Damping chassis and mobile robot

Abstract

The utility model belongs to the technical field of chassis, and discloses a damping chassis and a mobile robot, the damping chassis comprises a bottom plate, a driving wheel, a driven wheel, a transmission assembly and a movable part, the transmission assembly is connected to the bottom plate, and two ends of the transmission assembly are respectively connected to the driving wheel and the driven wheel; one end of the movable part is in shaft driving connection with the transmission assembly, the other end of the movable part is fixedly connected with the driving wheel, the driving wheel swings relative to the transmission assembly through the movable part, and a buffering piece is arranged between the other end of the movable part and the end of the transmission assembly. The mobile robot comprises the damping chassis. When walking on a climbing or rugged road surface, the driving wheel can change the position relative to the driven wheel through swinging, so that the driving wheel and the driven wheel can grip the ground at the same time, and the ground gripping effect under the road conditions such as the climbing or the rugged road surface is improved; due to the arrangement of the buffer piece, the damping effect is improved, the ground gripping effect and the damping effect of the damping chassis are improved, and then the stability of the damping chassis is well guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of chassis, and in particular relates to a shock-absorbing chassis and a mobile robot. Background Art

[0002] Mobile robots, vehicles and other movable devices require good chassis stability in actual use. Good stability requires not only good shock absorption, but also good grip when climbing or walking on rough roads.

[0003] In order to ensure the stability during movement, the existing chassis realizes linkage by connecting the driving wheel and the driven wheel with a connecting rod. However, the relative position between the driving wheel and the driven wheel is fixed. On a slope or a rugged road, the driving wheel and the driven wheel have poor gripping effect, and the shock absorbing effect of the existing chassis is relatively poor. Therefore, the stability of the existing chassis needs to be further improved. Utility Model Content

[0004] The utility model aims to provide a shock-absorbing chassis and a mobile robot, which are used to improve the gripping effect and the shock-absorbing effect, thereby improving the stability of the chassis.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A shock-absorbing chassis comprises a bottom plate, a driving wheel and a driven wheel, and further comprises:

[0007] A transmission assembly is connected to the bottom plate, and two ends of the transmission assembly are respectively connected to the driving wheel and the driven wheel;

[0008] A movable part, one end of which is movably connected to the transmission assembly shaft, and the other end of which is fixedly connected to the driving wheel, and the driving wheel swings relative to the transmission assembly through the movable part.

[0009] Wherein, a buffer is arranged between the other end of the movable part and the end of the transmission assembly.

[0010] As a preferred technical solution for the above-mentioned shock-absorbing chassis, the transmission assembly includes a swing bridge, which is connected to the base plate, and whose two ends are respectively connected to the driving wheel and the driven wheel, one end of the movable part is axially connected to the swing bridge, and the buffer is connected to one end of the swing bridge close to the driving wheel.

[0011] As a preferred technical solution of the above-mentioned shock-absorbing chassis, the transmission assembly also includes a mounting assembly, and the swing bridge is rotatably connected to the base plate via the mounting assembly.

[0012] As a preferred technical solution of the above-mentioned shock-absorbing chassis, the mounting assembly includes a connecting sleeve, the connecting sleeve is fixedly connected to the base plate, and the swing bridge is passed through and rotatably connected to the connecting sleeve.

[0013] As a preferred technical solution of the above-mentioned shock-absorbing chassis, the movable part includes a connecting arm and a fixed block, one end of the connecting arm is connected to the fixed block, the fixed block is connected to the swing bridge, the driving wheel swings around the fixed block through the connecting arm, and the buffer is arranged between the other end of the connecting arm and the swing bridge.

[0014] As a preferred technical solution for the above-mentioned shock-absorbing chassis, the transmission assembly also includes a connecting piece, a connecting hole is opened on the swing bridge, the connecting piece is movably passed through the connecting hole and the buffer piece in sequence, and is fixedly connected to the connecting arm, the connecting hole is a waist-shaped hole, and the length direction of the waist-shaped hole extends along the length direction of the swing bridge.

