CN213082843U

CN213082843U - Suspension system of mobile chassis and mobile robot

Info

Publication number: CN213082843U
Application number: CN202021970337.2U
Authority: CN
Inventors: 柯辉; 马文成; 彭耀锋; 唐旋来
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2021-04-30
Anticipated expiration: 2030-09-10

Abstract

The utility model discloses a suspension and mobile robot on removal chassis relates to mobile robot technical field. The suspension system of the mobile chassis comprises a suspension bottom plate, a driving wheel assembly and a supporting wheel assembly, wherein the driving wheel assembly and the supporting wheel assembly are respectively and symmetrically arranged and distributed on the periphery of the suspension bottom plate; the supporting wheel assembly comprises at least two supporting wheels which can be linked with the upper part and the lower part. The utility model provides a suspension system on mobile chassis, through setting up the equal symmetry of drive wheel subassembly and supporting wheel subassembly, and distribute around suspension plate, both guaranteed mobile chassis's stability, can effectively avoid suspension plate to produce resonance again. The supporting wheel assembly comprises at least two supporting wheels which can be linked with each other from top to bottom, so that the at least two supporting wheels can rotate simultaneously, and can be linked with each other from top to bottom in the direction perpendicular to the suspension bottom plate, and the flexibility of the mobile chassis is improved.

Description

Suspension system of mobile chassis and mobile robot

Technical Field

The utility model relates to a mobile robot technical field especially relates to a suspension and mobile robot on mobile chassis.

Background

At present, a movable chassis suspension system is mainly provided with a driving wheel for independent suspension, and a supporting wheel is rigidly grounded; or the local driving wheel and the supporting wheel are linked.

In the prior art, the movable chassis adopts an integral suspension mode to arrange the driving wheel component and the supporting wheel component on the suspension bottom plate respectively, and the integral suspension mode ensures that the driving wheel and the supporting wheel land simultaneously. However, two supporting wheels in the supporting wheel assembly can only rotate simultaneously when the ground is uneven, so that the two supporting wheels are attached to the ground at the same time and cannot be linked up and down in the direction perpendicular to the chassis, and the chassis is poor in flexibility.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a suspension system who removes chassis to make the supporting wheel subassembly can be in the same top with linkage down of the direction on perpendicular to chassis.

Another object of the present invention is to provide a mobile robot, so as to improve the flexibility and stability of the mobile robot.

To achieve the purpose, the utility model adopts the following technical proposal:

a suspension system for a mobile chassis, comprising:

a suspension mat;

the driving wheel assembly and the supporting wheel assembly are respectively symmetrically arranged and distributed on the periphery of the suspension bottom plate;

the supporting wheel assembly comprises at least two supporting wheels which can be linked with the upper part and the lower part.

Optionally, the supporting wheel assembly further comprises a first swing rod and a connecting rod, two ends of the connecting rod are respectively rotatably connected with the first swing rod, the first swing rod is pivotally connected with the suspension base plate, the supporting wheel is mounted on the first swing rod, and the connecting rod and the first swing rod drive the supporting wheel to be linked with each other up and down.

The supporting wheel assembly further comprises a first support, the first support is detachably mounted on the suspension bottom plate, and the first swing rod is connected with the first support through a pivot.

Optionally, the first swing rod comprises a first transverse plate and a first connecting plate obliquely arranged at one end of the first transverse plate, the first transverse plate is pivotally connected to the first support, the supporting wheel is installed on the first transverse plate and is obliquely arranged towards the direction away from each other through the first connecting plate pivotally connected to the two ends of the connecting rod, and then the connecting rod is opposite to the suspension bottom plate and is arranged at an included angle.

Optionally, an elastic buffer layer is further disposed on the connecting rod.

Optionally, the support wheel assembly further includes a first shock absorption portion, and the first shock absorption portion is spanned on two sides of the connecting rod through a mounting seat and detachably connected to the first swing rod.

