Robot chassis suspension mechanism supporting pivot steering and robot

Abstract

The utility model relates to a chassis suspension, in particular to a robot chassis suspension mechanism supporting pivot steering and a robot, which comprise a first frame, a second frame, a driving wheel and a universal wheel, the first frame is movably connected with the second frame; the plurality of driving wheels are assembled on the second frame; a plurality of universal wheels are arranged, at least one universal wheel is assembled on the first frame, and at least one universal wheel is assembled on the second frame; the driving wheel and at least one universal wheel assembled on the second frame form a local supporting structure, and the local supporting structure and at least one universal wheel assembled on the first frame form a total supporting structure. Compared with the prior art, the four-drive-wheel robot has the advantages that the problems that in-situ turning of the four-drive-wheel robot in the prior art is difficult to control, the shaking amount is large and the load is limited are solved, the four wheels can land on the uneven road surface at the same time under the condition that elastic connection is not needed, and the condition that the sliding friction state occurs in the in-situ turning process is avoided.

Description

Technical Field

[0001] The utility model relates to a chassis suspension, in particular to a robot chassis suspension mechanism and a robot that support in-situ steering. Background Art

[0002] For a mobile robot, four wheels are often designed to achieve stable movement. For a four-wheel drive robot, its four wheels are all independent drive wheels, which can provide strong power and obstacle crossing ability, and have a high application degree in industrial automation.

[0003] At present, the well-known four-wheel AGV cart that can achieve in-situ turning is connected to the vehicle body by four drive wheels through elastic suspensions. There are some defects as follows:

[0004] 1. The manufacturing cost of the four drive wheels is high;

[0005] 2. When solving the problem of the four wheels touching the ground simultaneously through the elastic suspension connection, in the case of a relatively high upper structure, the elastic suspension will increase the sway of the top structure and even cause rollover;

[0006] 3. The load is greatly affected by the elastic suspension. Excessive load will cause the suspension to lose its shock absorption function;

[0007] 4. In-situ turning is achieved through four-wheel differential. The main disadvantages of this in-situ turning method are:

[0008] ① The wheels will have lateral movement, and the wheels will slide on the ground, shortening the service life of the tires;

[0009] ② When turning in-situ, due to the existence of sliding friction, the position of the vehicle rotation center point is uncertain affected by the adhesion of the four tires.

[0010] Therefore, it is necessary to provide a chassis suspension mechanism that can achieve in-situ turning and at the same time keep the four wheels touching the ground simultaneously without using an elastic suspension. Summary of the Utility Model

[0011] The purpose of the utility model is to provide a robot chassis suspension mechanism and a robot that support in-situ steering to solve at least one of the above problems, so as to solve the problems that the four-wheel drive robot is difficult to control during in-situ turning, has a large sway, and has a limited load in the prior art. This solution realizes that the four wheels can touch the ground simultaneously on uneven roads without elastic connection, and avoids the situation of sliding friction during in-situ turning.

[0012] The purpose of the utility model is achieved through the following technical solutions:

[0013] The first aspect of the present utility model discloses a robot chassis suspension mechanism supporting in-situ steering, including a first frame, a second frame, drive wheels, and universal wheels;

[0014] The first frame is movably connected to the second frame;

[0015] A plurality of the drive wheels are provided and are respectively assembled on the second frame;

[0016] A plurality of the universal wheels are provided, at least one universal wheel is assembled on the first frame, and at least one universal wheel is assembled on the second frame;

[0017] The drive wheels and at least one universal wheel assembled on the second frame form a partial support structure, and the partial support structure and at least one universal wheel assembled on the first frame form a total support structure.

[0018] Preferably, two drive wheels are provided.

[0019] Preferably, the drive wheels are arranged axially symmetrically.

[0020] Preferably, two universal wheels are provided.

[0021] Preferably, the first frame and the second frame are hinged through a bearing and a bearing seat on the first frame and a connecting shaft on the second frame.

[0022] Preferably, two bearings and bearing seats are provided.

