CN110978926B - Multistage non-independent suspension system - Google Patents
Multistage non-independent suspension system Download PDFInfo
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- CN110978926B CN110978926B CN201911418964.7A CN201911418964A CN110978926B CN 110978926 B CN110978926 B CN 110978926B CN 201911418964 A CN201911418964 A CN 201911418964A CN 110978926 B CN110978926 B CN 110978926B
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- suspension
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- suspension system
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- 239000000725 suspension Substances 0.000 title claims abstract description 117
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000007704 transition Effects 0.000 claims abstract description 11
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
Abstract
The invention discloses a multistage non-independent suspension system which comprises two groups of suspension structures and a middle support piece, wherein each group of suspension structures comprises at least two stages of suspension frames, two one-stage suspension frames of the two groups of suspension structures are connected through the middle support piece, a transition structure with a guiding function is arranged between two adjacent stages of suspension frames of each group of suspension structures, and two final-stage suspension frames of the two groups of suspension structures are connected with a frame. The rigidity of the elastic elements of different stages of suspensions is different to a certain extent, and the multi-stage suspension combination realizes the jumping-up and jumping-down operation of the driving wheel; the multistage non-independent suspension system allows the guide mechanism to have a certain swing angle and to swing in one direction, so that the driving wheel can be ensured to be in effective contact with the ground; the multi-stage suspension structure can realize that the overall height of the wheeled robot is kept unchanged or slightly changed under the condition of no load and heavy load, is beneficial to directly submerging equipment with lower bottoms such as a car, a tool car and the like, and can be particularly used for an ultrathin wheeled robot.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multistage non-independent suspension system.
Background
At present, a high-load wheeled robot, in particular a differential-drive wheeled robot, has a single suspension part, and can not ensure that a driving wheel is effectively contacted with a road surface when the driving wheel passes over an obstacle on an uneven road surface; moreover, due to the limitation of the size of the suspension, the height of the whole vehicle is high, and the ultra-thin vehicle is difficult to achieve; under the two conditions of no load and heavy load, the wheel type robot is difficult to keep the whole height unchanged or slightly changed, so that the wheel type robot cannot directly submerge in equipment with lower bottoms such as a car, a tool car and the like for transportation and carrying.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a multistage non-independent suspension system.
The aim of the invention is realized by the following technical scheme: a multistage non-independent suspension system comprises two groups of suspension structures and an intermediate support piece, wherein each group of suspension structures comprises at least two stages of suspension frames, two one-stage suspension frames of the two groups of suspension structures are connected through the intermediate support piece, a transition structure with a guiding function is arranged between two adjacent stages of suspension frames of each group of suspension structures, and two final-stage suspension frames of the two groups of suspension structures are connected with a frame.
Further, the two sets of suspension structures are respectively engaged with two wheel assemblies employing either drive wheels or driven wheels.
Further, each stage of suspension comprises an elastic element and at least one guide mechanism, and the up-and-down telescopic movement is realized through the guide mechanism; the guide mechanism is realized by matching a sliding element with a guide shaft or by matching a guide rail with a sliding block; one specific example: the sliding element may be a linear bearing, a sliding bearing or a wear resistant material.
Further, the primary suspension is provided with a pre-pressing structure, initial pressure is provided for the elastic element of the primary suspension, the elastic element can be pre-pressed, and the initial height of the suspension system can be adjusted; one specific example: can be realized by adopting the cooperation of a screw and a nut seat.
Further, the stiffness of the elastic element of each stage of suspension of each group of suspension structure is reduced in turn.
Furthermore, a swing bearing is arranged at the joint of the guide mechanism of the primary suspension and the middle support piece, and the swing bearing can be a self-aligning ball bearing or a joint bearing.
Further, when the guide mechanism of the primary suspension is realized by matching the sliding element with the guide shaft, the guide shaft passes through the swing bearing, a certain swing angle is allowed to be formed between the guide shaft and the middle support piece, the shaft end of the guide shaft is in threaded connection with the limiting block, and the limiting block is matched with the slotted hole of the middle support piece, so that the guide shaft swings in one direction relative to the middle support piece; when the guide mechanism of the primary suspension is realized by matching the guide rail with the sliding block, the guide rail is used as a moving end, one end of the guide rail is matched with the sliding block, and the other end of the guide rail is matched with the swing bearing through a cylindrical shaft structure.
Further, the guide mechanism of the two-stage to final stage suspension is constituted by a slide member (preferably a linear bearing that is adjustable in center) and a guide shaft that passes through the slide member and is capable of swinging at a small angle in the slide member.
