CN114953877A

CN114953877A - Novel self-adaptive suspension design of mobile robot

Info

Publication number: CN114953877A
Application number: CN202210780987.8A
Authority: CN
Inventors: 束勤平; 胡汉春
Original assignee: Anhui Institute of Information Engineering
Current assignee: Anhui Institute of Information Engineering
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-08-30

Abstract

The invention provides a self-adaptive suspension design of a novel mobile robot, which comprises a bearing mechanism, a lifting mechanism and a lifting mechanism, wherein the bearing mechanism is in supporting connection with a chassis frame and comprises an H-shaped welding pipe and four groups of linear guide rails arranged at the front end and the rear end of the H-shaped welding pipe; the shock absorption system is arranged on the bearing mechanism in a sliding mode and comprises a frame, tires are connected with the tires, a shock absorber is arranged in the frame, one end of the shock absorber is connected with the bearing mechanism, the other end of the shock absorber is connected into the frame, and sliding blocks matched with the four groups of linear guide rails are arranged in the frame; when the road surface is convex and bumpy, the spring is pulled, the shock absorber is continuously stressed and extended, and when the road surface is concave, the gravity shock absorber of the wheel and the whole shock absorption system can be shortened, and the tire can be better contacted with the ground. When the wheel set passes through the sunken obstacle, the pressure of the self weight of the wheel set can reach the effect of the shock absorber, so that the whole wheel set can be in contact with the ground, and the road surface adaptability is better.

Description

Novel self-adaptive suspension design of mobile robot

Technical Field

The invention belongs to the technical field of suspension systems, and particularly relates to a self-adaptive suspension design of a novel mobile robot.

Background

The mobile robot is used as a novel human production tool, and has great advantages in the aspects of reducing labor intensity, improving productivity, changing production modes, releasing people from dangerous, severe and heavy working environments and the like. Currently, mobile robots are diversified in kinds in the market. Aiming at the complex environment of the workplace of the mobile robot, higher requirements are put forward on the suspension capacity of the mobile robot. Four-wheel differential steering is one of the steering forms of mobile robots and is widely used due to its steering flexibility. For the four-wheel differential steering mobile robot, the best form of the suspension design is an independent suspension design, namely, each wheel has the suspension design, and the purpose of shock absorption is achieved. At present, the suspension structure of a mobile robot is mainly divided into a trailing arm type and a trailing arm type. Both types of suspension designs take up floor space due to the ductility that is required to ensure space, resulting in limited load bearing space. In addition, the hardness of the suspension is difficult to adjust, and the suspension is often too soft or too hard to achieve a good shock-absorbing effect when passing a road obstacle.

Disclosure of Invention

1. Objects of the invention

In view of the above technical problems, the present invention provides a novel adaptive suspension design for a mobile robot, so as to solve the technical problems mentioned in the background art.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows: a self-adaptive suspension design for a novel mobile robot comprises

The bearing mechanism is in supporting connection with the chassis frame and comprises an H-shaped welding pipe and four groups of linear guide rails arranged at the front end and the rear end of the H-shaped welding pipe;

the shock absorption system is arranged on the bearing mechanism in a sliding mode in a stress process and comprises a frame, tires are connected with the tires, a shock absorber is arranged in the frame, one end of the shock absorber is connected with the bearing mechanism, the other end of the shock absorber is connected into the frame, and sliding blocks matched with the four groups of linear guide rails are arranged in the frame;

when the road surface bumps, the spring is pulled, the shock absorber is continuously stressed and extended, and when the road surface is sunken, the gravity shock absorber of the wheels and the whole shock absorption system can be shortened, so that the tires can better contact the ground.

The further improvement lies in that: the bearing mechanism also comprises

The long screw is arranged above the H-shaped welding pipe and penetrates through the H-shaped welding pipe;

the two groups of first fixing sleeves are wrapped outside the long screws and are in limit connection with two end parts of the H-shaped welding pipe;

the second fixing sleeve is wrapped outside the long screw and is arranged between the two groups of first fixing sleeves in a limiting manner;

wherein, one end of the shock absorber is connected on the long screw in a limiting way.

