CN109866566A - Suspension mechanism, mobile chassis and robot - Google Patents
Suspension mechanism, mobile chassis and robot Download PDFInfo
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- CN109866566A CN109866566A CN201910253446.8A CN201910253446A CN109866566A CN 109866566 A CN109866566 A CN 109866566A CN 201910253446 A CN201910253446 A CN 201910253446A CN 109866566 A CN109866566 A CN 109866566A
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- connecting lever
- hinged
- hinged seat
- hub motor
- suspension mechanism
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Abstract
This application discloses a kind of suspension mechanism, mobile chassis and robots.The suspension mechanism includes the first hinged seat, the second hinged seat, connecting lever and the constant force output based on deformation；First hinged seat and the second hinged seat are each attached to the bottom plate upper surface of mobile chassis, the first end of constant force output is hinged on the first hinged seat, the second end of constant force output is hinged on the first end of connecting lever, the corner position of connecting lever is hinged on the second hinged seat, and the second end of connecting lever is fixed in the fixing seat that hub motor includes.The application solves the technical issues of skidding when groove is crossed on chassis in the related technology.
Description
Technical field
This application involves field of mechanical technique, in particular to a kind of suspension mechanism, mobile chassis and robot.
Background technique
Suspension mechanism is the general name of all force transmission connections between the tray bottom of robot and wheel, and function is
Transmitting acts on power and torque between tray bottom and wheel, and buffers and be transmitted to chassis or robot body by uneven road surface
Impact force, and decay thus caused by vibration, to guarantee that robot smoothly moves.
Currently, existing robot chassis much uses tension spring suspension mechanism to connect driving wheel, but due to robot bottom
The design feature of disk tension spring suspension mechanism, when robot carried out groove, the problem of causing robot to skid frequent occurrence, very
To causing robot that can not move.
Aiming at the problem that skidding when groove is crossed on chassis in the related technology, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of suspension mechanism, mobile chassis and robot, to solve the relevant technologies
The problem of middle chassis is skidded when crossing groove.
To achieve the goals above, in a first aspect, this application provides a kind of suspension mechanisms.
Suspension mechanism according to the application includes: that the first hinged seat, the second hinged seat, connecting lever and constant force based on deformation are defeated
Part out；
First hinged seat and the second hinged seat are each attached to the bottom plate upper surface of mobile chassis, the first end of constant force output
It is hinged on the first hinged seat, the second end of constant force output is hinged on the first end of connecting lever, and the corner position of connecting lever is hinged on
Second hinged seat, the second end of connecting lever are fixed in the fixing seat that hub motor includes
Optionally, connecting lever first end for hinged constant force output articulated position to corner position line and connecting lever the
Position to the angle between the line of corner position that two ends are used to be fixed in the fixing seat that hub motor includes is obtuse angle.
Optionally, connecting lever first end for hinged constant force output articulated position to corner position line and connecting lever the
Position to the included angle between the line of corner position that two ends are used to be fixed in the fixing seat that hub motor includes is greater than
90 ° and be less than or equal to 135 °.
Optionally, the shape of connecting lever is L shape or C-shaped.
Optionally, connecting lever includes first rotating shaft and two symmetrically arranged connecting lever plates, and the both ends of first rotating shaft are separately connected
It is hinged in first rotating shaft in the second end of the first end of two connecting lever plates, constant force output, the corner position point of each connecting lever
It is not hinged on the second hinged seat, the second end of each connecting lever is each attached in the fixing seat that hub motor includes.
Optionally, connecting lever further includes attachment base, and attachment base includes big end and the small end that is arranged on big end, small end
Second end of the two sides in portion respectively with two connecting lever plates is fixed, and big end is fixed in the fixing seat that hub motor includes.
Optionally, constant force output includes pneumatic spring；The pressure cylinder of pneumatic spring and the first hinged seat are hinged, pneumatic bomb
The piston rod that spring includes and first rotating shaft are hinged；
The first end of two connecting lever plates is equipped with the curved opening of corresponding pressure cylinder, so that pressure cylinder is on the first hinged seat
When rotation, there is gap between pressure cylinder and each connecting lever plate.
