Track dead reckoning robot chassis adopting vertical damping devices

Abstract

The invention discloses a track dead reckoning robot chassis adopting vertical damping devices. The track dead reckoning robot chassis comprises a chassis body, the three identical vertical damping devices and driven wheel systems, wherein the vertical damping devices are arranged below the chassis body, and each driven wheel system is arranged below the corresponding vertical damping device; each vertical damping device comprises guide rods, springs, linear bearings and self-locking nuts; the tail end of each guide rod is sleeved with the corresponding self-locking nut, each guide rod is sleeved with the corresponding linear bearing, and the outer circle of the upper end of each linear bearing step is sleeved with the corresponding spring; every two guide rods are symmetrically distributed on the left side and right side of the axis of the corresponding driven wheel system, and the lower ends of every two linear bearing steps are fixedly connected with the corresponding driven wheel system. The three vertical damping mechanisms are installed and work independently, each damping mechanism is provided with two vertical springs, symmetry of stress on the two sides of an omnibearing wheel system is guaranteed, unbalance loading is avoided, and long-term operation stability is high.

Description

technical field [0001] The invention belongs to the technical field of shock absorption, in particular to a dead track reckoning and positioning robot chassis using a vertical shock absorption device. Background technique [0002] The autonomous positioning of robots has always been a research hotspot in the field of robotics. The positioning robot technology based on dead reckoning has been relatively mature. The omnidirectional wheel and the Mecanum wheel have been widely studied and applied in the field of robotics because of their omnidirectional motion characteristics. . There is a gap between the rollers of the Mecanum wheel during the movement, which makes the contact point between the wheel and the ground change constantly during the rotation of the wheel, which is easy to cause vibration and slip to affect the accuracy. wider. [0003] The environment that the robot has to deal with is increasingly complex. The ground is not absolutely flat, and there are often ob...

AI Technical Summary

Problems solved by technology

The movement of the mechanism is flexible, and the spring damping direction is perpendicular to the movement direction of the universal wheel, but the main shaft is under partial load, and the precision and stability of the mechanism will decrease after long-term operation.

[0005] It can be seen from the above that the structure of the shock absorbing mechanism of the robot is susceptible to partial loads, and there is a problem of "swing" when the shock absorbing device moves, and the omnidirectional wheel mobile platform is prone to slipping due to insufficient driving force when starting.

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