CN112248733A - Chassis suspension mechanism, chassis and robot - Google Patents
Chassis suspension mechanism, chassis and robot Download PDFInfo
- Publication number
- CN112248733A CN112248733A CN202011149959.3A CN202011149959A CN112248733A CN 112248733 A CN112248733 A CN 112248733A CN 202011149959 A CN202011149959 A CN 202011149959A CN 112248733 A CN112248733 A CN 112248733A
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- chassis
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- swing
- movable support
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- 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
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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
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a chassis suspension mechanism, a chassis and a robot, wherein the chassis suspension mechanism comprises: the swing rod assembly is arranged on the chassis and can swing along the vertical direction along with the driven wheel; the movable frame assembly is connected with a driving wheel in an installing mode, the movable frame assembly is connected to the chassis and is respectively in pivot connection with the swing rod assemblies on the two sides, and the movable frame assembly can drive the driving wheel to move upwards or downwards along the vertical direction when the swing rod assembly on one side swings along the vertical direction and drive the swing rod assembly on the other side to swing along the vertical direction. The chassis suspension mechanism can improve the ground adaptability and the running stability of the chassis. Correspondingly, the invention further provides the chassis and the robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a chassis suspension mechanism, a chassis comprising the chassis suspension mechanism and a robot comprising the chassis.
Background
Generally, the traditional mobile chassis suspension system generally adopts a spring single-wheel suspension structure or a local linkage structure. In the spring single-wheel suspension structure, the driving wheel is hung independently, and the supporting wheel (i.e. the driven wheel) is rigidly grounded. In the local connecting rod linkage structure, local driven wheels are linked with driving wheels, and other driven wheels are rigidly grounded. However, the driven wheel is wholly or partially rigidly grounded, so that the ground adaptability of the chassis is not good, the buffering and vibration absorbing capacity is not strong enough, the vibration and noise are large when the driven wheel meets bumpy roads such as small steps and floor tiles, and the adaptability to different road conditions is poor. In addition, the spring suspension structure is easy to cause resonance when running on soft ground such as a carpet and the like, continuous swing is generated, and the running stability of the chassis is influenced.
Disclosure of Invention
The invention aims to provide a chassis suspension mechanism, a chassis and a robot, which can improve the ground adaptability and the running stability of the chassis.
To achieve the purpose, on one hand, the invention adopts the following technical scheme:
a chassis suspension mechanism comprising:
the swing rod assembly is connected with a driven wheel in an installing mode, the swing rod assembly is installed on a chassis and can swing along the vertical direction along with the driven wheel; and the number of the first and second groups,
the movable frame assembly is connected with a driving wheel in an installing mode, the movable frame assembly is connected to the chassis and is respectively in pivot connection with the swing rod assemblies on two sides, and the movable frame assembly can drive the driving wheel to move upwards or downwards along the vertical direction when the swing rod assemblies on one side swing along the vertical direction and drive the swing rod assemblies on the other side to swing along the vertical direction.
In one embodiment, the movable frame assembly comprises: the movable support comprises a first fixed support, a first movable support and a second movable support, wherein the first movable support and the second movable support are arranged in a mutually crossed mode and are connected with each other through a pivot at the crossed position, the first fixed support is fixedly arranged on the chassis, the first movable support is connected with the first fixed support through the pivot, the second movable support is connected with the first fixed support through the pivot, and the second movable support can slide on the first fixed support.
In one embodiment, the movable frame assembly further comprises elastic shock-absorbing elements respectively connected with the first movable bracket and the second movable bracket.
In one embodiment, the elastic shock absorbing element is a damping shock absorber.
In one embodiment, the swing link assemblies are respectively pivotally connected to the upper portions of the corresponding first movable bracket and the second movable bracket.
In one embodiment, the swing link assembly includes: the second fixed support is mounted on the chassis, the swing rod is connected with a driven wheel in a mounting mode, the swing rod is connected with the second fixed support in a pivot mode, one end of the connecting rod is connected with the swing rod in a pivot mode, the other end of the connecting rod is connected with the corresponding first movable support or the second movable support in a pivot mode, and then the driven wheel and the driving wheel are linked together in an up-and-down mode.
In one embodiment, the swing link assembly is pivotally connected to the first movable bracket and the second movable bracket at the intersection of the first movable bracket and the second movable bracket, respectively.