Optionally, the first hinged seat is located at the front of the second hinged seat on the direction of travel of hub motor.
Second aspect, the application also provide a kind of mobile chassis, including bottom plate, hub motor and above-mentioned suspension mechanism；
First hinged seat and the fixed bottom plate upper surface of the second hinged seat；
Connecting lever is fixed in the fixing seat that hub motor includes.
The third aspect, the application also provide a kind of robot, including above-mentioned mobile chassis.
In the embodiment of the present application, a kind of suspension mechanism is provided, setting: the first hinged seat, the second hinged seat, connecting lever is passed through
With the constant force output based on deformation；First hinged seat and the second hinged seat are each attached to the bottom plate upper surface of mobile chassis, permanent
The first end of power output is hinged on the first hinged seat, and the second end of constant force output is hinged on the first end of connecting lever, connecting lever
Corner position be hinged on the second hinged seat, the second end of connecting lever is fixed in the fixing seat that hub motor includes.In this way, taking turns
It when hub motor crosses groove, can be changed by the position that groove is influenced hub motor, the deformation quantity of constant force output is made to generate change
Change, but no matter which kind of change constant force output occurs for the position of hub motor can give hub motor one by connecting lever always
More constant road holding reduces hub motor so that hub motor obtains always and travels identical road holding in plane
The risk skidded in the trench.To solve the problems, such as to skid when groove is crossed on chassis in the related technology.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is according to a kind of structural schematic diagram of suspension mechanism provided by the embodiments of the present application；
Fig. 2 is according to a kind of main view of suspension mechanism provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " being slidably connected ", " fixation ", " clamping ", " suit "
It shall be understood in a broad sense.For example, " connection " may be a fixed connection, it is detachably connected or monolithic construction；It can be mechanical connect
It connects, or electrical connection；Can be directly connected, or indirectly connected through an intermediary, or be two devices, element or
Internal connection between component part.For those of ordinary skills, above-mentioned art can be understood as the case may be
The concrete meaning of language in this application.
In addition, the meaning of term " multiple " should be two and two or more.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As depicted in figs. 1 and 2, the invention relates to a kind of suspension mechanism, which includes: the first hinged seat
1, the second hinged seat 2, connecting lever 3 and the constant force output 4 (for example, pneumatic spring) based on deformation；
First hinged seat 1 and the second hinged seat 2 are each attached to the bottom plate upper surface of mobile chassis, and the of constant force output 4
One end is hinged on the first hinged seat 1, and the second end of constant force output 4 is hinged on the first end of connecting lever 3, the inflection point position of connecting lever 3
It sets and is hinged on the second hinged seat 2, the second end of connecting lever 3 is fixed in the fixing seat 51 that hub motor 5 includes.
Wherein, constant force output 4 can export more constant power to connecting lever 3 always, and hinged by connecting lever 3 and second
The cooperation of seat 2 transmits pressure to hub motor 5, so that hub motor 5 has a more constant pressure, due to can be with shape
Become, therefore, the effects of damping is carried out to 5 traveling process of hub motor can be played.
In suspension mechanism provided by the embodiments of the present application, when hub motor 5 crosses groove, hub motor 5 by gravity and
Constant force output 4 passes through the pressure that connecting lever 3 transmits, and hub motor 5 moves instantly, then when 5 contact trench lower part of hub motor,
It is influenced by hub motor 5 and the position of connecting lever 3, the deformation quantity of constant force output 4 generates variation (for example, the compression of pneumatic spring
Amount), still, since the operation power that constant force output 4 passes to hub motor 5 by connecting lever 3 is more constant, no matter take turns
Which kind of change occurs for the position of hub motor 5, and hub motor 5 can give one by this suspension mechanism and more constant grab ground
Power, and then reduce the risk that hub motor 5 is skidded in the trench, and this suspension mechanism structure is simple, small in size, easily assembly and
Disassembly.Optionally, constant force output 4 includes pneumatic spring.
As shown in Fig. 2, optionally, 3 first end of connecting lever for hinged constant force output 4 articulated position to corner position
Line T1 and 3 second end of connecting lever are used to be fixed on the line of the position in the fixing seat 51 that hub motor 5 includes to corner position
Angle theta between T2 is obtuse angle.
