CN111439080A - Chassis suspension mechanism, driving device and robot - Google Patents
Chassis suspension mechanism, driving device and robot Download PDFInfo
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- CN111439080A CN111439080A CN201910040692.5A CN201910040692A CN111439080A CN 111439080 A CN111439080 A CN 111439080A CN 201910040692 A CN201910040692 A CN 201910040692A CN 111439080 A CN111439080 A CN 111439080A
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- 239000000725 suspension Substances 0.000 title claims abstract description 68
- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000013461 design Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/18—Multilink suspensions, e.g. elastokinematic arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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Abstract
The embodiment of the invention provides a chassis suspension mechanism, a driving device and a robot, wherein the chassis suspension mechanism comprises: the at least two joint motion chains are arranged between the wheel seat and the chassis main body and are used for realizing that the wheel seat linearly moves relative to the chassis main body in a preset direction; the articulation chain comprises at least: the first chain plate is used for being in rotary connection with the chassis main body, and the second chain plate is used for being in rotary connection with the wheel seat; the movement plane formed by one of the at least two articulation chains is not parallel to the movement plane formed by the other articulation chains, and the movement plane is the plane in which the first link plate and the second link plate perform relative movement. The chassis suspension mechanism is composed of rotatable joints, can realize that the wheel seat linearly moves in a preset direction relative to the chassis main body, has simple structure and low manufacturing cost, is convenient to install and maintain, and ensures the accuracy of motion control.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a chassis suspension mechanism, a driving device and a robot.
Background
With the rapid development of science and technology, robots have begun to enter people's lives; when designing robots for production, the chassis of wheeled and tracked robots are provided with suspension mechanisms for compensating for the heave errors and the average load on the ground. At present, a suspension mechanism applied to a small mobile platform such as a robot includes a mobile suspension, which mainly uses a linear motion pair such as a guide post and a guide sleeve or a linear bearing to realize the up-and-down motion of a bracket, and usually uses a plurality of parallel linear motion pairs to improve the bearing capacity.
However, for the mobile suspension, the linear motion pairs for realizing the up-and-down motion of the bracket need to have higher parallelism and relative position precision, otherwise, larger internal stress is generated, and further friction is increased to influence the motion of the bracket; in addition, the linear motion components (e.g., linear guide rails and linear bearings) are difficult to manufacture, costly, and difficult to maintain.
Disclosure of Invention
The embodiment of the invention provides a chassis suspension mechanism, a driving device and a robot, which have the advantages of simple structure, low manufacturing cost and convenience in maintenance, and can ensure the accuracy of motion control.
In a first aspect, an embodiment of the present invention provides a chassis suspension mechanism, including:
the at least two joint motion chains are arranged between the wheel seat and the chassis main body and used for realizing the linear motion of the wheel seat relative to the chassis main body in a preset direction; the articulation chain comprises at least: the first chain plate is used for being in rotary connection with the chassis main body, and the second chain plate is used for being in rotary connection with the wheel seat;
wherein a movement plane formed by one of the at least two articulation chains is not parallel to a movement plane formed by the other articulation chains, and the movement plane is a plane in which the first link plate and the second link plate perform relative movement.
In a second aspect, an embodiment of the present invention provides a driving apparatus, including:
at least one drive wheel;
in the chassis suspension mechanism according to the first aspect, the driving wheel is fixedly connected to a wheel seat in the chassis suspension mechanism.
In a third aspect, an embodiment of the present invention provides a robot, including:
a chassis main body;
the drive device according to the second aspect, wherein the drive device is connected to the chassis main body.
Through setting up two at least joint motion chains between wheel seat and chassis main part, can realize the wheel seat for chassis main part carries out linear motion in predetermineeing the direction, wherein, the joint motion chain in this chassis hangs the mechanism constitutes by rotatable joint, for the linear motion pair in the current mechanism that hangs, simple structure, low in manufacturing cost to easy to assemble and maintenance, can also guarantee the accuracy to motion control simultaneously, thereby improved this chassis effectively and hung the stable reliability that the mechanism used.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a first schematic structural diagram illustrating a chassis suspension mechanism connected to a wheel seat according to an embodiment of the present invention;
fig. 2 is a second schematic structural diagram of a chassis suspension mechanism connected to a wheel seat according to an embodiment of the present invention;
fig. 3 is a third schematic structural diagram of a chassis suspension mechanism connected to a wheel seat according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a driving device according to an embodiment of the present invention;
fig. 5 is a partial schematic view of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the description of the embodiments of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the embodiments of the present invention.
