Suspension chassis and robots

Abstract

The present invention belongs to the technical field of intelligent equipment, and specifically relates to a suspension chassis and a robot. The suspension chassis includes a base plate, a driving wheel and a driven wheel, the driving wheel and the driven wheel are both arranged below the bottom of the base plate, the driving wheel and the driven wheel are connected by a suspension mechanism, the first end of the first suspension arm of the suspension mechanism is rotatably connected to the central axis of the driving wheel, the second end of the first suspension arm and the first end of the second suspension arm are rotatably connected through an axle, the second end of the second suspension arm and the driven wheel are rotatably connected, the axle is arranged between the first suspension arm and the second suspension arm, the axle is connected to the base plate, the first end of the elastic member is connected to the middle of the first suspension arm, and the second end of the elastic member is connected to the middle of the second suspension arm. The present invention can ensure that the robot walks more steadily, smoothly, and does not run out of position, greatly improves its walking and obstacle-crossing capabilities to adapt to different environmental ground surfaces, and has good practicality.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent equipment, and in particular relates to a suspension chassis and a robot. Background Art

[0002] At present, higher technology and humanized services are needed to fill the various inconveniences in life. In this regard, the use of robots to assist in the service needs of various industries is an emerging industry development trend.

[0003] In the prior art, robot chassis mostly use a driving wheel with suspension, but a driven wheel without suspension, and the suspension is fixed and cannot be adjusted. When a robot with this type of chassis is running, if it encounters an uneven road surface, the wheels may be suspended, spin, slip, deviate, and the chassis ground clearance may be fixed during walking, resulting in poor adaptability of the chassis to different ground surfaces, affecting the operation of the robot.

[0004] Therefore, the existing technology needs to be improved. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a suspension chassis and a robot to solve the technical problem in the prior art that the robot chassis has poor adaptability to different ground surfaces, which affects the operation of the robot.

[0006] In one aspect, the present invention provides a suspension chassis, the suspension chassis comprising:

[0007] A base plate; a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are both arranged below the bottom of the base plate; a suspension mechanism, wherein the driving wheel and the driven wheel are connected through the suspension mechanism, and the suspension mechanism comprises a first suspension arm, a second suspension arm and an elastic member, each having a first end and a second end, the first end of the first suspension arm is connected to the central axis of the driving wheel, the second end of the first suspension arm and the first end of the second suspension arm are rotatably connected through an axle, the second end of the second suspension arm and the driven wheel are rotatably connected, the axle is arranged between the first suspension arm and the second suspension arm, the axle is connected to the base plate, the first end of the elastic member is connected to the middle part of the first suspension arm, and the second end of the elastic member is connected to the middle part of the second suspension arm.

[0008] Further, a plurality of first gear holes are arranged at intervals in the middle of the first suspension arm;

[0009] The suspension mechanism further includes a first gear lever, which can be selectively arranged in any one of the first gear holes, and the first end of the elastic member is connected to the first gear lever.

[0010] Furthermore, the first suspension arm includes two opposite first side walls, each of the first side walls is provided with opposite first bolt holes at intervals, the two opposite first bolt holes constitute a first gear hole, and the first gear rod is threadedly disposed in the first gear hole.

[0011] Further, a plurality of second gear holes are arranged at intervals in the middle of the second suspension arm;

[0012] The suspension mechanism further includes a second gear lever, which can be selectively arranged in any one of the second gear holes, and the second end of the elastic member is connected to the second gear lever.

[0013] Furthermore, the second suspension arm includes two opposite second side walls, each of which is provided with opposite second bolt holes at intervals, the two opposite second bolt holes constitute a second gear hole, and the second gear rod is threadedly disposed in the second gear hole.

[0014] Furthermore, the suspension mechanism also includes a connecting frame, and the shaft rod is connected to the bottom of the base plate through the connecting frame.

[0015] Furthermore, the connecting frame includes: a connecting plate, which is fixedly connected to the bottom of the base plate; and a side plate, wherein two side plates are relatively arranged, and the two side plates are fixedly arranged on both sides of the bottom of the connecting plate, and the first end of the first suspension arm and the second end of the second suspension arm are both arranged between the two side plates, and the first end of the first suspension arm, the second end of the second suspension arm and the two side plates are all connected by the shaft.

[0016] Furthermore, the suspension chassis also includes a mounting bracket, the driven wheel is rotatably disposed on the mounting bracket, and the first end of the second suspension arm is rotatably connected to the mounting bracket.

[0017] Furthermore, a rotating shaft is arranged on the top of the mounting bracket, and the first end of the second suspension arm is rotatably connected to the rotating shaft through a connecting arm.

