Robot chassis driven wheel damping system, robot chassis suspension system and mounting method thereof

Abstract

The invention provides a robot chassis driven wheel damping system, a robot chassis suspension system and an installation method thereof. The robot chassis driven wheel damping system comprises a chassis bottom plate used for bearing a main body structure of a robot; the at least one driven wheel fixing plate is used for fixing a corresponding driven wheel of the robot; the upper damping rubber and the lower damping rubber are respectively arranged at the upper edge and the lower edge of each driven wheel fixing plate and are used for providing a damping effect; wherein each driven wheel fixing plate, the corresponding upper damping rubber and the corresponding lower damping rubber are fixed on the chassis bottom plate through plug screws.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and more specifically, to a robot chassis driven wheel shock absorption system, a robot chassis suspension system and an installation method thereof. Background Art

[0002] There are many types of robot chassis driven wheel damping systems on the market, such as spring damping systems, piston-like damping systems, etc. Due to the properties of the spring, the spring damping system will produce simple harmonic motion during operation, and the spring is prone to metal friction during operation, resulting in abnormal chassis noise; the piston-like damping system has a relatively complex structure, many parts, and requires lubrication for maintenance, and the firmware cost and maintenance cost are relatively high. Summary of the invention

[0003] In one aspect, according to an embodiment of the present application, a robot chassis driven wheel shock absorption system is provided, comprising: at least one driven wheel fixing plate for fixing the corresponding driven wheel of the robot; and multiple groups of upper shock absorbing rubber and lower shock absorbing rubber, respectively arranged at the upper edge and lower edge of each driven wheel fixing plate, for providing shock absorption effect; wherein each of the driven wheel fixing plates and the corresponding upper shock absorbing rubber and lower shock absorbing rubber are fixed to the chassis bottom plate by plugging screws.

[0004] In some implementations, the robot chassis driven wheel shock absorption system according to the present application also includes a plurality of shock absorbing rubber gaskets, which are arranged above the upper shock absorbing rubber to ensure uniform force on the upper shock absorbing rubber.

[0005] In some implementations, the driven wheel is fixed to the driven wheel fixing plate by tightening screws.

[0006] In some implementations, each of the upper shock-absorbing rubber and the lower shock-absorbing rubber is cylindrical.

[0007] In some implementations, each of the upper shock-absorbing rubber and the lower shock-absorbing rubber is made of one of the following materials: rubber, silicone, and polyurethane material.

[0008] In some implementations, the shock-absorbing rubber gasket is a stainless steel gasket.

[0009] In some implementations, the size of the through hole on the driven wheel fixing plate is 1 mm to 2 mm larger than the shaft diameter of the plug screw, so that the driven wheel fixing plate can move up and down along the plug screw.

[0010] In one aspect, a robot chassis suspension system is provided according to an embodiment of the present application, comprising: a robot chassis driven wheel damping system according to claim 1; and at least one set of driving wheel assemblies.

[0011] In one aspect, according to an embodiment of the present application, a method for installing a robot chassis suspension system is provided, comprising: fixing each driven wheel fixing plate and corresponding multiple shock-absorbing rubber gaskets, multiple groups of upper shock-absorbing rubbers and lower shock-absorbing rubbers to the chassis bottom plate of the robot by plugging screws, wherein the multiple groups of upper shock-absorbing rubbers and lower shock-absorbing rubbers are respectively arranged at the upper edge and lower edge of each driven wheel fixing plate, and the multiple shock-absorbing rubber gaskets are respectively arranged above the upper shock-absorbing rubbers; and fixing the driven wheels to each driven wheel fixing plate with fastening screws.

[0012] In some implementations, a method for installing a robot chassis suspension system is provided according to an embodiment of the present application, further comprising: installing a driving wheel assembly on a chassis bottom plate.