Optionally, the driving wheel assembly comprises a second swing link, a driving wheel and a second damping part, one end of the second swing link is pivotally connected with the suspension base plate, and the other end of the second swing link is detachably connected with the driving wheel; the second shock absorption part is arranged on the upper surface and the lower surface of the second swing rod, and the second shock absorption part is connected with the suspension bottom plate.

Optionally, the second damping portion includes a first elastic element, a second elastic element and a connecting stud, the first elastic element and the second elastic element are sleeved on the connecting stud, the connecting stud penetrates through the second swing rod and is connected with the suspension base plate, and the first elastic element and the second elastic element are respectively located on two sides of the second swing rod.

Optionally, the driving wheel assembly further includes a second bracket, the second bracket is detachably mounted on the suspension base plate, and the second swing link is pivotally connected to the second bracket so as to be capable of swinging relative to the suspension base plate.

A mobile robot comprising a suspension system of a mobile chassis according to any of the above.

The utility model has the advantages that:

the utility model provides a suspension system on removal chassis, through with drive wheel subassembly and supporting wheel subassembly symmetry setting respectively, and distribute in hanging around the bottom plate. The stability of the movable chassis is guaranteed, and resonance of the suspension bottom plate can be effectively avoided. The supporting wheel assembly comprises at least two supporting wheels which can be linked with the upper part and the lower part. The at least two supporting wheels can rotate simultaneously, and can be linked together in the direction perpendicular to the suspension bottom plate, so that the flexibility of the mobile chassis is improved. When the suspension system faces complex road conditions such as uphill and downhill, scenarized floor tiles and the like, the suspension system has certain obstacle crossing and climbing capabilities, improves the adaptability of the mobile chassis to different road conditions, and eliminates noise to a certain extent.

The utility model provides a mobile robot uses the suspension on foretell removal chassis, has improved the flexibility and the stability that mobile robot removed.

Drawings

Fig. 1 is a schematic structural diagram of a suspension system of a mobile chassis according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a support wheel assembly provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a driving wheel assembly provided by an embodiment of the present invention.

The labels in the figure are:

1. a suspension mat; 2. a drive wheel assembly; 3. a support wheel assembly;

21. a second swing link; 22. a drive wheel; 23. a second bracket; 24. a second damper portion; 25. connecting blocks; 31. a first swing link; 32. a connecting rod; 33. a support wheel; 34. a first bracket; 35. a mounting seat; 36. a first damper section; 37. a support wheel mounting bracket;

241. connecting a stud; 242. a first elastic member; 243. a second elastic member; 311. a first transverse plate; 312. a first connecting plate; 321. a connecting portion; 322. an elastic buffer layer; 341. a second transverse plate; 342. a vertical plate; 361. a third elastic member; 362. a support member;

3411. a first threaded hole; 3621. a first connecting rod; 3622. a second connecting rod.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 and fig. 2, the present embodiment provides a suspension system for a mobile chassis, which includes a suspension base plate 1, a driving wheel assembly 2 and a supporting wheel assembly 3, wherein the driving wheel assembly 2 and the supporting wheel assembly 3 are respectively symmetrically disposed and distributed around the suspension base plate 1; the support wheel assembly 3 comprises at least two support wheels 33 which can be linked with each other up and down.

The suspension system of the mobile chassis provided by this embodiment is formed by symmetrically arranging the driving wheel assembly 2 and the supporting wheel assembly 3 respectively, and distributing the driving wheel assembly and the supporting wheel assembly around the suspension base plate 1. Not only ensures the stability of the movable chassis, but also can effectively avoid the suspension bottom plate 1 from generating resonance. The support wheel assembly 3 comprises at least two support wheels 33 which can be linked with each other up and down. The at least two supporting wheels 33 can rotate at the same time and can be linked up and down in the direction perpendicular to the suspension bottom plate 1, and the flexibility of the mobile chassis is improved. When the suspension system faces complex road conditions such as uphill and downhill, scenarized floor tiles and the like, the suspension system has certain obstacle crossing and climbing capabilities, improves the adaptability of the mobile chassis to different road conditions, and eliminates noise to a certain extent.

