Wheeled robot chassis suspension system

Abstract

The utility model provides a wheeled robot chassis suspension system. The wheeled robot chassis suspension system comprises a driving wheel assembly, a front universal wheel assembly, a rear universal wheel assembly, universal wheels and a bottom plate. Wherein the driving wheel assemblies are independently and fixedly installed on the side faces of the bottom plate respectively, the front universal wheel assemblies are independently, vertically, symmetrically and fixedly installed at the two ends of the front end of the bottom plate respectively, and the rear universal wheel assemblies are independently, vertically, symmetrically and fixedly installed at the two ends of the rear end of the bottom plate respectively; the height from the bottom plate to the ground is not less than 20mm; wherein each front universal wheel assembly and each rear universal wheel assembly are independently provided with a universal wheel. The system can be applied to the robot, the movement stability of the robot passing through a rugged road surface is improved, and toppling is prevented; therefore, autonomous movement of the robot is achieved, and tasks such as disinfection or transportation tasks are executed.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a chassis suspension system of a wheeled robot. Background Art

[0002] Small wheeled robots are increasingly being used in the medical field, for example, in disinfection and inspection scenarios in unmanned hospital isolation wards. Due to the diverse and complex environments in which robots operate, their mobility is extremely demanding. Wheeled robots typically have a chassis supported and driven by three or more wheels. A suspension system is often installed between the wheels and the chassis to ensure stability.

[0003] However, in actual working scenarios, when the robot passes through rough roads, the friction between the wheels and the ground decreases, and slipping occurs, which can easily cause the robot to spin in place, get stuck, and reduce movement accuracy. These problems directly affect the normal operation of the robot and need to be solved urgently. Summary of the Invention

[0004] Technical solution: In order to solve the above-mentioned technical problems, the utility model provides a wheeled robot chassis suspension system, which specifically includes a driving wheel assembly, a front universal wheel assembly, a rear universal wheel assembly, a universal wheel and a base plate; wherein a group of driving wheel assemblies are independently fixedly installed on the side surfaces of the base plate, and the two ends of the front end of the base plate are independently and vertically symmetrically fixed with a group of front universal wheel assemblies, and the two ends of the rear end of the base plate are independently and vertically symmetrically fixed with a group of rear universal wheel assemblies; the height of the base plate from the ground is not less than 20 mm; wherein each front universal wheel assembly and the rear universal wheel assembly are independently installed with a universal wheel.

[0005] As an improvement, the drive wheel assembly is installed on both sides of the middle of the chassis through the drive wheel assembly, and the two drive wheels are coaxial and the projection of the axis relative to the base plate coincides with the front and rear center axis of the base plate.

[0006] As an improvement, the driving wheel assembly includes a driving wheel, a driving wheel assembly, a top plate, a splint, a vertical plate, a shock-absorbing spring, and an extension screw; the two sides of the top plate are fixedly mounted on the splint through two vertical plates 8; the splint is mounted on the bottom plate; the extension screw is provided in four groups, which are symmetrically installed between the top plate and the splint at intervals; the shock-absorbing spring is provided in four groups, which are independently tied to the outside of the extension screw; the driving wheel assembly is provided between the top plate and the splint, and one end is connected to the driving wheel and the other end is connected to the extension screw.

[0007] As an improvement, it also includes a bearing, a fixed connecting part 1 and a fixed connecting part 2; the fixed connecting part 1 is a flat plate structure, and its ends are independently connected to one end of the fixed connecting part 2, and the other end is connected to the drive wheel assembly; the fixed connecting part 2 is connected to the bearing; the bearing is installed on an extended screw and connected to the bottom end of the shock absorber spring 1.

[0008] As an improvement, the front universal wheel assembly includes a front wheel fixing plate, a connecting plate 1, and a vertical plate 2; one end of the connecting plate 1 is connected to the center axis of the universal wheel, and the other end is fixedly mounted on the front wheel fixing plate; one end of the vertical plate 2 is connected to the front wheel fixing plate, and the other end is fixedly mounted on the base plate.