[0015] As a preferred technical solution for the above-mentioned shock-absorbing chassis, a limiting column is further arranged between the movable part and the transmission assembly, one end of the limiting column is connected to the transmission assembly or the movable part, and the other end can abut against the movable part or the transmission assembly to limit the swing angle of the driving wheel relative to the transmission assembly.

[0016] As a preferred technical solution of the above-mentioned shock-absorbing chassis, the movable direction of the buffer member is close to the direction of gravity.

[0017] As a preferred technical solution of the above-mentioned shock-absorbing chassis, a first limiting groove is provided on the transmission assembly, a second limiting groove is provided on the movable part, one end of the buffer member abuts against the first limiting groove, and the other end abuts against the second limiting groove.

[0018] A mobile robot comprises the shock-absorbing chassis mentioned above.

[0019] Beneficial effects of the utility model:

[0020] The shock-absorbing chassis provided by the utility model has a transmission assembly whose two ends are respectively connected to the driving wheel and the driven wheel, thereby realizing the linkage of the driving wheel and the driven wheel; the driving wheel swings relative to the transmission assembly through the movable part, so that when climbing a slope or walking on a rugged road, the driving wheel can change its relative position with the driven wheel through the swing, so that the driving wheel and the driven wheel can grip the ground at the same time, thereby improving the gripping effect under road conditions such as climbing a slope or on a rugged road; and a buffer is provided between the other end of the movable part and the end of the transmission assembly, thereby improving the shock-absorbing effect, that is, the gripping effect and the shock-absorbing effect of the shock-absorbing chassis provided by the utility model are both improved, thereby well ensuring the stability of the shock-absorbing chassis.

[0021] The mobile robot provided by the utility model comprises the shock-absorbing chassis mentioned above. Due to the arrangement of the shock-absorbing chassis, the mobile robot provided by the utility model has improved ground gripping effect and shock-absorbing effect, thereby improving the stability of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 of the present invention. 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 the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0023] Figure 1 This is a schematic structural diagram of a shock-absorbing chassis provided by an embodiment of the utility model from a first perspective;

[0024] Figure 2 is a structural schematic diagram of a shock-absorbing chassis provided by an embodiment of the utility model from a second viewing angle;

[0025] Figure 3 It is a front view of a part of the structure of the shock-absorbing chassis provided by an embodiment of the utility model;

[0026] Figure 4 It is a structural schematic diagram of a part of the structure of the shock-absorbing chassis provided by an embodiment of the utility model;

[0027] Figure 5 It is an exploded view of a partial structure of a shock-absorbing chassis provided in an embodiment of the utility model.

[0028] In the figure:

[0029] 1. Bottom plate; 2. Driving wheel; 3. Driven wheel; 6. Front wheel; 7. Support frame;

[0030] 41. Buffer; 42. Swing bridge; 43. Mounting assembly; 44. Connector; 51. Connecting arm; 52. Fixing block; 53. Locking shaft; 54. Bushing; 55. Driving wheel connecting block;

[0031] 421, first connecting hole; 422, fourth connecting hole; 423, fifth connecting hole; 424, first limiting groove; 431, connecting sleeve; 432, rotating shaft; 433, retaining ring; 434, retaining ring; 435, bearing; 511, second limiting groove; 512, rotating connecting hole; 5211, third connecting hole. DETAILED DESCRIPTION

[0032] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "installed" should be understood in a broad sense, for example, it can be an installed connection or a detachable connection, it can be a mechanical connection or an electrical connection, it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the description of the present utility model, unless otherwise clearly stipulated and limited, a first feature being "above" or "below" a second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature being in contact not directly but through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0036] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0037] Mobile robots are a comprehensive system that integrates multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. It concentrates the research results of multiple disciplines such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering and artificial intelligence, represents the highest achievement of mechatronics, and is one of the most active fields of scientific and technological development. With the continuous improvement of robot performance, the application scope of mobile robots has been greatly expanded. They are not only widely used in industries such as industry, agriculture, medical care, and services, but also well used in harmful and dangerous occasions such as urban security, national defense, and space exploration.

[0038] According to the mode of movement, mobile robots can be divided into: wheeled mobile robots, walking mobile robots (single-legged, two-legged and multi-legged), tracked mobile robots, crawling robots, peristaltic robots and swimming robots; according to the working environment, mobile robots can be divided into: indoor mobile robots and outdoor mobile robots; according to function and purpose, mobile robots can be divided into: medical robots, military robots, disability assistance robots, cleaning robots, etc.

