Chassis and robot with reversing transmission suspension

Abstract

The present invention provides a chassis and robot with a reversing transmission suspension, comprising: a base, a drive wheel set, and a first universal wheel set and a second universal wheel set. The drive wheel set, the first universal wheel set, and the second universal wheel set are all disposed on the base, the drive wheel set is disposed between the first and second universal wheel sets, the drive wheel set includes two oppositely disposed drive wheel assemblies, and the first universal wheel set includes two oppositely disposed first universal wheel assemblies. The chassis and robot with a reversing transmission suspension provided by the present invention achieve a superimposed vibration reduction effect.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a chassis with a reversing transmission suspension and a robot. Background Art

[0002] Mobile robots have been gradually adopted in public service environments, such as restaurants, hotels, and office buildings. In real-world environments, the indoor floors where robots operate are not completely flat and may contain obstacles, such as elevated steps. With existing technologies, robots are subject to impact when navigating steps, posing a risk of tipping over. Summary of the Invention

[0003] The present invention is completed in view of the above-mentioned existing situation, and its purpose is to provide a chassis and a robot with a reversing transmission suspension, which can significantly improve the impact resistance and stability of the robot when crossing bumps.

[0004] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] The present invention provides a chassis with a reversing transmission suspension, comprising:

[0006] A base, a driving wheel group, and a first universal wheel group and a second universal wheel group, wherein the driving wheel group, the first universal wheel group, and the second universal wheel group are all arranged on the base, the driving wheel group is arranged between the first universal wheel group and the second universal wheel group, the driving wheel group includes two oppositely arranged driving wheel assemblies, and the first universal wheel group includes two oppositely arranged first universal wheel assemblies;

[0007] The driving wheel assembly includes a first swinging member, an elastic shock absorber, a first fixed portion and a driving wheel; the first universal wheel assembly includes a first swing arm, a second swing arm, a second swinging member, a second fixed portion and a first universal wheel; the first swinging member is hinged to the first fixed portion at a first hinge position; the first swinging member is hinged to the elastic shock absorber at a second hinge position; the elastic shock absorber is hinged to the first swing arm at a third hinge position; the first swing arm is hinged to the second fixed portion at a fourth hinge position; the first swing arm is hinged to the second swing arm at a fifth hinge position; the second swinging member is hinged to the second fixed portion at a sixth hinge position; the second swinging member is hinged to the second swing arm at a seventh hinge position; and the first universal wheel is disposed on the second swinging member;

[0008] The driving wheel has a connecting section extending from the driving wheel, the driving wheel is rotatable relative to the connecting section, the connecting section is fixed between the first hinge position and the second hinge position, and the first fixing portion and the second fixing portion are both provided on the base;

[0009] In which, in the forward direction of the chassis, the first articulation position, the second articulation position, the fourth articulation position, the fifth articulation position and the seventh articulation position are sequentially arranged on the base from front to back, the sixth articulation position is arranged before the seventh articulation position, the fourth articulation position is arranged between the third articulation position and the fifth articulation position, and the third articulation position, the fourth articulation position and the fifth articulation position are arranged higher than the sixth articulation position relative to the base.

[0010] In this case, the first hinge position of the first swing member is located in front of the driving wheel, that is, the driving wheel swings limitedly with the first hinge position as the center during the movement, and the sixth hinge position of the second swing member is located in front of the first universal wheel, that is, the first universal wheel swings limitedly with the sixth hinge position as the center during the movement. Before passing the bump, the driving wheel contacts the ground due to the downward elastic force of the elastic shock absorber. When passing the bump, the driving wheel swings around the first hinge position under the horizontal resistance of the bump, and compared with the horizontal position of the driving wheel relative to the first hinge position before passing the bump, the position of the driving wheel relative to the first hinge position when passing the bump has a horizontal backward displacement, which reduces the impact of the bump on the chassis, which is beneficial to improving the stability of the chassis. Similarly, the first universal wheel will also have a backward displacement when passing the bump, which can effectively alleviate the impact force from the bump, thereby improving the overall movement stability of the chassis. Furthermore, the first universal wheel is linked to the first swing member through the articulated connection between the first and second swing arms. Furthermore, the transmission relationship between the first universal wheel and the drive wheel ensures a relatively stable proportional relationship between the ground pressures of the drive wheel and the first universal wheel. The ground pressure of the drive wheel can vary according to the load on the chassis, ensuring that the chassis drive wheel always has a good ground contact force. As a result, this linkage method produces an overall superimposed vibration reduction effect.