[0018] On the other hand, the present invention also provides a robot, comprising the above-mentioned suspension chassis.

[0019] The beneficial effects of the present invention include at least:

[0020] A robot provided by the present invention includes a suspension chassis, since the driving wheel and the driven wheel of the suspension chassis are both arranged below the bottom of the base plate, the driving wheel and the driven wheel are connected through a suspension mechanism, the suspension mechanism includes a first suspension arm, a second suspension arm and an elastic member, each having a first end and a second end, the first end of the first suspension arm is connected to the central axis of the driving wheel, the second end of the first suspension arm and the first end of the second suspension arm are rotatably connected through an axle rod, the second end of the second suspension arm and the driven wheel are rotatably connected, the axle rod is arranged between the first suspension arm and the second suspension arm, the axle rod is connected to the base plate, thereby realizing the assembly of the driving wheel and the driven wheel on the base plate, in addition, since the first end of the elastic member is connected to the first The middle part of the suspension arm and the second end of the elastic member are connected to the middle part of the second suspension arm. The first suspension arm and the second suspension arm can rotate around the shaft rod as the central fulcrum, so that the first suspension arm and the second suspension arm form an angle. When the robot is running, if any of the driving wheel or the driven wheel encounters uneven ground, the angle formed by the first suspension arm and the second suspension arm will change, thereby changing the grip of the driving wheel and the driven wheel with the ground. When crossing the uneven ground, under the drive of the reset of the elastic member, the first suspension arm and the second suspension arm are reset, and the driving wheel and the driven wheel are also reset accordingly, thereby ensuring that the robot walks more steadily and smoothly without running out of position, greatly improving its walking and obstacle-crossing capabilities to adapt to different environmental grounds, and having good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a schematic structural diagram of the suspension chassis of this embodiment;

[0023] Figure 2 for Figure 1 An assembly diagram of a driving wheel and a driven wheel connected through a suspension mechanism;

[0024] Figure 3 for Figure 2 Schematic diagram of the splitting;

[0025] Figure 4 This is a schematic diagram of the adaptation of the driving wheels and driven wheels of the suspension chassis when the robot walks on different uneven surfaces. DETAILED DESCRIPTION

[0026] In order to enable technicians in the technical field to which the present application belongs to understand the present application more clearly, the technical solution of the present application is described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0027] The present invention provides a robot to solve the technical problem in the prior art that the robot chassis has poor adaptability to different ground surfaces, which affects the operation of the robot.

[0028] The robot includes a suspended chassis, Figure 1 The structural diagram of the suspension chassis of this embodiment is shown in FIG. Figure 1 The suspension chassis of this embodiment includes a base plate 1, a driving wheel 2, a driven wheel 3 and a suspension mechanism 4. The driving wheel 2 and the driven wheel 3 are both arranged below the bottom of the base plate 1. The driving wheel 2 and the driven wheel 3 are connected through the suspension mechanism 4. The driving wheel 2 and the driven wheel 3 are connected to the base plate 1 through the suspension mechanism 4.

[0029] Figure 2 for Figure 1 The assembly diagram of the driving wheel and the driven wheel connected by the suspension mechanism, Figure 3 for Figure 2 Schematic diagram of the splitting, combined with Figure 2 as well as Figure 3 The suspension mechanism of this embodiment includes a first suspension arm 401, a second suspension arm 402 and an elastic member 403, each having a first end and a second end, wherein the first end of the first suspension arm 401 is rotatably connected to the central axis of the driving wheel 2, the second end of the first suspension arm 401 and the first end of the second suspension arm 402 are rotatably connected through an axle 404, the second end of the second suspension arm 402 is rotatably connected to the driven wheel 3, the axle 404 is arranged between the first suspension arm 401 and the second suspension arm 402, the axle 404 is connected to the base plate 1, the first end of the elastic member 403 is connected to the middle part of the first suspension arm 401, and the second end of the elastic member 403 is connected to the middle part of the second suspension arm 402.

[0030] The robot provided in this embodiment includes a suspension chassis. Since the driving wheel 2 and the driven wheel 3 of the suspension chassis can be connected to the bottom plate 1 through the suspension mechanism 4, the first suspension arm 401 and the second suspension arm 402 of the suspension mechanism 4 can rotate around the shaft 404 as the central fulcrum, so that the first suspension arm 401 and the second suspension arm 402 form an angle. When the robot is running, if any of the driving wheel 2 or the driven wheel 3 encounters an uneven ground (such as Figure 4As shown in the figure, the angle formed by the first suspension arm 401 and the second suspension arm 402 will change, thereby changing the grip of the driving wheel 2 and the driven wheel 3 with the ground. When crossing the uneven ground, under the drive of the elastic member 403, the first suspension arm 401 and the second suspension arm 402 are reset, and the driving wheel 2 and the driven wheel 3 are also reset accordingly, thereby ensuring that the robot walks more steadily and smoothly without displacement, greatly improving its walking and obstacle-crossing capabilities to adapt to different environmental grounds.

