, the hub connecting shaft 141 is rotatably connected to the bearing seat 111, and the bearing seat 111 is connected to the chassis 130 through the shock absorber 112. The hub connecting shaft 141 is connected to the driving part 142 through a coupling, and the driving part 142 drives the wheel 120 to rotate, and finally the mobile device 100 is moved as a whole through the driving part 142.

[0031] It should be noted that, in the embodiments of the present invention, Figure 1As shown, first, a total of four wheels 120 are arranged on the chassis 130 of the mobile device 100, and each wheel 120 is independently equipped with a shock absorbing system 110, and each wheel 120 is driven by an independent driving unit 142, which can improve the moving speed and shock resistance of the mobile device 100. Second, each hub connecting shaft 141 in the shock absorbing system 110 is respectively connected to a Mecanum wheel, and the Mecanum wheel has a strong adhesion on the ground, and the movement modes of the mobile device 100 such as forward movement, lateral movement, oblique movement and their combination can be realized through the differential movement between the four Mecanum wheels. Third, in the implementation of the present invention, the driving unit 142 is a motor. Third, in this embodiment, the shock absorber 112 is a spring shock absorber 112 for example. By selecting the spring shock absorber 112, the manufacturing cost of the mobile device 100 can also be reduced in the process of ensuring the smooth movement of the mobile device 100.

[0032] The embodiment of the present invention provides a mobile device 100, wherein a shock absorbing system 110 is arranged at the bottom of a chassis 130, and a wheel 120 is connected to the shock absorbing system 110 through a driving assembly 140, so as to form the mobile device 100. The movement of the mobile device 100 can be realized by driving the wheel 120 through a driving unit 142, and a good shock absorbing effect is achieved during the movement of the mobile device 100. One end of a hub connecting shaft 141 is connected to a bearing seat 111 and connected to the driving unit 142, and the wheel 120 is connected to an end of the hub connecting shaft 141 opposite to the bearing seat 111, so that the wheel 120 connected to the hub connecting shaft 141 is driven by the driving unit 142 to rotate. During the movement of the mobile device 100, when the wheel 120 is traveling on a rough road and is affected by the unevenness of the ground, the impact force generated by the ground on the wheel 120 will be transmitted to the hub connecting shaft 141 through the wheel 120. The hub connecting shaft 141 will be assembled in the bearing seat 111 through the bearing, so the impact force of the ground on the wheel 120 is borne by the bearing assembled in the bearing seat 111, and the impact force of the ground on the wheel 120 will not be transmitted to the driving part 142, which plays a protective role on the driving part 142 to a certain extent and improves the service life of the driving part 142. The impact force of the ground on the bearing seat 111 is transmitted to the shock absorber 112. After the shock absorber 112 is affected by the impact force of the ground, its own stroke becomes shorter and generates elastic force, thereby offsetting the impact force of the ground on the wheel 120. In this way, the shaking of the chassis 130 and the components arranged on the chassis 130 can be reduced, thereby improving the stability of the mobile device 100 during movement.

[0033] Optionally, see Figure 2 and Figure 3In a preferred embodiment of the present invention, the shock absorbing system 110 also includes a support assembly 113, the support member includes a connecting rod base 1131 and a connecting rod 1132, the connecting rod base 1131 is connected to the bearing seat 111, one end of the connecting rod 1132 is rotatably connected to the connecting rod base 1131, and the other end of the connecting rod 1132 is rotatably connected to the chassis 130, and the position where the connecting rod 1132 is connected to the chassis 130 is spaced from the position where the shock absorber 112 is connected to the chassis 130; optionally, in a preferred embodiment of the present invention, the shock absorber 112 is connected to the chassis 130 through a shock absorber fixing seat 1121, and the shock absorber 112 is rotatably connected to the shock absorber fixing seat 1121.

[0034] Specifically, in the embodiment of the present invention, a connecting rod base 1131 is provided on the bearing seat 111, and the connecting rod base 1133 is connected to the chassis 130 through the connecting rod 1132, wherein the connecting rod 1132 is hinged to the connecting rod base 1131. The shock absorber 112 is also provided on the connecting rod base 1131, and is cross-arranged with the connecting rod 1132 on the connecting rod base 1131, and one end of the shock absorber 112 away from the connecting rod 1132 base is provided on the chassis 130, and the shock absorber 112, the connecting rod 1132 and the chassis 130 are in a triangular shape. After the wheel 120 is impacted by the rough ground, the impact force will be transmitted along the wheel 120 to the bearing seat 111 and the connecting rod base 1131 connected to the bearing seat 111. Since the connecting rod base 1131 and the connecting rod 1132 are hinged, the connecting rod 1132 can rotate relative to the connecting rod base 1131. The connecting rod 1132 consumes part of the impact force during the rotation process and transmits the remaining impact force to the chassis 130. At this time, the shock absorber 112 connecting the connecting rod base 1131 and the chassis 130 compresses its own stroke to generate elastic force, thereby buffering the impact force of the ground on the chassis 130, improving the anti-seismic performance of the chassis 130, and finally ensuring the smooth movement of the chassis 130.

[0035] Among them, a shock-absorbing fixing seat 1121 is set at one end of the shock absorber 112 away from the connecting rod 1132 base plate, which can facilitate the rotation of the shock absorber 112 to the chassis 130, ultimately ensuring that the shock absorber 112 can better exert its anti-seismic performance and ensure the smooth movement of the chassis 130.

[0036] Optionally, see Figure 3 In a preferred embodiment of the present invention, the support assembly 113 includes two connecting rods 1132, and the two connecting rods 1132 are respectively hinged at two ends of the connecting rod base 1131; optionally, a connecting rod seat 1133 is connected to one end of the two connecting rods 1132 away from the connecting rod base 1131, and the connecting rod 1132 can be rotatably connected to the chassis 130 through the connecting rod seat 1133.