Specifically, the connecting lever 3 is using the above structure, convenient for the installation settings of constant force output 4, it is also convenient for constant force output
4 pass through connecting lever 3 to 5 output torque of hub motor.Optionally, 3 first end of connecting lever is used for the articulated position of hinged constant force output 4
To the position that line T1 and 3 second end of connecting lever of corner position are used to be fixed in the fixing seat 51 that hub motor 5 includes to turning
Angle theta angle between the line T2 of point position is greater than 90 ° and is less than or equal to 135 °.For example, angle theta can be 120 °.
As depicted in figs. 1 and 2, optionally, the shape of connecting lever 3 is L shape or C-shaped.
Specifically, the shape of connecting lever 3 uses L shape or C-shaped, the structure of connecting lever 3 can be made more simple.
It should be noted that it pedestal 11 and the third that is connected on the first pedestal 11 that the first hinged seat 1, which may include first,
The first end of shaft 12, constant force output 4 is connect with third shaft 12, and the second hinged seat 2 includes the second pedestal 21 and is connected to
The second shaft 22 on second pedestal 21, the corner position of connecting lever 3 are connect with the second shaft 22, in addition, be arranged due to connecting lever 3
Shape is provided with the limiting section 23 limited for the rotation angle to connecting lever 3 on the second pedestal 21.
As shown in Figure 1, optionally, connecting lever 3 includes first rotating shaft 31 and two symmetrically arranged connecting lever plates 32, first rotating shaft
31 both ends are connected to the first end of two connecting lever plates 32, and the second end of constant force output 4 is hinged in first rotating shaft 31,
The corner position of each connecting lever 3 is respectively hinged on the second hinged seat 2, and the second end of each connecting lever 3 is each attached to hub motor 5
Including fixing seat 51 on.
Specifically, connecting lever 3 further includes multiple connecting rods 33, two connecting lever plates 32 are linked together by connecting rod 33,
Connecting lever 3 using the above structure, can biggish mitigation overall weight, and also more easily process.
As shown in Figure 1, optionally, connecting lever 3 further includes attachment base 34, attachment base 34 includes big end 341 and is arranged big
Small end 342 on end 341, second end of the two sides of small end 342 respectively with two connecting lever plates 32 are fixed, big end 341
It is fixed in the fixing seat 51 that hub motor 5 includes.
Specifically, the cross sectional shape of the attachment base 34 is T shape comprising big end 341 and integral type are arranged in big end
Small end 342 on 341, two connecting lever plates 32 are clamped in the two sides of small end 342, and two connecting lever plates 32 are fixed on small end
On 342, and big end 341 with the fixing seat 51 that hub motor 5 includes for connecting.
As shown in Figure 1, optionally, constant force output 4 includes pneumatic spring；The pressure cylinder 41 of pneumatic spring and first is hingedly
Seat 1 is hinged, and the piston rod 42 and first rotating shaft 31 that pneumatic spring includes are hinged；
The first end of two connecting lever plates 32 is equipped with the curved opening 321 of corresponding pressure cylinder 41, so that pressure cylinder 41 is
When rotating on one hinged seat 1, there is gap between pressure cylinder 41 and each connecting lever plate 32.
Specifically, the pressure cylinder 41 of pneumatic spring and the first hinged seat 1 are hinged when constant force output 4 is pneumatic spring,
The piston rod 42 and first rotating shaft 31 that pneumatic spring includes are hinged, in this way, making the pressure cylinder 41 of pneumatic spring is separate to turn
Arm plate 32, but in pneumatic spring when rotating on the first hinged seat 1, especially pneumatic spring decrement becomes smaller, longer work
When stopper rod 42 stretches out pressure cylinder 41, pressure cylinder 41 can be close to connecting lever plate 32, in this way, connecting lever plate 32 may cause pressure cylinder 41
Therefore interference can be equipped with the curved opening 321 of corresponding pressure cylinder 41 in the first end of connecting lever plate 32, to avoid connecting lever plate
32 can cause to interfere to pressure cylinder 41, so that there is gap always between pressure cylinder 41 and each connecting lever plate 32.
