CN210026935U

CN210026935U - Suspension and robot for connecting wheel and body

Info

Publication number: CN210026935U
Application number: CN201920284404.6U
Authority: CN
Inventors: 赵帆; 卞丙祥; 马国彪
Original assignee: Beijing Jingdong Century Trading Co Ltd; Beijing Jingdong Shangke Information Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2020-02-07
Anticipated expiration: 2029-03-06

Abstract

The present disclosure provides a suspension (200) for connecting a wheel (210) and a body, comprising a suspension arm (240) and a resilient member (230), wherein a first position (241) of the suspension arm (240) is hinged to the body, a second position (242) of the suspension arm (240) is rotatably connected to the wheel (210), one end of the resilient member (230) is connected to a third position of the body or the suspension arm (240), or both ends of the resilient member (230) are respectively connected to the body and the third position of the suspension arm (240), and when the wheel (210) moves in a first direction, the suspension arm (240) is driven to rotate relative to the body, so that the resilient member (230) is compressed or stretched. The present disclosure also provides a robot.

Description

Suspension and robot for connecting wheel and body

Technical Field

The present disclosure relates to the field of warehouse logistics, and more particularly, to a suspension and a robot for connecting a wheel and a body.

Background

In the prior art, a suspension is generally adopted to solve the problem that the vehicle or the robot has poor adaptability to the road environment during moving.

In the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the prior art: the existing suspension is very complex in structure, not only is the manufacturing cost and the installation cost high, but also the weight of a vehicle or a robot is increased.

SUMMERY OF THE UTILITY MODEL

In view of this, the present disclosure provides a suspension and a robot for connecting a wheel and a body.

One aspect of the present disclosure provides a suspension for connecting a wheel and a body, including a suspension arm and an elastic member, wherein a first position of the suspension arm is hinged to the body, a second position of the suspension arm is rotatably connected to the wheel, one end of the elastic member is connected to the body or a third position of the suspension arm, or two ends of the elastic member are respectively connected to the body and the third position of the suspension arm, and when the wheel moves in a first direction, the suspension arm is driven to rotate relative to the body, so that the elastic member is compressed or stretched.

According to an embodiment of the present disclosure, the resilient member comprises a hollow elastomer and the cantilever comprises a locating pin, wherein the locating pin is at least partially nested in the hollow elastomer.

According to the embodiment of the present disclosure, the suspension further includes a support seat, the support seat is fixedly connected to the body, and the first end of the elastic component is connected to the support seat.

According to an embodiment of the present disclosure, the support base includes an opening, and one end of the cantilever is placed in the opening for limiting a movement range of the cantilever.

According to the embodiment of the present disclosure, the elastic component includes a hollow elastic body, the cantilever includes a positioning pin, the first end of the elastic component and the support seat connection include, the first end of the positioning pin includes an external thread, the external thread and the internal thread at the top of the support seat are mutually matched for fixedly connecting the positioning pin and the top of the support seat, and the second end of the positioning pin is nested in the hollow elastic body.

According to the embodiment of the disclosure, the positioning pin comprises a partition plate, the hollow elastic body is clamped between the partition plate and the cantilever, and the positioning pin can move relative to the supporting seat along the compression or stretching direction of the hollow elastic body under the action of a rotating handle and is used for adjusting the pre-tightening force of the hollow elastic body.

According to an embodiment of the present disclosure, the suspension further includes a nut capable of cooperating with the external thread of the positioning pin for limiting movement of the positioning pin relative to the support seat.

According to the embodiment of the present disclosure, in the case that the wheel includes a connecting shaft and the connecting shaft includes a notch, the suspension further includes a connecting block, the second position of the suspension arm rotatably and fixedly connected to the wheel includes, the wheel is located on one side of the suspension arm, the second position of the suspension arm rotatably and fixedly connected to the connecting shaft, and the connecting block is placed at the notch on the connecting shaft and fixed to the suspension arm.

According to the embodiment of the present disclosure, the fixing of the connecting block and the cantilever includes that the connecting block and the cantilever are fixedly connected through a bolt.

According to the embodiment of the present disclosure, the cantilever includes a fixing member, the fixing member is fixedly connected with the body, and the first position of the cantilever and the body hinge includes that the first position of the cantilever and the fixing member hinge.

Another aspect of the present disclosure provides a robot including a wheel, a body, and a suspension as described above, wherein the suspension is used to connect the wheel and the body.