As shown in fig. 1, in this embodiment, two driving wheel assemblies 2 and two supporting wheel assemblies 3 are provided, the two driving wheel assemblies 2 are respectively provided at the left and right sides of the suspension base plate 1, the two supporting wheel assemblies 3 are respectively provided at the front and rear ends of the suspension base plate 1, and the four suspensions are distributed on the suspension base plate 1 in a cross manner, so that the mobile chassis can be effectively prevented from generating resonance. The four suspensions are integrally suspended through the suspension bottom plate 1, so that the stability of the mobile chassis is guaranteed, and the direct transmission of ground impact to the suspension bottom plate 1 is avoided.

Optionally, as shown in fig. 2, the supporting wheel assembly 3 further includes a first swing link 31 and a connecting rod 32, two ends of the connecting rod 32 are respectively rotatably connected with the first swing link 31, the first swing link 31 is pivotally connected with the suspension base plate 1, the supporting wheel 33 is mounted on the first swing link 31, and then the connecting rod 32 and the first swing link 31 drive the supporting wheel 33 to link with each other in an up-and-down manner.

Preferably, the supporting wheel assembly 3 further comprises a first bracket 34, the first bracket 34 is detachably mounted on the suspension base plate 1, and the first swing link 31 is pivotally connected to the first bracket 3. Specifically, the first swing link 31 includes a first horizontal plate 311 and a first connecting plate 312 obliquely disposed from one end of the first horizontal plate 311, the first horizontal plate 311 is pivotally connected to the first bracket 34, the supporting wheel 33 is mounted on the first horizontal plate 311, the first connecting plates 312 pivotally connected to two ends of the connecting rod 32 are tilted in directions away from each other, and then the connecting rod 32 is disposed at an included angle with respect to the suspension base plate 1. In this embodiment, an avoiding groove is formed between the two first brackets 34 on the suspension base plate 1, the first swing rods 31 at the two ends of the connecting rod 32 are disposed with the first connecting plate 312 at one end inclined upward relative to the first horizontal plate 311, and the first connecting plate 312 at the other end inclined downward relative to the first horizontal plate 311, so that the connecting rod 32 is disposed with the first swing rod 1 inclined relative to the suspension base plate, and moves upward or downward under the driving of the first swing rod 31, and the avoiding groove prevents the connecting rod 32 from interfering with the suspension base plate 1 in the moving process. The inclined arrangement of the connecting rod 32 reduces the spacing between the two first swing links 31, so that the layout of the supporting wheel assembly 3 on the suspension base plate 1 is more compact, and the occupied space of the mobile chassis is reduced. The angle of the link 32 with respect to the suspension base 1 is not particularly limited and is set according to the specific situation. The arrangement of the first bracket 34 limits the swing angle of the first swing link 31, so that the stability of the mobile chassis is higher.

Of course, in other embodiments, the connecting rod 32 may be disposed in parallel with respect to the suspension base plate 1. The supporting wheel assembly 3 may also be provided without the first bracket 34, and the first swing link 31 is directly pivotally connected to the suspension base plate 1.

In this embodiment, one end of the first swing link 31 is mounted with a support wheel 33. Of course, in other embodiments, two, three or other numbers of support wheels 33 may be mounted at one end of the first swing link 31.