In one embodiment, the swing rod assembly includes a second fixed bracket and a swing rod, the second fixed bracket is mounted on the chassis, one end of the swing rod is connected with a driven wheel, the other end of the swing rod is respectively pivoted with the first movable bracket and the second movable bracket at the intersection of the first movable bracket and the second movable bracket, the middle of the swing rod is pivoted with the second fixed bracket, and the swing rod can slide on the second fixed bracket, so that the driven wheel and the driving wheel are linked up and down.
In one embodiment, the swing rod is provided with an oblong hole, and the swing rod is connected with the second fixing bracket in a sliding manner through the oblong hole.
In one embodiment, the first fixing bracket is provided with a sliding groove.
In another aspect, the invention further provides a chassis comprising the chassis suspension mechanism as described in any one of the above.
In another aspect, the invention further provides a robot, which includes the chassis.
In foretell chassis suspension mechanism, the adjustable shelf subassembly is connected with pendulum rod subassembly pivot, can realize that the up-and-down motion of adjustable shelf subassembly along vertical direction and the swing interconversion of pendulum rod subassembly along vertical direction, when the pendulum rod subassembly of adjustable shelf subassembly one side swings along vertical direction along with the follower, the adjustable shelf subassembly follows the pendulum rod subassembly and moves and drive the drive wheel and upwards or move down along vertical direction, and the pendulum rod subassembly that drives the opposite side swings along vertical direction, the pendulum rod subassembly of opposite side further drives the driven wheel of installing above that and swings along vertical direction, the driven wheel of drive wheel and both sides passes through the adjustable shelf subassembly and pendulum rod subassembly realizes that the tricycle integrally hangs, thereby realize the tricycle linkage. When the chassis is operated on an uneven road surface, a driven wheel on one side of a driving wheel is lifted by an upward acting force, the swing rod assembly swings upwards along the vertical direction, the swing rod assembly moves upwards or downwards along the vertical direction along with the swing movable frame assembly swinging, the movable frame assembly further drives the swing rod assembly on the other side to swing along the vertical direction, the driven wheel on two sides and the driving wheel in the middle are linked through mutual conversion of the swing rod assemblies on two sides and the vertical movement of the movable frame assembly, so that the impact force of the swing rod assembly is absorbed, the situation that the ground impact is directly transmitted to the chassis through the driven wheel can be avoided, the flexibility of the chassis and the buffer capacity of the chassis on the uneven road surface are improved, the vibration and the.
In addition, the chassis suspension mechanisms are arranged on the chassis and symmetrically distributed by adopting the left suspension mechanism and the right suspension mechanism, the two groups of suspension mechanisms are symmetrically distributed left and right, and the three wheels on one side are linked, so that the chassis can be effectively prevented from generating resonance, and the running stability of the chassis is improved.
The chassis has the beneficial effects of strong ground adaptability and high running stability by applying the chassis suspension mechanism.
The robot has the beneficial effects of strong ground adaptability and high running stability by applying the chassis.
Drawings
FIG. 1 is a schematic structural diagram of a chassis according to an embodiment;
FIG. 2 is a schematic illustration of a chassis suspension mechanism in the chassis shown in FIG. 1;
FIG. 3 is a schematic diagram of the movement trend of the chassis suspension mechanism of FIG. 2;
FIG. 4 is a schematic structural view of a base plate according to a second embodiment;
FIG. 5 is a schematic illustration of a chassis suspension mechanism in the chassis shown in FIG. 4;
fig. 6 is a schematic diagram of the movement trend of the chassis suspension mechanism shown in fig. 5.