[0009] As an improvement, the rear universal wheel assembly includes a first rear wheel fixing plate, a second rear wheel fixing plate, a second connecting plate, a third vertical plate, and a threaded screw; one end of the second connecting plate is connected to the center axis of the universal wheel, and the other end is fixedly mounted on the second rear wheel fixing plate.

[0010] As an improvement, it also includes threaded screws, of which there are multiple ones, one end of which is symmetrically installed on the surface of the second fixed plate of the rear wheel, and the other end is installed on the first fixed plate of the rear wheel; one end of the vertical plate is connected to the first fixed plate of the rear wheel, and the other end is fixedly installed on the bottom plate.

[0011] As an improvement, the utility model further comprises a second shock-absorbing spring which is sleeved and mounted on the threaded screw.

[0012] As an improvement, the length of the second rear wheel fixing plate is not greater than that of the first rear wheel fixing plate.

[0013] Beneficial effects: The wheeled robot chassis suspension system proposed in the utility model can be applied to robots to improve the robot's movement stability when passing through rough roads and prevent it from tipping over; thereby realizing the robot's autonomous movement and performing tasks, such as disinfection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of the entire system of the utility model.

[0015] Figure 2 This is a schematic structural diagram of the drive wheel assembly of the utility model.

[0016] Figure 3 It is a top view of the entire system of the utility model.

[0017] Figure 4 It is a structural schematic diagram of the front universal wheel assembly and the rear universal wheel assembly of the utility model.

[0018] In the figure: driving wheel assembly 2, front universal wheel assembly 3, rear universal wheel assembly 4, bottom plate 5, top plate 6, clamping plate 7, vertical plate 8, extension screw 9, shock-absorbing spring 10, fixed connection part 11, fixed connection part 2 12, bearing 13, driving wheel 14, driving wheel assembly 15, universal wheel 16, vertical plate 2 17, front wheel fixing plate 18, vertical plate 3 19, rear wheel first fixing plate 20, threaded screw 21, shock-absorbing spring 22, center of front and rear center axis of bottom plate 23, rear wheel second fixing plate 24, connecting plate 25. DETAILED DESCRIPTION

[0019] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] See Figure 1 As shown, the wheeled robot chassis suspension system includes a driving wheel assembly 2, a front universal wheel assembly 3, a rear universal wheel assembly 4 and a base plate 5; wherein a group of driving wheel assemblies 2 are independently fixedly installed on the side surfaces of the base plate 5, and the two ends of the front end of the base plate 5 are independently and vertically symmetrically fixedly installed with a group of front universal wheel assemblies 3, and the two ends of the rear end of the base plate 5 are independently and vertically symmetrically fixedly installed with a group of rear universal wheel assemblies 3; the height of the base plate 5 from the ground is not less than 20 mm, wherein each front universal wheel assembly 3 and the rear universal wheel assembly 4 are independently installed with a universal wheel 16.

[0021] In a specific embodiment of the present invention, the driving wheel assembly 2 installs the driving wheels 14 on both sides of the middle of the chassis through the driving wheel assembly 15, and the two driving wheels 14 are coaxial and the axis projection relative to the base plate coincides with the front and rear center axis 23 of the base plate. Such installation can ensure the movement of the robot chassis suspension system 1, ensure the movement accuracy, and realize the robot's rotation in place without eccentricity.

[0022] In the present utility model, the driving wheel assembly 2 includes a driving wheel 14, a driving wheel assembly 15, a top plate 6, a clamping plate 7, a vertical plate 8, a shock-absorbing spring 10, and an extension screw 9; the two sides of the top plate 6 are fixedly mounted on the clamping plate 7 through two vertical plates 8; the clamping plate 7 is mounted on the bottom plate 5; the extension screw 9 is provided in four groups, which are symmetrically installed at intervals between the top plate 6 and the clamping plate 7; the shock-absorbing spring 10 is provided in four groups, which are independently sleeved on the outside of the extension screw 9.