According to the embodiment of the present disclosure, the problem of complex suspension structure can be at least partially solved, and thus the technical effects of simplifying the suspension structure, saving the cost of manufacturing, mounting, and the like of the suspension, and reducing the weight of the suspension can be achieved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates an application scenario of a suspension for connecting a wheel with a body according to an embodiment of the present disclosure;

fig. 2A and 2B schematically illustrate structural diagrams of a suspension for connecting a wheel with a body according to an embodiment of the present disclosure;

fig. 3A and 3B schematically illustrate a connection of a first end of a resilient member with a support seat according to an embodiment of the disclosure;

FIG. 4 schematically illustrates a connection between a first end of a resilient member and a support base according to another embodiment of the disclosure; and

fig. 5 schematically illustrates a schematic diagram of adjusting the pretension of a hollow elastic body according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase "a or B" should be understood to include the possibility of "a" or "B", or "a and B".

The embodiment of the disclosure provides a suspension for connecting a wheel and a body, which includes a cantilever and an elastic component, wherein a first position of the cantilever is hinged to the body, a second position of the cantilever is rotatably connected to the wheel, one end of the elastic component is connected to the body or a third position of the cantilever, or two ends of the elastic component are respectively connected to the body and the third position of the cantilever, when the wheel moves along a first direction, the cantilever is driven to rotate relative to the body, so that the elastic component is compressed or stretched.

Fig. 1 schematically illustrates an application scenario of a suspension for connecting a wheel with a body according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of an application scenario to which the embodiment of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiment of the present disclosure may not be applied to other scenarios.

As shown in fig. 1, the scene includes a robot 100, and the robot 100 travels on a road surface 120. Therein, the robot 100 may for example comprise a body 111 and four wheels, of which only

wheels

112 and 113 are schematically shown in this scenario. The road surface 120 includes, for example, projections 121 and recesses 122.

When the robot 100 travels to the protrusion 121 or the depression 122, the individual wheels easily lift off the ground, causing the center of gravity of the robot to be unstable or to be deviated, or the individual wheels to slip.

In embodiments of the present disclosure, the wheels 112 and/or 113 are connected to the body 111 via a suspension (not shown in fig. 1), which can prevent individual wheels, such as the wheels 112 or the wheels 113, from lifting off the ground. As shown in fig. 1, the robot 100 travels on the road surface 120 in the X direction, and when traveling to the protrusion 121, the wheel 112 is about to lift off the ground, or when traveling to the depression 122, the wheel 113 is about to lift off the ground, and the suspension can ensure that the wheel 112 and/or the wheel 113 adhere to the ground.

The utility model provides a simple suspension structure can practice thrift the manufacturing cost and the installation cost of suspension, and simple suspension structure can not cause very big influence to the self weight of robot moreover, and the suspension structure that this disclosure provided is simple.

Fig. 2A and 2B schematically show a structural schematic view of a suspension 200 for connecting a wheel 210 and a body according to an embodiment of the present disclosure.

As shown in fig. 2A and 2B, the suspension 200 is applied to a robot, for example, the body of the robot may include a robot chassis 220, and the suspension 200 may be used for connecting wheels 210 and the robot chassis 220, for example.

As shown in fig. 2B, the suspension 200 includes a suspension arm 240 and a resilient member 230. The first position 241 of the arm 240 is articulated to the body and the second position 242 of the arm 240 is rotatably connected to the wheel 210. One end of the elastic member 230 is connected to the body or the third position of the cantilever 240, or both ends of the elastic member are connected to the body and the third position of the cantilever 240, respectively. Wherein, when the wheel moves in the first direction, the suspension arm 240 is driven to rotate relative to the body, so that the elastic component 230 is compressed or stretched.

This arrangement at least partially reduces the complexity of the suspension construction, thereby reducing the complexity of manufacture and installation of the suspension, and reducing the weight of the suspension.

According to the embodiment of the present disclosure, for example, when the wheel 210 of the robot runs to a pit, the cantilever 240 is driven to rotate relative to the body due to the gravity of the wheel 210, and the rotation of the cantilever 240 causes the elastic component 230 to store energy, for example, the length of the elastic component 230 is increased, so as to play a role in buffering and shock absorption.

For another example, when the wheel 210 of the robot runs to the protrusion, the wheel 210 drives the cantilever 240 to rotate relative to the body, and the rotation of the cantilever 240 causes the elastic component 230 to store energy, for example, the length of the elastic component 230 may be shortened, thereby playing a role in buffering and damping.

According to an embodiment of the present disclosure, the resilient member 230 may comprise a hollow elastomer, and the cantilever 240 comprises a locating pin, wherein the locating pin is at least partially nested in the hollow elastomer. This structure adopts the locating pin to prevent the conquassation of hollow elastomer, avoids hollow elastomer departure or is damaged. According to an embodiment of the present disclosure, the hollow elastic body may be, for example, a spring or the like.