Description of reference numerals:
10-a chassis, 20-a movable frame assembly, 30-a swing rod assembly, 40-a driving wheel and 50-a driven wheel;
21-a first fixed support, 211-a sliding groove, 22-a first movable support, 23-a second movable support, 24-an elastic damping element, 31-a second fixed support, 32-a swinging rod, 321-a long circular hole and 33-a connecting rod.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "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 description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The first embodiment is as follows:
referring to fig. 1 to 3, the chassis suspension mechanism of the present embodiment is disposed on the chassis 10, and includes a movable frame assembly 20 and a swing link assembly 30. The swing rod assembly 30 is provided with a driven wheel 50 in an installing and connecting mode, the swing rod assembly 30 is installed on the chassis, the swing rod assembly 30 can swing along the vertical direction along with the driven wheel 50, the movable frame assembly 20 is provided with a driving wheel 40 in an installing and connecting mode, the movable frame assembly 20 is connected to the chassis 10, the movable frame assembly 20 is respectively in pivot connection with the swing rod assemblies 30 on two sides, the movable frame assembly 20 can drive the driving wheel 40 to move upwards or downwards along the vertical direction when the swing rod assembly 30 on one side swings along the vertical direction, and the swing rod assembly 30 on the other side is driven to swing along the vertical direction.
In the chassis suspension mechanism, the movable frame assembly 20 is pivotally connected with the swing rod assembly 30, the up-and-down movement of the movable frame assembly 20 along the vertical direction and the swing of the swing rod assembly 30 along the vertical direction can be mutually converted, when the swing rod assembly 30 on one side of the movable frame assembly 20 swings along the vertical direction along with the driven wheel 50, the movable frame assembly 20 follows the swing rod assembly 30 to move to drive the driving wheel 40 to move upwards or downwards along the vertical direction, and drive the swing rod assembly 30 on the other side to swing along the vertical direction, the swing rod assembly 30 on the other side further drives the driven wheel 50 installed on the driven wheel to swing along the vertical direction, the driving wheel 40 and the driven wheels 50 on the two sides realize the three-wheel integral suspension through the movable frame assembly 20 and the swing rod. When the chassis 10 runs on an uneven road surface, the driven wheel 50 on one side of the driving wheel 40 is lifted by an upward acting force, the swing rod assembly 30 swings upwards along the vertical direction, the movable frame assembly 20 swinging along with the swing rod assembly 30 moves upwards or downwards along the vertical direction, the movable frame assembly 20 further drives two sides of the swing rod assembly 30 on the other side to swing along the vertical direction, the driven wheel 50 on two sides and the driving wheel 10 in the middle are linked in a three-wheel mode through mutual conversion of the swing rod assembly 30 and the vertical movement of the movable frame assembly 20, so that the impact force of the swing rod assembly 30 is absorbed, the situation that the ground impact is directly transmitted to the chassis 10 through the driven wheel 50 can be avoided, the flexibility of the chassis 10 and the buffer capacity of the uneven road surface are improved, the vibration and the noise of the chassis 10 are.
In addition, the chassis suspension mechanisms are arranged on the chassis 10 and symmetrically distributed by adopting the left suspension mechanism and the right suspension mechanism, the two groups of suspension mechanisms are symmetrically distributed left and right, and the three wheels on one side are linked, so that the chassis 10 can be effectively prevented from generating resonance, and the running stability of the chassis 10 can be improved.
Specifically, the movable frame assembly 20 includes a first fixed frame 21, a first movable frame 22 and a second movable frame 23, the first movable frame 22 and the second movable frame 23 are disposed to intersect with each other and are pivotally connected at the intersection, the first fixed frame 21 is fixedly disposed on the chassis 10, the first movable frame 22 is pivotally connected to the first fixed frame 21, the second movable frame 23 is pivotally connected to the first fixed frame 21, and the second movable frame is capable of sliding on the first fixed frame 21. Specifically, the driving wheel 40 is rotatably connected to the second movable bracket 23 at the intersection of the first movable bracket 22 and the second movable bracket 23.
Practical application is carried out, when the chassis 10 runs on an uneven road surface, the driven wheel 50 is lifted by an upward acting force, the swing rod assembly 30 swings upwards, the first movable support 22 and the second movable support 23 which swing along with the swing rod assembly 30 move along the vertical direction, the driven wheel 50 and the driving wheel 40 are linked through mutual conversion of the swing rod assembly 30 and the vertical movement of the first movable support 22 and the second movable support 23, and therefore impact force of the swing rod assembly 30 is absorbed, the situation that ground impact is directly transmitted to the chassis 10 through the driven wheel 50 can be avoided, the flexibility of the chassis 10 and the buffer capacity of the chassis 10 on the uneven road surface are improved, vibration and noise of the chassis 10 are reduced, and the ground adaptability of the chassis 10 is improved.