[0013] The robot chassis driven wheel shock absorption system and the robot chassis suspension system provided in the embodiments of the present application are simple in structure, stable, reliable, silent and noiseless, easy to modularize and mass produce, simple to install and disassemble, convenient to maintain, and low in maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to make the purpose, scheme and advantages of the present application clearer, the present application is further described in detail below in conjunction with the drawings and embodiments. When reading the following specific description in conjunction with the drawings, the various aspects of the present application can be best understood through the following specific description. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Note that various features are not necessarily drawn to scale according to standard industry practices. In the various figures, similar numerical labels describe similar components. In the drawings:

[0015] Figure 1 A schematic diagram of a robot chassis driven wheel damping system according to an embodiment of the present application is shown;

[0016] Figure 2 A schematic diagram of a robot chassis suspension system according to an embodiment of the present application is shown;

[0017] Figure 3 An exploded view of a robot chassis driven wheel damping system according to an embodiment of the present application is shown;

[0018] Figure 4 A flow chart of a method for installing a robot chassis suspension system according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] The features and exemplary embodiments of various aspects of the application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the application. However, it is obvious to those skilled in the art that the application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the application by illustrating the example of the application. The application is by no means limited to any specific configuration and algorithm proposed below, but covers any modification, replacement and improvement of elements, parts and algorithms without departing from the spirit of the application. In the accompanying drawings and the following description, known structures and technologies are not shown to avoid causing unnecessary ambiguity to the application.

[0020] Figure 1 FIG. 1 is a schematic diagram of a robot chassis driven wheel damping system according to an embodiment of the present application. Figure 1 As shown, the robot chassis driven wheel shock absorption system 100 according to the embodiment of the present application includes: a chassis bottom plate 1, used to support the main structure of the robot; at least one driven wheel fixing plate 2, used to fix the corresponding driven wheel 3 of the robot; and multiple groups of upper shock-absorbing rubber 4 and lower shock-absorbing rubber 5, respectively arranged at the upper edge and lower edge of each driven wheel fixing plate 2, for providing a shock-absorbing effect; wherein each of the driven wheel fixing plates and the corresponding upper shock-absorbing rubber 4 and lower shock-absorbing rubber 5 are fixed to the chassis bottom plate 1 by plugging screws 6.

[0021] The chassis base plate 1 can carry the main structure of the robot, and can also carry the electrical components of the robot. In some implementations, the chassis base plate 1 can be regular or irregular in shape. Figure 1 The bottom plate 1 of the chassis is shown to be circular. It should be understood that the present invention is not limited thereto, and for example, the bottom plate 1 of the chassis may also be circular, oval, square, rectangular, triangular, regular polygonal, etc., or may be irregular in shape.

[0022] The driven wheel fixing plate 2 can be used to fix the driven wheel 3 of the robot, thereby playing a supporting role and being able to support the weight of the robot and the impact force during the operation of the robot. The shape of the driven wheel fixing plate 2 is not fixed and can be in different forms according to actual use. In some implementations, the driven wheel 3 can be a universal wheel that can rotate 360 ​​degrees. Figure 14 driven wheel fixing plates and corresponding 4 driven wheels are shown in FIG. It should be understood that it is not limited to this. For example, there may be at least one driven wheel fixing plate and a corresponding driven wheel, for example, 2 driven wheel fixing plates and corresponding 2 driven wheels, 4 driven wheel fixing plates and corresponding 4 driven wheels, and so on. Those skilled in the art may choose to set various numbers of driven wheel fixing plates and corresponding driven wheels according to the size of the chassis bottom plate and actual needs. In some implementations, the driven wheel 3 is fixed to the driven wheel fixing plate 2 by tightening screws.

[0023] The upper shock-absorbing rubber 4 and the lower shock-absorbing rubber 5 are the main components for providing the shock-absorbing effect of the driven wheel shock-absorbing system. In some implementations, each of the upper shock-absorbing rubber 4 and the lower shock-absorbing rubber 5 is cylindrical. In some implementations, each of the upper shock-absorbing rubber 4 and the lower shock-absorbing rubber 5 is made of one of the following materials: rubber, silicone, polyurethane material. The shock-absorbing effect provided by the upper shock-absorbing rubber 4 and the lower shock-absorbing rubber 5 can be adjusted by adjusting the size, shape, material hardness, etc.

[0024] exist Figure 1 It is shown that 4 sets of upper shock absorbing rubber 4 and lower shock absorbing rubber 5 are provided for each driven wheel fixing plate 2. It should be understood that it is not limited to this. For example, there may be 2 sets of upper shock absorbing rubber 4 and lower shock absorbing rubber 5, 3 sets of upper shock absorbing rubber 4 and lower shock absorbing rubber 5, or 5 sets of upper shock absorbing rubber 4 and lower shock absorbing rubber 5 or more sets of upper shock absorbing rubber 4 and lower shock absorbing rubber 5. Those skilled in the art may choose to provide various numbers of upper shock absorbing rubber 4 and lower shock absorbing rubber 5 according to the size of the driven wheel fixing plate 2 and actual needs.

[0025] like Figure 1 As shown, in some implementations, the robot chassis driven wheel shock absorption system according to the present application may also include a plurality of shock absorbing rubber gaskets 7, which are respectively arranged above the upper shock absorbing rubber 4 to make the upper shock absorbing rubber 4 bear force uniformly. In some implementations, the shock absorbing rubber gasket 7 may be a stainless steel gasket.

[0026] like Figure 1 As shown, the upper damping rubber 4, the driven wheel fixing plate 2 and the lower damping rubber 5 are provided with through holes, so that the plug screws 6 can pass through them, thereby fixing these components to the chassis bottom plate 1. In some implementations, the size of the through hole on the driven wheel fixing plate 2 is 1mm to 2mm larger than the shaft diameter of the plug screw 6, so that the driven wheel fixing plate 2 can move up and down along the plug screw 6.

[0027] The robot chassis driven wheel shock absorption system provided in the embodiments of the present application has a simple, stable, and reliable structure, is silent without abnormal noise, is easy to modularize and mass produce, is relatively simple to install and disassemble, is relatively convenient to maintain, and has low maintenance costs.

[0028] Figure 2A schematic diagram of a robot chassis suspension system according to an embodiment of the present application is shown. Figure 3 An exploded view of a robot chassis driven wheel damping system according to an embodiment of the present application is shown.

[0029] like Figure 2 and Figure 3 As shown, the robot chassis suspension system 200 according to the embodiment of the present application includes: Figure 1 The robot chassis suspension system 100 and at least one set of driving wheel assemblies 8 are shown.

[0030] Figure 2 and Figure 3 The figure shows a robot chassis suspension system 100 having a chassis bottom plate 1, four driven wheel fixing plates 2 and corresponding four driven wheels 3, four groups of upper shock-absorbing rubbers 4 and lower shock-absorbing rubbers 5 are provided for each driven wheel fixing plate 2, and shock-absorbing rubber gaskets 7 are provided on the upper shock-absorbing rubbers 4, wherein the upper shock-absorbing rubbers 4, the driven wheel fixing plates 2 and the lower shock-absorbing rubbers 5 are fixed to the chassis bottom plate 1 with threads in sequence by plugging screws 6, and the driven wheels 3 are fixed to the corresponding driven wheel fixing plates 2 with threads by tightening screws 9. Figure 2 and Figure 3 Also shown are two sets of driving wheel assemblies 8. It should be understood that the number and structure of the driving wheel assemblies 8 can be set by those skilled in the art according to actual needs, and will not be described in detail here to avoid blurring the present application.

