CN211468098U

CN211468098U - Suspension system, chassis and wheeled robot

Info

Publication number: CN211468098U
Application number: CN201922049934.5U
Authority: CN
Inventors: 陈顶明; 周院平; 孙信中; 矫人全
Original assignee: Nanjing Aoto Electronics Co ltd
Current assignee: Nanjing Aoto Electronics Co ltd
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2020-09-11
Anticipated expiration: 2029-11-25

Abstract

The utility model relates to a suspension system, a chassis and a wheeled robot, wherein the suspension system comprises a suspension, a suspension fixing part, a guide rod, a spring, a driving motor and a driving wheel, the driving wheel is connected with the driving motor, and the driving motor is fixed on the suspension; the suspension fixing piece comprises an upper end face and a lower end face, through holes are formed in the upper end face and the lower end face in a penetrating mode, the guide rod is arranged in the through holes, the spring is sleeved on the guide rod, and the guide rod and one end of the spring are fixedly connected with the suspension; the other end of the spring is connected with the hanging fixing piece, and the guide rod can slide up and down in the through hole. When the ground passes through the rugged ground, the spring can push the suspension to move up and down relative to the suspension fixing piece to drive the driving wheel to move up and down, so that the driving wheel is always kept in contact with the ground, and the ground gripping capability of the driving wheel is guaranteed. Meanwhile, the suspension system is arranged at the bottom of the chassis support, and the elastic force design of the spring only needs to consider the weight of the suspension system, so that the pushing effect of the spring is not influenced by the change of the load on the chassis.

Description

Suspension system, chassis and wheeled robot

Technical Field

The utility model relates to a robot field especially relates to a suspension, chassis and wheeled robot.

Background

In recent years, mobile robots have been rapidly developed. According to the moving mode, the device can be divided into a wheel type, a crawler type, a leg and foot type and the like. The wheel type robot can work in narrow or crowded scenes due to the characteristics of simple structure, flexible movement and the like, has the advantages of accurate positioning, track tracking and the like, and is greatly favored in reception, welcome and fixed-point service scenes.

In a practical scenario, a bumpy ground is inevitably present. In order to adapt to rugged ground, improve the ground gripping capability of the driving wheels and avoid the phenomenon of slipping or idling of the driving wheels, a part of wheeled robots are provided with a suspension system. CN201610021805.3 discloses a wheeled mobile robot suspension device, wherein a spring guide rod fixing seat 2 and a supporting seat 6 are fixedly arranged above a chassis 1, and a wheel 15, a speed reducer and a dc motor are mounted on a swing mechanism supporting frame 11; one end of the swing mechanism support frame 11 is connected with the guide rod fixing seat 2 through a spring 5 sleeved on the spring guide rod 4; the other end is rotatably connected on the supporting seat 6 through a pin shaft 18.

When the vehicle passes through a rugged ground, the spring 5 is in a compressed state, and the wheel 15 can be pushed up and down according to the compressed condition so as to keep the wheel 15 in contact with the ground and avoid the situations of slipping, idling and the like. The selection and the working state of the spring 5 are closely related to the designed load weight on the chassis during design. When the actual load weight on the chassis changes, the pushing effect of the spring 5 may deviate from the expected working state, and the contact and force between the wheels and the ground cannot be effectively guaranteed. Also, the pin 18 needs to maintain a slippery condition, which may cause a problem of separation of the wheel from the ground if there is a jam. Meanwhile, in the structure, the front direction and the rear direction need to be distinguished, and the ground grabbing effect is good only when the spring 5 is located in the advancing direction, so that the ground grabbing effect of the wheels in any advancing direction cannot be guaranteed.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present application provides a suspension system, a chassis, and a wheeled robot, which are required to solve the problem that the grip capability of wheels of a conventional suspension system of a wheeled robot is affected by the magnitude of the load on the chassis and the direction of travel, and is likely to largely deviate from the expected design.