Further, the transition structure is composed of a guide rail, ball plungers and a sliding block, the ball plungers are embedded into the sliding block, the ball heads of the ball plungers are contacted with the bottom surface of the guide rail, and the ball heads of the ball plungers can be compressed, so that the transition structure can move up and down to guide and also allow a certain pitch angle.
A wheeled robot comprises at least one multi-stage non-independent suspension system.
The beneficial effects of the invention are as follows: the multistage non-independent suspension system allows the guide shaft of the guide mechanism to have a certain swing angle and limit the swing in one direction, so that the driving wheel can be effectively contacted with the ground; the primary suspension has a pre-pressing structure, and elastic elements can be pre-pressed in a mode of matching screw and nut seats, so that the initial height of the suspension system is adjusted; the rigidity of the elastic element of each stage of suspension is reduced in sequence, and the combination of the multi-stage suspension realizes the jumping-up and jumping-down operation of the driving wheel; the load of multistage suspension structure can be transferred in grades, and the deflection of different rigidity elastic element is different, is used for improving the adaptability and the obstacle crossing nature of wheel to the unevenness of ground according to the difference of deflection. The multistage non-independent suspension system is applied to the wheeled robot, and can realize that the overall height of the robot is kept unchanged or slightly changed under the two conditions of no load and heavy load of the wheeled robot, so that the multistage non-independent suspension system is beneficial to directly submerging equipment with lower bottoms such as a car, a tool car and the like, and can be particularly used for an ultrathin wheeled robot.
Drawings
FIG. 1 is a schematic illustration of a multi-stage non-independent suspension system of the present invention;
FIG. 2 is a block diagram of a multi-stage dependent suspension system of the present invention;
FIG. 3 is a view 1 of the suspension structure of the present invention;
FIG. 4 is a view 2 of the suspension structure of the present invention;
FIG. 5 is a partial cross-sectional view of a primary suspension of the present invention;
FIG. 6 is a partial cross-sectional view of a secondary suspension of the present invention;
FIG. 7 is a schematic view of the intermediate support structure of the present invention;
FIG. 8 is a schematic view of a track structure of the present invention;
FIG. 9 is a schematic view of a slider structure according to the present invention;
in the drawing, a suspension structure 1, an intermediate support 2, a frame 3, a primary suspension 4, a final suspension 5, a transition structure 6, a primary spring 7, a primary guide mechanism 8, a suspension support seat 9, a compression member 10, a linear bearing 11, a guide shaft 12, a swing bearing 13, a round hole surface 14, a stopper 15, a slot hole 16, a screw 17, a nut seat 18, a guide rail 19, a slider 20, a threaded hole 21, a final spring 22, a final guide mechanism 23, and a wheel assembly 24.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
As shown in fig. 1 and 2, the multi-stage non-independent suspension system provided in this embodiment includes two sets of suspension structures 1 and an intermediate support 2, where each set of suspension structures 1 includes at least two stages of suspension, as shown in fig. 3 and 4, each set of suspension structures 1 includes a primary suspension 4, a secondary suspension, and a final suspension 5, two primary suspensions 4 are fixedly connected with the intermediate support 2, a transition structure 6 with a guiding function is installed between two adjacent stages of suspension, and the final suspension 5 is installed on the frame 3. The two sets of suspension structures 1 are respectively engaged with two wheel assemblies 24, and the wheel assemblies 24 can be driving wheels or driven wheels. Preferably, the two sets of suspension structures 1 are symmetrically arranged on both sides of the intermediate support 2.
As shown in fig. 5, the primary suspension 4 comprises a primary spring 7 and two primary guide mechanisms 8, wherein the primary spring 7 adopts a die spring and is built in a suspension support seat 9, a compression piece 10 is used for compressing the primary spring 7, the two primary guide mechanisms 8 are combined by adopting a linear bearing 11 and a guide shaft 12, the linear bearing 11 is embedded and installed on two sides of the suspension support seat 9, one end of the guide shaft 12 extends into the linear bearing 11, the other end of the guide shaft passes through a swinging bearing 13, the swinging bearing 13 adopts a self-aligning ball bearing, the two swinging bearings 13 are installed on two sides of the compression piece 10 and are in contact connection with a round hole surface 14 of the middle support piece 3, a limiting block 15 is in threaded connection with the shaft end of the guide shaft 12, the two limiting blocks 15 are respectively matched with two slotted holes 16 of the middle support piece 3, so that the guide shaft 12 is allowed to have a certain swinging angle relative to the middle support piece 3 and swing in one direction; the primary suspension 4 can pretension the primary spring 7 through the screw 17 and the nut seat 18, and the initial height of the suspension system is adjusted.
