CN210680308U - Suspension system and robot comprising same - Google Patents
Suspension system and robot comprising same Download PDFInfo
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- CN210680308U CN210680308U CN201921424287.5U CN201921424287U CN210680308U CN 210680308 U CN210680308 U CN 210680308U CN 201921424287 U CN201921424287 U CN 201921424287U CN 210680308 U CN210680308 U CN 210680308U
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- swing arms
- rotating shaft
- damping
- support member
- assembly
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- 239000000725 suspension Substances 0.000 title claims abstract description 39
- 238000013016 damping Methods 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000035939 shock Effects 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a suspension and robot of constituteing thereof, suspension includes damper, in-wheel motor, the tire, the fixed plate, the pivot with turn to drive assembly, the coaxial cover of tire is established on in-wheel motor, the vertical setting of damper, in-wheel motor's mandrel level sets up and is connected fixedly with the shock attenuation end of damper lower extreme, the fixed plate level sets up in damper's top, the vertical setting of pivot is in damper's upper end, and the upper end of pivot upwards extends to the top of passing the fixed plate and rotates with the fixed plate and be connected, turn to drive assembly and install the upper end at the fixed plate, and its drive end is connected with the pivot transmission, the fixed plate is used for being connected fixedly with the carrier platform. The suspension system is simple in structure, the rotating shaft is driven by the steering driving assembly to drive the damping assembly and the hub motor to steer, the hub motor drives the whole suspension system to move, the damping assembly is used for providing a damping function for the hub motor, and therefore the obstacle crossing performance of the whole suspension is improved.
Description
Technical Field
The utility model belongs to the field of machinery, especially, relate to a suspension and robot of constituteing thereof.
Background
At present, the mobile robot has higher requirements on the stability, the mobility and the appearance of the robot besides ensuring the functionality, namely different requirements on different enterprises and different technologies are developed to complete targeted technology development. Stability is for example added to the robot with independent suspension like a car or with shock absorbers in the vertical direction of the wheels of the robot. Movement capabilities such as omni-directional rotation, lateral movement, etc. In fact, in addition to the original layout and supporting forces of the robot, the most relevant is its suspension system, which is also the force transfer element connected between the chassis and the axle, which has a significant impact on other properties such as driving stability and adhesion. In this regard, corresponding improvements are required, in particular as suspensions for increasing stability and mobility.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, an object of the utility model is to provide a simple structure maintains convenient and effectual suspension of shock attenuation.
In order to achieve the above purpose, the technical solution of the present invention is as follows: the utility model provides a suspension system, includes damper, in-wheel motor, tire, fixed plate, pivot and turns to drive assembly, the coaxial cover of tire is established on the in-wheel motor, the vertical setting of damper, in-wheel motor's mandrel level set up and with the shock attenuation end of damper lower extreme is connected fixedly, the fixed plate level sets up damper's top, the vertical setting of pivot is in damper's upper end, just upwards extend to the upper end of pivot and pass the top of fixed plate and with the fixed plate rotates to be connected, turn to drive assembly and install the upper end of fixed plate, and its drive end with the pivot transmission is connected, the fixed plate is used for being connected fixedly with the carrier platform.
The beneficial effects of the above technical scheme are that: the suspension system is simple in structure, the rotating shaft is driven by the steering driving assembly to drive the damping assembly and the hub motor to steer, the hub motor drives the whole suspension system to move, and the damping assembly is used for providing a damping function for the hub motor so as to improve the obstacle crossing performance of the whole suspension.
In the technical scheme, the damping assembly comprises a support piece, four swing arms, a fixed block and an elastic piece, wherein the support piece is an n-shaped rod which is vertically arranged and has a downward notch, one ends of the two swing arms are respectively rotatably connected with the same end of the support piece, one ends of the rest two swing arms are respectively rotatably connected with the other end of the support piece, the rotating connection positions of the same end of the support piece and the two swing arms are distributed at intervals along the vertical direction, the four swing arms are all positioned on the same side of the support piece, the four swing arms are respectively rotatably connected with the support piece and are distributed at four corners of the same rectangle in the same vertical plane, the other ends of the four swing arms are also positioned in the same vertical plane, the fixed block is square and is horizontally arranged among the four swing arms, and the other ends of the four swing arms are rotatably connected with the fixed block, four the swing arm is synchronous to be swung from top to bottom and is changeed in order to adjust the level of fixed block, be located two of top the middle part that swing arm length direction corresponds is through arranging in the yoke plate of fixed block top is connected fixedly, the one end of elastic component with the upper end of yoke plate is connected, its other end upwards extend to with the support piece inslot top is connected, the fixed block constitutes damper, support piece's top with the lower extreme of pivot is connected fixedly.