[0011] Wherein, the first hinge position and the sixth hinge position are both arranged close to the base.

[0012] As a result, the first hinge position and the sixth hinge position are made as close to the ground as possible, which is beneficial to improving the smoothness of the chassis when going over bumps.

[0013] The elastic vibration damper is arranged substantially perpendicular to the base, and the setting height of the third hinge position is higher than the setting height of the second hinge position relative to the base.

[0014] As a result, when the driving wheel passes over a bump, it is lifted upward, and the first universal wheel is linked by the first swing arm and the second swing arm, so that the second swing member presses the first universal wheel downward to move downward, thereby increasing the pressure of the first universal wheel on the ground to improve stability. In addition, in the case of linkage, the feedback of the first universal wheel relative to the driving wheel is more timely to prevent the first universal wheel from being suspended in the air, thereby improving the stability of the chassis passing over bumps.

[0015] The second fixing portion is arranged perpendicular to the base, the fourth hinge position is arranged close to the top end of the second fixing portion, and the sixth hinge position is arranged close to the root of the second fixing portion.

[0016] The base has an opening that passes through the upper and lower surfaces of the base, and the first universal wheel is arranged in the opening.

[0017] The second swinging member includes a transverse extension portion, which extends from the second swinging member toward the middle of the base portion. The transverse extension portion is arranged above the opening, and the first universal wheel is arranged on the transverse extension portion.

[0018] Thus, the first universal wheel can be arranged inside the opening.

[0019] Wherein, the second hinge position is arranged at the end of the first swing member, and the third hinge position and the fifth hinge position are respectively arranged at two ends of the first swing arm.

[0020] Therefore, under the premise of satisfying the force relationship, the size of the component is reduced to the greatest extent and materials are saved.

[0021] Wherein, the elastic shock absorber is an adjustable compression spring.

[0022] The first fixing portion includes a supporting portion, which is used to support the main body structure of the robot, and the driving wheel is arranged close to the first fixing portion.

[0023] Thus, the gravity of the robot body can be transferred to the base through the support part, and the driving wheel is arranged close to the first fixed part, which is conducive to setting the center of gravity of the robot near the driving wheel to improve the stability of the chassis.

[0024] The present invention also provides a robot comprising the chassis with the reversing transmission suspension as described above, and a body, wherein the body is fixed to the chassis.

[0025] According to the chassis and robot with reversing transmission suspension provided by the present invention, the first hinge position of the first swinging member is located in front of the driving wheel, that is, the driving wheel swings to a limited extent with the first hinge position as the center during movement, and the sixth hinge position of the second swinging member is located in front of the first universal wheel, that is, the first universal wheel swings to a limited extent with the sixth hinge position as the center during movement. Before passing the bump, the driving wheel contacts the ground under the downward elastic force of the elastic shock absorber. When passing the bump, the driving wheel swings around the first hinge position under the horizontal resistance of the bump, and compared with the horizontal position of the driving wheel relative to the first hinge position before passing the bump, the position of the driving wheel relative to the first hinge position when passing the bump has a horizontal backward displacement, which reduces the impact of the bump on the robot and is beneficial to improving the stability of the robot. Similarly, the first universal wheel will also have a backward displacement when passing the bump, which can effectively alleviate the impact force from the bump, thereby improving the overall movement stability of the robot. Furthermore, the first universal wheel is linked to the first swing member through the articulated connection between the first and second swing arms. Furthermore, the transmission relationship between the first universal wheel and the drive wheel ensures a relatively stable proportional relationship between the ground pressures of the drive wheel and the first universal wheel. The ground pressure of the drive wheel can vary according to the robot's load, ensuring that the robot's drive wheel maintains a good ground contact force at all times. This linkage creates an overall cumulative vibration reduction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the three-dimensional structure of a chassis with a reversing transmission suspension according to an embodiment of the present invention is shown;

[0027] Figure 2 A schematic side view of a driving wheel of a chassis with a reversing transmission suspension according to an embodiment of the present invention before crossing a ridge is shown;

[0028] Figure 3 A side view schematically shows a chassis with a reversing transmission suspension according to an embodiment of the present invention after a driving wheel passes over a bump. DETAILED DESCRIPTION

[0029] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, identical components will be assigned identical reference numerals, and duplicate descriptions will be omitted. Furthermore, the accompanying drawings are merely schematic, and the proportions of the dimensions of the components and the shapes of the components may differ from the actual ones.