Optionally, first hinged seat 1 is located at the front of the second hinged seat 2 on the direction of travel of hub motor 5.
Specifically, the setting position of the first hinged seat 1 and the second hinged seat 2, should ensure that the direction of travel of hub motor 5,
It is advanced from 5 ontology of hub motor to the direction of the first hinged seat 1 and the second hinged seat 2, so that hub motor 5 be avoided to travel across
Cheng Zhong reduces hub motor 5 and crosses a ridge ability since touching object directly causes to impact to connecting lever 3.
Based on the same technical idea, the embodiment of the present application also provides a kind of mobile chassis, including bottom plate, hub motor 5
With above-mentioned suspension mechanism；
First hinged seat 1 and the fixed bottom plate upper surface of the second hinged seat 2；
Connecting lever 3 is fixed in the fixing seat 51 that hub motor 5 includes.
In mobile chassis provided by the embodiments of the present application, by above-mentioned suspension mechanism, it can play to hub motor 5
Traveling process carries out the effects of damping, moreover, hub motor 5 is by gravity and constant force output 4 when hub motor 5 crosses groove
The pressure transmitted by connecting lever 3, hub motor 5 move instantly, then when 5 contact trench lower part of hub motor, by hub motor 5
It being influenced with the position of connecting lever 3, the deformation quantity of constant force output 4 generates variation (for example, decrement of pneumatic spring), still, by
In constant force output 4 by connecting lever 3 pass to hub motor 5 operation power it is more constant, therefore, no matter the position of hub motor 5
Which kind of change of generation is set, hub motor 5 can give a more constant road holding by this suspension mechanism, and then reduce
The risk that mobile chassis skids in crossing groove.
Based on the same technical idea, the embodiment of the present application also provides a kind of robot, including above-mentioned mobile chassis.
In robot provided by the embodiments of the present application, by above-mentioned mobile chassis, robot can reduce in mistake
The risk skidded in groove.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of suspension mechanism characterized by comprising the first hinged seat, the second hinged seat, connecting lever and the constant force based on deformation
Output；
First hinged seat and second hinged seat are each attached to the bottom plate upper surface of mobile chassis, the constant force output
First end be hinged on first hinged seat, the second end of the constant force output is hinged on the first end of the connecting lever,
The corner position of the connecting lever is hinged on second hinged seat, and what the second end of the connecting lever was fixed on that hub motor includes consolidates
In reservation.
2. suspension mechanism according to claim 1, which is characterized in that it is defeated that the connecting lever first end is used for the hinged constant force
The line of the articulated position of part to the corner position includes for being fixed on the hub motor with the connecting lever second end out
Fixing seat on position to the angle between the line of the corner position be obtuse angle.
3. suspension mechanism according to claim 2, which is characterized in that it is defeated that the connecting lever first end is used for the hinged constant force
The line of the articulated position of part to the corner position includes for being fixed on the hub motor with the connecting lever second end out
Fixing seat on position to the included angle between the line of the corner position be greater than 90 ° and be less than or equal to 135 °.
4. suspension mechanism according to claim 1, which is characterized in that the shape of the connecting lever is L shape or C-shaped.
5. suspension mechanism according to claim 1, which is characterized in that the connecting lever includes that first rotating shaft and two symmetrically set
The connecting lever plate set, the both ends of the first rotating shaft are connected to the first end of two connecting lever plates, the constant force output
Second end be hinged in the first rotating shaft, the corner position of each connecting lever is respectively hinged at second hinged seat
On, the second end of each connecting lever is each attached in the fixing seat that the hub motor includes.
6. suspension mechanism according to claim 5, which is characterized in that the connecting lever further includes attachment base, the attachment base
Including big end and the small end that is arranged on big end, the two sides of the small end respectively with two connecting lever plates second
End is fixed, and the big end is fixed in the fixing seat that the hub motor includes.
7. suspension mechanism according to claim 5, which is characterized in that the constant force output includes pneumatic spring；It is described
The pressure cylinder of pneumatic spring and first hinged seat are hinged, and the piston rod that the pneumatic spring includes and first rotating shaft are hinged；
The first end of two connecting lever plates is equipped with the curved opening of the corresponding pressure cylinder, so that the pressure cylinder is described
When rotating on the first hinged seat, there is gap between the pressure cylinder and each connecting lever plate.