In this embodiment, the supporting wheel assembly 3 further includes a supporting wheel mounting bracket 37, two ends of the central shaft of the supporting wheel 33 are respectively and fixedly connected with the supporting wheel mounting bracket 37, and the supporting wheel mounting bracket 37 is fixedly connected with the first swing link 31. The supporting wheel 33 is arranged below the suspension bottom plate 1, an avoiding hole is formed in the position, corresponding to the supporting wheel 33, on the suspension bottom plate 1, and the supporting wheel mounting frame 37 penetrates through the avoiding hole to be fixedly connected with the first swing rod 31. When the ground is uneven, the supporting wheel 33 at one end moves upwards relative to the suspension bottom plate 1, the corresponding first connecting plate 312 moves downwards, the connecting rod 32 drives the first connecting plate 312 at the other end to move downwards, and the first connecting plate 312 at the other end drives the supporting wheel 33 arranged on the first transverse plate 311 to move upwards, so that the supporting wheels 33 at the two ends of the connecting rod 32 are linked upwards; similarly, the downward movement of the supporting wheel 33 at one end of the connecting rod will drive the supporting wheel 33 at the other end of the connecting rod to move downward relative to the suspension base plate 1, so as to realize the downward linkage of the supporting wheels 33 at both ends of the connecting rod 32.

Preferably, the first bracket 34 includes a second horizontal plate 341 and a vertical plate 342 perpendicular to the second horizontal plate 341, two ends of the second horizontal plate 341 are respectively provided with a set of first threaded holes 3411, the inner side of each set of first threaded holes 3411 is provided with a vertical plate 342, two vertical plates 342 are correspondingly provided with first hinge holes, and the first connecting shaft passes through the first horizontal plate 311 and is hinged to the vertical plates 342 on two sides. In this embodiment, the fastening bolt passes through the first screw hole 3411 to fixedly connect the first bracket 34 and the suspension base plate 1.

Optionally, an elastic buffer layer 322 is further disposed on the connecting rod 32. In this embodiment, the link 32 further includes two connecting portions 321, the elastic buffer layer 322 is disposed between the two connecting portions 321, and the connecting portions 321 are pivotally connected to the first connecting plate 312. In this embodiment, the connecting portion 321 is a groove-shaped connecting portion, two side walls of the groove-shaped connecting portion 321 are correspondingly provided with second hinge holes, and the second connecting shaft passes through the first connecting plate 312 and is hinged to the two side walls of the groove-shaped connecting portion 321, so as to realize free swing of the first swing link 31. The elastic buffer layer 322 is a rubber block, and the connecting bolt penetrates through the rubber block to fixedly connect the connecting part 321 on the two sides. Of course, in other embodiments, the elastic buffer layer 322 may be provided as a spring.

Optionally, the supporting wheel assembly 3 further includes a first shock absorption portion 36, and the first shock absorption portion 36 straddles two sides of the connecting rod 32 through the mounting seat 35 and is detachably connected to the first swing link 31. In the present embodiment, the mounting seat 35 is detachably connected to the first horizontal plate 311. The first shock absorption parts 36 are hinged to the mounting seat 35, the first swing rods 31 swing to drive the mounting seat 35 to swing, and the first shock absorption parts 36 are arranged on the two first swing rods 31 in parallel, so that the shock of the suspension base plate 1 caused by the shock of the two first swing rods 31 can be relieved.

Optionally, the first shock absorbing portion 36 includes a third elastic member 361 and a supporting member 362, the supporting member 362 is pivotally connected to the mounting seat 35, and the third elastic member 361 is sleeved on the supporting member 362 and abuts against the mounting seat 35; the supporting member 362 includes a first connecting rod 3621 and a second connecting rod 3622, the first connecting rod 3621 is slidably connected to the second connecting rod 3622, and the third elastic member 361 can be elastically deformed under the action of the first swing link 31. In the embodiment, the second connecting rod 3622 is sleeved in the first connecting rod 3621, and the third elastic element 361 generates a certain amount of compression under the action of the first swing link 31 to alleviate the vibration.