The beneficial effects of the above technical scheme are that: its simple structure, because four swing arms are all keeping the parallel state around support piece pendulum when changeing to make the fixed block be in the horizontality all the time, only its level can change, thereby realize its shock-absorbing function.
In the technical scheme, the elastic part is a damping rod, one end of the elastic part is rotatably connected with the top in the groove of the supporting part, and the other end of the elastic part is rotatably connected with the upper end of the yoke plate.
The beneficial effects of the above technical scheme are that: because the damping rod has better rigidity performance and can not bend, the stability of the damping rod is good, and the structure of the suspension system is more stable and firm.
In the technical scheme, the steering driving assembly comprises a speed reducer and a stepping motor, the speed reducer and the stepping motor are both mounted on the fixing plate, the driving end of the stepping motor is in transmission connection with the power input end of the speed reducer, and the power output end of the speed reducer is in transmission connection with the upper end of the rotating shaft.
The beneficial effects of the above technical scheme are that: the device is simple in structure, and the stepping motor realizes slow rotation of the rotating shaft through the speed reducer so as to control the steering of the suspension system.
In the technical scheme, the upper end of the supporting piece is fixedly connected with the lower end of the rotating shaft through a connecting plate, the connecting plate is horizontally arranged above the tire, one end of the connecting plate is bent downwards and extends to be fixedly connected with the top of the supporting piece, the lower end of the rotating shaft is fixedly connected with the upper end of the connecting plate, the axis of the rotating shaft is intersected with the axis of the spindle of the hub motor, and the intersection point is superposed with the center point of the tire.
The beneficial effects of the above technical scheme are that: therefore, the suspension system is more accurate in steering, and the controllability of the suspension system can be further improved.
The second objective of the present invention is to provide a robot that has a simple structure, is convenient to operate and move, and can turn around completely.
In order to solve the technical problem, the technical scheme of the utility model as follows: the utility model provides a robot, includes robot carrier and four suspension as above, four the fixed plate respectively with robot carrier connection is fixed and will robot carrier holds up, and four the fixed plate is the rectangle in same horizontal plane and distributes, four step motor and four in-wheel motor respectively with robot carrier's controller electricity is connected.
The beneficial effects of the above technical scheme are that: the robot carrier is simple in structure, four suspension systems are adopted to support the robot carrier, the flexible movement of the robot carrier is achieved, the obstacle crossing capability of the robot is improved, and the stable movement of the robot is kept.
Drawings
FIG. 1 is a schematic view of a suspension system according to an embodiment of the present invention;
FIG. 2 is a schematic view of a shock absorbing assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot according to an embodiment of the present invention.
In the figure: 1, a suspension system, 11 shock absorption components, 111 supporting pieces, 112 swing arms, 113 fixing blocks, 114 elastic pieces, 115 connecting plates, 116 connecting plates, 12 hub motors, 13 tires, 14 fixing plates, 15 rotating shafts, 16 steering driving components, 161 speed reducers, 162 stepping motors and 2 robot carriers.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a suspension system, which includes a damping assembly 11, a hub motor 12, a tire 13, a fixing plate 14, a rotating shaft 15 and a steering driving assembly 16, wherein the tire 13 is coaxially sleeved on the hub motor 12, the damping assembly 11 is vertically disposed with its damping end facing downward, a spindle of the hub motor 12 is horizontally disposed and is connected and fixed with the damping end at the lower end of the damping assembly 11, the fixing plate 14 is horizontally disposed above the damping assembly 11, the rotating shaft 15 is vertically disposed at the upper end of the damping assembly 11, and the upper end of the rotating shaft 15 extends upward to pass through the upper portion of the fixing plate 14 and is rotatably connected with the fixing plate 14, the steering driving assembly 16 is mounted at the upper end of the fixing plate 14, and its driving end is in transmission connection with the rotating shaft 15, the fixing plate 14 is used for being connected and fixed with a carrier platform, the suspension system is simple in structure, the rotating shaft is driven by the steering driving assembly to drive the damping assembly and the hub motor to steer, the hub motor drives the whole suspension system to move, and the damping assembly is used for providing a damping function for the hub motor so as to improve the obstacle crossing performance of the whole suspension.
As shown in fig. 2, in the above technical solution, the shock absorbing assembly 11 includes a support member 111, four swing arms 112, a fixing block 113 and an elastic member 114, the support member 111 is an n-shaped rod vertically disposed with downward notches, the number of the swing arms 112 is four, one end of each of the two swing arms 112 is rotatably connected to the same end of the support member 111, one end of each of the remaining two swing arms 112 is rotatably connected to the other end of the support member 111, the rotating connection positions between the same end of the support member 111 and the two swing arms 112 are vertically spaced apart, the four swing arms 112 are located on the same side of the support member 111, the four swing arms 112 are respectively rotatably connected to the support member 111 in the same vertical plane and are distributed at four corners of the same rectangle, the other ends of the four swing arms 112 are also located in the same vertical plane, the fixing block 113 is square, the four swing arms 112 are horizontally arranged between the four swing arms 112, the other ends of the four swing arms 112 are rotatably connected with the fixed block 113, the four swing arms 112 synchronously swing up and down to adjust the horizontal height of the fixed block 113, the middle parts of the two swing arms 112 located above in the length direction are fixedly connected through the connecting plate 115 arranged above the fixed block 113, one end of the elastic part 114 is connected with the upper end of the connecting plate 115, the other end of the elastic part extends upwards to be connected with the top part in the groove of the supporting part 111, the fixed block 113 forms the damping end of the damping component 11, the spindle of the hub motor is fixedly connected with one side of the fixed block deviating from the supporting part, the top end of the supporting part 111 is fixedly connected with the lower end of the rotating shaft 15, the structure is simple, and the four swing arms are kept in a parallel state when swinging around the supporting part, so that the fixed block is always, only its level will change, thereby fulfilling its shock absorbing function.
In the above technical solution, the elastic member 114 is a damping rod, one end of the elastic member is rotatably connected to the top of the groove of the supporting member 111, and the other end of the elastic member is rotatably connected to the upper end of the yoke plate 115.
In the above technical solution, the steering driving assembly 16 includes a speed reducer 161 and a stepping motor 162, the speed reducer 161 and the stepping motor 162 are both installed on the fixing plate 14, a driving end of the stepping motor 162 is in transmission connection with a power input end of the speed reducer 161, a power output end of the speed reducer 161 is in transmission connection with an upper end of the rotating shaft 15, the structure is simple, and the stepping motor realizes slow rotation of the rotating shaft through the speed reducer so as to control the steering of the suspension system.
Preferably, please refer to fig. 2 again, in the above technical solution, the upper end of the supporting member 111 is fixedly connected with the lower end of the rotating shaft 15 through a connecting plate 116, the connecting plate 116 is horizontally disposed above the tire 13, one end of the connecting plate is bent downward and extends to be fixedly connected with the top of the supporting member 111, the lower end of the rotating shaft 15 is fixedly connected with the upper end of the connecting plate 116, and the axis of the rotating shaft 15 intersects with the axis of the spindle of the in-wheel motor 12 and the intersection point coincides with the center point of the tire 13, so that the suspension system is more accurate in steering, and the maneuverability of the suspension system can be further improved.
Example 2
As shown in fig. 3, this embodiment provides a robot, including robot carrier 2 and four suspension systems 1 as in embodiment 1, four fixed plates 14 are respectively connected and fixed with robot carrier 2 and hold up robot carrier 2, and four fixed plates 14 are in rectangular distribution in the same horizontal plane, four step motor 162 and four in-wheel motor 12 are respectively electrically connected with the controller of robot carrier 2, and its simple structure adopts four suspension systems to hold up robot carrier to realize the flexible movement of robot carrier jointly, improves the obstacle crossing ability of robot simultaneously, keeps the smooth movement of robot.
The four stepping motors can synchronously rotate in the same direction to realize rapid turning of the robot carrier, and the four hub motors synchronously rotate in the same direction to drive the robot carrier to move.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (6)
1. A suspension system is characterized by comprising a damping assembly (11), a hub motor (12), a tire (13), a fixing plate (14), a rotating shaft (15) and a steering driving assembly (16), wherein the tire (13) is coaxially sleeved on the hub motor (12), the damping assembly (11) is vertically arranged, a mandrel of the hub motor (12) is horizontally arranged and is fixedly connected with a damping end at the lower end of the damping assembly (11), the fixing plate (14) is horizontally arranged above the damping assembly (11), the rotating shaft (15) is vertically arranged at the upper end of the damping assembly (11), the upper end of the rotating shaft (15) upwards extends to penetrate through the upper part of the fixing plate (14) and is rotatably connected with the fixing plate (14), and the steering driving assembly (16) is arranged at the upper end of the fixing plate (14), and the driving end of the fixing plate is in transmission connection with the rotating shaft (15), and the fixing plate (14) is used for being connected and fixed with the carrier platform.