On the other hand, the swing link assemblies 30 are pivotally connected to the upper portions of the corresponding first and second movable brackets 22 and 23, respectively. As shown in fig. 2 and 3, the swing link assembly 30 includes a second fixed bracket 31, a swing link 32 and a connecting rod 33, the second fixed bracket 31 is fixedly disposed on the chassis 10, the swing link 32 is connected with a driven wheel 50, the swing link 32 is pivotally connected with the second fixed bracket 31, one end of the connecting rod 33 is pivotally connected with the swing link 32, the other end of the connecting rod 33 is pivotally connected with the upper portion of the corresponding first movable bracket 22 or second movable bracket 23, and further, the driven wheel 50 and the driving wheel 40 are linked together in the up-and-down direction.
Specifically, when the chassis 10 travels on a flat road surface with small irregularities, as shown in fig. 3, when the small irregularities are encountered, the driven wheel 50 on the right side is lifted by an upward force, the swing link 32 connected with the swing link swings upwards and drives the connecting rod 33 to swing upwards, the connecting rod 33 drives the first movable bracket 22 to rotate anticlockwise around the intersection point of the first movable bracket 22 and the second movable bracket 23, one end of the first movable bracket 22 connected with the connecting rod 33 moves upwards along the vertical direction, at the moment, the second movable bracket 23 rotates clockwise about its intersection with the first movable bracket 22, and the end of the second movable support 23 connected with the first fixed frame 21 slides leftwards on the first fixed frame 21, the end of the second movable support 23 connected with the connecting rod 33 moves upwards along the vertical direction, and the first movable support 22 and the second movable support 23 move upwards simultaneously, so that the driving wheel 40 generates an upward movement trend. Meanwhile, when the second movable support 23 moves upward, the link 33 drives the left swing link 32 to swing slightly upward, and the left swing link 32 swings upward to drive the left driven wheel 50 to move upward. Both the driving wheel 40 and the left driven wheel 50 generate an upward moving tendency so that the driving wheel 40 and the left driven wheel 50 can smoothly pass when moving to the small convex position.
Further, when passing through a road surface with a small pit, the driven wheel 50 on the right side moves downwards, the swing link 32 on the right side swings downwards and drives the first movable support 22 to rotate clockwise around the intersection point of the first movable support 22 and the second movable support 23 through the connecting rod 33, meanwhile, the second movable support 23 rotates anticlockwise around the intersection point of the second movable support 23 and the first movable support 22, one end of the second movable support 23 connected with the first fixed support 21 slides rightwards on the first fixed support 21, the first movable support 22 and the second movable support 23 move downwards simultaneously, the second movable support 23 further drives the swing link 32 on the left side to swing downwards slightly through the connecting rod 33, the driving wheel 40 and the driven wheel 50 on the left side both generate a downward movement trend, the driven wheel can smoothly move into the pit when moving to the position of the small pit, the movement process passing through the small bulge is repeated after entering the pit, and the chassis 10 can smoothly roll out from the small pit, the pit-crossing action is stably finished.
The chassis suspension mechanism of the embodiment can complete the simultaneous up-and-down linkage of the driven wheel 50 and the driving wheel 40 through the mutual conversion of the swing rod assembly 30 and the vertical motion of the first movable support 22 and the second movable support 23, so that the impact force of the swing rod assembly 30 can be absorbed, the direct transmission of the ground impact to the chassis 10 through the driven wheel 50 is avoided, the buffer capacity of the chassis 10 on uneven road surfaces with small concave-convex parts is improved, the driving wheel 40 and the driven wheel 50 can be ensured to land simultaneously, the nodding problem of the chassis 10 in the front-back direction is effectively improved, and the stable operation of the chassis 10 is ensured.
In a further preferred embodiment, the movable frame assembly further comprises an elastic shock-absorbing member 24, the elastic shock-absorbing member 24 being connected to the first movable bracket 22 and the second movable bracket 23, respectively. Specifically, the elastic shock absorbing element 24 may be, but is not limited to, a damping shock absorber, two ends of the elastic shock absorbing element 24 are respectively pivotally connected to the first movable bracket 22 and the second movable bracket 23, and the elastic shock absorbing element 24 is arranged to further improve the shock absorbing performance of the chassis suspension mechanism, which is beneficial to further improving the running stability of the chassis.