Specifically, the first shock absorption portion 36 further includes a nut and a baffle, a thread is disposed on the first connecting rod 3621, the nut is connected with the thread in a matching manner, the baffle is fixedly connected with the second connecting rod 3622, and two ends of the third elastic member 361 are respectively abutted to the nut and the baffle. The maximum compression amount of the third elastic member 361 is adjustable by the arrangement of the nut, and the damping effect is adjustable. The non-connecting ends of the first connecting rod 3621 and the second connecting rod 3622 are hinged to one of the mounting seats 35, and the non-connecting ends of the second connecting rod 3622 and the first connecting rod 3621 are hinged to the other mounting seat 35. Of course, in other embodiments, the third elastic member 361 may be directly sleeved on the supporting member 362, and two ends of the third elastic member 361 are respectively abutted against the two mounting seats 35.

Alternatively, as shown in fig. 3, the driving wheel assembly 2 includes a second swing link 21, a driving wheel 22 and a second shock absorption part 24, one end of the second swing link 21 is pivotally connected to the suspension base plate 1, and the other end is detachably connected to the driving wheel 22; the second vibration absorption part 24 is disposed on the upper and lower surfaces of the second swing link 21, and the second vibration absorption part 34 is connected to the suspension base plate 1. In this embodiment, the suspension base plate 1 is provided with a avoidance slot on each of the left and right sides, and the driving wheel 22 passes through the avoidance slot and is fixedly connected with the second swing link 21. The second vibration attenuating portion 24 has a vibration attenuating effect on both upper and lower surfaces of the second swing link 21. The drive wheel 22 is able to swing freely relative to the suspension mat 1 under the influence of the second swing link 21. The independent suspension of the driving wheel 22 can alleviate the disturbance of the moving chassis when the driving wheel 22 is accelerated or not smoothly running. The driving wheel assembly 2 further comprises a motor, which is connected with the driving wheel 22 to drive the supporting wheel 33 to move together.

Preferably, the driving wheel assembly 2 further comprises a second bracket 23, the second bracket 23 is detachably connected to the suspension base plate 1, and the second swing link 21 is pivotally connected to the second bracket 23 and thus can swing with respect to the suspension base plate 1. In this embodiment, the second bracket 23 comprises two bearing seats, in which bearings are arranged. One end of the second swing rod 21 is provided with a connecting hole, the two bearing seats are detachably connected with the suspension bottom plate 1 respectively, and the third connecting shaft penetrates through the connecting hole to be rotatably connected with bearings in the two bearing seats. The second bracket 23 limits the rotation angle of the second swing link 21, so that the stability of the mobile chassis is higher.

In this embodiment, a non-connecting end of the second swing link 21 and the second support 23 is further provided with a connecting block 25, the periphery of the connecting block 25 is fixedly connected with the second swing link 21 through a bolt, a connecting column on the driving wheel 22 passes through a middle hole formed by the connecting block 25 and the second swing link 21 and is connected with the middle hole through a nut, and the connecting column on the driving wheel 22 is rotatably connected with the middle hole. This arrangement facilitates the mounting and dismounting of the driving wheel 22 and the second swing link 21.

Specifically, the second damping part 24 includes a first elastic member 242, a second elastic member 243 and a connecting stud 241, the first elastic member 242 and the second elastic member 243 are sleeved on the connecting stud 241, the connecting stud 241 passes through the second swing link 21 and is connected with the suspension base plate 1, and the first elastic member 242 and the second elastic member 243 are respectively located at two sides of the second swing link 21. In this embodiment, the connecting stud 241 is a stud, a waist-shaped hole is formed in the middle of the second swing link 21, one end of the stud passes through the waist-shaped hole and is in threaded connection with the suspension base plate 1, and the other end of the stud is in threaded connection with a nut in cooperation with a gasket. The arrangement of the first elastic member 242 and the second elastic member 243 effectively relieves the impact of the vibration of the driving wheel 22 on the suspension mat 1 and the components above the suspension mat 1. The waist-shaped hole is arranged to enable the second damping portion 24 to have a certain moving space in the length direction of the second swing link 21.