8. suspension mechanism according to claim 1, which is characterized in that described on the direction of travel of the hub motor
One hinged seat is located at the front of second hinged seat.
9. a kind of mobile chassis, which is characterized in that the mobile chassis includes bottom plate, hub motor and such as claim 1-8 appoints
Suspension mechanism described in one；
First hinged seat and second hinged seat fix the bottom plate upper surface；
The connecting lever is fixed in the fixing seat that the hub motor includes.
10. a kind of robot, which is characterized in that the robot includes mobile chassis as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910253446.8A CN109866566A (en) | 2019-03-29 | 2019-03-29 | Suspension mechanism, mobile chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910253446.8A CN109866566A (en) | 2019-03-29 | 2019-03-29 | Suspension mechanism, mobile chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109866566A true CN109866566A (en) | 2019-06-11 |
Family
ID=66921785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910253446.8A Pending CN109866566A (en) | 2019-03-29 | 2019-03-29 | Suspension mechanism, mobile chassis and robot |
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| Country | Link |
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| EP2228240A2 (en) * | 2009-03-09 | 2010-09-15 | Nissan Motor Manufacturing (UK) Ltd. | Vehicle suspension |
| CN202357822U (en) * | 2011-11-09 | 2012-08-01 | 马儒豪 | Chassis for mini-sized motor vehicle |
| CN107344570A (en) * | 2017-08-23 | 2017-11-14 | 山东博世房车科技有限公司 | Full aluminium caravan suspension |
| CN207241334U (en) * | 2017-09-14 | 2018-04-17 | 智造未来（北京）机器人系统技术有限公司 | The suspended structure of lateral arrangement and the mechanical walking device chassis for including it |
| CN108248327A (en) * | 2016-12-28 | 2018-07-06 | 大连四达高技术发展有限公司 | Wheel based on intelligent AGV lifting drillings robot lifts suspension |
| CN208277781U (en) * | 2018-06-07 | 2018-12-25 | 湖南三一快而居住宅工业有限公司 | Suspension and haulage vehicle |
| CN109177675A (en) * | 2018-10-26 | 2019-01-11 | 南京工程学院 | A kind of suspension of mobile robot |
| CN208630286U (en) * | 2018-08-02 | 2019-03-22 | 什伯（上海）智能技术有限公司 | A kind of mobile robot chassis with suspension arrangement |
| CN209738728U (en) * | 2019-03-29 | 2019-12-06 | 北京云迹科技有限公司 | suspension mechanism, mobile chassis and robot |
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2019
- 2019-03-29 CN CN201910253446.8A patent/CN109866566A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2228240A2 (en) * | 2009-03-09 | 2010-09-15 | Nissan Motor Manufacturing (UK) Ltd. | Vehicle suspension |
| CN202357822U (en) * | 2011-11-09 | 2012-08-01 | 马儒豪 | Chassis for mini-sized motor vehicle |
| CN108248327A (en) * | 2016-12-28 | 2018-07-06 | 大连四达高技术发展有限公司 | Wheel based on intelligent AGV lifting drillings robot lifts suspension |
| CN107344570A (en) * | 2017-08-23 | 2017-11-14 | 山东博世房车科技有限公司 | Full aluminium caravan suspension |
| CN207241334U (en) * | 2017-09-14 | 2018-04-17 | 智造未来（北京）机器人系统技术有限公司 | The suspended structure of lateral arrangement and the mechanical walking device chassis for including it |
| CN208277781U (en) * | 2018-06-07 | 2018-12-25 | 湖南三一快而居住宅工业有限公司 | Suspension and haulage vehicle |
| CN208630286U (en) * | 2018-08-02 | 2019-03-22 | 什伯（上海）智能技术有限公司 | A kind of mobile robot chassis with suspension arrangement |
| CN109177675A (en) * | 2018-10-26 | 2019-01-11 | 南京工程学院 | A kind of suspension of mobile robot |
| CN209738728U (en) * | 2019-03-29 | 2019-12-06 | 北京云迹科技有限公司 | suspension mechanism, mobile chassis and robot |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |