CN112124023A - Chassis suspension mechanism and walking motion system - Google Patents

Chassis suspension mechanism and walking motion system Download PDF

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Publication number
CN112124023A
CN112124023A CN202010901341.1A CN202010901341A CN112124023A CN 112124023 A CN112124023 A CN 112124023A CN 202010901341 A CN202010901341 A CN 202010901341A CN 112124023 A CN112124023 A CN 112124023A
Authority
CN
China
Prior art keywords
hole
plate
connection
seat
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010901341.1A
Other languages
Chinese (zh)
Inventor
赵永进
牟俊鑫
覃甲林
余文华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ubtech Robotics Corp
Shenzhen Youbixuan Technology Co Ltd
Original Assignee
Shenzhen Youbixuan Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Youbixuan Technology Co Ltd filed Critical Shenzhen Youbixuan Technology Co Ltd
Priority to CN202010901341.1A priority Critical patent/CN112124023A/en
Publication of CN112124023A publication Critical patent/CN112124023A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/02Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs

Abstract

The invention belongs to the technical field of robot precision equipment, and particularly relates to a chassis suspension mechanism and a walking motion system. The chassis suspension mechanism includes: the bracket comprises a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are connected in an L shape, the first connecting plate is provided with a first connecting seat, and the second connecting plate is provided with a second connecting seat; the first connecting end of the shock absorber component is connected to the first connecting seat; the third connecting end of the swing arm assembly is connected to the second connecting seat; the assembly plate is provided with a third connecting seat and a fourth connecting seat, the second connecting end of the shock absorber assembly is connected to the third connecting seat, and the fourth connecting end of the swing arm assembly is connected to the fourth connecting seat; the central axis of the vibration damper is obliquely arranged in the direction away from the second connecting plate. By the aid of the technical scheme, the problem that lateral vibration caused by axial force cannot be effectively damped by an existing suspension mechanism, so that lateral deviation occurs in the walking process of the robot is solved.

Description

Chassis suspension mechanism and walking motion system
Technical Field
The invention belongs to the technical field of robot precision equipment, and particularly relates to a chassis suspension mechanism and a walking motion system.
Background
The chassis system of the robot is one of the core components of the whole robot system, and the important functions of the chassis system are to realize the walking driving function and the vibration damping function of the robot, so the suspension mechanism is one of the difficulties in the development process of the chassis system of the robot. The existing suspension mechanism has a good function of damping in the vertical direction. However, the vibration damping effect in other directions, such as lateral vibration caused by axial force along the central axis of the advancing wheel, cannot be realized, so that risks such as uneven wear of the inner side and the outer side of the wheel, different adhesion force of the wheel to the ground, and even toppling of the vehicle body caused by the wheel being lifted off from the ground are easily caused in the motion process of the vehicle body of the robot. In addition, a common suspension structure is evolved based on a double-fork arm structure of an automobile, and the vibration reduction of an automobile body is realized by utilizing a double-fork arm component and a vibration absorber which are arranged on the inner side of a supporting part, but the suspension has more connecting position points, has not less than 6 revolute pairs, has more components and larger system structure volume, so that the design can not be completed in a smaller space. Moreover, such complex structures are not conducive to reducing cost and weight, stressing subsequent quality optimization and manufacturing costs, resulting in increased risk factor values for system stability.
Disclosure of Invention
The invention aims to provide a chassis suspension mechanism and a walking motion system, and aims to solve the problem that lateral vibration caused by axial force cannot be effectively damped by the conventional suspension mechanism, so that a robot is laterally deviated in the walking process.
In order to achieve the purpose, the invention adopts the technical scheme that: a chassis suspension mechanism comprising: the bracket comprises a first connecting plate and a second connecting plate, the first end of the first connecting plate is connected with the first end of the second connecting plate to form an L shape, a first connecting seat is arranged on the side wall, close to the second connecting plate, of the first connecting plate, and a second connecting seat is arranged at the second end of the second connecting plate; the shock absorber assembly is provided with a first connecting end and a second connecting end, and the first connecting end is connected to the first connecting seat; the swing arm assembly is provided with a third connecting end and a fourth connecting end, and the third connecting end is connected to the second connecting seat; the first end of the assembling plate is provided with a third connecting seat, the second end of the assembling plate is provided with a fourth connecting seat, the second connecting end is connected to the third connecting seat, and the fourth connecting end is connected to the fourth connecting seat; the connecting line of the first connecting end and the second connecting end is a central axis of the shock absorber assembly, and the central axis is obliquely arranged towards the direction far away from the second connecting plate in the process of vibration reduction and force application of the shock absorber assembly from the first connecting end to the second connecting end.
Further, the shock absorber subassembly includes shock absorber, first connecting axle and second connecting axle, and the first end of shock absorber is articulated through first connecting axle with first connecting seat, and the second end of shock absorber is articulated through second connecting axle with the connection lateral wall of wheel.
Furthermore, the swing arm assembly comprises a connecting arm, a third connecting shaft and a fourth connecting shaft, the first end of the connecting arm is hinged to the second connecting seat through the third connecting shaft, and the second end of the connecting arm is hinged to the connecting side wall of the wheel through the fourth connecting shaft.
According to another aspect of the present invention, there is provided a walking motion system including: the fixing base, turn to the power supply, in-wheel motor and as aforementioned chassis suspension mechanism, one side fixedly connected with support connection portion that first connecting plate deviates from the second connecting plate, support connection portion rotationally connects in the fixing base, it has the power connection end to turn to the power supply, power connection end and support connection portion coaxial coupling, in-wheel motor includes the stator portion and by stator portion drive pivoted rotor portion, stator portion fixed connection is in the assembly plate.
Furthermore, the walking motion system also comprises a bearing part, the bearing part is provided with an inner ring and an outer ring which can rotate relatively, the inner ring is fixedly sleeved on the support connecting part, the fixed seat is provided with an assembly through hole, and the outer ring is fixedly arranged in the assembly through hole.
Further, the bearing portion includes an even number of tapered roller bearings, and a direction of inclination of the cylindrical rollers of one of the adjacent two tapered roller bearings with respect to the support-connection-portion central axis is opposite to a direction of inclination of the cylindrical rollers of the other one with respect to the support-connection-portion central axis.
Furthermore, the bearing portion further comprises a bearing limiting sleeve, a bearing limiting sleeve is arranged between every two adjacent tapered roller bearings, and two ends of the bearing limiting sleeve are respectively abutted against outer rings of the two tapered roller bearings.
Furthermore, the steering power source comprises a steering engine and a switching mechanism, the steering engine is connected to the fixed seat, the power connecting end is an output rotating shaft of the steering engine, and the power connecting end is in transmission connection with the supporting connecting portion through the switching mechanism.
Further, the switching mechanism comprises a first flange plate and a coupler, the power connecting end is provided with a second flange plate, the first flange plate is fixedly connected with the second flange plate, the first flange plate is provided with a connecting shaft head, the connecting shaft head is connected with the supporting connecting portion through the coupler, and the power connecting end, the connecting shaft head and the supporting connecting portion are coaxially arranged.
Furthermore, the coupler is a U-shaped opening part, the U-shaped opening part comprises a first straight wall, an arc-shaped wall and a second straight wall which are sequentially connected, a first through hole and a second through hole are formed in the first straight wall, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall, a third through hole and a fourth through hole are formed in the second straight wall, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, a fifth through hole is formed in the connecting shaft head, a sixth through hole is formed in the supporting connecting portion, the switching mechanism further comprises a connecting screw, one connecting screw sequentially penetrates through the first through hole, the fifth through hole and the third through hole and then is locked with the nut, and the other connecting screw sequentially penetrates through the second through hole, the sixth through hole and the fourth through hole and then is locked with.
The invention has at least the following beneficial effects:
the chassis suspension mechanism is assembled by adopting a bracket formed by assembling a first connecting plate and a second connecting plate, the L-shaped bracket limits the size of the assembly space of the chassis suspension mechanism so as to adapt to the requirement of a walking motion system of a robot on a narrow assembly space, a vibration damper component, a swing arm component and the assembly plate form an effective vibration damping part, and the central axis of the vibration damper component is obliquely arranged towards the direction far away from the second connecting plate, so that when the walking motion system bears the weight of the robot, the vibration damper component is extruded to generate a vertical downward component force and an axial component force parallel to the central axis of a wheel, the vertical downward component force balances the weight of the robot, and the axial component force balances the borne axial force. Therefore, the chassis suspension mechanism can realize effective vibration reduction in the vertical direction, also can realize effective vibration reduction on lateral deviation vibration caused by axial force, and eliminates the condition of side abrasion of wheels, so that the walking motion of the robot is always kept stable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic view of an assembly configuration of a chassis suspension mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is a front view of a walking motion system according to an embodiment of the present invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a cross-sectional view taken along line C-C of FIG. 4;
FIG. 6 is an enlarged view taken at D in FIG. 5;
FIG. 7 is an exploded view of a walking motion system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a coupling in the walking motion system according to the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10. a support; 11. a first connecting plate; 111. a first connecting seat; 12. a second connecting plate; 121. a second connecting seat; 20. a damper assembly; 21. a shock absorber; 22. a first connecting shaft; 23. a second connecting shaft; 30. a swing arm assembly; 31. a connecting arm; 32. a third connecting shaft; 33. a fourth connecting shaft; 40. assembling a plate; 41. a third connecting seat; 42. a fourth connecting seat; 210. a fixed seat; 211. assembling the through hole; 220. a steering power source; 221. a power connection end; 2211. a second flange plate; 222. a steering engine; 2221. a drive gear set; 2222. a steering engine motor; 223. a transfer mechanism; 2231. a first flange plate; 2232. a coupling; 22321. a first straight wall; 22322. an arcuate wall; 22323. a second straight wall; 230. a hub motor; 231. a stator portion; 232. a rotor portion; 240. a support connection portion; 250. a bearing portion; 251. a tapered roller bearing; 252. a bearing stop collar; 51. assembling screws; 52. and connecting screws.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and fig. 2, the chassis suspension mechanism provided by the embodiment of the invention is applied to a walking motion system of a robot to perform vibration damping protection on the walking process of the robot. The chassis suspension mechanism comprises a bracket 10, a damper assembly 20, a swing arm assembly 30 and an assembly plate 40, wherein the bracket 10 comprises a first connecting plate 11 and a second connecting plate 12, a first end of the first connecting plate 11 is connected with a first end of the second connecting plate 12 to form an L shape, a first connecting seat 111 is arranged on the side wall of the first connecting plate 11 close to the second connecting plate 12, a second connecting seat 121 is arranged on a second end of the second connecting plate 12, the damper assembly 20 is provided with a first connecting end and a second connecting end, the first connecting end is connected with the first connecting seat 111, the swing arm assembly 30 is provided with a third connecting end and a fourth connecting end, the third connecting end is connected with the second connecting seat 121, the first end of the assembly plate 40 is provided with a third connecting seat 41, the second end of the assembly plate 40 is provided with a fourth connecting seat 42, the second connecting end is connected with the third connecting seat 41, the fourth connecting end is connected with, the connection line between the first connection end and the second connection end is a central axis of the damper assembly 20, and the central axis is inclined in a direction away from the second connection plate 12 in a damping force application process of the damper assembly 20 in a direction from the first connection end to the second connection end.
The chassis suspension mechanism is assembled into a walking motion system of a robot by using the chassis suspension mechanism, the chassis suspension mechanism is assembled by adopting a bracket formed by assembling a first connecting plate and a second connecting plate, the bracket in an L-shaped form limits the size of an assembling space of the chassis suspension mechanism, thereby meeting the requirement of a walking motion system of the robot on narrow assembly space, forming an effective vibration damping part by utilizing the vibration damper component, the swing arm component and the assembly plate, during the vibration damping force application process of the vibration damper assembly 20, since the central axis of the vibration damper assembly is inclined towards the direction away from the second connecting plate, thus, when the walking motion system bears the weight of the robot, the shock absorber assembly is squeezed at the moment to generate a vertical downward component force and an axial component force parallel to the central axis of the wheel, the vertical downward component force balances the weight and gravity of the robot, and the axial component force balances the received axial force. Therefore, the chassis suspension mechanism can realize effective vibration reduction in the vertical direction, also can realize effective vibration reduction on lateral deviation vibration caused by axial force, and eliminates the condition of side abrasion of wheels, so that the walking motion of the robot is always kept stable.
As shown in fig. 2, the shock absorber assembly 20 of the chassis suspension mechanism includes a shock absorber 21, a first connecting shaft 22 and a second connecting shaft 23, a first end of the shock absorber 21 is hinged to the first connecting seat 111 through the first connecting shaft 22, and a second end of the shock absorber 21 is hinged to the third connecting seat 41 through the second connecting shaft 23. The first end of the damper 21 and the first connecting shaft 22 constitute a first connecting end of the damper assembly 20, and the second end of the damper 21 and the second connecting shaft 23 constitute a second connecting end of the damper assembly 20. Further, the swing arm assembly 30 comprises a connecting arm 31, a third connecting shaft 32 and a fourth connecting shaft 33, wherein a first end of the connecting arm 31 is hinged to the second connecting seat 121 through the third connecting shaft 32, and a second end of the connecting arm 31 is hinged to the fourth connecting seat 42 through the fourth connecting shaft 33. After the assembly is completed, the assembly plate 40 is restrained by the damper 21 and the connecting arm 31 so that the assembly plate 40 does not come off the bracket 10, and since the damper 21 is designed to be assembled with its central axis inclined toward a direction away from the second connecting plate 12, the assembly plate 40 does not lean against the second connecting plate 12. When the chassis suspension mechanism is equipped with wheels and is on the ground, at this time, due to the gravity of the chassis and the electronic and electric devices equipped on the chassis, the connecting arm 31 swings upward with the central axis of the third connecting shaft 32 as the rotation axis, and the shock absorber 21 is squeezed, since the central axis of the shock absorber 21 is inclined in the direction away from the second connecting plate 12 in the initial state (i.e., the natural state after the wheel is mounted is also inclined with respect to the second connecting plate 12), the spring of the shock absorber 21 is aligned and pressed by the gravity of the chassis, the spring has a horizontal component and a vertical component, the horizontal component can balance the lateral force applied to the wheel in the movement process, and the vertical component can balance the bumping vibration in the vertical direction in the movement process (mainly because the road surface is uneven and the bumping vibration is caused by obstacle crossing), so that the vibration damping function is realized.
According to another aspect of the present invention, as shown in fig. 3 to 7, there is provided a walking motion system which is mounted to a chassis of a robot, i.e., can walk. Specifically, the walking motion system includes a fixing base 210, a steering power source 220, a hub motor 230 and the aforementioned chassis suspension mechanism, wherein the steering power source 220 provides steering power, and the hub motor 230 provides power required for walking. One side of the first connecting plate 11 departing from the second connecting plate 12 is fixedly connected with a supporting connecting portion 240, the supporting connecting portion 240 is rotatably connected to the fixing base 210, the steering power source 220 has a power connecting end 221, and the power connecting end 221 is coaxially connected with the supporting connecting portion 240. When the power connection end 221 outputs power to drive the support connection portion 240 to rotate relative to the fixing base 210, the walking motion system is enabled to achieve steering. The hub motor 230 includes a stator 231 and a rotor 232 driven by the stator 231, the stator 231 includes a motor, the motor can drive the rotor 232 to rotate, the stator 231 is detachably connected and fixed to the assembly plate 40 by the assembly screw 51 (of course, the stator 231 and the assembly plate 40 can also be fixed by welding), and the joint between the stator 231 and the assembly plate 40 is located between the third connecting seat 41 and the fourth connecting seat 42.
In the walking movement system of the present embodiment, it further includes a bearing portion 250, the bearing portion 250 has an inner ring and an outer ring which are relatively rotatable, the inner ring is fixedly fitted on the support connection portion 240, the fixing base 210 is provided with an assembly through hole 211, and the outer ring is fixedly disposed in the assembly through hole 211. By disposing the bearing portion 250 between the support connection portion 240 and the hole wall of the fitting through-hole 211, the bearing portion 250 can assist in reducing friction (rolling friction is smaller than sliding friction) with respect to direct contact sliding friction between the support connection portion 240 and the hole wall of the fitting through-hole 211 when the support connection portion 240 rotates.
Specifically, the bearing portion 250 includes an even number of tapered roller bearings 251, and the inclination direction of the cylindrical roller of one of the adjacent two tapered roller bearings 251 with respect to the central axis of the support connection portion 240 is opposite to the inclination direction of the cylindrical roller of the other with respect to the central axis of the support connection portion 240, so that the engagement between the even number of tapered roller bearings 251 can not only enhance the radial force bearing capability but also bear the axial force bidirectionally in the central axis direction of the support connection portion 240. In the present embodiment, the number of the tapered roller bearings 251 is two.
Further, as shown in fig. 5 and 7, the bearing portion 250 further includes a bearing limiting sleeve 252, the bearing limiting sleeve 252 is disposed between two adjacent tapered roller bearings 251, and two ends of the bearing limiting sleeve 252 respectively abut against outer rings of the two tapered roller bearings 251. By providing the bearing stopper 252 between the two tapered roller bearings 251 to separate the two tapered roller bearings 251, the two tapered roller bearings 251 do not contact each other and interfere with each other during a steering movement.
As shown in fig. 3, 5 and 7, the steering power source 220 of the walking motion system comprises a steering engine 222 and a transfer mechanism 223, and a small steering engine 222 is used for providing steering power, so that the walking motion system can be further miniaturized, and the steering engine 222 comprises a housing, an output rotating shaft, a transmission gear set 2221 and a steering engine motor 2222, wherein the output rotating shaft, the transmission gear set 2221 and the steering engine motor 2222 are assembled in the housing, and the output rotating shaft extends out of the housing to transmit power. The shell of the steering engine 222 is connected to the fixed seat 210, the power connection end 221 is an output rotating shaft of the steering engine 222, and the power connection end 221 is in transmission connection with the support connection part 240 through the switching mechanism 223.
As shown in fig. 5 to 7, specifically, the adapting mechanism 223 of the walking motion system of this embodiment includes a first flange 2231 and a coupling 2232, the power connection end 221 is provided with a second flange 2211, the first flange 2231 is fixedly connected to the second flange 2211, and the first flange 2231 is fixedly connected to the second flange 2211 by butt joint, so that transmission connection can be conveniently and quickly achieved, and the assembly efficiency is improved. The first flange 2231 is provided with a connecting shaft head, the connecting shaft head is connected with the support connecting part 240 through a coupler 2232, and the power connecting end 221, the connecting shaft head and the support connecting part 240 are coaxially arranged, so that the steering power output by the steering engine 222 is sequentially transmitted to realize steering.
In an embodiment of the present invention, and with reference to fig. 8, to accommodate the coaxial fit of the attachment stub shaft and the support attachment 240, the coupler 2232 is custom designed, namely: the coupler 2232 is a U-shaped open component, the U-shaped open component includes a first straight wall 22321, an arc-shaped wall 22322 and a second straight wall 22323, which are connected in sequence, the first straight wall 22321 is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall 22322, the second straight wall 22323 is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the supporting and connecting portion 240 is provided with a sixth through hole, the adapter mechanism 223 further includes a connecting screw 52, one connecting screw 52 sequentially penetrates through the first through hole, the fifth through hole and the third through hole and then is locked with the nut, and the other connecting screw 52 sequentially penetrates through the second through hole, the sixth through hole and the fourth through.
When the walking motion system of the present embodiment is applied to a robot and assembled, as shown in fig. 2, after the assembly is completed, in an overall natural state, the first connecting plate 11 is horizontal, the second connecting plate 12 is vertical (the first connecting plate 11 and the second connecting plate 12 are perpendicular to each other), when the in-wheel motor 230 is placed on the ground and is balanced, the in-wheel motor 230 is aligned under the gravity of the chassis of the robot, and a weight line of a center point of a connection between the first connecting seat 111 and the first connecting shaft 22 is set to be a straight line a (in a balanced and stationary state, a longitudinal straight line obtained by using a weight at the center point of the connection between the first connecting seat 111 and the first connecting shaft 22 is set to be a weight line a), the central axis of the damper 21 is set to be a straight line B, in a balanced and stationary state, and the in-wheel motor 230 is aligned, at this time, the straight line B is inclined toward a side away from the second connecting plate 12, the angle β (β >0) between the straight line a and the straight line B is then, and during the walking movement, the angle of the angle β is always greater than 0, i.e. the straight line B does not cross the straight line a and continues to approach the second connecting plate 12. In the walking process, when the in-wheel motor 230 returns to the right and is balanced, the included angle β is a determined value, and when the included angle β increases or decreases, the in-wheel motor 230 is laterally deviated. When β decreases, the damper 21 continues to be compressed, and the damper 21 provides a restoring force to the in-wheel motor 230; when the beta is increased, the in-wheel motor 230 is laterally deviated in a direction away from the second connecting plate 12, and returns to the right under the action of the gravity of the chassis.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A chassis suspension mechanism, comprising:
the support (10) comprises a first connecting plate (11) and a second connecting plate (12), the first end of the first connecting plate (11) is connected with the first end of the second connecting plate (12) to form an L shape, a first connecting seat (111) is arranged on the side wall, close to the second connecting plate (12), of the first connecting plate (11), and a second connecting seat (121) is arranged at the second end of the second connecting plate (12);
a damper assembly (20), said damper assembly (20) having a first connection end and a second connection end, said first connection end connected to said first connection seat (111);
a swing arm assembly (30), the swing arm assembly (30) having a third connection end and a fourth connection end, the third connection end being connected to the second connection seat (121);
the assembling plate (40), a third connecting seat (41) is arranged at the first end of the assembling plate (40), a fourth connecting seat (42) is arranged at the second end of the assembling plate (40), the second connecting end is connected to the third connecting seat (41), and the fourth connecting end is connected to the fourth connecting seat (42);
the connecting line of the first connecting end and the second connecting end is the central axis of the shock absorber assembly (20), and the central axis is obliquely arranged towards the direction far away from the second connecting plate (12) in the process of carrying out shock absorption and force application on the shock absorber assembly (20) from the direction from the first connecting end to the second connecting end.
2. Chassis suspension mechanism according to claim 1, characterized in that the shock absorber assembly (20) comprises a shock absorber (21), a first connecting shaft (22) and a second connecting shaft (23), a first end of the shock absorber (21) being hinged with the first connecting seat (111) through the first connecting shaft (22), a second end of the shock absorber (21) being hinged with the third connecting seat (41) through the second connecting shaft (23).
3. Chassis suspension mechanism according to claim 1 or 2, wherein the swing arm assembly (30) comprises a connecting arm (31), a third connecting shaft (32) and a fourth connecting shaft (33), a first end of the connecting arm (31) being hinged with the second connecting seat (121) via the third connecting shaft (32), a second end of the connecting arm (31) being hinged with the fourth connecting seat (42) via the fourth connecting shaft (33).
4. A walking motion system, comprising: a fixing base (210), a steering power source (220), an in-wheel motor (230) and the chassis suspension mechanism as claimed in any one of claims 1 to 3, wherein a support connecting portion (240) is fixedly connected to a side of the first connecting plate (11) facing away from the second connecting plate (12), the support connecting portion (240) is rotatably connected to the fixing base (210), the steering power source (220) has a power connecting end (221), the power connecting end (221) is coaxially connected with the support connecting portion (240), the in-wheel motor (230) comprises a stator portion (231) and a rotor portion (232) driven by the stator portion (231) to rotate, and the stator portion (231) is fixedly connected to the assembling plate (40).
5. The walking motion system of claim 4, wherein the walking motion system further comprises a bearing portion (250), the bearing portion (250) has an inner ring and an outer ring which are relatively rotatable, the inner ring is fixedly sleeved on the support connecting portion (240), the fixed seat (210) is provided with an assembling through hole (211), and the outer ring is fixedly arranged in the assembling through hole (211).
6. The walking motion system of claim 5, wherein the bearing portion (250) comprises an even number of tapered roller bearings (251), and the inclination direction of the cylindrical rollers of one of the adjacent two tapered roller bearings (251) with respect to the central axis of the support connection portion (240) is opposite to the inclination direction of the cylindrical rollers of the other with respect to the central axis of the support connection portion (240).
7. The walking motion system of claim 6, wherein the bearing portion (250) further comprises a bearing limiting sleeve (252), a bearing limiting sleeve (252) is arranged between two adjacent tapered roller bearings (251), and two ends of the bearing limiting sleeve (252) respectively abut against outer rings of the two tapered roller bearings (251).
8. The walking motion system according to any one of claims 4 to 7, wherein the steering power source (220) comprises a steering engine (222) and a switching mechanism (223), the steering engine (222) is connected to the fixed base (210), the power connection end (221) is an output rotating shaft of the steering engine (222), and the power connection end (221) is in transmission connection with the support connection part (240) through the switching mechanism (223).
9. The walking motion system of claim 8, wherein the adapter mechanism (223) comprises a first flange (2231) and a coupling (2232), the power connection end (221) is provided with a second flange (2211), the first flange (2231) is fixedly connected with the second flange (2211), the first flange (2231) is provided with a connection shaft head, the connection shaft head is connected with the support connection portion (240) through the coupling (2232), and the power connection end (221), the connection shaft head and the support connection portion (240) are coaxially arranged.
10. The walking exercise system of claim 9, wherein the coupling (2232) is a U-shaped open member, the U-shaped open member comprises a first straight wall (22321), an arc-shaped wall (22322) and a second straight wall (22323) connected in sequence, the first straight wall (22321) is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall (22322), the second straight wall (22323) is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the supporting connection portion (2311) is provided with a sixth through hole, the adapter mechanism (223) further comprises a connecting screw (52), and one connecting screw (52) passes through the first through hole, the second through hole, and the connecting screw (52) passes through the first through hole, the sixth through hole in sequence, The fifth through hole and the third through hole are locked with the nut, and the other connecting screw (52) penetrates through the second through hole, the sixth through hole and the fourth through hole in sequence and is locked with the nut.
CN202010901341.1A 2020-08-31 2020-08-31 Chassis suspension mechanism and walking motion system Pending CN112124023A (en)

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CN202010901341.1A CN112124023A (en) 2020-08-31 2020-08-31 Chassis suspension mechanism and walking motion system

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CN202010901341.1A CN112124023A (en) 2020-08-31 2020-08-31 Chassis suspension mechanism and walking motion system

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB485339A (en) * 1936-05-28 1938-05-18 Briggs Mfg Co Improvements in and relating to shock absorbing means for vehicle wheels
FR2760408A1 (en) * 1997-01-09 1998-09-11 Mannesmann Sachs Ag ADJUSTABLE FRICTION SHOCK ABSORBER AND VEHICLE AXLE HAVING SUCH A SHOCK ABSORBER
CN101638052A (en) * 2009-08-21 2010-02-03 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking
CN101973307A (en) * 2010-10-19 2011-02-16 吉林大学 Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle
CN202674062U (en) * 2012-07-06 2013-01-16 中国兵器工业第二O二研究所 Adapter coupling
CN104175861A (en) * 2014-08-25 2014-12-03 安徽工程大学 Chassis drive system for all-wheel drive and all-wheel steering electric forklift and control method thereof
CN110450622A (en) * 2019-08-15 2019-11-15 纳恩博(北京)科技有限公司 Independent steering drive system and dispensing machine people

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB485339A (en) * 1936-05-28 1938-05-18 Briggs Mfg Co Improvements in and relating to shock absorbing means for vehicle wheels
FR2760408A1 (en) * 1997-01-09 1998-09-11 Mannesmann Sachs Ag ADJUSTABLE FRICTION SHOCK ABSORBER AND VEHICLE AXLE HAVING SUCH A SHOCK ABSORBER
CN101638052A (en) * 2009-08-21 2010-02-03 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking
CN101973307A (en) * 2010-10-19 2011-02-16 吉林大学 Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle
CN202674062U (en) * 2012-07-06 2013-01-16 中国兵器工业第二O二研究所 Adapter coupling
CN104175861A (en) * 2014-08-25 2014-12-03 安徽工程大学 Chassis drive system for all-wheel drive and all-wheel steering electric forklift and control method thereof
CN110450622A (en) * 2019-08-15 2019-11-15 纳恩博(北京)科技有限公司 Independent steering drive system and dispensing machine people

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