The terms "comprises" and "comprising," and any variations thereof, of the description and claims of embodiments of the present invention are intended to cover non-exclusive inclusions, e.g., a process or an apparatus that comprises a list of steps is not necessarily limited to those structures or steps expressly listed but may include other steps or structures not expressly listed or inherent to such process or apparatus.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the embodiments of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Fig. 1 is a first schematic structural diagram illustrating a chassis suspension mechanism 1 and a wheel base 2 according to an embodiment of the present invention; fig. 2 is a structural schematic diagram of a chassis suspension mechanism 1 connected to a wheel seat 2 according to an embodiment of the present invention; fig. 3 is a schematic structural diagram three of the chassis suspension mechanism 1 and the wheel seat 2 according to the embodiment of the present invention; referring to fig. 1 to 3, the present embodiment provides a chassis suspension mechanism 1, and the chassis suspension mechanism 1 is a suspension mechanism that realizes linear movement by using all revolute joints. Specifically, the chassis suspension mechanism 1 may include:
at least two articulation chains 100, which are arranged between the wheel seat 2 and the chassis main body 3 and are used for realizing the linear motion of the wheel seat 2 relative to the chassis main body 3 in the preset direction; the articulation chain 100 comprises at least: the first chain plate 101 is used for being rotationally connected with the chassis main body 3, and the second chain plate 102 is rotationally connected with the wheel seat 2;
a movement plane formed by one of the at least two articulation chains 100 is not parallel to a movement plane formed by the other articulation chains 100, and the movement plane is a plane in which the first link plate 101 and the second link plate 102 perform relative movement.
First, the specific number, shape, structure and arrangement position of the articulation chains 100 are not limited in this embodiment, and those skilled in the art can design articulation chains 100 with different numbers, different shapes, structures and arrangement positions according to specific design requirements. For example: the number of the articulation chains 100 may be 2, 3, or 4, etc., and the shape structure of at least two of the articulation chains 100 may be the same or different, or a part of the articulation chains 100 of at least two of the articulation chains 100 may be the same and another part of the articulation chains 100 may be different; for example: the length of any two articulation chains 100 of the at least two articulation chains 100 may be the same; alternatively, the lengths of any two of the at least two articulation chains 100 may be different, and so on. In addition, the arrangement of the at least two articulation chains 100 may be a symmetrical arrangement or any arrangement as long as it is ensured that one of the at least two articulation chains 100 is not parallel to the plane of motion formed by the other articulation chains 100, and the only direction of motion of the wheel base 2 can be determined by the two non-parallel planes of motion.
It is to be understood that when the number of the articulation chains 100 is plural, it is only necessary that one of the articulation chains 100 is not parallel to the plane of motion formed by any of the other articulation chains 100, and in this case, the plurality of articulation chains 100 may include two articulation chains 100 whose planes of motion are parallel to each other. For example: the plurality of articulated links 100 include a first articulated link, a second articulated link, a third articulated link, and a fourth articulated link, the articulated links form planes of motion that are a first plane, a second plane, a third plane, and a fourth plane, respectively, and the positional relationship between the planes of motion for the first plane may be: the first plane is not parallel to the second plane, the first plane is parallel to or not parallel to the third plane, and the first plane is parallel to or not parallel to the fourth plane.
In addition, at least two articulation chains 100 in the chassis suspension mechanism 1 can realize that the wheel seat 2 moves linearly in a preset direction relative to the chassis main body 3 under the action of the chassis main body 3, and the preset direction at this time can be the design direction of the suspension mechanism, for example, the preset direction can be a vertical direction, or when the chassis suspension mechanism 1 is in an inclined state, the preset direction can also be a suitable inclined direction.
Further, the articulated chain 100 in the present embodiment may include not only the first link plate 101 and the second link plate 102 but also the third link plate and the fourth link plate, that is: the number of link plates included in the articulated chain 100 is not limited to two, and those skilled in the art can arbitrarily set the number of link plates according to the suspension stroke of the wheel seat 2 to be satisfied. When the articulation chain 100 includes the first link plate 101 and the second link plate 102, the articulation chain 100 has two degrees of freedom, and the embodiment is not limited to the specific shape structure and the connection manner of the first link plate 101 and the second link plate 102, and those skilled in the art can arbitrarily set according to specific design requirements, for example: the first link plate 101 can be connected to the second link plate 102 by a pin 103, and the first link plate 101 can rotate within a predetermined angle range relative to the second link plate 102. Optionally, in order to ensure stable and reliable connection between the first link plate 101 and the second link plate 102, a buffer 105 for reducing friction force may be disposed at the rotational connection between the first link plate 101 and the second link plate 102, wherein the specific shape and structure of the buffer 105 are not limited in this embodiment, and those skilled in the art may arbitrarily set the buffer 105 according to the function implemented by the buffer, for example, the buffer 105 may be a gasket or a bearing, etc.; the buffer 105 is provided to allow the first link plate 101 and the second link plate 102 to stably rotate relative to each other around the pin 103. In addition, the specific shape structures of the first link plate 101 and the second link plate 102 may be the same or different, for example: the length of the first link plate 101 is equal to the length of the second link plate 102; or the length of the first link plate 101 is different from the length of the second link plate 102; the shape structure of the first link plate 101 may be a rectangular parallelepiped structure or a square structure, and the shape structure of the second link plate 102 may be the same as or different from that of the first link plate 101.
During specific work, the chassis main body 3 can transmit acting force to the first chain plate 101, at this moment, the first chain plate 101 can rotate relative to the second chain plate 102 under the driving of the acting force, and the second chain plate 102 can rotate relative to the wheel seat 2 under the driving of the acting force of the first chain plate 101, so that the acting force can be transmitted to the wheel seat 2, the wheel seat 2 can do linear motion in the suspended design direction relative to the chassis main body 3, then the wheel seat 2 can transmit the acting force to the driving wheel, and the driving wheel can be pressed on the ground with preset pressure.
For ease of understanding, the working principle of the chassis suspension mechanism 1 is illustrated: when the number of the articulation chains 100 is two, the two articulation chains 100 may be provided at an arbitrary position, and for example, the two articulation chains 100 may include: the left articulation chain 100 disposed on the left side of the wheel base 2 and the right articulation chain 100 disposed on the right side of the wheel base 2, in which case the left articulation chain 100 and the right articulation chain 100 may be disposed in a symmetrical or asymmetrical configuration. The movement plane formed by the left articulation chain 100 is a first plane, the movement plane formed by the right articulation chain 100 is a second plane, and the first plane and the second plane are not parallel. During specific work, the two joint motion chains 100 rotate relatively under the action of the chassis main body 3, at the moment, the two joint motion chains 100 serve as rotary joints to transmit acting force to the wheel seat 2 from the chassis main body 3, so that the wheel seat 2 can do linear motion relative to the chassis main body 3 under the action of the two joint motion chains 100, and the process of realizing the linear motion through the rotary joints is effectively realized.
When the number of the articulation chains 100 is larger than two, the number of the articulation chains 100 is described as three, and as shown in fig. 2, the three articulation chains 100 are provided at arbitrary positions, for example: the three articulation chains 100 may include: set up in the left side articulated chain 100 of wheel seat 2 left side, set up in the middle part articulated chain 100 of wheel seat 2 middle part and set up in the right side articulated chain 100 on wheel seat 2 right side, at this moment, left side articulated chain 100 and right side articulated chain 100 can be symmetrical structure setting for middle part articulated chain 100, perhaps, also can be asymmetrical structure setting. As can be seen from fig. 2, the movement plane of the middle articulated chain 100 is P1, and the movement plane of the right articulated chain 100 is P2, in which case the movement plane P1 is not parallel to the movement plane P2, and in particular, the movement plane P1 and the movement plane P2 may be perpendicular to each other. Through the middle part articulated chain 100 and the right side articulated chain 100 that set up, can guarantee effectively that wheel seat 2 is linear motion for chassis main part 3, and the left side articulated chain 100 that sets up can improve this chassis suspension mechanism 1's rigidity effectively for suspension mechanism 1 is receiving external force in the chassis, be difficult to take place to warp and skew, and then has guaranteed the reliable and stable nature that suspension mechanism 1 used.