[0023] Preferably, the first frame and the second frame are hinged through a bearing and a bearing seat on the first frame and a connecting shaft on the second frame;

[0024] The drive wheels include a first drive wheel and a second drive wheel, and the universal wheels include a first universal wheel and a second universal wheel;

[0025] The first drive wheel and the second drive wheel are assembled on both sides of the second frame, and the second universal wheel is assembled at the front end of the second frame; the second universal wheel and the first drive wheel and the second drive wheel form a triangular partial support structure;

[0026] The first universal wheel is assembled at the rear end of the first frame; the first universal wheel and the partial support structure form a total support structure for the robot chassis suspension mechanism.

[0027] Preferably, the robot chassis suspension mechanism is an axially symmetric structure, the drive wheels are assembled on both sides of the second frame symmetrically along the axis of symmetry of the robot chassis suspension mechanism, and the universal wheels are assembled on the axis of symmetry of the robot chassis suspension mechanism.

[0028] Preferably, the driving wheels and the universal wheels form a rhombus structure.

[0029] In a second aspect of the present utility model, a robot is disclosed, which includes a robot body and the robot chassis suspension mechanism as described in any one of the above. The robot body is assembled on the robot chassis suspension mechanism.

[0030] Compared with the prior art, the present utility model has the following beneficial effects:

[0031] This solution discloses a robot chassis suspension mechanism that can achieve in-situ turning. The suspension mechanism is composed of a first vehicle frame, a second vehicle frame, two driving wheels installed on the second vehicle frame, and two universal wheels respectively installed on the first vehicle frame and the second vehicle frame. The first vehicle frame and the second vehicle frame are connected through bearings and bearing seats, realizing functions such as straight-line walking, walking turning, in-situ turning, and passing through uneven roads. And the shock absorption function when passing through uneven roads is realized. The characteristics of this solution are:

[0032] 1. Without the need for elastic connection, the four wheels can land on the uneven road surface simultaneously, with shock absorption function.

[0033] 2. Steering and in-situ turning are achieved by the differential drive of the two driving wheels, avoiding the situation of sliding friction during in-situ turning. Description of the Drawings

[0034] Figure 1 It is a schematic structural diagram of the robot chassis suspension mechanism;

[0035] In the figure: 1 - First vehicle frame; 2 - First universal wheel; 3 - First driving wheel; 4 - First bearing and bearing seat; 5 - Second vehicle frame; 6 - Second universal wheel; 7 - Second driving wheel; 8 - Second bearing and bearing seat. Detailed Embodiments

[0036] The present utility model will be described in detail below with reference to the drawings and specific embodiments.

[0037] Embodiment 1

[0038] A robot chassis suspension mechanism that supports in-situ turning, as Figure 1 shown, includes a first vehicle frame 1, a second vehicle frame 5, driving wheels and universal wheels;

[0039] The first vehicle frame 1 is movably connected to the second vehicle frame 5;

[0040] A plurality of the driving wheels are provided and are respectively assembled on the second vehicle frame 5;

[0041] There are several universal wheels, at least one universal wheel is mounted on the first frame 1, and at least one universal wheel is mounted on the second frame 5;

[0042] The driving wheel and at least one universal wheel mounted on the second frame 5 form a local support structure, and the local support structure and at least one universal wheel mounted on the first frame 1 form a total support structure.

[0043] More specifically, in this embodiment:

[0044] like Figure 1 As shown, the robot chassis suspension mechanism supporting in-situ steering is composed of a first frame 1, a second frame 5, a first driving wheel 3, a second driving wheel 7, a first universal wheel 2, a second universal wheel 6, a first bearing and a bearing seat 4, and a second bearing and a bearing seat 8. The robot chassis suspension mechanism is an axisymmetric structure.