The further improvement lies in that: the frame is including setting up first carbon plate and the second carbon plate in its both sides, the below of first carbon plate and second carbon plate is equipped with fixed cover jointly, and both tops are connected with the shock absorber connecting piece jointly, the one end of shock absorber is connected on the shock absorber connecting piece, and the spacing connection of its other end is on long screw.

The further improvement lies in that: and the first carbon plate and the second carbon plate are respectively provided with a sliding block matched with the four groups of linear guide rails.

The further improvement is that: one side of second carbon plate is equipped with the motor, the motor passes shown second carbon plate, and its output is equipped with angular contact bearing and plum blossom shaft coupling in proper order, and the other end of plum blossom shaft coupling is connected with the minor axis, the minor axis passes first carbon plate and links to each other with the tire through tire bearing ware.

The further improvement lies in that: and a bearing is arranged in a hole of the first carbon plate, two sides of the first carbon plate fixing bearing are respectively connected with a bearing end cover, and the other end of the short shaft is connected with a tire coupler.

The further improvement lies in that: the damping system still includes spacing portion, and when the shock absorber elongates, the welding pipe supports the upper end of fixed cover, and this is upper limit position, shortens when the shock absorber, and the u-shaped groove of welding pipe upper end can support stop screw, and this is lower limit position.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

the invention designs a self-adaptive independent suspension, a shock absorber is vertically arranged, and the connection between a shock absorption system and a bearing mechanism is realized by utilizing a slide block and a guide rail, so that the whole suspension system has the advantage of good shock absorption effect of single-transverse-arm independent suspension, and also has the advantages of small transverse distance of longitudinal-arm independent suspension and no occupation of chassis space.

In addition, when the traditional suspension chassis passes through a raised obstacle on the road surface, the shock absorber is in a compressed state, and when the traditional suspension chassis passes through a recessed obstacle, the shock absorber spring is in a pulled state, and when the traditional suspension chassis passes through the raised obstacle on the road surface, the shock absorber spring is in a pulled state, and when the traditional suspension system passes through the recessed obstacle, the shock absorber spring is in a pressed state, and when the traditional suspension system passes through the recessed obstacle, the stress of the suspension spring is opposite to that of the raised ground surface, and when the traditional suspension system passes through the recessed obstacle, the pressure of the dead weight of the wheel set can reach the effect of the shock absorber, so that the whole wheel set can be in contact with the ground surface.

Drawings

FIG. 1 is a schematic structural view of a load bearing mechanism and a damping system according to the present invention;

FIG. 2 is a schematic structural diagram of a carrying mechanism according to the present invention;

FIG. 3 is a schematic view of the connection between the carrying mechanism and the chassis frame according to the present invention;

FIG. 4 is an external view of the shock absorbing system of the present invention;

FIG. 5 is an exploded view of the shock absorbing system of the present invention;

FIG. 6 is a view showing the internal structure of the shock absorbing system of the present invention;

fig. 7 is a schematic diagram of the suspension operation of the present invention.

Reference numerals

1. A carrying mechanism; h-welded pipe; 12. a long screw; 13. a first fixing sleeve; 14. a second fixing sleeve; 15. a guide rail; 2-a shock absorbing system; 201. a tire; 202. a first carbon plate; 203. a shock absorber; 204. a shock absorber connecting member; 205. a second carbon plate; 206. a motor; 207. fixing a sleeve; 208. a slider; 209. a limit screw; 210. an angular contact bearing; 211 a quincuncial coupler; 212. a minor axis; 213. a bearing cap; 214 bearings; 215. a tire coupling.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "page", "bottom", "inner", "outer", "clockwise", "counterclockwise", "coaxial", "bottom", "one end", "top", "other end", "one side", "front", "both ends", "both sides", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing 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 and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

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 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," "provided," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Example 1