[0039] This application is aimed at wheeled mobile robots. In actual application scenarios, the mobile robot's moving track coverage surface is not completely flat. There may be obstacles such as slopes, speed bumps, thresholds, or protrusions on the moving track surface that interfere with the robot's movement. In some cases, the mobile robot can analyze the obstacles through obstacle monitoring systems such as cameras and sensors, and then transmit the analysis to the robot control system, and the control system controls the rollers so that it can avoid obstacles. However, in some extreme cases, obstacles cannot be avoided, such as thresholds, many protrusions, or climbing slopes, and the mobile robot must drive over. In the distribution scenario, the food carried by the robot has high requirements for stability, and the robot's shaking will cause the food to spill. In the field of robots, the algorithm logic uses a gentle reduction in speed for uneven ground to reduce the robot's bumps, but the bulge when crossing the ground will cause the robot to run unsteadily. Therefore, in such situations, the stability performance of the shock-absorbing chassis is particularly important, and the stability requirements are high, reaching the level of no spillage or slight spillage.

[0040] Wheeled mobile robots are usually equipped with multiple driven wheels to ensure the stability of the robot when it moves, and also to support the above loads, such as the weight of the robot body, and the items and equipment carried by the robot body. Optionally, the driven wheels are symmetrically arranged, and four or six driven wheels can be selected. In addition, there are two driving wheels to drive the robot to move, which are the kinetic energy execution units of the mobile robot. In order to ensure the robot's ability to overcome obstacles, the driven wheels and the driving wheels are connected by a connecting rod to achieve the lifting of the driven wheels.

[0041] The present application provides an embodiment; a shock-absorbing chassis, such as Figures 1 to 5 As shown, the shock-absorbing chassis includes a base plate 1, a driving wheel 2, a driven wheel 3, a transmission assembly and a movable part, the transmission assembly is connected to the base plate 1, and both ends of the transmission assembly are respectively connected to the driving wheel 2 and the driven wheel 3; one end of the movable part is axially connected to the transmission assembly, and the other end is fixedly connected to the driving wheel 2, and the driving wheel 2 swings relative to the transmission assembly through the movable part, wherein a buffer member 41 is arranged between the other end of the movable part and the end of the transmission assembly.

[0042] like Figure 1and Figure 2 As shown, in this embodiment, the driving wheel 2 and the driven wheel 3 are linked to form a suspension mechanism to achieve a stable obstacle crossing effect of the robot. In the suspension mechanism, two driving wheels 2 and two driven wheels 3 are set, and the two are set in pairs, and the two groups are distributed on the bottom plate 1. From the direction of travel of the robot, the driven wheel 3 is located at the rear side of the driving wheel 2, and the front side of the driving wheel 2 is provided with two front wheels 6. The front wheels 6 are connected to the bottom plate 1 separately, and have no linkage relationship with the driving wheel 2 and the driven wheel 3 behind them. The two front wheels 6 are distributed on the left and right. The shock-absorbing chassis is provided with a total of six rollers to ensure the stability of the shock-absorbing chassis, and also to support the load above the bottom plate 1, such as for supporting the weight of the robot body, and for supporting the weight of the items and equipment carried by the robot body. The driving wheel 2 is used to drive the robot to move, and is the kinetic energy execution unit of the robot.