[0045] The first bearing and bearing seat 4 and the second bearing and bearing seat 8 are symmetrically arranged on both sides of the front end of the first frame 1 (the first bearing and bearing seat 4 and the second bearing and bearing seat 8 are concentrically arranged), and the middle position of the second frame 5 is symmetrically arranged with connecting shafts extending outward, which are respectively assembled in the first bearing and bearing seat 4 and the second bearing and bearing seat 8 on both sides of the first frame 1 through the connecting shafts on both sides of the second frame 5, so that the first frame 1 and the second frame 5 form a hinged structure, and then the first frame 1 and the second frame 5 can rotate relative to each other around the connecting line of the first bearing and bearing seat 4 and the second bearing and bearing seat 8. Furthermore, the first frame 1 is above the second frame 5, that is, the first bearing and bearing seat 4 and the second bearing and bearing seat 8 extend downward, and the second frame 5 is connected to the bottom of the first frame 1.

[0046] The first driving wheel 3 and the second driving wheel 7 are symmetrically assembled on both sides of the rear end of the second vehicle frame 5 through fasteners respectively; the second universal wheel 6 is assembled at the front end of the second vehicle frame 5 through fasteners and is located on the symmetry axis of the robot chassis suspension mechanism; thus, the first driving wheel 3, the second driving wheel 7 and the second universal wheel 6 form a triangular partial support structure for the robot chassis suspension mechanism. The first universal wheel 2 is assembled at the rear end of the first vehicle frame 1 through fasteners and is located on the symmetry axis of the robot chassis suspension mechanism, and also forms a triangular support structure with the first bearing and bearing seat 4 and the second bearing and bearing seat 8; the first universal wheel 2 also jointly forms a total support structure for the robot chassis suspension mechanism with the triangular partial support structure. The driving wheels and the universal wheels are arranged in a rhombus manner, that is, the central axes of the two driving wheels are located at the central positions of the two universal wheels. Since the first vehicle frame 1 and the second vehicle frame 5 can rotate relative to each other around the connection line of the first bearing and bearing seat 4 and the second bearing and bearing seat 8, therefore, the triangular partial support structure can always be maintained in a plane, while the first universal wheel 2 will form a planar quadrilateral or a spatial quadrilateral with the triangular partial support structure, constituting a common support for the robot chassis suspension mechanism.

[0047] This robot chassis suspension mechanism:

[0048] 1. Principle of all four wheels touching the ground simultaneously

[0049] The plane formed by the first driving wheel 3, the second driving wheel 7 and the second universal wheel 6 can support the first bearing and bearing seat 4 and the second bearing and bearing seat 8, and the first bearing and bearing seat 4, the second bearing and bearing seat 8 and the first universal wheel 2 support the upper-mounted structure (such as the robot body, the goods to be transported, etc.).

[0050] The first universal wheel 2, the first bearing and bearing seat 4 and the second bearing and bearing seat 8, and these three non-collinear fulcrums form a plane for mounting the vehicle body (the first vehicle frame 1), and this plane can rotate up and down around the connection line of the first bearing and bearing seat 4 and the second bearing and bearing seat 8.

[0051] The first driving wheel 3, the second driving wheel 7 and the second universal wheel 6, and these three non-collinear fulcrums form a plane for supporting the first bearing and bearing seat 4 and the second bearing and bearing seat 8. When encountering an uneven road surface, this plane will always keep the first driving wheel 3, the second driving wheel 7 and the second universal wheel 6 touching the ground simultaneously, and cause the up and down displacement of the first bearing and bearing seat 4 and the second bearing and bearing seat 8; and because the first universal wheel 2 can rotate up and down around the connection line of the first bearing and bearing seat 4 and the second bearing and bearing seat 8, so the first universal wheel 2 can freely adjust its height according to the road surface height on the uneven road surface to always keep the landing state.

[0052] 2. Principle of free in-situ turning

[0053] When the robot chassis suspension mechanism of this solution makes a turning in place / steering, it is achieved through the speed difference between the first driving wheel 3 and the second driving wheel 7. Combining with the layout structure of the driving wheels and the universal wheels, it can be known that the center point of turning in place is at the midpoint of the line connecting the first driving wheel 3 and the second driving wheel 7. In this way, there is no sliding friction when the first driving wheel 3 and the second driving wheel 7 are moving and turning. Moreover, the first universal wheel 2 and the second universal wheel 6 can rotate at any angle and there is also no sliding friction. In summary, when the robot chassis suspension mechanism implements turning in place, there is no sliding friction for all four wheels, so the steering is stable and the service life of the tires of the driving wheels and the universal wheels is long.