In a further preferred embodiment, a sliding groove 211 is formed in the first fixed bracket 21, the second movable bracket 22 is connected to the first fixed bracket 21 through a connecting member, the connecting member passes through the sliding groove 211 and then is rotatably connected to the second movable bracket 22, the connecting member can rotate in the sliding groove 211 to enable the second movable bracket 22 to rotate relative to the first fixed bracket 21, and the connecting member can also move in the sliding groove 211 to enable the second movable bracket 22 to slide on the first fixed bracket 21.
Example two:
as shown in fig. 4 to 6, the chassis suspension mechanism of the present embodiment is disposed on the chassis 10, and includes a movable frame assembly 20 and a swing link assembly 30. The movable frame assembly 20 is connected with a driving wheel 40 in an installing mode, the movable frame assembly 20 comprises a first fixed support 21, a first movable support 22 and a second movable support 23, the first movable support 22 and the second movable support 23 are arranged in an intersecting mode and are connected through a pivot at the intersecting position, the first fixed support 21 is fixedly arranged on the chassis 10, the first movable support 22 is connected with the first fixed support 21 through the pivot, and the second movable support 23 is connected with the first fixed support 21 through the pivot and can slide on the first fixed support 21; the swing link assembly 30 is mounted and connected with a driven wheel 50, the swing link assembly 30 is arranged on the chassis 10, and the swing link assembly 30 is pivotally connected with the movable frame assembly 20. In this embodiment, the swing link assembly 30 is pivotally connected to the first movable bracket 22 and the second movable bracket 23 at the intersection of the first movable bracket 22 and the second movable bracket 23, respectively.
Specifically, the driving wheel 40 is rotatably connected to the second movable bracket 23 at the intersection of the first movable bracket 22 and the second movable bracket 23.
In this embodiment, the swing link assembly 30 includes a second fixed bracket 31 and a swing link 32, the second fixed bracket 31 is fixedly disposed on the chassis 10, one end of the swing link 32 is connected with a driven wheel 50, the other end of the swing link 32 is pivotally connected to the first movable bracket 22 and the second movable bracket 23 at the intersection of the first movable bracket 22 and the second movable bracket 23, the middle of the swing link 32 is pivotally connected to the second fixed bracket 31, and the swing link 32 can slide on the second fixed bracket 31, so that the driven wheel 50 and the driving wheel 40 are linked up and down.
The chassis suspension mechanism of the present embodiment is different from the chassis suspension mechanism of the above-described embodiment in that the structure of the swing link assembly 30 is different, so that the driven wheel 50 and the driving wheel 40 can be linked up and down, and the buffering capacity of the chassis 10 for running on a complex road surface with obvious unevenness such as steps, floor tiles, floor drains and the like can be improved.
Specifically, when the chassis 10 runs on a complex road surface with obvious concave-convex portions such as a step, a floor tile, a floor drain and the like, as shown in fig. 6, when a bump or a road bank is encountered, the driven wheel 50 on the right side is lifted by an upward acting force and drives the swing link 32 on the right side to rotate counterclockwise around the second fixed support 31, one end of the swing link 32 connected with the driven wheel 50 moves upward along with the driven wheel 50, one end connected with the first movable support 22 and the second movable support 23 swings downward, the swing link 32 drives the first movable support 22 to rotate clockwise around the intersection of the first movable support 22 and the second movable support 23, meanwhile, the swing link 32 drives the second movable support 23 to rotate counterclockwise around the intersection of the second movable support 23 and the first movable support 22, one end of the second movable support 23 connected with the first fixed support 21 slides rightward on the first fixed support 21, and the first movable support 22 and the second movable support 23 move downward, the second movable bracket 23 drives the left swing link 32 to rotate clockwise around the left fixed bracket 31, and the swing link 32 drives the left driven wheel 50 to move upwards. The driven wheels 50 on both sides all move upwards, and the movable frame assembly 20 moves downwards integrally to drive the driving wheel 40 to move downwards, so that a balanced pressing effect is generated on the driving wheel 40, the driving wheel 40 is kept in contact with the ground and has enough advancing power, and the driven wheels 50 smoothly pass through the threshold under the continuous advancing power.