[0043] The shock-absorbing chassis provided in this embodiment has a transmission assembly whose two ends are respectively connected to the corresponding driving wheel 2 and driven wheel 3. The linkage between the driving wheel 2 and the driven wheel 3 is conducive to improving the stability of the shock-absorbing chassis; the driving wheel 2 swings relative to the transmission assembly through the movable part. Therefore, when climbing a slope or walking on a rugged road, the driving wheel 2 can change its relative position with the driven wheel 3 by swinging. For example, when the shock-absorbing chassis transitions from a horizontal plane to a slope, the front wheel 6 is located on the slope, the driven wheel 3 is located on the horizontal plane, and the driving wheel 2 is located at the junction of the two planes. At this time, the driving wheel 2 swings toward the ground to press against the ground, thereby realizing the driving wheel 2 and the driven wheel 3. The driving wheel 3 grips the ground at the same time; when the shock-absorbing chassis moves from the horizontal plane to the concave ground, the front wheel 6 is located on the concave ground, and the driving wheel 2 is located at the junction of the two planes. At this time, the driving wheel 2 swings in the direction away from the ground, so that the driven wheel 3 moves down to be pressed against the horizontal plane, so that the driving wheel 2 and the driven wheel 3 grip the ground at the same time, thereby improving the gripping effect under road conditions such as climbing a slope or rugged roads; and a buffer member 41 is provided between the other end of the movable part and the end of the transmission assembly, thereby improving the shock absorbing effect, that is, the gripping effect and the shock absorbing effect of the shock-absorbing chassis provided in this embodiment are both improved, thereby well ensuring the stability of the shock-absorbing chassis.

[0044] Optionally, the buffer 41 can be a spring, a gas spring, a rubber block or other parts, which can convert the vibration mechanical energy of the driving wheel 2 and the driven wheel 3 into the internal energy of the buffer 41, and transmit it to the air in the form of heat and dissipate it, thereby consuming the vibration mechanical energy of the driving wheel 2 and the driven wheel 3, thereby achieving a shock absorption effect. In this embodiment, the buffer 41 is preferably a spring.

[0045] Optionally, in other embodiments, a driving motor is also installed on the base plate 1. The driving motor is located outside the driving wheel 2, and its output end is connected to the driving wheel 2 to drive the driving wheel 2 to rotate, thereby realizing the movement of the shock-absorbing chassis.

[0046] Specifically, in this embodiment, the driving wheel 2 adopts a hub motor, which is a motor designed by integrating the power system, transmission system, and brake system of the vehicle, omitting a large number of transmission components and making the chassis structure simpler.

[0047] Optionally, in other embodiments, the front wheel 6 and / or the driven wheel 3 are unidirectional rollers.

[0048] Specifically, in this embodiment, the front wheel 6 and the driven wheel 3 are all universal wheels. Such an arrangement makes the shock-absorbing chassis easy to turn and more convenient to move.

[0049] Specifically, Figure 3 and Figure 4 As shown, the transmission assembly includes a swing bridge 42, which is connected to the base plate 1, and its two ends are respectively connected to the driving wheel 2 and the driven wheel 3, wherein the swing bridge 42 drives the driven wheel 3 to rotate through the rotating shaft 432. Optionally, the driven wheel 3 adopts a universal wheel structure. When the robot moves forward and backward, the universal wheel rotates. In order to avoid the force arm between the driven wheel 3 in the suspension mechanism and the rotating shaft 432 being too short, optionally, the distance between the rotating shaft 432 and the outer end of the driven wheel 3 is not less than the distance between the rotating shaft 432 and the center of the driving wheel 2.

[0050] One end of the movable part is axially connected to the swing bridge 42, and the buffer 41 is connected to one end of the swing bridge 42 close to the driving wheel 2. The swing bridge 42 is connected between the driving wheel 2 and the driven wheel 3, realizing the linkage between the two.

[0051] Specifically, the movable part includes a connecting arm 51 and a fixed block 52, one end of the connecting arm 51 is connected to the fixed block 52, and the fixed block 52 is connected to the swing bridge 42, wherein the fixed block 52 is fixedly connected to the side of the swing bridge 42 close to the driving wheel 2, and the driving wheel 2 is connected to the other end of the connecting arm 51, so that the driving wheel 2 swings around the fixed block 52, and the buffer 41 is arranged between the other end of the connecting arm 51 and the swing bridge 42. One end of the connecting arm 51 is rotatably connected to the swing bridge 42 through the fixed block 52, so that the driving wheel 2 swings around the fixed block 52 through the connecting arm 51. The buffer 41 is arranged between the other end of the connecting arm 51 and the end of one side of the swing bridge 42 close to the driving wheel 2, so that when the driving wheel 2 swings relative to the swing bridge 42, specifically, the driving wheel 2 moves up and down relative to the chassis, and when the swing bridge 42 rotates to bring about a left and right movement force, the left and right movement of the driving wheel 2 is avoided by the rotatable movable part. Furthermore, the buffer member 41 is compressed or stretched, thereby providing a buffering and shock-absorbing effect on the swing of the driving wheel 2 .

[0052] Optionally, in other embodiments, the fixed block 52 is rotatably connected to the swing bridge 42 , and one end of the connecting arm 51 is fixedly connected to the fixed block 52 , thereby realizing the rotatable connection between the connecting arm 51 and the swing bridge 42 .

[0053] Specifically, in this embodiment, the fixing block 52 is fixedly connected to the swing bridge 42 , and one end of the connecting arm 51 is rotatably connected to the fixing block 52 , thereby realizing the rotatable connection between the connecting arm 51 and the swing bridge 42 .

[0054] More specifically, if Figure 5 As shown, the fixed block 52 is a U-shaped structure, including a middle plate and side plates connected to both ends of the middle plate at an angle, the two side plates are each provided with a second connection hole, one end of the connecting arm 51 is provided with a rotation connection hole 512, and the second connection hole and the rotation connection hole 512 of the two side plates are simultaneously penetrated with a locking shaft 53, thereby realizing the rotation connection between the connecting arm 51 and the fixed block 52; the bottom plate is provided with a third connection hole 5211, the swing bridge 42 is provided with a fourth connection hole 422, and the fastener is locked in the third connection hole 5211 and the fourth connection hole 422, thereby realizing the fixed connection between the fixed block 52 and the swing bridge 42. In this embodiment, four third connection holes 5211 are provided on the bottom plate, and the four third connection holes 5211 are respectively distributed at the four corners of the bottom plate, and correspondingly, four fourth connection holes 422 are provided on the swing bridge 42.

[0055] More specifically, shaft sleeves 54 are provided at both ends of the locking shaft 53, and one end of the locking shaft 53 and the shaft sleeve 54 provided at the end are respectively abutted against two sides of a side plate to firmly fix the locking shaft 53 on the fixing block 52, thereby ensuring the stability of the connection between the connecting arm 51 and the swing bridge 42.

[0056] Preferably, the end face and side surface of one end of the connecting and fixing block 52 of the connecting arm 51 are transitioned through a cylindrical arc surface, thereby avoiding interference of the edges with the rotation of the connecting arm 51 and ensuring smooth rotation of the connecting arm 51 .

[0057] Specifically, the transmission assembly also includes a connecting member 44. A first connecting hole 421 is provided on the swing bridge 42. The connecting member 44 is movably arranged in the first connecting hole 421 and the buffer member 41 in sequence, and is fixedly connected to the connecting arm 51. The first connecting hole 421 is a waist-shaped hole, and the length direction of the waist-shaped hole extends along the length direction of the swing bridge 42. The setting of the connecting member 44 realizes the connection between the buffer member 41, the swing bridge 42 and the connecting arm 51. When the driving wheel 2 swings, the connecting member 44 will swing around the center of the driving wheel 2. For this reason, the first connecting hole 421 is set as a waist-shaped hole to provide a swinging space for the connecting member 44. In this embodiment, the connecting member 44 is a bolt.

[0058] More specifically, a gasket is provided at one end of the connecting member 44 that is away from the connecting arm 51 .

[0059] Specifically, the transmission assembly is provided with a first limiting groove 424, the movable portion is provided with a second limiting groove 511, one end of the buffer 41 abuts against the first limiting groove 424, and the other end abuts against the second limiting groove 511. This arrangement plays a limiting role on both ends of the buffer 41.

[0060] More specifically, a first limiting groove 424 is defined at one end of the swing bridge 42 close to the driving wheel 2 , and a second limiting groove 511 is defined at one end of the connecting arm 51 connected to the driving wheel 2 .

[0061] like Figure 3 As shown, the side of the connecting arm 51 facing away from the buffer 41 is fixedly connected to the driving wheel connecting block 55 via fasteners, and the mounting shaft of the driving wheel 2 is fixedly connected between the connecting arm 51 and the driving wheel connecting block 55, thereby achieving a fixed connection between the driving wheel 2 and the connecting arm 51.