[0054] Embodiment 2

[0055] A robot includes a robot body and the robot chassis suspension mechanism provided in the above Embodiment 1, and the robot body is assembled on the robot chassis suspension mechanism.

[0056] More specifically, the robot body is assembled on the first vehicle frame 1.

[0057] In summary, this solution:

[0058] 1) Can achieve the simultaneous landing of all four wheels on uneven roads without the need for elastic connection, and has a shock absorption function.

[0059] 2) Achieves steering and turning in place through the differential of the driving wheels, avoiding the situation of sliding friction when turning in place.

[0060] The above description of the embodiments is for the convenience of those of ordinary skill in the art to understand and use the utility model. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative labor. Therefore, the present utility model is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art without departing from the scope of the present utility model should be within the protection scope of the present utility model.

Claims

1. A robot chassis suspension mechanism supporting in-situ steering, characterized in that, It includes a first vehicle frame (1), a second vehicle frame (5), drive wheels and universal wheels; The first vehicle frame (1) is movably connected to the second vehicle frame (5); A plurality of the drive wheels are provided and are respectively assembled on the second vehicle frame (5); A plurality of the universal wheels are provided, at least one universal wheel is assembled on the first vehicle frame (1), and at least one universal wheel is assembled on the second vehicle frame (5); The drive wheels and at least one universal wheel assembled on the second vehicle frame (5) form a partial support structure, and the partial support structure and at least one universal wheel assembled on the first vehicle frame (1) form a total support structure.

2. The robot chassis suspension mechanism capable of in-situ turning according to claim 1, wherein Two drive wheels are provided.

3. The robot chassis suspension mechanism supporting in-situ steering according to claim 1, characterized in that, The drive wheels are symmetrically arranged.

4. The robot chassis suspension mechanism supporting in-situ steering according to claim 1, characterized in that, Two universal wheels are provided.

5. The robot chassis suspension mechanism supporting in-situ steering according to claim 1, characterized in that, The first vehicle frame (1) and the second vehicle frame (5) are hinged through a bearing and a bearing housing on the first vehicle frame (1) and a connecting shaft on the second vehicle frame (5).

6. The robot chassis suspension mechanism supporting in-situ steering according to claim 5, characterized in that, Two of the bearings and bearing housings are provided.

7. A robot chassis suspension mechanism supporting in-situ steering according to claim 1, characterized in that, The first vehicle frame (1) and the second vehicle frame (5) are hinged through a bearing and a bearing housing on the first vehicle frame (1) and a connecting shaft on the second vehicle frame (5); The drive wheels include a first drive wheel (3) and a second drive wheel (7), and the universal wheels include a first universal wheel (2) and a second universal wheel (6); The first drive wheel (3) and the second drive wheel (7) are assembled on both sides of the second vehicle frame (5), and the second universal wheel (6) is assembled at the front end of the second vehicle frame (5); the second universal wheel (6) and the first drive wheel (3) and the second drive wheel (7) form a triangular partial support structure; The first universal wheel (2) is assembled at the rear end of the first vehicle frame (1); the first universal wheel (2) and the partial support structure form a total support structure for the robot chassis suspension mechanism.

8. A robot chassis suspension mechanism supporting in-situ steering according to claim 7, characterized in that, The robot chassis suspension mechanism is an axisymmetric structure, the drive wheels are symmetrically assembled on both sides of the second vehicle frame (5) along the axis of symmetry of the robot chassis suspension mechanism, and the universal wheels are assembled on the axis of symmetry of the robot chassis suspension mechanism.

9. A robot chassis suspension mechanism supporting in-situ steering according to claim 8, characterized in that, The drive wheels and the universal wheels form a diamond structure.

10. A robot, characterized in that, It includes a robot body and the robot chassis suspension mechanism according to any one of claims 1-9, and the robot body is assembled on the robot chassis suspension mechanism.

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