The chassis suspension mechanism 1 provided by this embodiment, through at least two articulation chains 100 arranged between the wheel seat 2 and the chassis main body 3, can realize that the wheel seat 2 performs linear motion in a preset direction relative to the chassis main body 3, wherein all the articulation chains 100 in the chassis suspension mechanism 1 are formed by rotatable joints, and compared with a linear motion pair in the existing suspension mechanism, the chassis suspension mechanism has the advantages of simple structure, low manufacturing cost, convenient installation and maintenance, and meanwhile, the accuracy of motion control can be ensured, thereby effectively improving the stability and reliability of the use of the chassis suspension mechanism 1.
On the basis of the above embodiments, as can be seen by referring to fig. 1 to 3, the specific implementation manner of the rotational connection between the first link plate 101 and the chassis main body 3 is not limited in this embodiment, and those skilled in the art may arbitrarily set according to specific design requirements, for example: the first link plate 101 may be directly pivotally connected to the chassis body 3 by a pin 103, and so on. Preferably, the first link plate 101 in this embodiment may be connected to the chassis main body 3 through a first connecting member, wherein the connecting joint of the first link plate 101 and the first connecting member 104 is a rotating joint.
The first connecting member 104 may be a structure that is separately provided and is connected to the first link plate 101 and the chassis main body 3; alternatively, the first connecting member 104 may be fixedly disposed on the first link plate 101, or the first connecting member 104 may be fixedly disposed on the chassis main body 3.
When the first connecting member 104 is a structure separately provided and connected to the first link plate 101 and the chassis body 3, the first connecting member 104 may have a plate-like structure for facilitating connection of the first link plate 101 and the chassis body 3. Specifically, the first link plate 101 and the first connecting member 104 may be rotatably connected to each other, and the first connecting member 104 and the chassis body 3 may be fixedly connected to each other by a connecting member, wherein the connecting member may be: screws, bolts, studs, or adhesives, etc.; at this time, the first link plate 101 can rotate relative to the first link member 104, and the first link member 104 is fixedly connected to the chassis body 3, so that the first link plate 101 can rotate relative to the chassis body 3.
When the first connecting member 104 is fixedly disposed on the first link plate 101, one end of the first connecting member 104 can be fixedly connected to the first link plate 101, and the other end is rotatably connected to the chassis main body 3, at this time, the chassis main body 3 can rotate relative to the first connecting member 104, and the first connecting member 104 is fixedly connected to the first link plate 101, so that the first link plate 101 can rotate relative to the chassis main body 3.
When the first connecting piece 104 is fixedly arranged on the chassis main body 3, the first connecting piece 104 can be integrally formed with the chassis main body 3, or the first connecting piece 104 can be fixedly connected with the chassis main body 3, at this time, the first chain plate 101 can rotate relative to the first connecting piece 104, the first connecting piece 104 is fixedly connected with the chassis main body 3, and therefore relative rotation between the first chain plate 101 and the chassis main body 3 can also be achieved. Further, it is conceivable that in at least two of the articulated chains 100 each first link plate 101 is connected to the chassis body 3 by a first connecting member 104, the first connecting member 104 connected to each first link plate 101 may be provided at different positions of the chassis body 3, for example: the first articulation chain 100 and the second articulation chain 100 may be connected to the chassis body 3 by a first link 104 provided at a first position and a first link 104 provided at a second position, respectively.
Optionally, in order to ensure the reliability of the connection between the first link plate 101 and the chassis main body 3, a buffer 105 for reducing friction may be disposed at the rotational connection between the first link plate 101 and the chassis main body 3, wherein the specific shape and structure of the buffer 105 are not limited in this embodiment, and those skilled in the art may arbitrarily set according to the function implemented by the buffer 105, for example, the buffer 105 may be a gasket or a bearing, etc. Through the arranged buffer piece 105, the smooth movement of the chassis main body 3 and the first chain plate 101 can be effectively ensured; specifically, when the first link plate 101 is rotatably connected to the first connecting member 104, the buffer member 105 may be disposed at the rotational connection position of the first link plate 101 and the first connecting member 104; when the first connecting member 104 is rotatably connected to the chassis main body 3, the buffer member 105 may be disposed at the rotational connection position of the chassis main body 3 and the first connecting member 104.