According to the embodiment of the present disclosure, one end of the elastic member 230 is connected to the body or the third position of the cantilever 240, for example, the first end of the elastic member 230 is directly connected to the chassis 220 of the robot, or the first end is connected to a part of the robot body, and the second end of the elastic member 230 is in contact with the third position of the cantilever 240. For another example, the second end of the elastic member 230 is connected to the cantilever 240, and the first end of the elastic member 230 is in contact with the body.

According to the embodiment of the present disclosure, two ends of the elastic component 230 are respectively connected to the body and the third position of the cantilever 240, for example, a first end of the elastic component 230 is connected to the body, and a second end is connected to the third position of the cantilever 240.

According to the embodiment of the present disclosure, as shown in fig. 2B, the suspension 200 further includes a supporting seat 250, the supporting seat 250 is fixedly connected with the body, wherein the first end 231 of the elastic component 230 is connected with the supporting seat 250. As shown in fig. 2B, the first end 231 is connected to the top of the support base 250.

According to the embodiment of the present disclosure, the supporting seat 250 is fixedly connected to the body, for example, the supporting seat 250 is fixedly connected to the robot chassis 220 by bolts.

Fig. 3A and 3B schematically illustrate a connection of the first end 231 of the elastic member 230 with the support seat 250 according to an embodiment of the present disclosure.

As shown in fig. 3A and 3B, the elastic member 230 includes a hollow elastic body 233, the cantilever 240 includes a positioning pin 234, a first end of the positioning pin 234 includes an external thread 2341, the external thread 2341 is matched with an internal thread on the top of the supporting seat 250 to fixedly connect the positioning pin 234 with the top of the supporting seat 250, and a second end of the positioning pin 234 is nested in the hollow elastic body 233. The structure is convenient to disassemble, and the hollow elastic body is easy to replace. For example, the hollow elastic body of a different stiffness system is replaced, or in case of damage to the hollow elastic body, the hollow elastic body is replaced.

Fig. 4 schematically illustrates a schematic view of the connection of the first end 231 of the elastic member 230 and the supporting seat 250 according to another embodiment of the present disclosure.

As shown in fig. 4 and 2B, the elastic member 410 includes a hollow elastic body 233, the cantilever 240 includes a positioning pin 234, the positioning pin 234 includes a partition 4121, and the hollow elastic body 233 is caught between the partition 4121 and the cantilever 240. The first end of the alignment pin 234 includes external threads 4122, and the external threads 4122 cooperate with internal threads on the top of the support base 250 to fixedly attach the alignment pin 234 to the top of the support base 250.

The positioning pin 234 can move relative to the supporting seat 250 under the action of the rotating handle, so as to adjust the pre-tightening force of the hollow elastic body 411. The structure can adjust the pretightening force of the hollow elastic body according to actual needs.

As shown in fig. 5, for example, the top of the positioning pin 234 may include a groove that may engage the handle 510 such that rotation of the handle 510 causes rotation of the positioning pin 234, thereby moving the positioning pin 234 up and down relative to the support base 250.

According to an embodiment of the present disclosure, as shown in fig. 5, the suspension 200 further includes a nut 520, the nut 520 engaging with the external threads 4122 of the positioning pin 234 to limit the movement of the positioning pin 234 relative to the support seat 250. The stability of the suspension is further improved by using a nut 520 to lock the relative position of the alignment pin 234 and the support base 250.

According to an embodiment of the present disclosure, as shown in fig. 3A, the supporting seat 250 may include an opening 310, and one end of the cantilever 240 is placed in the opening 310. This structure can restrict the range of motion of cantilever 240, further improves the stability of robot.

According to an embodiment of the present disclosure, as shown in fig. 3A, in a case where the wheel 210 includes the connection shaft 211, and the connection shaft 211 includes a notch, the suspension 200 further includes a connection block 320. The second position of the suspension arm 240 is rotatably and fixedly connected with the wheel 210, including the wheel 210 is positioned at one side of the suspension arm 240, and the second position of the suspension arm 240 is rotatably and fixedly connected with the connecting shaft 211. The connecting block 320 is disposed at a recess of the connecting shaft 211 and fixedly connected to the suspension arm 240 for limiting the movement of the wheel 210 in the axial direction.