[0062] Specifically, a limiting column is provided between the movable part and the transmission assembly, one end of the limiting column is connected to the transmission assembly or the movable part, and the other end can abut against the movable part or the transmission assembly to limit the swing angle of the driving wheel 2 relative to the transmission assembly.

[0063] Optionally, in other embodiments, one end of the limiting column is connected to the movable portion, and the other end can abut against the transmission assembly.

[0064] Specifically, in this embodiment, one end of the limiting column is connected to the transmission assembly, and the other end can abut against the movable part. Figure 4 and Figure 5 As shown, a fifth connection hole 423 is provided on the swing bridge 42, and the fifth connection hole 423 is located between the first connection hole 421 and the fourth connection hole 422. One end of the limit column is fixed in the fifth connection hole 423, and the other end extends toward the connecting arm 51. When the driving wheel 2 swings toward the swing bridge 42 to set an angle, the limit column abuts against the connecting arm 51. In this embodiment, the limit column is a stud, and one end of the stud is threadedly connected to the fifth connection hole 423, which is convenient for assembly, and by screwing the stud, the length of the stud extending toward the connecting arm 51 can also be adjusted. Optionally, the first connection hole 421 allows the movable part and the swing bridge 42 to be relatively connected. In order to prevent the driving wheel 2 from being subjected to left and right pressures due to the rotation of the swing bridge 42, the first connection hole 421 uses a strip hole so that there is a movable space at the connection end of the movable part, so that the driving wheel 2 can run stably.

[0065] Specifically, the moving direction of the buffer 41 is close to the direction of gravity. Since the vibration of the shock-absorbing chassis during driving is mostly up and down vibration, setting the moving direction of the buffer 41 close to the direction of gravity can better play a shock-absorbing role.

[0066] It can be understood that being close to the direction of gravity means that the moving direction of the buffer 41 is not the absolute direction of gravity, which means that the angle between the moving direction of the buffer 41 and the direction of gravity is within the allowable error range.

[0067] Optionally, in other embodiments, the transmission assembly may be fixedly connected to the base plate 1 .

[0068] Specifically, in this embodiment, the transmission assembly further includes a mounting assembly 43, and the swing bridge 42 is rotatably connected to the base plate 1 through the mounting assembly 43. In this way, the swing bridge 42 can rotate relative to the base plate 1, so that the driving wheel 2 and the driven wheel 3 can rotate around the rotation axis of the swing bridge 42, thereby further improving the grip effect of the shock-absorbing chassis.

[0069] More specifically, the mounting assembly 43 includes a connecting sleeve 431, which is fixedly connected to the bottom plate 1, and the swing bridge 42 is passed through and rotatably connected to the connecting sleeve 431. The setting of the connecting sleeve 431 not only realizes the rotatable connection between the swing bridge 42 and the bottom plate 1, but also ensures the reliability of the connection.

[0070] Specifically, the connecting sleeve 431 includes two long plates and two short plates. The four plates are connected end to end in sequence to form a rectangular sleeve structure. A rotating shaft 432 is connected between the two long plates. The rotating shaft 432 is rotatably arranged in the swing bridge 42, thereby realizing the rotating connection between the swing bridge 42 and the connecting sleeve 431; a short plate of the connecting sleeve 431 is fastened to the base plate 1 by a fastener, thereby realizing the fixed connection between the connecting sleeve 431 and the base plate 1.

[0071] More specifically, the end of the rotating shaft 432 is connected to the long plate through a retaining ring 433 and a clamping ring 434 .

[0072] More specifically, in order to improve the smoothness of the rotation of the swing bridge 42 , a bearing 435 is provided between the rotating shaft 432 and the swing bridge 42 .

[0073] like Figure 1 and Figure 2 As shown, the shock-absorbing chassis also includes a support frame 7, which is a frame structure made of profiles. The support frame 7 is connected to the top of the base plate 1. The two short plates of the connecting sleeve 431 are fixedly connected to the support frame 7 and the base plate 1 respectively. The transmission component and the movable part are both located between the support frame 7 and the base plate 1. A through groove is provided on the base plate 1. The driving wheel 2, the driven wheel 3 and the front wheel 6 are all extended to the lower side of the base plate 1 through the through groove to abut against the ground.