The first chain plate 101 is rotatably connected with the chassis main body 3 in the above manner, the realization manners are various, and a person skilled in the art can adopt different realization manners according to specific design requirements, and the realization manners further effectively ensure the stable reliability of connection between the first chain plate 101 and the chassis main body 3.
On the basis of the above embodiments, as can be seen from the following fig. 1 to 3, the specific implementation manner of the rotational connection between the second link plate 102 and the wheel seat 2 in this embodiment is not limited, and those skilled in the art may arbitrarily set according to specific design requirements, for example: the second link plate 102 may be directly rotatably connected to the wheel base 2 via a pin 103, and so on. Preferably, the second link plate 102 in this embodiment may be connected to the wheel seat 2 through a second connecting member, wherein the connecting joint between the second link plate 102 and the second connecting member 201 is a rotating joint.
The second connecting member 201 may be a structure that is separately disposed and connected to the second link plate 102 and the wheel seat 2; alternatively, the second connecting member 201 may be fixedly disposed on the second link plate 102, or the second connecting member 201 may be fixedly disposed on the wheel seat 2.
Specifically, when the second connecting member 201 is a structure that is separately disposed and is connected to the second link plate 102 and the wheel seat 2, the second link plate 102 and the second connecting member 201 may be rotatably connected to each other, and the second connecting member 201 and the wheel seat 2 may be fixedly connected to each other by a connecting member, where the connecting member may be: screws, bolts, studs, or adhesives, etc.; at this time, the second link plate 102 can rotate relative to the second connecting member 201, and the second connecting member 201 is fixedly connected with the wheel seat 2, thereby realizing that the second link plate 102 can rotate relative to the wheel seat 2.
When the second connecting member 201 is fixedly disposed on the second link plate 102, one end of the second connecting member 201 can be fixedly connected to the second link plate 102, and the other end is rotatably connected to the wheel seat 2, at this time, the wheel seat 2 can rotate relative to the second connecting member 201, and the second connecting member 201 is fixedly connected to the second link plate 102, so that the second link plate 102 can rotate relative to the wheel seat 2.
When the second connecting member 201 is fixedly disposed on the wheel seat 2, the second connecting member 201 may be integrally formed with the wheel seat 2, or the second connecting member 201 may be fixedly connected to the wheel seat 2, at this time, the second link plate 102 may rotate relative to the second connecting member 201, and the second connecting member 201 is fixedly connected to the wheel seat 2, so that the relative rotation between the second link plate 102 and the wheel seat 2 may also be achieved.
Optionally, in order to ensure the reliability of the connection between the second link plate 102 and the wheel seat 2, a buffer 105 for reducing friction may be disposed at the rotational connection between the second link plate 102 and the wheel seat 2, wherein the specific shape and structure of the buffer 105 are not limited in this embodiment, and those skilled in the art may arbitrarily set according to the function implemented by the buffer 105, for example, the buffer 105 may be a gasket or a bearing, etc.; specifically, when the second link plate 102 is rotatably connected to the second connecting member 201, the buffer 105 may be disposed at the rotational connection position of the second link plate 102 and the second connecting member 201; when the second connecting member 201 is rotatably connected to the wheel base 2, the buffer member 105 may be disposed at a rotational connection position of the wheel base 2 and the second connecting member 201.
In this embodiment, the wheel seat 2 is linearly moved relative to the chassis body 3 by the articulated chain 100 having at least two degrees of freedom, that is, three of the first link plate, the first link plate 101 and the second link plate 102 are connected in series by the pin 103 and the buffer member 105, and when one of the three is taken as a reference (for example, assuming that the first link plate is stationary), the remaining first link plate 101 and the second link plate 102 can only rotate in a plane perpendicular to the axis of the pin 103 (that is, the moving plane of the moving chain). Specifically, first link joint 101 can be connected with chassis main part 3 through first connecting piece 104 rotation, rotate to preset the position at first link joint 101, can transmit the effort to second link joint 102, second link joint 102 can rotate for wheel seat 2 under the drive of effort, when second link joint 102 can rotate with wheel seat 2 through second connecting piece 201, can realize wheel seat 2 and carry out rectilinear motion in the direction of predetermineeing for chassis main part 3 under chassis main part 3's effect through joint motion chain 100, guaranteed chassis suspension mechanism 1 effectively and used reliable and stable.
