CN215883227U

CN215883227U - Chassis suspension system of wheeled robot

Info

Publication number: CN215883227U
Application number: CN202122175590.XU
Authority: CN
Inventors: 常先明
Original assignee: Jiangsu Zhongke Zhongde Intelligent Technology Co ltd
Current assignee: Jiangsu Zhongke Zhongde Intelligent Technology Co ltd
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2022-02-22
Anticipated expiration: 2031-09-09

Abstract

The present invention provides a chassis suspension system of a wheeled robot, the chassis suspension system including: an upper supporting plate; the suspension devices are respectively positioned on two sides of the upper supporting plate and fixedly connected with the upper supporting plate, each suspension device comprises a vibration damping mechanism, a suspension swing arm and a hub motor, wherein one end of each suspension swing arm is connected with the vibration damping mechanism, and the middle part of each suspension swing arm is connected with the hub motor; the bottom plate, the bottom plate fixed mounting is in both sides hang on the swing arm and be located the below of fagging. The chassis suspension system of the wheeled robot can realize the purpose of stable and reliable walking through the suspension device with a simple structure, has exquisite and simple structural design, is easy to manufacture, assemble and maintain, and is favorable for marketization of the distribution robot.

Description

Chassis suspension system of wheeled robot

Technical Field

The utility model relates to the field of distribution robots, in particular to a chassis suspension system of a wheeled robot.

Background

At present, intelligent robots are increasingly used in various industries, especially wheel-type intelligent robots, and are used for distribution robots in service industries, such as logistics or catering industries, due to their superior moving reliability and large load capacity. Along with the use of wheeled intelligent robot in a large number, people find that this type of robot appears the wheel easily and skids, train buffering ability is poor, the operation scheduling problem not steady, and its leading cause is that the robot chassis does not have linkage, or linkage is unstable.

At present, the distribution robot industry is started, a plurality of scenes of our life are applied to the distribution robot, some distribution robots are provided with chassis suspension systems, and the chassis suspension systems are complex in structure and high in cost no matter in spring guide column type or connecting rod type.

SUMMERY OF THE UTILITY MODEL

In view of the above, embodiments of the present invention provide a chassis suspension system of a wheeled robot, so as to obviate or mitigate one or more of the disadvantages of the related art.

The technical scheme of the utility model is as follows:

the chassis suspension system includes: an upper supporting plate; the suspension devices are respectively positioned on two sides of the upper supporting plate and fixedly connected with the upper supporting plate, each suspension device comprises a vibration damping mechanism, a suspension swing arm and a hub motor, wherein one end of each suspension swing arm is connected with the vibration damping mechanism, and the middle part of each suspension swing arm is connected with the hub motor; the bottom plate, the bottom plate fixed mounting is in both sides hang on the swing arm and be located the below of fagging.

Preferably, the upper end of the vibration damping mechanism is connected with the upper supporting plate through a first U-shaped bracket, and the first U-shaped bracket is connected with the upper supporting plate through a bolt or a screw.

Preferably, the damping mechanism comprises a sleeve, a support rod, a spring and a pin shaft; the upper end of the sleeve is connected with the first U-shaped bracket through a rotating shaft, the sleeve is hollow, and the middle part of the sleeve is provided with a pair of long circular grooves; one end of the supporting rod is fixedly connected with the suspension swing arm, a rod-shaped structure of the supporting rod is inserted into the sleeve, and a pin shaft hole is formed in the middle of the supporting rod; the pin shaft is inserted into the pin shaft hole of the support rod, and two ends of the pin shaft protrude out of the long circular groove of the sleeve; the spring is sleeved on the outer peripheral surface of the sleeve and is positioned between the pin shaft and the upper end of the sleeve.

Preferably, the upper end of the sleeve has an annular plate for abutting against the spring.

Preferably, one end of the supporting rod connected with the suspension swing arm is of a U-shaped seat structure.

Preferably, the suspension swing arm is arranged along the horizontal direction, a second U-shaped support is installed at the other end of the suspension swing arm, and the bottom plate is connected with the second U-shaped support through bolts or screws.

Preferably, the middle part of the suspension swing arm is connected with the in-wheel motor, and the in-wheel motor is also fixed through a pressing plate.