[0074] Optionally, when the shock-absorbing chassis is climbing a straight slope, there are two situations according to the direction of travel: when the center of gravity of the load falls on the end of the shock-absorbing chassis away from the front wheel 6, at this time, the front wheel 6 drives the front end of the shock-absorbing chassis to lift up, and the driving wheel 2 begins to leave the ground. In order to make the driving wheel 2 grip the ground, the shock-absorbing spring of the movable part begins to extend. Under the action of the swing bridge 42, the swing bridge 42 has a certain swing angle. At this time, all wheels of the shock-absorbing chassis are on the ground. Another situation is that when the center of gravity of the load falls on the front end of the shock-absorbing chassis, that is, close to the front wheel 6, the driven wheel 3 is lifted, causing the driving wheel 2 to press against the ground under the action of the swing bridge 42, thereby keeping the shock-absorbing chassis stable. Optionally, the shock-absorbing chassis can achieve a climbing slope of 10 degrees, wherein the swing bridge 42 can have a swing angle of about 5 degrees, fully meeting the needs of indoor scenes.

[0075] The present application provides another embodiment: a mobile robot, comprising the above-mentioned shock-absorbing chassis. Due to the setting of the shock-absorbing chassis, the mobile robot provided by the present application improves the gripping effect and the shock-absorbing effect, thereby improving the stability of the mobile robot.

[0076] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A shock-absorbing chassis, comprising a bottom plate, a driving wheel and a driven wheel, characterized in that: Also includes: A transmission assembly is connected to the bottom plate, and two ends of the transmission assembly are respectively connected to the driving wheel and the driven wheel; A movable part, one end of which is movably connected to the transmission assembly shaft, and the other end of which is fixedly connected to the driving wheel, and the driving wheel swings relative to the transmission assembly through the movable part. Wherein, a buffer is arranged between the other end of the movable part and the end of the transmission assembly, and the movable direction of the buffer is arranged to be close to the direction of gravity.

2. The shock-absorbing chassis according to claim 1, characterized in that: The transmission assembly includes a swing bridge, which is connected to the base plate and has two ends respectively connected to the driving wheel and the driven wheel, one end of the movable part is axially connected to the swing bridge, and the buffer is connected to one end of the swing bridge close to the driving wheel.

3. The shock-absorbing chassis according to claim 2, characterized in that: The transmission assembly also includes a mounting assembly, and the swing bridge is rotatably connected to the base plate via the mounting assembly.

4. The shock-absorbing chassis according to claim 3, characterized in that: The installation assembly includes a connecting sleeve, the connecting sleeve is fixedly connected to the base plate, and the swing bridge is passed through and rotatably connected to the connecting sleeve.

5. The shock-absorbing chassis according to claim 2, characterized in that: The movable part includes a connecting arm and a fixed block, one end of the connecting arm is connected to the fixed block, the fixed block is connected to the swing bridge, the driving wheel swings around the fixed block through the connecting arm, and the buffer is arranged between the other end of the connecting arm and the swing bridge.

6. The shock-absorbing chassis according to claim 5, characterized in that: The transmission assembly also includes a connecting piece, a first connecting hole is opened on the swing bridge, the connecting piece is movably inserted into the first connecting hole and the buffer member in sequence, and is fixedly connected to the connecting arm, the first connecting hole is a waist-shaped hole, and the length direction of the waist-shaped hole extends along the length direction of the swing bridge.

7. The shock-absorbing chassis according to any one of claims 1 to 6, characterized in that: A limiting column is also provided between the movable part and the transmission assembly, one end of the limiting column is connected to the transmission assembly or the movable part, and the other end can abut against the movable part or the transmission assembly to limit the swing angle of the driving wheel relative to the transmission assembly.

8. The shock-absorbing chassis according to any one of claims 1 to 6, characterized in that: The transmission assembly is provided with a first limiting groove, the movable portion is provided with a second limiting groove, one end of the buffer member abuts against the first limiting groove, and the other end abuts against the second limiting groove.

9. A mobile robot, characterized in that: Comprising a shock-absorbing chassis as described in any one of claims 1-8.

Images