An embodiment of the application provides a suspension system, which comprises a suspension, a suspension fixing piece, a guide rod, a spring, a driving motor and a driving wheel, wherein the driving wheel is connected with the driving motor, and the driving motor is fixed on the suspension;

the suspension fixing piece comprises an upper end face and a lower end face, through holes are formed in the upper end face and the lower end face in a penetrating mode, the guide rod is arranged in the through holes, the spring is sleeved on the guide rod, and one end of the guide rod and one end of the spring are fixedly connected with the suspension; the other end of the spring is connected with the hanging fixing piece, and the guide rod can slide up and down in the through hole.

In some embodiments, the suspension comprises a frame bottom plate and a motor fixing plate, the frame bottom plate is fixedly connected with the motor fixing plate, the frame bottom plate and the motor fixing plate are arranged perpendicular to each other, and the driving motor is fixedly arranged on the motor fixing plate; the spring and the guide rod are fixedly connected with the suspension bottom plate.

In some embodiments, the suspension base plate is provided with a drive wheel through-hole through which the drive wheel is disposed.

In some embodiments, the drive motor is coupled to the drive wheel via a bushing or coupling.

In some embodiments, the suspension system comprises two of the suspension fixtures, the suspension fixtures being symmetrically distributed on both sides of the drive wheel.

In some embodiments, the suspension fixture is provided with at least one of the through holes, and at least one of the guide rods is provided in the through hole; the guide rod is provided with an anti-drop cap at the free end close to the upper end face, and the cross sectional area of the anti-drop cap is larger than that of the through hole.

In some embodiments, the spring further comprises a sliding block, the sliding block is sleeved on the guide rod, and the sliding block is fixedly connected with the upper end of the spring; the slider abuts against the inner wall of the through hole.

Another embodiment of the present application provides a chassis, including a chassis support, at least two suspension systems, the suspension systems being fixedly connected to the chassis support, the suspension systems being symmetrically disposed on the chassis support, and the suspension systems being the suspension systems described in any of the previous embodiments.

In some embodiments, the chassis support further comprises a plurality of universal wheels, and the universal wheels are fixedly arranged below the chassis support.

An embodiment of the present application also provides a wheeled robot having the chassis of any one of the previous embodiments.

The spring is arranged between the suspension fixing piece and the suspension, two ends of the spring are respectively connected with the suspension fixing piece and the suspension, and the spring is sleeved on the guide rod; based on the elasticity that the flexible of spring provided, when the ground through rugged ground, the elasticity of spring can promote the suspension and hang the mounting relatively and reciprocate, and then drives the drive wheel and hang the mounting relatively and reciprocate to make the drive wheel keep in contact with ground all the time, can effectively ensure the ability of grabbing ground of drive wheel. Meanwhile, the suspension system is arranged at the bottom of the chassis support, and the elastic force design of the spring only needs to consider the weight of the suspension system and is irrelevant to the load on the chassis, so that the influence of the change of the load on the chassis on the pushing effect of the spring is not needed to be worried about.

Drawings

FIG. 1 is a schematic diagram of a prior art suspension arrangement;

FIG. 2 is a schematic structural diagram of a suspension system according to an embodiment of the present application;

FIG. 3 is an exploded view of a suspension system according to an embodiment of the present application;

FIG. 4 is a cross-sectional schematic view of a suspension system according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a chassis according to an embodiment of the present application;

FIG. 6 is a side view of a chassis according to an embodiment of the present application;

fig. 7 is a partial structure diagram of a suspension device of a chassis according to an embodiment of the present application.

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, a detailed description of the present application will be given below with reference to the accompanying drawings and detailed description. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

As shown in fig. 2 to 4, an embodiment of the present application provides a suspension system 10, which includes a suspension 100, a suspension holder 200, a guide rod 500, a spring 600, a driving motor 300, and a driving wheel 400, wherein the driving wheel 400 is connected to the driving motor 300, and the driving motor 300 is fixed on the suspension 100;

the suspension fixing member 200 comprises an upper end surface 200a and a lower end surface 200b, a through hole 201 is formed through the upper end surface 200a and the lower end surface 200b, the guide rod 500 is arranged in the through hole 201, the spring 600 is sleeved on the guide rod 500, and one end of the guide rod 500 and one end of the spring 600 are fixedly connected with the suspension 100; the other end of the spring 600 is connected to the suspension fixing member 200, and the guide rod 500 can slide up and down in the through hole 201.