Preferably, a plurality of universal wheels are mounted at the bottom of the bottom plate.

Further preferably, four universal wheels are mounted at the bottom of the bottom plate and are respectively located at four corners close to the bottom plate.

Preferably, two sides of the bottom plate are provided with grooves for mounting the hub motor and the suspension device.

According to the chassis suspension system of the wheeled robot, the beneficial effects at least comprising:

the chassis suspension system of the wheeled robot can realize the purpose of stable and reliable walking through the suspension device with a simple structure, has exquisite and simple structural design, is easy to manufacture, assemble and maintain, and is favorable for marketization of the distribution robot.

Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the utility model and together with the description serve to explain the principles of the utility model. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the utility model. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:

fig. 1 is a schematic perspective view of a chassis suspension system of a wheeled robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a suspension device according to an embodiment of the present invention.

Fig. 3 is a front view of a chassis suspension system in an embodiment of the utility model.

Fig. 4 is a left side view of a chassis suspension system in an embodiment of the present invention.

Fig. 5 is a bottom view of a chassis suspension system in an embodiment of the present invention.

Reference numerals:

10. an upper supporting plate; 20. a suspension device; 21. a first U-shaped bracket; 22. a sleeve; 221. a long circular groove; 23. a support bar; 231. a U-shaped seat structure; 24. a pin shaft; 25. a spring; 26. hanging a swing arm; 27. a hub motor; 28. pressing a plate; 29. a second U-shaped bracket; 30. a base plate; 31. a universal wheel;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

It is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.

The utility model provides a chassis suspension system of a wheeled robot, which aims to solve the problems of complex structure, high cost and the like of a distribution robot.

As shown in fig. 1 to 5, the chassis suspension system includes an upper supporting plate 10, two suspension devices 20 and a bottom plate 30, which are respectively located at two sides of the upper supporting plate 10 and are fixedly connected to each other.

The suspension device 20 comprises a vibration damping mechanism, a suspension swing arm 26 and a hub motor 27, wherein one end of the suspension swing arm 26 is connected with the vibration damping mechanism, and the middle part of the suspension swing arm 26 is connected with the hub motor 27; the bottom plate 30 is fixedly arranged on the suspension swing arms 26 at two sides and is positioned below the upper supporting plate 10.

The wheel type robot can realize the purpose of stable and reliable walking through the suspension device with simple structure, and the structural design is exquisite, simple and convenient, and easy to manufacture, assemble and maintain.

In some embodiments, as shown in fig. 2, the upper end of the damping mechanism is connected to the upper support plate 10 through a first U-shaped bracket 21, and the first U-shaped bracket 21 is connected to the upper support plate 10 through bolts or screws. Correspondingly, the upper stay plate 10 has a hole to which the first U-shaped bracket 21 is coupled.

In some embodiments, as shown in fig. 2, the damping mechanism includes a sleeve 22, a support rod 23, a spring 25, a pin 24, and the like. The upper end of the sleeve 22 is connected with the first U-shaped bracket 21 through a rotating shaft, the sleeve 22 is hollow, and the middle part of the sleeve 22 is provided with a pair of long circular grooves 221; one end of the support rod 23 is fixedly connected with the suspension swing arm 26, a rod-shaped structure of the support rod 23 is inserted into the sleeve 22, and a pin shaft 24 hole is formed in the middle of the support rod 23; the pin shaft 24 is inserted into the pin shaft 24 hole of the support rod 23, and two ends of the pin shaft 24 protrude out of the long circular groove 221 of the sleeve 22; the spring 25 is sleeved on the outer peripheral surface of the sleeve 22 and is located between the pin 24 and the upper end of the sleeve 22.

Preferably, the upper end of the sleeve 22 has an annular plate for abutting against the spring 25. The diameter of the annular plate is slightly larger than the diameter of the spring 25 so that it abuts against the spring 25. On the outside of the annular plate is the upper end of the sleeve 22, which is connected to the first U-shaped bracket 21. The two sides of the upper end are provided with planes parallel to the side plates of the U-shaped bracket and are provided with through holes so as to be connected with the U-shaped bracket through a rotating shaft.

