Power wheel suspension device and walking robot

Abstract

The utility model provides a power wheel suspension device and a walking robot. The power wheel suspension device comprises a balance rod and power wheel assemblies arranged at the two ends of the balance rod. A hinge seat is arranged in the center of the balance rod, and the balance rod swings around the hinge seat and is used for controlling the power wheel assembly to make contact with the ground. The power wheel assembly comprises a driving wheel, a driving assembly and an elastic adjusting piece, and the driving wheel and the elastic adjusting piece are connected through a connecting plate and used for enabling the driving wheels at the two ends of the balance rod to be stressed in a balanced mode. The power wheel assemblies are arranged at the two ends of the balance rod capable of swinging, stress of the driving wheels at the two ends is balanced through the elastic adjusting pieces, and therefore the walking wheels are prevented from slipping and deviating due to uneven ground in the walking process, and the working reliability of the transfer robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of storage equipment, and in particular to a power wheel suspension device and a walking robot. Background Art

[0002] A handling robot is a robot developed for cargo handling operations in industries such as logistics warehousing and industrial production. When working, a QR code is attached to the ground in the robot's driving area to guide the robot to travel along the set route.

[0003] The handling robot includes a freely movable chassis, which is usually equipped with two drive wheels and multiple universal wheels. The motor drives the drive wheels to rotate to achieve free movement of the chassis. Each drive wheel is mounted on the chassis through its own suspension mechanism, and a spring is provided in the suspension mechanism so that the drive wheel can adapt to the ups and downs to the pits or bumps on the ground.

[0004] However, in the prior art, when there are pits or bumps on the ground, the spring forces in the suspension mechanisms of the two sets of drive wheels are inconsistent, causing the pressing forces between the drive wheels and the ground to also be inconsistent. In severe cases, one side of the drive wheels will slip, reducing the reliability of the transport robot. Utility Model Content

[0005] In response to the above-mentioned defects, the present application provides a power wheel suspension device and a walking robot, which improves the reliability of the handling robot.

[0006] In a first aspect, the present application provides a power wheel suspension device, comprising a balance bar and power wheel assemblies arranged at both ends of the balance bar;

[0007] A hinge seat is provided at the center of the balance bar, and the balance bar swings around the hinge seat to control the contact between the power wheel assembly and the ground;

[0008] The power wheel assembly includes a driving wheel, a driving assembly and an elastic adjusting member. The driving wheel and the elastic adjusting member are connected via a connecting plate to balance the forces on the driving wheels at both ends of the balancing rod.

[0009] Preferably, the connecting plate is coaxially connected to the balancing rod, and the connecting plate and the balancing rod can rotate around the connecting axis respectively.

[0010] Preferably, it further comprises a floating plate, wherein the floating plate is fixedly connected to the driving wheel, and the floating plate moves up and down along with the driving wheel.

[0011] Preferably, it further comprises sliding grooves, which are arranged at both ends of the floating plate, and the floating plate is located inside the sliding grooves for limiting the floating plate, and the distance between the two sliding grooves is adjustable.

[0012] Preferably, the elastic adjustment member includes a mounting base, a sliding shaft and a spring sleeved on the sliding shaft, and a nut is provided on the sliding shaft to prevent the sliding shaft thread from loosening.

[0013] Preferably, one end of the connecting plate is connected to the floating plate, and the other end is sleeved on the sliding shaft and arranged between the spring and the sliding shaft.

[0014] Preferably, the balancing pole includes two balancing sub-poles, and the two balancing sub-poles and the connecting plate are arranged on the same connecting axis.

[0015] Preferably, it also includes a spacer sleeve arranged on the connecting shaft, which is arranged in sequence from the outside to the inside as a balancing rod, a spacer sleeve, and a connecting plate along the extending direction of the connecting shaft.

[0016] Preferably, the connecting plates and the elastic adjusting members are arranged in two groups, and each group of the connecting plates is connected to a group of the elastic adjusting members.

[0017] Preferably, a reducer is further included, wherein the input end of the reducer is connected to the output end of the driving assembly, and the output end of the reducer is connected to the driving wheel.