As shown in fig. 5, in the chassis 20, the suspension holder 200 may be fixed to the chassis bracket 30, and an upper end surface 200a of the suspension holder 200 may be fixedly connected to the chassis bracket 30, or a lower end surface 200b may be fixedly connected to the chassis bracket. By arranging the spring 600 between the suspension fixing member 200 and the suspension 100, two ends of the spring 600 are respectively connected with the suspension fixing member 200 and the suspension 100, and the spring 600 is sleeved on the guide rod 500; based on the elastic force provided by the extension of the spring 600, when passing through a rugged ground, the elastic force of the spring 600 can push the suspension 100 to move up and down relative to the suspension fixing member 200, and further drive the driving wheel 400 to move up and down relative to the suspension fixing member 200, so that the driving wheel 400 is always in contact with the ground, and the ground gripping capability of the driving wheel 400 can be effectively guaranteed. Meanwhile, the suspension system 10 is arranged at the bottom of the chassis bracket, and the elastic force of the spring 600 is designed only by considering the weight of the suspension system and is not related to the load on the chassis, so that the influence of the change of the load on the chassis on the pushing effect of the spring 600 is not needed.

As shown in fig. 3, the suspension 100 may include a suspension base plate 101 and a motor fixing plate 102, the suspension base plate 101 and the motor fixing plate 102 are fixedly connected together, and a driving motor 300 is fixedly disposed on the motor fixing plate 102; the spring 600 and the guide rod 500 are fixedly connected to the suspension base plate 101. Illustratively, the suspension base plate 101 and the motor fixing plate 102 are disposed perpendicular to each other, for example, the suspension base plate 101 is disposed horizontally, and the motor fixing plate 102 is disposed vertically on the suspension base plate 101.

The suspension base plate 101 may be provided with a driving wheel through hole 101a, and the driving wheel 400 may be disposed through the driving wheel through hole 101 a. The driving motor 300 is coupled to the driving wheel 400 through a bushing or a coupling. In some embodiments, a speed reducer may be further disposed between the driving motor 300 and the driving wheel 400 to improve the maneuverability of the driving wheel. In some embodiments of the present invention, the,

as shown in fig. 2, in the suspension system 10, two suspension fixtures 200 may be provided, and are symmetrically distributed on both sides of the driving wheel 400, such as the front and rear sides in the traveling direction of the driving wheel 400, or the left and right sides in the traveling direction. Illustratively, as shown in fig. 2, two suspension fixtures 200 are distributed on both front and rear sides in the traveling direction of the driving wheel 400. Thus, the ground gripping capability of the driving wheel 400 in any advancing direction can be effectively ensured without distinguishing the front and rear directions; in addition, the suspension fixing member 200 is provided on both sides of the driving wheel 400, which is more advantageous for the balance design of the suspension system. It is understood that the number of the suspension fixing members 200 may be more than two, such as three, four or even an excessive number, as long as the balance of the suspension 100 can be ensured, and it is, of course, preferable that they are symmetrically distributed with respect to the driving wheel 400.

Each suspension fixture 200 may be provided with at least one through hole 201, and at least one guide rod 500 is disposed in the through hole 201. For example, as shown in fig. 2 and 3, each suspension fixing member 200 may be provided with 2 through holes 201, and each through hole 201 is provided with one guide rod 500. By providing a plurality of through holes 201 and guide rods 500, stability of the suspension 100 when sliding with respect to the suspension holder 200 can be ensured; moreover, the plurality of springs 600 are arranged, so that the elastic force output by the springs 600 can be ensured, and the ground gripping capacity of the driving wheel 400 can be ensured. It is understood that the number of the guide rods 500 may be equal to or less than the number of the through holes 201, and is determined according to actual requirements.

As shown in fig. 3 and 4, in order to prevent the guide rod 500 from being accidentally detached from the suspension holder 200, the guide rod 500 may be provided with an anti-slip cap 501 at a free end of the guide rod 500 close to the upper end surface 200a of the suspension holder 200, and the cross-sectional area of the anti-slip cap 501 is larger than that of the through hole. Thus, the free end of the guide rod 500 is prevented from passing through the through-hole 201, and the guide rod 500 is prevented from slipping off the hanging fixture 200.