[0031] Figure 4 FIG. 1 is a flow chart showing a method for installing a robot chassis suspension system according to an embodiment of the present application. Figure 4 As shown, the installation method 400 of the robot chassis suspension system according to the embodiment of the present application includes: 401, fixing each driven wheel fixing plate and the corresponding multiple shock-absorbing rubber gaskets, multiple groups of upper shock-absorbing rubber and lower shock-absorbing rubber on the chassis bottom plate of the robot by plugging screws, wherein the multiple groups of upper shock-absorbing rubber and lower shock-absorbing rubber are respectively arranged at the upper edge and lower edge of each driven wheel fixing plate, and the multiple shock-absorbing rubber gaskets are respectively arranged above the upper shock-absorbing rubber; and 402, fixing the driven wheel on each driven wheel fixing plate with fastening screws.

[0032] In some implementations, the installation method 400 of the robot chassis suspension system according to the embodiment of the present application further includes: installing the driving wheel assembly on the chassis bottom plate.

[0033] The overall installation process of the installation method of the robot chassis suspension system according to the embodiment of the present application is very simple, and the obtained robot chassis suspension system has the advantages of reliable structure, convenient maintenance, low cost, etc.

[0034] The mechanism of the present application has been described above with reference to the accompanying drawings and various embodiments. It should be understood that the present application is not limited thereto, but can be implemented in other forms without departing from the subject matter and essential features of the present application. The current embodiments are to be considered in all respects as illustrative rather than restrictive, the scope of the present invention is defined by the appended claims rather than the above description, and all changes falling within the meaning and equivalents of the claims are included within the scope of the present application.

Claims

1. A robot chassis driven wheel shock absorption system, comprising: The chassis bottom plate is used to carry the main structure of the robot; at least one driven wheel fixing plate, used for fixing a corresponding driven wheel of the robot; as well as A plurality of groups of upper shock-absorbing rubber and lower shock-absorbing rubber are respectively arranged at the upper edge and the lower edge of each driven wheel fixing plate to provide a shock-absorbing effect; Each of the driven wheel fixing plates and the corresponding upper shock-absorbing rubber and lower shock-absorbing rubber are fixed to the chassis bottom plate by plugging screws.

2. The robot chassis driven wheel shock absorption system according to claim 1 further includes a plurality of shock absorbing rubber gaskets, which are respectively arranged above the upper shock absorbing rubber to ensure that the upper shock absorbing rubber is subjected to uniform force. 3 . The robot chassis driven wheel shock absorption system according to claim 1 , wherein the driven wheel is fixed to the driven wheel fixing plate by tightening screws.

4. The robot chassis driven wheel damping system according to claim 1, wherein: Each of the upper shock-absorbing rubber and the lower shock-absorbing rubber is cylindrical.

5. The robot chassis driven wheel damping system according to claim 1, wherein: Each of the upper shock-absorbing rubber and the lower shock-absorbing rubber is made of one of the following materials: rubber, silicone, and polyurethane material.

6. The robot chassis driven wheel shock absorption system according to claim 2, wherein: The shock-absorbing rubber gasket is a stainless steel gasket.

7. The robot chassis driven wheel damping system according to claim 1, wherein: The size of the through hole on the driven wheel fixing plate is 1 mm to 2 mm larger than the shaft diameter of the plug screw, so that the driven wheel fixing plate can move up and down along the plug screw.

8. A robot chassis suspension system, comprising: The robot chassis driven wheel shock absorption system according to claim 1; as well as At least one set of driving wheel assembly.

9. A method for installing a robot chassis suspension system, comprising: Fix each driven wheel fixing plate and the corresponding multiple shock-absorbing rubber gaskets, multiple groups of upper shock-absorbing rubber and lower shock-absorbing rubber to the bottom plate of the robot chassis by plugging screws, wherein the multiple groups of upper shock-absorbing rubber and lower shock-absorbing rubber are respectively arranged at the upper edge and the lower edge of each driven wheel fixing plate, and the multiple shock-absorbing rubber gaskets are respectively arranged above the upper shock-absorbing rubber; as well as The driven wheel is fixed to each of the driven wheel fixing plates with fastening screws.

10. The installation method according to claim 9, further comprising: Install the driving wheel assembly onto the chassis bottom plate.

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