[0018] A second aspect of the present application provides a walking robot, including a base plate and a power wheel suspension device, wherein the articulated seat and the elastic adjustment member are fixedly arranged on the base plate, and the driving wheel extends out of the base plate and contacts the ground.

[0019] Beneficial effect: The present application arranges the power wheel assembly at both ends of a swingable balance bar and balances the force on the driving wheels at both ends through elastic adjustment parts, thereby preventing the walking wheels from slipping and deviating due to uneven ground during walking, thereby improving the reliability of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a structural schematic diagram of a power wheel suspension device provided in an embodiment of the present application;

[0021] Figure 2 is another structural schematic diagram of the power wheel suspension device provided in an embodiment of the present application;

[0022] Figure 3 is a schematic side view of a power wheel assembly provided in an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of a partially enlarged structure of the hinge seat provided in an embodiment of the present application;

[0024] Figure 5 It is a side view schematic diagram of the power wheel suspension device provided in an embodiment of the present application.

[0025] Illustration Description:

[0026] 1-driving wheel, 2-floating plate, 3-connecting shaft, 4-balance rod, 5-connecting plate, 6-sliding shaft, 7-nut, 8-spring, 9-articulated seat, 10-articulated shaft, 11-driving assembly, 12-adjusting gasket, 13-mounting base, 14-reducer, 15-sliding groove, 16-screw, 17-retaining ring, 18-spacer. DETAILED DESCRIPTION

[0027] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0028] See also Figure 1-5 , the present application provides a power wheel suspension device, comprising a balance bar 4 and power wheel assemblies arranged at both ends of the balance bar 4;

[0029] A hinge seat 9 is provided at the center of the balancing pole 4, and the balancing pole 4 swings around the hinge seat 9 to control the contact between the power wheel assembly and the ground;

[0030] The power wheel assembly includes a driving wheel 1, a driving assembly 11 and an elastic adjusting member. The driving wheel 1 and the elastic adjusting member are connected via a connecting plate 5 to balance the force on the driving wheel 1 at both ends of the balancing rod 4.

[0031] The power wheel suspension device provided in the embodiment of the present application is arranged at the bottom of the walking robot. Since the balance bar is only hinged to the hinge seat 9 at the center position, it is necessary to maintain a balanced state through the contact between the power wheel assemblies arranged at both ends and the ground. When the walking robot passes over an uneven ground, the power wheel assembly on one side will drop with gravity to contact the ground. At this time, it will drive the balance bar 4 to swing, and the other end of the balance bar 4 will tilt up, driving the power wheel assembly on the other side to rise. At this time, the power wheel assembly on the side of the sunken ground will be subjected to greater pressure, while the pressure between the power wheel assembly on the other side and the ground will be reduced due to the lifting, which is prone to side slip. Therefore, an elastic adjusting member is provided in the power wheel assembly. When the driving wheel descends, the elastic adjusting member reduces the pressure on the driving wheel 1 by pressing down, and when the driving wheel 1 on the other side rises, the elastic adjusting member expands, exerting a downward force on the driving wheel 1 to make up for the insufficient pressure between the driving wheel 1 and the ground, thereby balancing the pressure on the driving wheels on both sides and avoiding the occurrence of side slip.

[0032] In the embodiment of the present application, the connecting plate 5 is coaxially connected to the balancing pole 4 , and the connecting plate 5 and the balancing pole 4 can rotate around the connecting axis 3 respectively.

[0033] In other embodiments of the present application, the balancing pole 4 includes two balancing sub-poles, and the two balancing sub-poles and the connecting plate 5 are arranged on the same connecting shaft 3.

[0034] In order to increase the balance of the suspension device, the balance bar 4 can be set as two parallel balance sub-bars, and the two balance sub-bars are coaxially arranged. Since the balance bar 4 is only fixed with a hinge seat in the middle position, it is difficult to avoid back and forth shaking during the swinging process. Setting it as two parallel balance sub-bars can reduce the back and forth shaking, so that the balance bar 4 can swing within a fixed plane.

[0035] At the same time, in order to increase the stability of the balancing rod's swing, the balancing rod 4 is connected to the hinge seat 9 via the hinge shaft 10 and is limited by rivets to avoid axial displacement of the hinge shaft 10.

[0036] The power wheel suspension device provided in the present application also includes a floating plate 2, which is fixedly connected to the driving wheel 1, and the floating plate 2 moves up and down with the driving wheel 1.

[0037] It also includes sliding grooves 15, which are arranged at both ends of the floating plate 2. The floating plate 2 is located inside the sliding grooves 15, which are used to limit the floating plate 2. The distance between the two sliding grooves 15 is adjustable.

[0038] When the walking robot is walking, the driving wheel 1 is powered by the driving component 11, which is connected to the output shaft of the driving component 11. If force is directly applied to the output shaft of the driving component 11 during the up and down movement of the driving wheel 1, it is easy to cause damage to the device. Therefore, in this application, the driving wheel 1 is fixedly connected to the floating plate 2, and a connecting flange is provided on the floating plate 2. The output shaft of the driving component 11 passes through the connecting flange and is connected to the driving wheel 1 to provide power. The connecting flanges respectively connect the driving wheels 1 and the driving components on both sides of the floating plate 2, so that the force during the up and down movement of the driving wheel 1 is applied to the floating plate.

[0039] In one embodiment of the present application, a reducer 14 is arranged between the driving wheel 1 and the driving assembly 11. When the reducer is arranged, the output shaft of the reducer 14 is connected to the driving wheel 1. At this time, the force when the driving wheel 1 moves up and down acts on the output shaft of the reducer 14. At this time, the connecting flange connects the driving wheel 1 and the reducer 14 to the floating plate, so that the force of the driving wheel 1 moving up and down always acts on the floating plate.

[0040] Furthermore, because the driving wheels 1 are disposed at both ends of the balance bar 4, the floating plate 2 will inevitably be displaced by the swing of the balance bar 4. In order to limit the floating plate 2 and ensure its movement in the up and down directions, in the embodiment of the present application, sliding grooves 15 are disposed on both sides of the floating plate, and the floating plate 2 is disposed inside the sliding grooves 15, so that the floating plate 2 can only move in the up and down directions. The distance between the sliding grooves 15 at both ends can be adjusted by adjusting the gaskets 12 to adapt to the size of the floating plate 12 and the friction between the floating plate 2 and the sliding grooves 15.

[0041] The elastic adjustment member provided in the embodiment of the present application includes a mounting base 13, a sliding shaft 6, and a spring 8 sleeved on the sliding shaft 6. A nut 7 is provided on the sliding shaft 6 to prevent the thread of the sliding shaft 6 from loosening.

[0042] One end of the connecting plate 5 is connected to the floating plate 2 , and the other end is sleeved on the sliding shaft 6 and disposed between the spring 8 and the sliding shaft 6 .

[0043] When the driving wheel 1 passes through the sunken ground and descends, it drives the balancing pole 4 to tilt to one side. At this time, the pressure on the driving wheel 1 increases. When the pressure exceeds a certain range, it drives the floating plate 2 to move up relative to the balancing pole 4. The connecting plate 5 connected to the floating plate 2 transfers the pressure to the spring 8, compressing the spring 8 and storing the excess pressure on the spring 8, thereby reducing the pressure on the driving wheel 1. When the sunken ground is too deep, the driving wheel 1 cannot contact the ground even when the balancing pole 4 swings. The elastic adjustment part is installed on the bottom plate of the walking robot to prevent the driving wheel 1 from dropping excessively.

[0044] When the driving wheel 1 on one side descends, the driving wheel 1 on the other side rises under the action of the balance bar 4, and the pressure between the driving wheel 1 and the ground is reduced, so that the driving wheel 1 descends relative to the balance bar 4, driving the floating plate 2 to move downward, and the spring 8 stretches under the action of the elastic force, and applies the elastic force to one end of the connecting plate 5 connected to the elastic adjusting member. Since the other end of the connecting plate 5 is connected to the connecting shaft 3 and can rotate around the connecting shaft 3, the elastic force of the spring 8 is transmitted to the driving wheel 1 through the floating plate 2, and the direction of the force is changed, so that the driving wheel 1 is pressed downward, which makes up for the lack of pressure between the driving wheel 1 and the ground, thereby achieving pressure balance on the driving wheels 1 on both sides.