Referring to fig. 1-6, the design of the self-adaptive suspension of a novel mobile robot comprises a bearing mechanism 1, which is in supporting connection with a chassis frame, wherein the bearing mechanism 1 comprises an H-shaped welding pipe 11 and four groups of linear guide rails 15 arranged at the front end and the rear end of the H-shaped welding pipe 11; the shock absorption system 2 is arranged on the bearing mechanism 1 in a sliding mode in a stress process, the shock absorption system 2 comprises a framework, wherein the tire 201 is connected with the tire 201, a shock absorber 203 is arranged in the framework, one end of the shock absorber 203 is connected with the bearing mechanism 1, the other end of the shock absorber 203 is connected into the framework, and a sliding block 208 matched with the four groups of linear guide rails 15 is arranged in the framework; the sliding block 208 is correspondingly arranged on the linear guide rail 15 in a sliding manner, so that the damping system 2 moves up and down with the bearing mechanism 1 during the stress process.

When the road surface bumps, the spring is pulled, the shock absorber 203 continues to be stressed and extended, and when the road surface is sunken, the tire 201 can better contact the ground due to the fact that the wheels and the gravity shock absorber 203 of the whole shock absorption system 2 are shortened.

The bearing mechanism 1 further comprises a long screw 12 which is arranged above the H-shaped welding pipe 11 and penetrates through the H-shaped welding pipe 11; two groups of first fixing sleeves 13 which are wrapped outside the long screws 12 and are in limit connection with two end parts of the H-shaped welding pipe 11; the second fixing sleeve 14 is wrapped outside the long screw 12 and is limited between the two groups of first fixing sleeves 13; wherein, one end of the shock absorber 203 is connected to the long screw 12 in a limiting way.

The long screw 12 has two first fixing sockets 13 connected to a second fixing socket 14. The main function is to limit the shock absorber 203, as shown in fig. 2 and 5.

Wherein, the frame is including setting up first carbon plate 202 and the second carbon plate 205 in its both sides, the below of first carbon plate 202 and second carbon plate 205 is equipped with fixed cover 207 jointly, and both tops are connected with shock absorber connecting piece 204 jointly, the one end of shock absorber 203 is connected on shock absorber connecting piece 203, and the spacing connection of its other end is on long screw 12, as shown in fig. 2, 4, 5, 6, the position of first carbon plate 202 is close to corresponding tire 201, and corresponding tire 201 is kept away from to the position of second carbon plate 205.

As shown in fig. 2 and fig. 5 to 6, the bearing mechanism 1 is disposed inside the frame, specifically between the first carbon plate 202 and the second carbon plate 205, and the bottom of the bearing mechanism 1 is connected to the fixing sleeve 207.

More specifically, the suspension system provided by the embodiment is composed of two main parts, namely a damping system 2 and a bearing mechanism 1, wherein the damping system 2 is a moving part of the whole suspension system and has a damping effect; the carrier 1 is the part of the whole suspension system corresponding to the chassis frame being stationary, the carrier 1 of the invention, and the shock absorbing system 2 (shown in fig. 1) the embodiments of the invention are described in terms of two parts as shown above.

Firstly, for the bearing mechanism 1, (as shown in fig. 2), the bearing mechanism 1 is mainly composed of an H-shaped welded pipe 11, four linear guide rails 15 are installed at the front and the rear of the welded pipe 11, a long screw 12 is fixed above the welded pipe 11 through penetrating, the long screw 12 is provided with two first fixing sleeves 13 connected with a second fixing sleeve 14, the main function is to limit the shock absorber 203, and one end of the shock absorber 203 needs to be connected with the long screw 12.

The connection mode of the bearing mechanism 1 and the chassis frame is that a welding pipe 11 is connected to a long welding pipe of the chassis to form a whole (as shown in fig. 3).

Regarding the damping system 2, the appearance of the damping system 2 (as shown in fig. 4), the connection mode of the internal structure and the components (as shown in fig. 5 and fig. 6), an output shaft of the motor 206 is connected with an angular contact bearing 210 to reduce the axial force of the motor, the motor 206 is connected to the second carbon plate 205, an output shaft of the motor 206 is connected with a quincunx coupling 211, the other end of the quincunx coupling 211 is connected with a short shaft 212, the short shaft 212 penetrates through the first carbon plate 202, wherein a bearing 214 is installed in a hole of the first carbon plate 202, two sides of the first carbon plate 202, which are fixed with the bearing 214, are respectively connected with a bearing end cap 213, the other end of the short shaft 212 is connected with a tire coupling 215, and the tire 201 is connected with the tire coupling 215.