2. The suspension system according to claim 1, wherein the shock absorbing assembly (11) comprises a support member (111), four swing arms (112), a fixed block (113) and an elastic member (114), the support member (111) is an n-shaped rod with a downward opening, the number of the swing arms (112) is four, one end of each of two swing arms (112) is rotatably connected to the same end of the support member (111), one end of each of the remaining two swing arms (112) is rotatably connected to the other end of the support member (111), the same ends of the support members (111) and the rotating joints of the two swing arms (112) are vertically spaced apart, the four swing arms (112) are located on the same side of the support member (111), and the rotating joints of the four swing arms (112) and the support member (111) are located in the same vertical plane and distributed at four corners of the same rectangle, the other ends of the four swing arms (112) are also positioned in the same vertical plane, the fixed block (113) is square strip-shaped, the swing arm mechanism is horizontally arranged between four swing arms (112), the other ends of the four swing arms (112) are rotatably connected with the fixed block (113), the four swing arms (112) synchronously swing up and down to adjust the horizontal height of the fixed block (113), the middle parts corresponding to the length directions of the two swing arms (112) above are fixedly connected through a connecting plate (115) arranged above the fixed block (113), one end of the elastic member (114) is connected with the upper end of the yoke plate (115), the other end of the damping component extends upwards to be connected with the top in the groove of the supporting piece (111), the fixing block (113) forms the damping end of the damping component (11), the top end of the supporting piece (111) is fixedly connected with the lower end of the rotating shaft (15).
3. A suspension system according to claim 2, wherein said elastic member (114) is a damping rod having one end rotatably connected to the top of the groove of said support member (111) and the other end rotatably connected to the upper end of said yoke plate (115).
4. The suspension system according to claim 2 or 3, wherein the steering driving assembly (16) comprises a speed reducer (161) and a stepping motor (162), the speed reducer (161) and the stepping motor (162) are both mounted on the fixing plate (14), a driving end of the stepping motor (162) is in transmission connection with a power input end of the speed reducer (161), and a power output end of the speed reducer (161) is in transmission connection with an upper end of the rotating shaft (15).
5. The suspension system according to claim 4, wherein the upper end of the support member (111) is fixedly connected with the lower end of the rotating shaft (15) through a connecting plate (116), the connecting plate (116) is horizontally arranged above the tire (13), one end of the connecting plate is bent downwards and extends to be fixedly connected with the top of the support member (111), the lower end of the rotating shaft (15) is fixedly connected with the upper end of the connecting plate (116), and the axis of the rotating shaft (15) is intersected with the axis of the spindle of the hub motor (12), and the intersection point is coincident with the center point of the tire (13).
6. A robot, characterized by comprising a robot carrier (2) and four suspension systems (1) as claimed in claim 4 or 5, wherein four fixing plates (14) are respectively connected and fixed with the robot carrier (2) and used for supporting the robot carrier (2), the four fixing plates (14) are distributed in a rectangular shape in the same horizontal plane, and the four stepping motors (162) and the four hub motors (12) are respectively and electrically connected with a controller of the robot carrier (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921424287.5U CN210680308U (en) | 2019-08-30 | 2019-08-30 | Suspension system and robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921424287.5U CN210680308U (en) | 2019-08-30 | 2019-08-30 | Suspension system and robot comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210680308U true CN210680308U (en) | 2020-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921424287.5U Expired - Fee Related CN210680308U (en) | 2019-08-30 | 2019-08-30 | Suspension system and robot comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210680308U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043805A (en) * | 2021-04-23 | 2021-06-29 | 清华大学 | Multi-connecting-rod suspension structure applied to four-wheel independent control electric vehicle |
| CN115091910A (en) * | 2022-08-24 | 2022-09-23 | 中铁工程服务有限公司 | Inspection robot chassis based on full steering technology and moving method |
-
2019
- 2019-08-30 CN CN201921424287.5U patent/CN210680308U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043805A (en) * | 2021-04-23 | 2021-06-29 | 清华大学 | Multi-connecting-rod suspension structure applied to four-wheel independent control electric vehicle |
| CN115091910A (en) * | 2022-08-24 | 2022-09-23 | 中铁工程服务有限公司 | Inspection robot chassis based on full steering technology and moving method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200605 |
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| CF01 | Termination of patent right due to non-payment of annual fee |