The secondary suspension also comprises a spring and two guide mechanisms, wherein the spring adopts a die spring, the two guide mechanisms are respectively realized by adopting an adjustable linear bearing and a guide shaft in a matched manner, and the guide shaft penetrates through the linear bearing and can swing in the linear bearing at a small angle.
The transition structure 6 comprises a guide rail 19 and a sliding block 20, the two guide rails 19 are arranged on a suspension supporting seat of the secondary suspension, the guide rail of the transition structure connected with the final suspension 5 is arranged on the frame 3, the sliding block 20 is arranged on a suspension supporting seat of the upper stage, as shown in fig. 8 and 9, a plurality of ball plungers can be arranged in threaded holes 21 on the sliding block 20, the ball heads of the ball plungers are contacted with the bottom surface of the guide rail 19, the ball heads of the ball plungers can be compressed, and the transition structure 6 can guide up and down movement and also allows a certain pitch angle.
The final suspension 5 comprises a final spring 22 and two final guide mechanisms 23, wherein the final spring 22 adopts a die spring, the two final guide mechanisms 23 are respectively realized by adopting a self-aligning linear bearing and a guide shaft in a matched manner, and the guide shaft penetrates through the linear bearing and can swing in the linear bearing at a small angle, so that the guide shaft is allowed to swing at a small angle relative to the frame 3.
In addition, the guide mechanism can be realized through the cooperation of a guide rail and a sliding block, the guide rail is used as a moving end, one end of the guide rail is matched with the sliding block, and the other end of the guide rail is matched with the swing bearing through a cylindrical shaft structure; the other end of the guide rail can be provided with a cylindrical shaft structure at the tail end of the guide rail, and can also be matched with the swing bearing through an adapter of the cylindrical shaft structure. The oscillating bearing 13 may also be a knuckle bearing.
The rigidity of the elastic element of the multi-stage suspension is reduced in sequence, the weight after load is transmitted to the final-stage suspension in sequence through the first-stage suspension, the spring of the first-stage suspension locks an initial pressure, the spring does not change or changes slightly, the spring of the second-stage suspension to the final-stage suspension has a certain compression amount, and the multi-stage suspension cooperates to realize the jumping-up and the jumping-down actions of the driving wheel in the movement process; the two driving wheels swing transversely through a multi-stage non-independent suspension system, and adapt to ground unevenness and obstacle surmounting.
The present invention is not limited to the above embodiments, and those skilled in the art can practice the present invention using other various embodiments in light of the present disclosure. Therefore, the design structure and thought of the invention are adopted, and some simple changes or modified designs are made, which fall into the protection scope of the invention.
Claims (5)
1. The multistage non-independent suspension system is characterized by comprising two groups of suspension structures and an intermediate support piece, wherein each group of suspension structures comprises at least two stages of suspensions, two stages of suspensions of the two groups of suspension structures are connected through the intermediate support piece, a transition structure with a guiding function is arranged between two adjacent stages of suspensions of each group of suspension structures, and two final stages of suspensions of the two groups of suspension structures are connected with a frame; each stage of suspension comprises an elastic element and at least one guide mechanism, and the up-and-down telescopic movement is realized through the guide mechanism; the guide mechanism is realized by matching the sliding element with the guide shaft or by matching the first guide rail with the sliding block; the primary suspension is provided with a pre-pressing structure, initial pressure is provided for the elastic element of the primary suspension, the elastic element can be pre-pressed, and the initial height of the suspension system can be adjusted; the rigidity of the elastic element of each level of suspension of each group of suspension structure is reduced in turn; a swing bearing is arranged at the joint of the guide mechanism of the primary suspension and the middle supporting piece; when the guide mechanism of the primary suspension is realized by matching the sliding element with the guide shaft, the guide shaft passes through the swing bearing, the shaft end of the guide shaft is in threaded connection with the limiting block, and the limiting block is matched with the slotted hole of the middle support piece; when the guide mechanism of the primary suspension is realized by adopting the first guide rail to be matched with the sliding block, the first guide rail is used as a moving end, one end of the first guide rail is matched with the sliding block, and the other end of the first guide rail is matched with the swing bearing through a cylindrical shaft structure.
2. A multi-stage non-independent suspension system according to claim 1, wherein the two sets of suspension structures are respectively associated with two wheel assemblies, the wheel assemblies employing either drive wheels or driven wheels.
3. A multi-stage non-independent suspension system according to claim 1, wherein the guiding mechanism of the secondary to final suspension is formed by a sliding element which is adjustable in its centre and a guiding shaft which passes through the sliding element and is capable of swinging at a small angle in the sliding element.