In the present embodiment, the first elastic member 242, the second elastic member 243, and the third elastic member 361 are all springs. Of course, in other embodiments, the first elastic member 242, the second elastic member 243 and the third elastic member 361 may be rubber blocks or other elastic members.

The embodiment also provides a mobile robot, which comprises the suspension system of the mobile chassis. The mobile robot provided by the embodiment adopts the suspension system of the mobile chassis, so that the flexibility and the stability of the mobile robot in movement are improved.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. A suspension system for a mobile chassis, comprising:

a suspension mat (1);

the suspension device comprises a driving wheel assembly (2) and a supporting wheel assembly (3), wherein the driving wheel assembly (2) and the supporting wheel assembly (3) are respectively symmetrically arranged and distributed on the periphery of the suspension bottom plate (1);

the supporting wheel assembly (3) comprises at least two supporting wheels (33) which can be linked with each other up and down.

2. The suspension system of a mobile chassis according to claim 1, wherein the supporting wheel assembly (3) further comprises a first swing link (31) and a connecting rod (32), the two ends of the connecting rod (32) are respectively rotatably connected with the first swing link (31), the first swing link (31) is pivotally connected with the suspension base plate (1), the supporting wheel (33) is mounted on the first swing link (31), and the connecting rod (32) and the first swing link (31) drive the supporting wheel (33) to move up and down.

3. Suspension system of a mobile chassis according to claim 2, characterised in that said supporting wheel assembly (3) further comprises a first bracket (34), said first bracket (34) being removably mounted on said suspension base (1), said first oscillating bar (31) being pivotally connected to said first bracket (34).

4. The suspension system for a mobile chassis according to claim 3, wherein the first swing link (31) comprises a first cross plate (311) and a first connecting plate (312) inclined from one end of the first cross plate (311), the first cross plate (311) is pivotally connected to the first bracket (34), the supporting wheel (33) is mounted on the first cross plate (311), the first connecting plates (312) pivotally connected to two ends of the connecting rod (32) are inclined in directions away from each other, and the connecting rod (32) is disposed at an included angle with respect to the suspension base plate (1).

5. Suspension system of a mobile chassis according to claim 2, characterised in that an elastic damping layer (322) is provided on the link (32).

6. Suspension system of a mobile chassis according to claim 2, characterized in that said supporting wheel assembly (3) further comprises a first shock-absorbing portion (36), said first shock-absorbing portion (36) straddling said connecting rod (32) by means of a mounting seat (35) and being detachably connected to said first oscillating bar (31).

7. Suspension system of a mobile chassis according to any of claims 1 to 6, characterised in that said driving wheel assembly (2) comprises a second oscillating bar (21), a driving wheel (22) and a second shock-absorbing part (24), said second oscillating bar (21) being pivotally connected at one end to said suspension base (1) and being detachably connected at the other end to said driving wheel (22); the second shock absorption part (24) is arranged on the upper surface and the lower surface of the second swing rod (21), and the second shock absorption part (24) is connected with the suspension bottom plate (1).

8. The suspension system of a mobile chassis according to claim 7, wherein the second shock absorption portion (24) comprises a first elastic member (242), a second elastic member (243) and a connecting stud (241), the first elastic member (242) and the second elastic member (243) are sleeved on the connecting stud (241), the connecting stud (241) passes through the second swing link (21) to be connected with the suspension base plate (1), and the first elastic member (242) and the second elastic member (243) are respectively located at two sides of the second swing link (21).

9. Suspension system of a mobile chassis according to claim 7, characterised in that said driving wheel assembly (2) further comprises a second bracket (23), said second bracket (23) being removably mounted on said suspension base (1), said second oscillating bar (21) being pivotally connected to said second bracket (23) so as to be able to oscillate with respect to said suspension base (1).

10. A mobile robot comprising a suspension system of a mobile chassis according to any of claims 1-9.