[0030] like Figure 1 As shown, the present invention provides a chassis 1 with a reversing transmission suspension, which is used to support the robot body and drive the robot to perform delivery tasks.

[0031] In this embodiment, a chassis 1 with a reversing transmission suspension includes a base 40, a drive wheel set, and a first universal wheel set and a second universal wheel set. The drive wheel set, the first universal wheel set, and the second universal wheel set are all disposed on the base 40. The drive wheel set is disposed between the first and second universal wheel sets. The drive wheel set includes two oppositely disposed drive wheel assemblies 20, and the first universal wheel set includes two oppositely disposed first universal wheel assemblies 10.

[0032] Furthermore, the drive wheel assembly 20 includes a first swinging member 21, an elastic shock absorber 22, a first fixed portion 23, and a drive wheel 24. The first universal wheel assembly 10 includes a first swing arm 11, a second swing arm 12, a second swinging member 13, a second fixed portion 14, and a first universal wheel 15. The first swinging member 21 is hinged to the first fixed portion 23 at a first hinge position 211. The first swinging member 21 is hinged to the elastic shock absorber 22 at a second hinge position 212. The elastic shock absorber 22 is hinged to the first swing arm 11 at a third hinge position 111. The first swing arm 11 is hinged to the second fixed portion 14 at a fourth hinge position 112. The first swing arm 11 is hinged to the second swing arm 12 at a fifth hinge position 113. The second swinging member 13 is hinged to the second fixed portion 14 at a sixth hinge position 131. The second swinging member 13 is hinged to the second swing arm 12 at a seventh hinge position 132. The first universal wheel 15 is disposed on the second swinging member 13 .

[0033] Furthermore, the driving wheel 24 has a connecting section 241 extending from the driving wheel 24. The driving wheel 24 is rotatable relative to the connecting section 241. The connecting section 241 is fixed between the first hinge position 211 and the second hinge position 212. The first fixing portion 23 and the second fixing portion 14 are both disposed on the base 40.

[0034] Furthermore, in the forward direction of the chassis 1, the base 40 is provided with a first hinge position 211, a second hinge position 212, a fourth hinge position 112, a fifth hinge position 113, and a seventh hinge position 132, sequentially from front to back. The sixth hinge position 131 is provided before the seventh hinge position 132. The fourth hinge position 112 is provided between the third hinge position 111 and the fifth hinge position 113. The third hinge position 111, the fourth hinge position 112, and the fifth hinge position 113 are provided at higher positions relative to the base 40 than the sixth hinge position 131.

[0035] In this case, the first hinge position of the first swing member is located in front of the driving wheel, that is, the driving wheel swings limitedly with the first hinge position as the center during the movement, and the sixth hinge position of the second swing member is located in front of the first universal wheel, that is, the first universal wheel swings limitedly with the sixth hinge position as the center during the movement. Before passing the bump, the driving wheel contacts the ground due to the downward elastic force of the elastic shock absorber. When passing the bump, the driving wheel swings around the first hinge position under the horizontal resistance of the bump, and compared with the horizontal position of the driving wheel relative to the first hinge position before passing the bump, the position of the driving wheel relative to the first hinge position when passing the bump has a horizontal backward displacement, which reduces the impact of the bump on the chassis, which is beneficial to improving the stability of the chassis. Similarly, the first universal wheel will also have a backward displacement when passing the bump, which can effectively alleviate the impact force from the bump, thereby improving the overall movement stability of the chassis. Furthermore, the first universal wheel is linked to the first swing member through the articulated connection between the first and second swing arms. Furthermore, the transmission relationship between the first universal wheel and the drive wheel ensures a relatively stable proportional relationship between the ground pressures of the drive wheel and the first universal wheel. The ground pressure of the drive wheel can vary according to the load on the chassis, ensuring that the chassis drive wheel always has a good ground contact force. As a result, this linkage method produces an overall superimposed vibration reduction effect.

[0036] like Figure 2 and Figure 3 As shown, before the drive wheel 24 passes over the bump, the angle between the swing member 21 and the horizontal plane is negative. When the drive wheel passes over the bump, the swing member 21 rotates counterclockwise, causing the angle between the swing member 21 and the horizontal plane to approach substantially zero. Therefore, compared to the horizontal position of the drive wheel relative to the first hinge point before passing over the bump, the drive wheel has a horizontal backward displacement relative to the first hinge point when passing over the bump.