Wherein, a fixed sleeve 20 is connected below the first carbon plate 202 and the second carbon plate 205, a damper connecting member 204 is connected above the fixed sleeve, one end of the damper 203 is connected to the damper connecting member 204, and a sliding block 208 is fixed on each of the first carbon plate 202 and the second carbon plate 205.

The action principle is as follows: as shown in fig. 6, the guide rail 15 of the supporting mechanism 1 is combined with the slide block 208 of the damping system 2, so that the two parts can move up and down, one end of the shock absorber 203 is connected with the long screw 12 of the supporting mechanism 1, and the other end is connected with the shock absorber connecting piece 204 of the damping system 2;

when all the parts are installed, the spring of the shock absorber 203 is in tension when the robot runs on a smooth road, when the road surface bumps, the spring is in tension, the shock absorber 203 continues to be stressed and extended, and when the road surface is sunken, the tire 201 can better contact with the ground due to the fact that the wheel and the gravity shock absorber of the whole shock absorption system 2 are shortened (as shown in fig. 7).

The shock absorber 203 is not infinitely extended and shortened, in order to ensure the shock absorbing effect of the shock absorber 203, the invention has two limit positions, when the shock absorber 203 is extended, the welding pipe 11 is propped against the upper end of the fixing sleeve 207, which is an upper limit position, and when the shock absorber 203 is shortened, the u-shaped groove at the upper end of the welding pipe 11 is propped against the limit screw 209, which is a lower limit position.

The suspension system has a simple structure, the shock absorber 203 is vertically arranged, so that the space of a chassis is saved, the bearing mechanism 1 and the damping system 2 are structurally combined together through the sliding block 208 and the guide rail 15, and the shock absorber 203 is vertically arranged.

The above-mentioned embodiments only express a certain implementation mode of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention; it should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which are within the protection scope of the present invention; therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A self-adaptive suspension design of a novel mobile robot is characterized by comprising

when the road surface is convex and bumpy, the spring is pulled, the shock absorber is continuously stressed and extended, and when the road surface is concave, the gravity shock absorber of the wheel and the whole shock absorption system can be shortened, and the tire can be better contacted with the ground.

2. The adaptive suspension design of the novel mobile robot as claimed in claim 1, wherein: the bearing mechanism also comprises

3. The adaptive suspension design of the novel mobile robot as claimed in claim 1, wherein: the frame is including setting up first carbon plate and the second carbon plate in its both sides, the below of first carbon plate and second carbon plate is equipped with fixed cover jointly, and both tops are connected with the shock absorber connecting piece jointly, the one end of shock absorber is connected on the shock absorber connecting piece, and the spacing connection of its other end is on long screw.

4. The adaptive suspension design of the novel mobile robot as claimed in claim 1, wherein: and the first carbon plate and the second carbon plate are respectively provided with four groups of sliding blocks matched with the linear guide rails.

5. The adaptive suspension design of the novel mobile robot as claimed in claim 1, wherein: one side of second carbon plate is equipped with the motor, the motor passes shown second carbon plate, and its output is equipped with angular contact bearing and plum blossom shaft coupling in proper order, and the other end of plum blossom shaft coupling is connected with the minor axis, the minor axis passes first carbon plate and links to each other with the tire through tire bearing ware.

6. The adaptive suspension design of the novel mobile robot as claimed in claim 1, wherein: and a bearing is arranged in a hole of the first carbon plate, two sides of the first carbon plate fixing bearing are respectively connected with a bearing end cover, and the other end of the short shaft is connected with a tire coupler.

7. The adaptive suspension design of the novel mobile robot as claimed in claim 1, wherein: the damping system still includes spacing portion, and when the shock absorber elongates, the welding pipe supports the upper end of fixed cover, and this is upper limit position, shortens when the shock absorber, and the u-shaped groove of welding pipe upper end can support stop screw, and this is lower limit position.