In the above embodiment, the spring 25 is installed between the pin shaft 24 and the sleeve 22 by the damping mechanism, the matching length of the sleeve 22 and the support rod 23 can be changed, and the adjustment is performed through the telescopic change of the spring 25, so that the stability of the robot during walking is greatly increased, and the terrain scenes suitable for the robot are increased.

Preferably, one end of the support rod 23 connected to the suspension swing arm 26 is a U-shaped seat structure 231 to achieve easy connection with the suspension swing arm 26.

Preferably, the suspension swing arm 26 is arranged along the horizontal direction, and the other end thereof is mounted with a second U-shaped bracket 29, and the bottom plate 30 is connected with the second U-shaped bracket 29 through a bolt or a screw. Further, the middle part of the suspension swing arm 26 is connected with the hub motor 27, and the hub motor 27 is fixed by a pressing plate 28.

The in-wheel motor 27, also known as an in-wheel motor, integrates the power, transmission and braking devices into the wheel hub, thus greatly simplifying the mechanical parts of the chassis suspension system of the wheeled robot.

In some embodiments, a plurality of universal wheels 31 are mounted on the bottom of the base plate 30 to provide steering guidance. Preferably, four universal wheels 31 are mounted at the bottom of the bottom plate 30, and are respectively located at four corners of the bottom plate 30.

In some embodiments, the base plate 30 is slotted on both sides to mount the in-wheel motor 27 and the suspension 20.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A chassis suspension system for a wheeled robot, the chassis suspension system comprising:

an upper supporting plate;

the suspension devices are respectively positioned on two sides of the upper supporting plate and fixedly connected with the upper supporting plate, each suspension device comprises a vibration damping mechanism, a suspension swing arm and a hub motor, wherein one end of each suspension swing arm is connected with the vibration damping mechanism, and the middle part of each suspension swing arm is connected with the hub motor;

the bottom plate, the bottom plate fixed mounting is in both sides hang on the swing arm and be located the below of fagging.

2. The chassis suspension system of a wheeled robot as claimed in claim 1, wherein the upper end of the damping mechanism is connected to the upper support plate by a first U-shaped bracket, and the first U-shaped bracket is connected to the upper support plate by a bolt or a screw.

3. The wheeled robot chassis suspension system of claim 2, wherein the damping mechanism includes a sleeve, a support rod, a spring, and a pin;

the upper end of the sleeve is connected with the first U-shaped bracket through a rotating shaft, the sleeve is hollow, and the middle part of the sleeve is provided with a pair of long circular grooves;

one end of the supporting rod is fixedly connected with the suspension swing arm, a rod-shaped structure of the supporting rod is inserted into the sleeve, and a pin shaft hole is formed in the middle of the supporting rod;

the pin shaft is inserted into the pin shaft hole of the support rod, and two ends of the pin shaft protrude out of the long circular groove of the sleeve;

the spring is sleeved on the outer peripheral surface of the sleeve and is positioned between the pin shaft and the upper end of the sleeve.

4. A chassis suspension system for a wheeled robot according to claim 3 wherein the upper end of the sleeve has an annular plate for abutting against the spring.

5. The chassis suspension system of a wheeled robot of claim 3, wherein the end of the support bar connected to the suspension swing arm is a U-shaped seat structure.

6. The chassis suspension system of a wheeled robot as claimed in claim 5, wherein the suspension swing arm is arranged in a horizontal direction, and a second U-shaped bracket is installed at the other end thereof, and the base plate is connected with the second U-shaped bracket through a bolt or a screw.

7. The chassis suspension system of a wheeled robot of claim 6, wherein the middle portion of the suspension swing arm is connected to the in-wheel motor, which is also fixed by a pressure plate.

8. A wheeled robot chassis suspension system according to claim 6 wherein a plurality of universal wheels are mounted to the bottom of the base plate.

9. The wheeled robot chassis suspension system of claim 8, wherein four universal wheels are mounted to the bottom of the base plate, each positioned near a corner of the base plate.

10. The wheeled robot chassis suspension of claim 9, wherein the floor is slotted on both sides to mount the in-wheel motor and suspension.