Further, when passing through a road surface with obvious pits, the driven wheel 50 on the right side moves downwards to drive the swing rod 32 on the right side to rotate clockwise around the second fixed bracket 31, one end of the swing rod 32 connected with the driven wheel 50 moves downwards along with the driven wheel 50, one end connected with the first movable bracket 22 and the second movable bracket 23 swings upwards, the swing rod 32 drives the first movable bracket 22 to rotate anticlockwise around the intersection point of the first movable bracket 22 and the second movable bracket 23, meanwhile, the swing link 32 drives the second movable support 23 to rotate clockwise around the intersection point of the second movable support and the first movable support 22, and one end of the second movable support 23 connected with the first fixed support 21 slides leftwards on the first fixed support 21, the first movable support 22 and the second movable support 23 move upwards simultaneously, the second movable support 23 drives the left swing rod 32 to rotate anticlockwise around the left fixed support 31, and the swing rod 32 drives the left driven wheel 50 to move downwards. The driven wheels 50 on the two sides all move downwards, the movable frame assembly 20 moves upwards integrally to drive the driving wheels 40 to move upwards, the driven wheels 50 reliably touch the ground, the driving wheels 40 move upwards to generate a restraining force on the driven wheels 50, the situation that the driven wheels 50 move backwards to cause the chassis 10 to tilt forwards can be effectively avoided, the driven wheels 50 are ensured to move into the pits stably, the motion process of passing through the bulges or the road ridges is repeated after entering the pits, and the chassis 10 can roll out of the pits smoothly to complete pit passing actions stably.
The chassis suspension mechanism of the embodiment can complete three-wheel linkage of reverse motion of the driving wheel 40 and the driven wheels 50 on two sides one above the other through the mutual conversion of the swing rod assembly 30 and the vertical motion of the first movable support 22 and the second movable support 23, can absorb the impact force of the swing rod assembly 30 by utilizing the mutual conversion of the force arms of the swing rod 32, avoid the direct transmission of the ground impact to the chassis 10 through the driven wheels 50, improve the buffer capacity of the chassis 10 on the complex road surfaces with obvious concave-convex parts such as steps, floor tiles and floor drains, improve the landing force of the driving wheel 40 and the driven wheels 50, and ensure that the chassis 10 stably passes through the pit and the ridge.
In a further preferred embodiment, as shown in fig. 6, an elongated hole 321 is formed in the swing link 32, the swing link 32 is slidably connected to the second fixing bracket 31 through the elongated hole 321, and the swing link 32 can slide on the fixing bracket 31 through the elongated hole 321, so that the swing link can slide on the second fixing bracket 31.
Further, the chassis suspension mechanism of the present embodiment is different from the chassis suspension mechanism of the above embodiments only in the structure of the swing link assembly 30, and other structures and components are the same, which are not described herein again.
In another aspect, the present invention further provides a chassis 10, including the above-mentioned chassis suspension mechanism. Specifically, the chassis 10 includes two sets of the chassis suspension mechanisms of the first embodiment or the second embodiment, the two sets of the suspension mechanisms are distributed in bilateral symmetry, and the chassis 10 is linked by three wheels on one side, so that resonance of the chassis 10 can be effectively avoided, and the running stability of the chassis 10 can be improved. The chassis 10 of the embodiment has the beneficial effects of strong ground adaptability and high running stability by applying the chassis suspension mechanism.
Meanwhile, the invention also provides a robot, which comprises the chassis 10. The robot of the embodiment has the beneficial effects of strong ground adaptability and high running stability by applying the chassis 10.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A chassis suspension mechanism, comprising:
the swing rod assembly (30), a driven wheel (50) is installed and connected on the swing rod assembly (30), the swing rod assembly (30) is installed on a chassis, and the swing rod assembly (30) can swing along the vertical direction along with the driven wheel (50); and the number of the first and second groups,
the movable frame assembly (20), the erection joint has drive wheel (40) on movable frame assembly (20), movable frame assembly (20) connect in on chassis (10), just movable frame assembly (20) respectively with both sides pendulum rod subassembly (30) pivot connection, movable frame assembly (20) can be in one side pendulum rod subassembly (30) drive when swinging along vertical direction drive wheel (40) upwards or downstream along vertical direction to drive the opposite side pendulum rod subassembly (30) swing along vertical direction.