Illustratively, the suspension mount 200 is located above and the suspension 100 is located below. As shown in fig. 3, the lower end of the spring 600 may be fixedly coupled to the suspension 100, and the upper end of the spring 600 may be coupled to the suspension fixing member 200. The upper end of the spring 600 is connected to the suspension fixing member 200 in such a manner that it is fixedly connected to the lower end surface 200b of the suspension fixing member 200; the spring 600 may be fixedly connected to a portion inside the through hole 201 of the suspension fixing member 200 — for example, a fixing protrusion is provided on an inner wall of the through hole 201, and an upper end of the spring 600 is fixed on the fixing protrusion or abuts against the fixing protrusion; and may be fixedly coupled with the upper end surface 200a of the suspension fixing member 200.

For example, as shown in fig. 3 and 4, the suspension system 10 further includes a slider 900, the slider 900 is sleeved on the guide rod 500, the slider 900 is fixedly connected to the upper end of the spring 600, and the slider 900 can slide up and down in the through hole 201. The slider 900 may abut against an inner wall of the through hole 201, and for example, the inner wall of the through hole 201 at the opening of the upper end surface 200a may extend toward the center, so that the cross-sectional area of the through hole 201 at the upper end surface 200a is smaller than that of the slider 900, and the slider 900 may abut against the inner wall of the through hole 201 at the opening of the upper end surface 200a to block the slider 900 from sliding out of the through hole 201 from the upper end surface 200 a. For example, a fixing protrusion may be provided on an inner wall of the through hole 201, and the slider 900 may abut on the fixing protrusion. Or the cross section of the through hole 201 is gradually reduced along the upward direction, the through hole 201 can be trumpet-shaped, and the slider 900 can be abutted against the inner wall of the through hole 201. By providing the slider 900, the connection between the spring 600 and the suspension fixing member 200 can be facilitated, and the stability of the movement track of the suspension 100 with respect to the suspension fixing member 200 can be enhanced.

As shown in fig. 2 and 4, the suspension base plate 101 is further provided with a limit spring block 103 for limiting and controlling the driving wheel 400 and preventing the driving wheel 400 from accidentally slipping out of the driving wheel through hole 101 a.

By arranging the spring 600 between the suspension fixing member 200 and the suspension 100, two ends of the spring 600 are respectively connected with the suspension fixing member 200 and the suspension 100, and the spring 600 is sleeved on the guide rod 500; based on the elastic force provided by the extension of the spring 600, when passing through a rugged ground, the elastic force of the spring 600 can push the suspension 100 to move up and down relative to the suspension fixing member 200, and further drive the driving wheel 400 to move up and down relative to the suspension fixing member 200, so that the driving wheel 400 is always in contact with the ground, and the ground gripping capability of the driving wheel 400 can be effectively guaranteed. Meanwhile, the suspension system 10 is arranged at the bottom of the chassis bracket, and the elastic force of the spring 600 is designed only by considering the weight of the suspension system and is not related to the load on the chassis, so that the influence of the change of the load on the chassis on the pushing effect of the spring 600 is not needed.

An embodiment of the present application further provides a chassis 20, as shown in fig. 5 to 7, including a chassis support 30, and at least two suspension systems 10, where the suspension systems 10 are fixedly connected to the chassis support 30, and the suspension systems 10 are symmetrically disposed on the chassis support 30; the suspension system 10 may be a suspension system as described in any of the previous embodiments.

The suspension system 10 comprises a suspension 100, a suspension fixing member 200, a guide rod 500, a spring 600, a driving motor 300 and a driving wheel 400, wherein the driving wheel 400 is connected with the driving motor 300, and the driving motor 300 is fixed on the suspension 100;

The suspension fixing member 200 is fixed to the chassis bracket 30, and an upper end surface 200a of the suspension fixing member 200 may be fixedly connected to the chassis bracket 30, or a lower end surface 200b may be fixedly connected to the chassis bracket.