[0037] In this embodiment, the first hinge position 211 and the sixth hinge position 131 are both disposed close to the base 40. Thus, the first hinge position and the sixth hinge position are as close to the ground as possible, which is beneficial to improving the smoothness of the chassis when going over bumps.

[0038] In this embodiment, the elastic damper 22 is disposed substantially perpendicular to the base 40, and the third hinge position 111 is positioned at a higher height relative to the base 40 than the second hinge position 212. As a result, when the drive wheel passes over a bump, it lifts upward. The first universal wheel, linked by the first and second swing arms, causes the second swing member to press downward on the first universal wheel, increasing the pressure of the first universal wheel against the ground and improving stability. Furthermore, with this linkage, the first universal wheel provides more timely feedback relative to the drive wheel, preventing the first universal wheel from becoming suspended in the air and enhancing stability when the chassis passes over bumps.

[0039] In this embodiment, the second fixing portion 14 is disposed perpendicular to the base portion 40. The fourth hinge position 112 is disposed near the top of the second fixing portion 14. The sixth hinge position 131 is disposed near the root of the second fixing portion 14.

[0040] In this embodiment, the base 40 has an opening 41 that passes through the upper and lower surfaces of the base 40 , and the first universal wheel 15 is disposed in the opening 41 .

[0041] In this embodiment, the second swing member 13 includes a transverse extension 137. The transverse extension 137 extends from the second swing member 13 toward the center of the base 40. The transverse extension 137 is positioned above the opening 41. The first universal wheel 15 is positioned on the transverse extension 137. This allows the first universal wheel to be positioned within the opening.

[0042] In this embodiment, the second hinge point 212 is provided at the end of the first swing member 21. The third hinge point 111 and the fifth hinge point 113 are respectively provided at the two ends of the first swing arm 11. Thus, while satisfying the force relationship, the size of the components is minimized to the greatest extent possible, saving material.

[0043] In this embodiment, the elastic vibration damper 22 is an adjustable compression spring.

[0044] In this embodiment, the first fixing portion 23 includes a support portion 231. The support portion 231 is used to support the main structure of the robot. The drive wheel 24 is disposed near the first fixing portion 23. This allows the gravity of the robot body to be transferred to the base via the support portion. The proximity of the drive wheel to the first fixing portion helps position the robot's center of gravity near the drive wheel, thereby improving chassis stability.

[0045] In some examples, the support portion 231 may be a groove.

[0046] In this embodiment, the first swing member 21, the second swing member 13, and the first swing arm 11 are arranged generally parallel to the surface of the base 40. The first swing member 21, the second swing member 13, and the first swing arm 11 all extend along the forward direction of the chassis 1. The first swing member 21 is generally elongated. The first swing arm 11 and the second swing arm 12 may also be generally elongated.

[0047] In this embodiment, the second universal wheel set may include at least one second universal wheel assembly 30. The second universal wheel assembly 30 may include a pair.

[0048] In this embodiment, the paired driving wheel assembly 20 , the first universal wheel assembly 10 , and the second universal wheel assembly 30 are all disposed on both sides of the base 40 .

[0049] The present invention also relates to a robot comprising the chassis 1 with the reversing transmission suspension described above. The specific embodiments of the chassis 1 with the reversing transmission suspension are not described in detail herein. The robot further comprises a body, which is fixed to the chassis. In this case, the first hinge position of the first swing member is located in front of the driving wheel, that is, the driving wheel swings limitedly with the first hinge position as the center during the movement, and the sixth hinge position of the second swing member is located in front of the first universal wheel, that is, the first universal wheel swings limitedly with the sixth hinge position as the center during the movement. Before passing the bump, the driving wheel is in contact with the ground due to the downward elastic force of the elastic shock absorber. When passing the bump, the driving wheel swings around the first hinge position under the horizontal resistance of the bump, and compared with the horizontal position of the driving wheel relative to the first hinge position before passing the bump, the position of the driving wheel relative to the first hinge position when passing the bump has a horizontal backward displacement, which reduces the impact of the bump on the robot, which is beneficial to improving the stability of the robot. Similarly, the first universal wheel will also have a backward displacement when passing the bump, which can effectively alleviate the impact force from the bump, thereby improving the overall movement stability of the robot. Furthermore, the first universal wheel is linked to the first swing member through the articulated connection between the first and second swing arms. Furthermore, the transmission relationship between the first universal wheel and the drive wheel ensures a relatively stable proportional relationship between the ground pressures of the drive wheel and the first universal wheel. The ground pressure of the drive wheel can vary according to the robot's load, ensuring that the robot's drive wheel maintains a good ground contact force at all times. This linkage creates an overall cumulative vibration reduction effect.