[0045] The connecting plates 5 and the elastic adjusting members are arranged in two groups, and each group of the connecting plates 5 is connected to a group of the elastic adjusting members.

[0046] The power wheel suspension device provided in the embodiment of the present application also includes a spacer sleeve 18 arranged on the connecting shaft 3, and along the extension direction of the connecting shaft 3, a balance rod, a spacer sleeve 18, and a connecting plate 5 are arranged in sequence from the outside to the inside.

[0047] The embodiment of the present application further provides a walking robot, including a base plate and a power wheel suspension device, wherein the articulated seat 9 and the elastic adjustment member are fixedly arranged on the base plate, and the driving wheel 1 extends out of the base plate and contacts the ground.

[0048] The present application arranges the power wheel assembly at both ends of the swingable balance bar 4, and balances the force of the driving wheels 1 at both ends through the elastic adjustment member, thereby preventing the walking wheels from slipping and deviating due to uneven ground during walking, thereby improving the reliability of the handling robot. Of course, the present application may also have other various embodiments, and those skilled in the art may make various corresponding changes and deformations according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and deformations shall all fall within the protection scope of the claims attached to the present application.

Claims

1. A power wheel suspension device, characterized in that: It comprises a balancing rod (4) and power wheel assemblies arranged at both ends of the balancing rod (4); An articulated seat (9) is provided at the center of the balance bar (4), and the balance bar (4) swings around the articulated seat (9) to control the contact between the power wheel assembly and the ground; The power wheel assembly comprises a driving wheel (1), a driving assembly (11) and an elastic adjustment member, wherein the driving wheel (1) and the elastic adjustment member are connected via a connecting plate (5) to balance the forces on the driving wheels (1) at both ends of the balancing rod (4).

2. The power wheel suspension device according to claim 1, characterized in that: The connecting plate (5) is coaxially connected to the balancing rod (4), and the connecting plate (5) and the balancing rod (4) can rotate around the connecting axis (3) respectively.

3. The power wheel suspension device according to claim 2, characterized in that: It also comprises a floating plate (2), wherein the floating plate (2) is fixedly connected to the driving wheel (1), and the floating plate (2) moves up and down along with the driving wheel (1).

4. The power wheel suspension device according to claim 3, characterized in that: It also comprises sliding grooves (15), wherein the sliding grooves (15) are arranged at both ends of the floating plate (2), the floating plate (2) is located inside the sliding grooves (15), and is used to limit the position of the floating plate (2), and the distance between the two sliding grooves (15) is adjustable.

5. The power wheel suspension device according to claim 3, characterized in that: The elastic adjustment member comprises a mounting base (13), a sliding shaft (6), and a spring (8) sleeved on the sliding shaft (6); a nut (7) is provided on the sliding shaft (6) for preventing the thread of the sliding shaft (6) from loosening.

6. The power wheel suspension device according to claim 5, characterized in that: One end of the connecting plate (5) is connected to the floating plate (2), and the other end is sleeved on the sliding shaft (6) and arranged between the spring (8) and the sliding shaft (6).

7. The power wheel suspension device according to claim 1, characterized in that: The balancing pole (4) comprises two balancing sub-poles, and the two balancing sub-poles and the connecting plate (5) are arranged on the same connecting shaft (3).

8. The power wheel suspension device according to claim 7, characterized in that: It also includes a spacer sleeve (18) arranged on the connecting shaft (3), and is arranged in sequence from the outside to the inside along the extending direction of the connecting shaft (3): a balancing sub-rod, a spacer sleeve (18), and a connecting plate (5).

9. The power wheel suspension device according to claim 1, characterized in that: The connecting plates (5) and the elastic adjusting members are arranged in two groups, and each group of the connecting plates (5) is connected to a group of elastic adjusting members.

10. The power wheel suspension device according to claim 1, characterized in that: It also comprises a reducer (14), wherein the input end of the reducer (14) is connected to the output end of the drive assembly (11), and the output end of the reducer (14) is connected to the drive wheel (1).

11. A walking robot, characterized in that: It comprises a base plate and a power wheel suspension device as claimed in any one of claims 1 to 9, wherein the hinge seat (9) and the elastic adjustment member are fixedly arranged on the base plate, and the driving wheel (1) extends out of the base plate and contacts the ground.

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