[0031] Combination Figure 2 as well as Figure 3 In this embodiment, the central axis of the driving wheel 2 may be coaxially provided with an extension section 405, and the first end of the first suspension arm 401 is fixedly sleeved on the extension section 405, so that the first suspension arm 401 and the driving wheel 2 can be assembled.

[0032] Furthermore, combined with Figure 3 In this embodiment, the cross-section of the extension section 405 is non-circular, and the non-circular shape can be square, elliptical, or other shapes, which is not described in this embodiment. Accordingly, a connecting hole consistent with the cross-section of the extension section 405 is provided at the portion of the first end of the first suspension arm 401 through which the extension section 405 passes, so that the first suspension arm 401 can be assembled on the extension section 405, and rotation between the first suspension arm 401 and the extension section 405 can be prevented, so that the driving wheel 2 can provide power for the operation of the robot.

[0033] Combination Figure 2 as well as Figure 3 In this embodiment, a plurality of first gear holes 406 are arranged at intervals in the middle of the first suspension arm 401, and the suspension mechanism 3 also includes a first gear rod 407, which can be selectively arranged in any one of the first gear holes 406, and the first end of the elastic member 403 is connected to the first gear rod 407, so that the angle between the first suspension arm 401 and the second suspension arm 402 can be adjusted by selecting the position of the first gear rod 407 to adjust the height of the base plate 1.

[0034] Specifically, combined Figure 3 The first suspension arm 401 of the present embodiment includes two opposite first side walls, each of which is provided with opposite first bolt holes at intervals, and the two opposite first bolt holes constitute a first gear hole 406, in which the first gear rod is threadedly arranged. When the position of the first gear rod 407 needs to be adjusted, the first gear rod 407 can be quickly adjusted and switched to the required first gear hole 406 by bolts. After the first gear rod 407 is adjusted and switched into place, the first gear rod 407 can be connected to the corresponding first gear hole 406 by bolts.

[0035] Combination Figure 2 as well as Figure 3 In this embodiment, a plurality of second gear holes 408 are arranged at intervals in the middle of the second suspension arm 402, and the suspension mechanism also includes a second gear rod 409, which can be selectively arranged in any one of the second gear holes 408, and the second end of the elastic member 403 is connected to the second gear rod 409, so that the angle between the second suspension arm 401 and the second suspension arm 402 can be adjusted by selecting the position of the second gear rod 409 to adjust the height of the base plate 1.

[0036] Likewise, combining Figure 3 The second suspension arm 402 of this embodiment includes two opposite second side walls, each of which is provided with opposite second bolt holes at intervals, and the two opposite second bolt holes constitute a second gear hole 408, and the second gear lever 409 is threadedly provided in the second gear hole 408. The adjustment and switching principle of the second gear lever 409 is similar to that of the first gear lever 407, and this embodiment does not limit this.

[0037] That is, in this embodiment, by adjusting and switching the first gear lever 407 and / or the second gear lever 409, the height of the ground clearance between the bottom plate and the ground can be adjusted to meet different road conditions.

[0038] It should be noted that the number of the first gear hole 406 and the second gear hole 408 can be set according to the actual situation of the bottom space of the base plate 1. For example, only one first gear hole 406 and multiple second gear holes 408 can be set, or multiple first gear holes 406 and one second gear hole 408 can be set, or multiple first gear holes 406 and multiple second gear holes 408 can be set. This embodiment does not limit this.

[0039] The elastic member 403 of the present embodiment is preferably a spring, and two ends of the spring can be hooked on the first gear lever 407 and the second gear lever 409 respectively.

[0040] Combination Figure 1-Figure 3 The suspension chassis of this embodiment further includes a mounting bracket 5, the driven wheel 3 is rotatably disposed on the mounting bracket 5, and the first end of the second suspension arm 402 is rotatably connected to the mounting bracket 5.

[0041] Furthermore, combined with Figure 3 In this embodiment, a rotating shaft 6 is arranged on the top of the mounting bracket 5, and the rotating shaft 6 is arranged vertically. The first end of the second suspension arm 6 is rotatably connected to the rotating shaft 6 through a connecting arm 7, and the connecting arm 7 is arranged horizontally to adapt to the narrow space at the bottom of the base plate 1.