According to the embodiment of the present disclosure, as shown in fig. 2B, the cantilever 200 further includes a fixing member 260, the fixing member 260 is fixedly connected to the body, the first position 241 of the cantilever 240 is hinged to the body, and the first position 241 including the cantilever 240 is hinged to the fixing member 260. As shown in fig. 2B, the cantilever 240 is rotatable about an axis 244. According to the embodiment of the present disclosure, the first position 241 of the cantilever 240 may be hinged to the body, or the first position 241 of the cantilever 240 may be directly hinged to, for example, a positioning pin on the body, so that when the wheel runs in a direction perpendicular to the ground, the cantilever 240 can be driven to rotate relative to the body.

According to the embodiment of the present disclosure, the fixing member 260 is fixedly connected to the body, for example, the fixing member 260 may be fixed to the robot chassis 220 by bolts.

The present disclosure also provides a robot that may include a wheel, a body, and a suspension for connecting the wheel and the body. The suspension may be, for example, of the construction described above.

According to the embodiment of the present disclosure, the suspension structure described above may be used to connect the driving wheel of the robot and the body of the robot, so as to ensure the adhesion of the driving wheel to the ground and improve the stability of the robot, and the driven wheel of the robot may be rigidly connected to the body, so as to avoid the robot from pitching to a greater extent during the starting or braking process, thereby affecting the stability of the robot.

Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims

1. A suspension (200) for connecting a wheel (210) to a body, the suspension comprising:

a suspension arm (240), a first position (241) of the suspension arm (240) being articulated with the body, a second position (242) of the suspension arm (240) being rotatably connected with the wheel (210);

an elastic member (230), one end of the elastic member (230) being connected to the third position of the body or the cantilever (240), or both ends of the elastic member (230) being connected to the third position of the body and the cantilever (240), respectively,

when the wheel (210) moves along a first direction, the cantilever (240) is driven to rotate relative to the body, so that the elastic component (230) is compressed or stretched.

2. The suspension (200) of claim 1, wherein the resilient member (230) comprises a hollow resilient body (233) and the suspension arm (240) comprises a locating pin (234), wherein the locating pin (234) is at least partially nested in the hollow resilient body (233).

3. The suspension (200) of claim 1, wherein:

the suspension (200) further comprises: a support seat (250), the support seat (250) is fixedly connected with the body,

the first end (231) of the elastic component (230) is connected with the supporting seat (250).

4. The suspension (200) of claim 3, the bearing (250) comprising an opening (310), an end of the cantilever (240) being placed in the opening (310) for limiting the range of motion of the cantilever (240).

5. The suspension (200) of claim 3, wherein the resilient member (230) comprises a hollow resilient body (233), the suspension arm (240) comprises a locating pin (234), and the connecting the first end (231) of the resilient member (230) to the seat (250) comprises:

the first end of the positioning pin (234) comprises an external thread which is matched with the internal thread on the top of the supporting seat (250) for fixedly connecting the positioning pin (234) with the top of the supporting seat (250), and the second end of the positioning pin (234) is nested in the hollow elastic body (233).

6. Suspension (200) according to claim 5, wherein the positioning pin (234) comprises a diaphragm (4121), the hollow elastic body (233) is clamped between the diaphragm (4121) and the suspension arm (240), and the positioning pin (234) is movable relative to the support seat (250) under the action of a rotary handle in the direction of compression or extension of the hollow elastic body (233) for adjusting the pretension of the hollow elastic body.

7. The suspension (200) of claim 6, further comprising a nut (520), the nut (520) being capable of interfitting with the external thread of the locating pin (234) for limiting movement of the locating pin (234) relative to the support block (250).

8. The suspension (200) of claim 1, wherein:

in the case where the wheel (210) includes a connecting shaft (211) and the connecting shaft (211) includes a notch, the suspension (200) further includes: a connecting block (320),

the rotationally fixed connection of the second position (242) of the suspension arm (240) to the wheel (210) comprises:

the wheel (210) is positioned on one side of the cantilever (240), the second position (242) of the cantilever (240) is rotatably and fixedly connected with the connecting shaft (211), and the connecting block (320) is placed in a notch position on the connecting shaft (211) and is fixed with the cantilever (240).

9. The suspension (200) of claim 8, the connecting block (320) being fixed with the suspension arm (240) comprising: the connecting block (320) is fixedly connected with the cantilever (240) through a bolt.

10. The suspension (200) of claim 1, wherein the suspension arm (240) further comprises a mount (260), the mount (260) being fixedly connected to the body, the first position (241) of the suspension arm (240) being articulated to the body comprising:

the first position (241) of the cantilever (240) is hinged to the mount (260).

11. A robot, characterized in that the robot comprises:

a wheel (210);

a body; and

the suspension (200) according to any of claims 1 to 10, the suspension (200) being adapted to connect the wheel (210) and the body.