4. The multi-stage non-independent suspension system according to claim 1, wherein the transition structure comprises a second rail, a ball plunger, and a slider, wherein the ball plungers are embedded in the slider, and the ball of the ball plunger contacts the bottom surface of the second rail.
5. A wheeled robot comprising at least one multi-stage non-independent suspension system according to any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911418964.7A CN110978926B (en) | 2019-12-31 | 2019-12-31 | Multistage non-independent suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911418964.7A CN110978926B (en) | 2019-12-31 | 2019-12-31 | Multistage non-independent suspension system |
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| Publication Number | Publication Date |
|---|---|
| CN110978926A CN110978926A (en) | 2020-04-10 |
| CN110978926B true CN110978926B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911418964.7A Active CN110978926B (en) | 2019-12-31 | 2019-12-31 | Multistage non-independent suspension system |
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Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0565475A1 (en) * | 1992-04-07 | 1993-10-13 | Investigacion Y Asesoramiento Tecnico, S.A.(Invastesa) | Primary type suspension for railway vehicles |
| KR20110088045A (en) * | 2010-01-28 | 2011-08-03 | 주식회사 유진로봇 | Wheel assembly of moving robot having single vertical shaft |
| CN102328561A (en) * | 2011-08-03 | 2012-01-25 | 湖北三江航天万山特种车辆有限公司 | Double-damping single trailing arm independent suspension |
| CN104773045A (en) * | 2015-04-27 | 2015-07-15 | 席玉林 | Combined spring compensation suspending device |
| WO2016015759A1 (en) * | 2014-07-30 | 2016-02-04 | Gravity Transport System S.A. | Rail vehicle braking system |
| CN106114101A (en) * | 2016-07-26 | 2016-11-16 | 河源市勇艺达科技股份有限公司 | Wheeled mobile robot chassis straight line suspended shock damper |
| CN206170057U (en) * | 2016-10-20 | 2017-05-17 | 上海思岚科技有限公司 | General mobile robot chassis that can move away to avoid possible earthquakes |
| CN107757290A (en) * | 2017-10-31 | 2018-03-06 | 杭州极木科技有限公司 | A kind of adjustable draft hitch of heavily loaded wheeled robot |
| CN108045187A (en) * | 2017-12-15 | 2018-05-18 | 西京学院 | A kind of independent wheel suspension of Omni-mobile platform |
| CN110143107A (en) * | 2019-05-28 | 2019-08-20 | 西南交通大学 | A kind of hybrid second level suspension system of new vehicle |
| CN211684551U (en) * | 2019-12-31 | 2020-10-16 | 杭州极木科技有限公司 | Multistage dependent suspension system and wheeled robot |
-
2019
- 2019-12-31 CN CN201911418964.7A patent/CN110978926B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0565475A1 (en) * | 1992-04-07 | 1993-10-13 | Investigacion Y Asesoramiento Tecnico, S.A.(Invastesa) | Primary type suspension for railway vehicles |
| KR20110088045A (en) * | 2010-01-28 | 2011-08-03 | 주식회사 유진로봇 | Wheel assembly of moving robot having single vertical shaft |
| CN102328561A (en) * | 2011-08-03 | 2012-01-25 | 湖北三江航天万山特种车辆有限公司 | Double-damping single trailing arm independent suspension |
| WO2016015759A1 (en) * | 2014-07-30 | 2016-02-04 | Gravity Transport System S.A. | Rail vehicle braking system |
| CN104773045A (en) * | 2015-04-27 | 2015-07-15 | 席玉林 | Combined spring compensation suspending device |
| CN106114101A (en) * | 2016-07-26 | 2016-11-16 | 河源市勇艺达科技股份有限公司 | Wheeled mobile robot chassis straight line suspended shock damper |
| CN206170057U (en) * | 2016-10-20 | 2017-05-17 | 上海思岚科技有限公司 | General mobile robot chassis that can move away to avoid possible earthquakes |
| CN107757290A (en) * | 2017-10-31 | 2018-03-06 | 杭州极木科技有限公司 | A kind of adjustable draft hitch of heavily loaded wheeled robot |
| CN108045187A (en) * | 2017-12-15 | 2018-05-18 | 西京学院 | A kind of independent wheel suspension of Omni-mobile platform |
| CN110143107A (en) * | 2019-05-28 | 2019-08-20 | 西南交通大学 | A kind of hybrid second level suspension system of new vehicle |
| CN211684551U (en) * | 2019-12-31 | 2020-10-16 | 杭州极木科技有限公司 | Multistage dependent suspension system and wheeled robot |
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|---|---|
| CN110978926A (en) | 2020-04-10 |
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