[0042] Combination Figure 1-Figure 3The suspension mechanism 4 of this embodiment further includes a connecting frame 410 , and the shaft rod 404 is connected to the bottom of the base plate 1 through the connecting frame 410 to achieve the assembly of the shaft rod 404 on the base plate 1 .

[0043] Specifically, combined Figure 3 The connecting frame 410 of this embodiment includes a connecting plate 4101 and a side plate 4102, wherein the connecting plate 4101 is fixedly connected to the bottom of the base plate 1; two side plates 4102 are arranged opposite to each other, and the two side plates 4102 are fixedly arranged on both sides of the bottom of the connecting plate 4101, and the first end of the first suspension arm 401 and the second end of the second suspension arm 402 are both arranged between the two side plates 4102, and the first end of the first suspension arm 401, the second end of the second suspension arm 402 and the two side plates 4102 are all connected by an axle rod 404, that is, the assembly connection between the connecting frame 410 and the first suspension arm 401 and the second suspension arm 402 is realized by an axle rod 404.

[0044] In this embodiment, the connecting plate 4101 can be connected to the bottom of the base plate 1 by welding or bolting, and the two side plates 4102 are preferably integrally formed on both sides of the bottom of the connecting plate 4101 to improve the strength of the connecting frame 410.

[0045] It should be noted that, in this embodiment, a base plate 1 may be provided with several mutually cooperating driving wheels 2 and driven wheels 3, that is, the robot can walk on the road by driving the multiple mutually cooperating driving wheels 2 and driven wheels 3.

[0046] In summary, the robot provided in this embodiment can realize the linkage between the driving wheel and the driven wheel, and can adjust the ground clearance of the chassis. It has strong adaptability to different ground surfaces and has good practicality.

[0047] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0048] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A suspension chassis, characterized in that: The suspension chassis comprises: Base plate; A driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are both arranged below the bottom of the base plate; A suspension mechanism, wherein the driving wheel and the driven wheel are connected through the suspension mechanism, the suspension mechanism comprises a first suspension arm, a second suspension arm and an elastic member, each having a first end and a second end, the first end of the first suspension arm is connected to the central axis of the driving wheel, the second end of the first suspension arm and the first end of the second suspension arm are rotatably connected through a shaft, the second end of the second suspension arm and the driven wheel are rotatably connected, the shaft is arranged between the first suspension arm and the second suspension arm, the shaft is connected to the bottom plate, the first end of the elastic member is connected to the middle of the first suspension arm, and the second end of the elastic member is connected to the middle of the second suspension arm; A plurality of first gear holes are arranged at intervals in the middle of the first suspension arm; The suspension mechanism further includes a first gear lever, which can be selectively arranged in any one of the first gear holes, and the first end of the elastic member is connected to the first gear lever; A plurality of second gear holes are arranged at intervals in the middle of the second suspension arm; The suspension mechanism further includes a second gear lever, which can be selectively arranged in any one of the second gear holes, and the second end of the elastic member is connected to the second gear lever; The suspension mechanism further comprises a connecting frame, and the shaft rod is connected to the bottom of the base plate through the connecting frame; The suspension chassis also includes a mounting bracket, the driven wheel is rotatably disposed on the mounting bracket, and the first end of the second suspension arm is rotatably connected to the mounting bracket.

2. The suspension chassis according to claim 1, characterized in that: The first suspension arm includes two opposite first side walls, each of which is provided with opposite first bolt holes at intervals, the two opposite first bolt holes constitute a first gear hole, and the first gear rod is threadedly disposed in the first gear hole.

3. The suspension chassis according to claim 1, characterized in that: The second suspension arm includes two opposite second side walls, each of which is provided with opposite second bolt holes at intervals, the two opposite second bolt holes constitute a second gear position hole, and the second gear position rod is threadedly disposed in the second gear position hole.

4. The suspension chassis according to claim 1, characterized in that: The connecting frame comprises: A connecting plate, the connecting plate being fixedly connected to the bottom of the base plate; Side plates, two of which are arranged opposite to each other, the two side plates are fixedly arranged on both sides of the bottom of the connecting plate, the first end of the first suspension arm and the second end of the second suspension arm are arranged between the two side plates, and the first end of the first suspension arm, the second end of the second suspension arm and the two side plates are connected by the shaft.

5. The suspension chassis according to claim 1, characterized in that: A rotating shaft is arranged on the top of the mounting bracket, and the first end of the second suspension arm is rotatably connected to the rotating shaft through a connecting arm.

6. A robot, characterized in that: The robot comprises the suspended chassis according to any one of claims 1-5.

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