[0023] See Figure 2 Figure 1 shows the structure of the drive wheel assembly. Extension screw rods 9 are mounted on the four struts of the drive wheel assembly 15 and pass through bearings 13. Drive wheel assembly 15 is positioned between top plate 6 and clamping plate 7, with one end connected to the drive wheel 14 and the other end to extension screw rods 9. A power cable for the motor is also included, extending from drive wheel assembly 15 and connecting to its driver.

[0024] Furthermore, it also includes a bearing 13, a fixed connection part 11 and a fixed connection part 2 12; the fixed connection part 11 is a flat plate structure, and its ends are independently connected to one end of the fixed connection part 2 12, and the other end is connected to the drive wheel assembly 15; the fixed connection part 2 12 is connected to the bearing 13; the bearing 13 is installed on the extended screw 9 and is connected to one end of the bottom of the shock-absorbing spring 10.

[0025] Drive wheel assembly 15, driven by the elastic force of damping spring 1, can move vertically along the base plate on the extended screw, achieving a shock-absorbing effect through the conversion of elastic potential energy. Furthermore, the elastic force of damping spring 1 can maintain a certain positive pressure against the ground, ensuring sufficient friction within a certain range of travel to prevent slipping.

[0026] See Figure 3 As shown, the front universal wheel assembly 3 includes a front wheel fixing plate 18 , a connecting plate 1 26 , a universal wheel 16 , and a vertical plate 2 17 .

[0027] Furthermore, the central axis of the universal wheel 16 is connected to one end of the connecting plate 26; the other end of the connecting plate 26 is fixedly mounted on the front wheel fixing plate 18; one end of the vertical plate 2 17 is connected to the front wheel fixing plate 18, and the other end is fixedly mounted on the base plate 5.

[0028] In the present invention, the rear universal wheel assembly 4 includes a first rear wheel fixing plate 20 , a second rear wheel fixing plate 24 , a second connecting plate 25 , a universal wheel 16 , a third vertical plate 19 , and a threaded screw 21 .

[0029] Furthermore, it includes two universal wheels 16, and the central axis of each universal wheel is independently connected to one end of the second connecting plate 25; the other end of the connecting plate 1 25 is fixedly mounted on the second rear wheel fixing plate 24.

[0030] See Figure 4 As shown, multiple sets of threaded screws 21 are symmetrically installed on the surface of the rear wheel second fixing plate 24. The top ends of these threaded screws 21 are mounted on the rear wheel first fixing plate 20. The third vertical plate 19 is connected to the rear wheel first fixing plate 2 at one end and fixed to the bottom plate 5 at the other end. A second shock-absorbing spring 22 is also included, which is sleeved and mounted on the threaded screws 21.

[0031] Furthermore, the length of the second rear wheel fixing plate 24 is not greater than that of the first rear wheel fixing plate 20 .

[0032] The universal wheels in the rear universal wheel module, driven by spring force, can move vertically along the baseplate on partially threaded screws, ensuring that all four wheels can touch the ground simultaneously on uneven surfaces, ensuring the robot's stability. This also reduces vibration in the direction of gravity by converting elastic potential energy to achieve a shock-absorbing effect.

[0033] In this utility model, the drive wheel assemblies 2 are mounted vertically and symmetrically on either side of the center of the base. The projection of the two drive wheel axes relative to the base coincides with the base's front-to-back centerline 23, ensuring that the robot's rotation in place is not eccentric. The front universal wheel assembly 3 is mounted vertically and symmetrically at the front end of the base, located within the base's projected area, enhancing stability. The rear universal wheel assembly 4 is mounted vertically and symmetrically at the rear end of the base, positioned symmetrically relative to the base's front-to-back centerline 23.

[0034] Therefore, the three-row wheel design can improve the stability of the suspension system. In this case, it can improve the robot's normal movement stability on rough roads, prevent slipping and prevent tipping.