[0037] Specifically, two connecting rods 1132 are connected to the connecting rod base 1131 in parallel and at intervals. By respectively hingedly connecting the connecting rods 1132 at both ends of the connecting rod base 1131, the bearing seat 111, the wheel 120 connected to the bearing seat 111 through the hub connecting shaft 141, and the driving part 142 connected to the hub connecting shaft 141 through the coupling can be more stably arranged on the chassis 130. It should be noted that in the embodiment of the present invention, the connecting rods 1132 respectively hinged at both ends of the connecting rod base 1131 serve as one side of the triangle connected with the shock absorber 112 and the chassis 130. After the force of the rough ground on the wheel 120 is transmitted to the connecting rod base 1131, the connecting rods 1132 hinged at both ends of the connecting rod base 1131 rotate relative to the connecting rod base 1131, thereby causing the shock absorber 112 to change its own stroke, generate elastic force, buffer the impact of the ground, and ensure the stability of the chassis 130.

[0038] Among them, a connecting rod seat 1133 is respectively set at one end of the two connecting rods 1132 away from the connecting rod base 1131, which can ensure that the connecting rod base 1131 is more firmly connected to the chassis 130 through the connecting rods 1132 hinged at both ends of the connecting rod base 1131, and can prevent the single connecting rod 1132 from breaking due to excessive impact after the wheel 120 is impacted by rough ground.

[0039] Optionally, see Figure 1 and Figure 4 In a preferred embodiment of the present invention, a cargo bucket 131 for carrying materials is provided on the chassis 130; optionally, a grabbing mechanism 132 is also provided on the chassis 130, and the grabbing mechanism 132 is used to grab the materials in the cargo bucket 131; preferably, a guide block 1321 is provided on the grabbing mechanism 132.

[0040] Specifically, during the use of the mobile device 100, the grabbing mechanism 132 is fixedly arranged on the chassis 130, and the cargo bucket 131 is also fixedly arranged on the chassis 130 and is located below the grabbing mechanism 132. After the grabbing mechanism 132 grabs the material or the box containing the material, the driving unit 142 of the grabbing mechanism 132 pours the material or the material in the box into the cargo bucket 131, and finally realizes the transportation of the material by the mobile device 100. The cargo bucket 131 is arranged below the grabbing structure to facilitate the grabbing structure to put the grabbed material into the cargo bucket 131 or pour the material in the box containing the material into the cargo bucket 131, thereby improving the working efficiency of the mobile device 100 in transporting materials. By arranging the grabbing mechanism 132 and the cargo bucket 131 on the mobile device 100, the stability and flexibility of the mobile device 100 in transporting materials in this embodiment can be achieved.

[0041] Among them, the mobile device 100 in this embodiment is used in a sports event environment. When transporting projectiles, infrared sensing devices that can sense each other are respectively arranged on the projectiles or the box containing the projectiles and on the grasping mechanism 132. The guide block 1321 arranged on the grasping mechanism 132 can guide the grasping mechanism 132 to move toward the projectile with the infrared sensing device or the box containing the projectiles, thereby improving the working efficiency of the grasping mechanism 132 in grasping the projectiles or the box containing the projectiles.

[0042] The embodiment of the present invention further provides a robot, including the above-mentioned mobile device 100. Specifically, the functional structure and beneficial effects of the mobile device 100 have been clearly described in the above content, and the robot in another embodiment of the present invention has the same beneficial effects as above, which will not be repeated here.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mobile device, characterized in that: include: shock absorption system, wheels, drive components and chassis; The driving assembly comprises a hub connecting shaft and a driving part for driving the hub connecting shaft, one end of the hub connecting shaft is connected to the wheel; The shock absorption system comprises a bearing seat and a shock absorber, wherein the bearing seat is rotatably connected to the wheel hub connecting shaft and is connected to the chassis through the shock absorber; The shock absorbing system further comprises a support assembly, the support member comprises a connecting rod base and a connecting rod, the connecting rod base is connected to the bearing seat, one end of the connecting rod is rotatably connected to the connecting rod base, the other end of the connecting rod is rotatably connected to the chassis, and the position where the connecting rod is connected to the chassis is spaced from the position where the shock absorber is connected to the chassis; The support assembly comprises two connecting rods, the two connecting rods are rotatably connected to the connecting rod base, and the two connecting rods are spaced apart from each other relative to the rotation axis of the connecting rod base; One end of the wheel hub connecting shaft is connected to the bearing seat and connected to the driving part, the wheel is connected to the end of the wheel hub connecting shaft opposite to the bearing seat, and the wheel hub connecting shaft is assembled in the bearing seat through a bearing; The connecting rod is connected to the chassis through a connecting rod seat.

2. A mobile device according to claim 1, characterized in that: The shock absorber is connected to the chassis via a shock-absorbing fixing seat, and the shock absorber is rotatably connected to the shock-absorbing fixing seat.

3. A mobile device according to claim 1, characterized in that: The connecting rod is rotatable relative to the connecting rod seat.

4. A mobile device according to claim 2, characterized in that: The shock absorber is a spring shock absorber.

5. A mobile device according to claim 4, characterized in that: The chassis is provided with a cargo bucket for carrying materials.

6. A mobile device according to claim 5, characterized in that: The chassis is also provided with a grabbing mechanism, which is used to grab the materials in the cargo bucket.

7. A mobile device according to claim 6, characterized in that: A guide block is arranged on the gripping mechanism.

8. A robot, characterized in that: A mobile device comprising any one of claims 1-7.

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