[0050] The above-described embodiments do not constitute a limitation on the scope of protection of this technical solution. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the above-described embodiments shall be included in the scope of protection of this technical solution.

Claims

1. A chassis with a reversing transmission suspension, characterized in that: include: A base, a driving wheel group, and a first universal wheel group and a second universal wheel group, wherein the driving wheel group, the first universal wheel group, and the second universal wheel group are all arranged on the base, the driving wheel group is arranged between the first universal wheel group and the second universal wheel group, the driving wheel group includes two oppositely arranged driving wheel assemblies, and the first universal wheel group includes two oppositely arranged first universal wheel assemblies; The driving wheel assembly includes a first swinging member, an elastic shock absorber, a first fixed portion and a driving wheel; the first universal wheel assembly includes a first swing arm, a second swing arm, a second swinging member, a second fixed portion and a first universal wheel; the first swinging member is hinged to the first fixed portion at a first hinge position; the first swinging member is hinged to the elastic shock absorber at a second hinge position; the elastic shock absorber is hinged to the first swing arm at a third hinge position; the first swing arm is hinged to the second fixed portion at a fourth hinge position; the first swing arm is hinged to the second swing arm at a fifth hinge position; the second swinging member is hinged to the second fixed portion at a sixth hinge position; the second swinging member is hinged to the second swing arm at a seventh hinge position; and the first universal wheel is disposed on the second swinging member; wherein the first fixed portion includes a supporting portion, which is a groove; The driving wheel has a connecting section extending from the driving wheel, the driving wheel is rotatable relative to the connecting section, the connecting section is fixed between the first hinge position and the second hinge position, and the first fixing portion and the second fixing portion are both provided on the base; In which, in the forward direction of the chassis, the first articulation position, the second articulation position, the fourth articulation position, the fifth articulation position and the seventh articulation position are sequentially arranged on the base from front to back, the sixth articulation position is arranged before the seventh articulation position, the fourth articulation position is arranged between the third articulation position and the fifth articulation position, and the third articulation position, the fourth articulation position and the fifth articulation position are arranged higher than the sixth articulation position relative to the base.

2. The chassis with reversing transmission suspension according to claim 1, characterized in that: The first hinge position and the sixth hinge position are both arranged close to the base.

3. The chassis with reversing transmission suspension according to claim 1, characterized in that: The elastic vibration damper is arranged substantially perpendicular to the base, and the third hinge position is arranged at a higher height relative to the base than the second hinge position.

4. The chassis with reversing transmission suspension according to claim 1, characterized in that: The second fixing portion is arranged perpendicular to the base, the fourth hinge position is arranged close to the top end of the second fixing portion, and the sixth hinge position is arranged close to the root of the second fixing portion.

5. The chassis with reversing transmission suspension according to claim 1, characterized in that: The base has an opening that passes through the upper and lower surfaces of the base, and the first universal wheel is arranged in the opening.

6. The chassis with reversing transmission suspension according to claim 5, characterized in that: The second swing member includes a transverse extension portion, which extends from the second swing member toward the middle of the base portion. The transverse extension portion is arranged above the opening, and the first universal wheel is arranged on the transverse extension portion.

7. The chassis with reversing transmission suspension according to claim 1, characterized in that: The second hinge position is arranged at an end of the first swing member, and the third hinge position and the fifth hinge position are respectively arranged at two ends of the first swing arm.

8. The chassis with reversing transmission suspension according to claim 1, characterized in that: The elastic shock absorber is an adjustable compression spring.

9. The chassis with reversing transmission suspension according to claim 1, characterized in that: The supporting portion is used to support the main body structure of the robot, and the driving wheel is arranged close to the first fixing portion.

10. A robot, characterized in that: The invention comprises a chassis with a reversing transmission suspension according to any one of claims 1 to 9, and further comprises a body, wherein the body is fixed to the chassis.

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