[0035] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A wheeled robot chassis suspension system, characterized by: The invention comprises a driving wheel assembly (2), a front universal wheel assembly (3), a rear universal wheel assembly (4), a universal wheel (16) and a base plate (5); wherein a set of driving wheel assemblies (2) are fixedly mounted on the side of the base plate (5), a set of front universal wheel assemblies (3) are fixedly mounted on the two ends of the front end of the base plate (5) independently and vertically symmetrically, and a set of rear universal wheel assemblies (3) are fixedly mounted on the two ends of the rear end of the base plate (5) independently and vertically symmetrically; the height of the base plate (5) from the ground is not less than 20 mm; wherein each front universal wheel assembly (3) and each rear universal wheel assembly (4) are independently mounted with a universal wheel (16).

2. The wheeled robot chassis suspension system according to claim 1, characterized in that: The driving wheel assembly (2) is used to install the driving wheels (14) on both sides of the middle of the chassis through the driving wheel assembly (15), and the two driving wheels (14) are coaxial and the projection of the axis relative to the bottom plate coincides with the front and rear center axis (23) of the bottom plate.

3. The wheeled robot chassis suspension system according to claim 1, characterized in that: The driving wheel assembly 2 comprises a driving wheel (14), a driving wheel assembly (15), a top plate (6), a clamping plate (7), a vertical plate (8), a shock-absorbing spring (10), and an extension screw (9); both sides of the top plate (6) are fixedly mounted on the clamping plate (7) through two vertical plates (8); the clamping plate (7) is mounted on the bottom plate (5); four groups of the extension screw (9) are arranged and symmetrically installed between the top plate (6) and the clamping plate (7); four shock-absorbing springs (10) are arranged and independently sleeved on the outside of the extension screw (9); the driving wheel assembly (15) is arranged between the top plate (6) and the clamping plate (7), and one end is connected to the driving wheel (14) and the other end is connected to the extension screw (9).

4. The wheeled robot chassis suspension system according to claim 3, characterized in that: It also includes a bearing (13), a fixed connecting member 1 (11) and a fixed connecting member 2 (12); the fixed connecting member 1 (11) is a flat plate structure, and its ends are independently connected to one end of the fixed connecting member 2 (12), and the other end is connected to the driving wheel assembly (15); the fixed connecting member 2 (12) is connected to the bearing (13); the bearing (13) is installed on the extended screw (9) and is connected to the bottom end of the shock-absorbing spring 1 (10).

5. The wheeled robot chassis suspension system according to claim 1, characterized in that: The front universal wheel assembly (3) comprises a front wheel fixing plate (18), a connecting plate 1 (26), and a vertical plate 2 (17); one end of the connecting plate 1 (26) is connected to the central axis of the universal wheel (16), and the other end is fixedly mounted on the front wheel fixing plate (18); one end of the vertical plate 2 (17) is connected to the front wheel fixing plate (18), and the other end is fixedly mounted on the bottom plate (5).

6. The wheeled robot chassis suspension system according to claim 1, characterized in that: The rear universal wheel assembly (4) comprises a first rear wheel fixing plate (20), a second rear wheel fixing plate (24), a second connecting plate (25), a third vertical plate (19), and a threaded screw (21); one end of the second connecting plate (25) is connected to the central axis of the universal wheel (16), and the other end is fixedly mounted on the second rear wheel fixing plate (24).

7. The wheeled robot chassis suspension system according to claim 6, characterized in that: It also includes a threaded screw (21), a plurality of which are provided, one end of which is symmetrically mounted on the surface of the second rear wheel fixing plate (24) and the other end of which is mounted on the first rear wheel fixing plate (20); one end of the vertical plate (19) is connected to the first rear wheel fixing plate (2) and the other end is fixedly mounted on the bottom plate (5).

8. The wheeled robot chassis suspension system according to claim 7, characterized in that: It also includes a second shock-absorbing spring (22) which is sleeve-mounted on the threaded screw (21).

9. The wheeled robot chassis suspension system according to claim 1, characterized in that: The length of the second rear wheel fixing plate (24) is no greater than that of the first rear wheel fixing plate (20).

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