On the basis of the above-mentioned embodiment, as can be seen with continued reference to fig. 1 to 3, in order to further improve the stability and reliability of the chassis suspension mechanism 1, the chassis suspension mechanism 1 in this embodiment may further include: the spring 402 damper 4 is provided between the chassis main body 3 and the wheel base 2, and dissipates kinetic energy generated when the wheel base 2 moves linearly with respect to the chassis main body 3.
Wherein the spring 402 damper 4 comprises: a spring 402 provided between the wheel holder 2 and the chassis body 3, the spring 402 for holding the wheel holder 2 at a preset position with respect to the chassis body 3.
Preferably, in order to ensure the stable reliability of the arrangement of the spring 402, the spring 402 damper 4 may further include: the support column 401 and the spring 402 are sleeved on the support column 401, one end of the support column 401 is arranged on the wheel seat 2, and the other end of the support column 401 is connected with any one articulation chain 100 of the at least two articulation chains 100 in a sliding manner.
Specifically, when the spring 402 damper 4 is arranged, in order to ensure the stable and reliable use of the spring 402 damper 4, one end of the support column 401 in the spring 402 damper 4 may be slidably connected to any one articulation chain 100 of the at least two articulation chains 100; so that the length of the supporting column 401 can be adjusted, and when the length of the supporting column 401 is adjusted, the spring 402 can be adapted to perform an extending or contracting operation. Specifically, when the support column 401 is coupled to the articulation chain 100, it may be directly coupled to one end of the articulation chain 100, or may be coupled to one end of the articulation chain 100 via a coupling member.
The damper 4 of the spring 402 can consume the kinetic energy of the wheel seat 2 when moving up and down, and can generate the ground pressure relative to the driving wheel under the action of the chassis main body 3, thereby improving the stability and reliability of the chassis suspension mechanism 1.
Fig. 4 is a schematic structural diagram of a driving device according to an embodiment of the present invention; referring to fig. 4, the present embodiment provides a driving apparatus including:
at least one driving wheel 5;
the chassis suspension mechanism 1 and the driving wheel 5 are fixedly connected with the wheel seat 2 in the chassis suspension mechanism 1.
The present embodiment is not limited to the specific shape and structure of the driving wheel 5, and those skilled in the art can design different structures according to specific application requirements, wherein one achievable way is as follows: the driving wheel 5 may include a wheel and a driving motor inside the wheel; alternatively, another way that can be implemented is: the drive wheels 5 may include wheels and a drive device including a motor and a reducer located outside the wheels. It should be noted that, no matter what structure of the driving wheel 5 is adopted, the driving wheel 5 is fixedly connected with the wheel seat 2, that is, the wheel seat 2 and the driving wheel 5 move simultaneously.
The driving device provided by the embodiment is provided with the chassis suspension mechanism 1 connected with the driving wheel 5, specifically, the chassis suspension mechanism 1 comprises at least two articulation chains 100 arranged between the wheel seat 2 and the chassis main body 3, and can realize that the wheel seat 2 linearly moves in a preset direction relative to the chassis main body 3, wherein all the articulation chains 100 in the chassis suspension mechanism 1 are composed of rotatable joints, and compared with a linear motion pair in the existing suspension mechanism, the driving device is simple in structure, low in manufacturing cost, convenient to install and maintain, and capable of ensuring the accuracy of motion control, so that the stability and reliability of the driving device are effectively improved.
Fig. 5 is a partial schematic view of a robot according to an embodiment of the present invention, and referring to fig. 5, a partial structural schematic view of a robot is provided, where the robot may include:
a chassis main body 3;
the drive device is connected to the chassis body 3.
As can be seen from fig. 4, the driving device may include the chassis suspension mechanism 1 and the driving wheels 5, specifically, the chassis suspension mechanism 1 may be installed at the lower end of the chassis main body 3 and connected to the wheel seats 2 of the driving wheels 5, it can be understood that one robot may include two driving wheels 5, at this time, the two chassis suspension mechanisms 1 may include two chassis suspension mechanisms 1, and the two chassis suspension mechanisms 1 are both disposed at the lower end of the chassis main body 3 and respectively connected to the wheel seats 2 of the two driving wheels 5.