The chassis frame 30 may be provided with an opening through which the driving wheel 400 and the driving motor 300 pass and partially protrude from the chassis frame 30, so as to reduce the height of the chassis 20 and improve the stability.

The chassis 20 may further include a plurality of universal wheels 400, and the universal wheels 400 are fixedly disposed under the chassis support 30. As shown in fig. 5, the chassis 20 may be formed by four universal wheels 400, which are disposed at four corner positions of the chassis frame 30. In some embodiments, there are two driving wheels 400 distributed on both sides of the chassis frame 30, and two universal wheels 400 are symmetrically disposed in front and rear in the traveling direction of the driving wheels 400.

It will be appreciated that variations of the previous suspension system embodiments may be applied to the chassis 20. The specific structure and operation of the components of the suspension system 10 can be seen from the foregoing description, and are not described in detail herein.

Another embodiment of the present application further provides a wheeled robot provided with the chassis 20 of the foregoing embodiment.

By arranging the spring 600 between the suspension fixing member 200 and the suspension 100, two ends of the spring 600 are respectively connected with the suspension fixing member 200 and the suspension 100, and the spring 600 is sleeved on the guide rod 500; based on the elastic force provided by the extension of the spring 600, when the wheeled robot passes through the rugged ground, the elastic force of the spring 600 can push the suspension 100 to move up and down relative to the suspension fixing member 200, and further drive the driving wheel 400 to move up and down relative to the suspension fixing member 200, so that the driving wheel 400 is always in contact with the ground, the ground grabbing capacity of the driving wheel 400 can be effectively guaranteed, and the walking stability of the wheeled robot is improved. Meanwhile, the suspension system 10 is arranged at the bottom of the chassis bracket, and the elastic force of the spring 600 is designed only by considering the weight of the suspension system and is not related to the load on the chassis, so that the influence of the change of the load on the chassis on the pushing effect of the spring 600 is not needed.

Each functional module/component in the embodiments of the present application may be integrated into the same processing module/component, or each module/component may exist alone physically, or two or more modules/components may be integrated into the same module/component. The integrated modules/components can be implemented in the form of hardware, or can be implemented in the form of hardware plus software functional modules/components.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A suspension system is characterized by comprising a suspension, a suspension fixing piece, a guide rod, a spring, a driving motor and a driving wheel, wherein the driving wheel is connected with the driving motor, and the driving motor is fixed on the suspension;

2. The suspension system according to claim 1, wherein the suspension comprises a suspension base plate and a motor fixing plate, the suspension base plate is fixedly connected with the motor fixing plate, the suspension base plate and the motor fixing plate are arranged perpendicular to each other, and the driving motor is fixedly arranged on the motor fixing plate; the spring and the guide rod are fixedly connected with the suspension bottom plate.

3. The suspension system of claim 2, wherein the suspension baseplate is provided with a drive wheel through-hole through which the drive wheel is disposed.

4. A suspension system according to claim 1, wherein the drive motor is coupled to the drive wheel by a bushing or coupling.

5. The suspension system of claim 1, wherein the suspension system includes two of the suspension mounts, the suspension mounts being symmetrically distributed on opposite sides of the drive wheel.

6. A suspension system according to claim 5, wherein the suspension fixture is provided with at least one said through hole, and at least one said guide rod is provided in said through hole; the guide rod is provided with an anti-drop cap at the free end close to the upper end face, and the cross sectional area of the anti-drop cap is larger than that of the through hole.

7. The suspension system according to any one of claims 1 to 6, further comprising a slider, wherein the slider is sleeved on the guide rod and is fixedly connected with the upper end of the spring; the slider abuts against the inner wall of the through hole.

8. An undercarriage comprising an undercarriage support, at least two suspension systems, said suspension systems being fixedly connected to said undercarriage support, said suspension systems being symmetrically arranged on said undercarriage support, characterized in that said suspension systems are according to any of claims 1-7.

9. The chassis of claim 8, further comprising a plurality of casters fixedly disposed beneath the chassis support.

10. A wheeled robot, characterized in that it has a chassis according to any of claims 8-9.