2. The chassis suspension mechanism according to claim 1, wherein the head frame assembly (20) comprises: first fixed bolster (21), first movable support (22) and second movable support (23), first movable support (22) with second movable support (23) intercrossing sets up and in intersection pivot connection, first fixed bolster (21) fixed set up in on chassis (10), first movable support (22) with first fixed bolster (21) pivot connection, second movable support (23) with first fixed bolster (21) pivot connection, just second movable support (23) can slide on first fixed bolster (21).
3. The chassis suspension mechanism according to claim 2, wherein the head frame assembly (20) further comprises: an elastic shock absorbing element (24), the elastic shock absorbing element (24) being connected to the first movable bracket (22) and the second movable bracket (23), respectively.
4. Chassis suspension arrangement according to claim 2, wherein said rocker assembly (30) is pivotally connected to the upper part of the corresponding first (22) and second (23) mobile bracket, respectively.
5. Chassis suspension arrangement according to claim 4, wherein the pendulum assembly (30) comprises: the device comprises a second fixed support (31), a swing rod (32) and a connecting rod (33), wherein the second fixed support (31) is installed on the chassis (10), a driven wheel (50) is installed and connected to the swing rod (32), the swing rod (32) is connected with the second fixed support (31) through a pivot, one end of the connecting rod (33) is connected with the swing rod (32) through the pivot, the other end of the connecting rod (33) is connected with a corresponding first movable support (22) or a corresponding second movable support (23) through the pivot, and then the driven wheel (50) and the driving wheel (40) are linked together from top to bottom.
6. Chassis suspension arrangement according to claim 2, wherein said rocker assembly (30) is pivotally connected to said first movable bracket (22) and said second movable bracket (23) at the intersection of said first movable bracket (22) and said second movable bracket (23), respectively.
7. Chassis suspension arrangement according to claim 6, wherein the pendulum assembly (30) comprises: second fixed bolster (31) and pendulum rod (32), second fixed bolster (31) install in on chassis (10), the one end erection joint of pendulum rod (32) has from driving wheel (50), the other end of pendulum rod (32) in first movable support (22) with the intersection of second movable support (23) respectively with first movable support (22) with second movable support (23) pivot connection, the middle part of pendulum rod (32) with second fixed bolster (31) pivot connection, just pendulum rod (32) can slide on second fixed bolster (31), and then, follow driving wheel (50) with drive wheel (40) one-on-one-off linkage.
8. The chassis suspension mechanism according to claim 7, wherein the swing rod (32) is provided with an elongated hole (321), and the swing rod (32) is slidably connected with the second fixed bracket (31) through the elongated hole (321).
9. The chassis suspension mechanism according to any one of claims 2 to 8, wherein the first fixing bracket (21) is provided with a sliding groove (211).
10. A chassis comprising a chassis suspension mechanism according to any one of claims 1 to 9.
11. A robot, characterized in that it comprises a chassis (10) according to claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011149959.3A CN112248733A (en) | 2020-10-23 | 2020-10-23 | Chassis suspension mechanism, chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011149959.3A CN112248733A (en) | 2020-10-23 | 2020-10-23 | Chassis suspension mechanism, chassis and robot |
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| Publication Number | Publication Date |
|---|---|
| CN112248733A true CN112248733A (en) | 2021-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011149959.3A Withdrawn CN112248733A (en) | 2020-10-23 | 2020-10-23 | Chassis suspension mechanism, chassis and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022161207A1 (en) * | 2021-01-29 | 2022-08-04 | 深圳市普渡科技有限公司 | Suspension system and robot |
| CN115230842A (en) * | 2022-06-28 | 2022-10-25 | 上海景吾酷租科技发展有限公司 | Balance linkage driving wheel chassis and robot |
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2020
- 2020-10-23 CN CN202011149959.3A patent/CN112248733A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022161207A1 (en) * | 2021-01-29 | 2022-08-04 | 深圳市普渡科技有限公司 | Suspension system and robot |
| CN115230842A (en) * | 2022-06-28 | 2022-10-25 | 上海景吾酷租科技发展有限公司 | Balance linkage driving wheel chassis and robot |
| CN115230842B (en) * | 2022-06-28 | 2023-07-25 | 上海景吾酷租科技发展有限公司 | Balance linkage driving wheel chassis and robot |
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Application publication date: 20210122 |