The robot provided by the embodiment is provided with the driving device connected with the chassis main body 3, specifically, the driving device comprises at least two joint motion chains arranged between the wheel seat 2 and the chassis main body 3, and can realize that the wheel seat 2 linearly moves in a preset direction relative to the chassis main body 3, wherein all the joint motion chains in the chassis suspension mechanism 1 are composed of rotatable joints, and compared with a linear motion pair in the existing suspension mechanism, the robot is simple in structure, low in manufacturing cost, convenient to install and maintain, and capable of ensuring the accuracy of motion control, so that the stability and reliability of the robot are effectively improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (16)
1. A chassis suspension mechanism, comprising:
the at least two joint motion chains are arranged between the wheel seat and the chassis main body and used for realizing the linear motion of the wheel seat relative to the chassis main body in a preset direction; the articulation chain comprises at least: the first chain plate is used for being in rotary connection with the chassis main body, and the second chain plate is used for being in rotary connection with the wheel seat;
wherein a movement plane formed by one of the at least two articulation chains is not parallel to a movement plane formed by the other articulation chains, and the movement plane is a plane in which the first link plate and the second link plate perform relative movement.
2. The chassis suspension mechanism of claim 1, wherein the first link plate is connected to the chassis body by a first connecting member, and wherein a connecting joint of the first link plate and the first connecting member is a rotary joint.
3. The chassis suspension mechanism of claim 2, wherein the first connector is fixedly disposed on the chassis body.
4. The chassis suspension mechanism of claim 1, wherein the second link plate is connected to the wheel base by a second connecting member, and wherein a joint of the second link plate and the second connecting member is a rotational joint.
5. The chassis suspension mechanism of claim 4, wherein the second connector is fixedly disposed on the wheel base.
6. The undercarriage suspension mechanism of claim 1 wherein said first link plate is connected to said second link plate by a pin.
7. The chassis suspension mechanism of claim 1, wherein the length of the first link plate is equal to the length of the second link plate; or,
the length of the first chain plate is different from that of the second chain plate.
8. The chassis suspension mechanism according to any one of claims 1 to 7, wherein a buffer member for reducing friction is provided at a rotational connection of the first link plate and the second link plate; and/or the presence of a gas in the gas,
a buffer part for reducing friction force is arranged at the rotary connection part of the first chain plate and the chassis main body; and/or the presence of a gas in the gas,
and a buffer part for reducing friction force is arranged at the rotary joint of the second chain plate and the wheel seat.
9. The chassis suspension mechanism according to any one of claims 1-7, further comprising:
and the spring damper is arranged between the chassis main body and the wheel seat and used for consuming kinetic energy generated when the wheel seat linearly moves relative to the chassis main body.
10. The chassis suspension mechanism of claim 9, wherein the spring damper includes a spring disposed between the wheel base and chassis body for holding the wheel base at a preset position relative to the chassis body.
11. The chassis suspension mechanism of claim 10, wherein the spring damper further comprises: the spring sleeve is arranged on the supporting column, one end of the supporting column is arranged on the wheel seat, and the other end of the supporting column is in sliding connection with any one of the at least two articulated chains.
12. The chassis suspension mechanism according to any of claims 1-7, wherein any two of the at least two articulation chains are the same length; or,
any two of the at least two articulation chains are of different lengths.
13. A drive device, comprising:
at least one drive wheel;
the chassis suspension of any of claims 1-12, wherein the drive wheel is fixedly connected to a wheel seat in the chassis suspension.
14. The drive of claim 13, wherein the drive wheel comprises a wheel and a drive motor located within the wheel.
15. The drive of claim 13, wherein the drive wheel comprises a wheel and a drive device external to the wheel, the drive device comprising a motor and a speed reducer.
16. A robot, comprising:
a chassis main body;
the drive of claim 13, said drive being coupled to said chassis body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910040692.5A CN111439080A (en) | 2019-01-16 | 2019-01-16 | Chassis suspension mechanism, driving device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910040692.5A CN111439080A (en) | 2019-01-16 | 2019-01-16 | Chassis suspension mechanism, driving device and robot |
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| CN111439080A true CN111439080A (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910040692.5A Pending CN111439080A (en) | 2019-01-16 | 2019-01-16 | Chassis suspension mechanism, driving device and robot |
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