CN216266130U - Longitudinal rotation hinge support spring damper suspension and robot - Google Patents

Abstract

The utility model discloses a spring shock absorber suspension of a longitudinal rotation hinge bracket, which comprises the following components in part by weight: the servo hub motor comprises a rotating shaft, a servo hub motor, a hub motor mounting assembly, a damping assembly and a longitudinal rotating hinge bracket; one end of the rotating shaft is connected with the output end of the servo hub motor, and the other end of the rotating shaft is fixedly connected with the hub motor mounting assembly; the hub motor mounting assembly, the damping assembly and the longitudinal rotating hinge bracket are sequentially movably connected end to form a three-connecting-rod structure; the hub motor mounting assembly is an integrally formed cuboid mounting block, and the rotating shaft and the cuboid mounting block are matched and fixed through a pin shaft; the shock absorption assembly is detachably and movably connected between the hub motor mounting assembly and the longitudinal rotating hinge support and used for changing the ground clearance of the robot chassis. The longitudinal rotating hinge support comprises an upper hinge support and a lower hinge support, the lower hinge is arranged below the upper hinge, and the robot chassis is arranged between the upper hinge support and the lower hinge support through bolt connection. The structure occupies less space of the chassis, and the structure is relatively simple, so that the accumulated tolerance during assembly is reduced.

Description

Longitudinal rotation hinge support spring damper suspension and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a spring damper suspension of a longitudinal rotating hinge support and a robot.

Background

The mobile robot is a machine device which automatically executes work, can receive human commands, can run a pre-arranged program, can perform actions according to principles formulated by artificial intelligence technology, and is widely applied to industries such as industry, agriculture, medical treatment, service and the like. According to the moving mode, the method can be divided into: wheeled mobile robots, walking mobile robots, crawler mobile robots, crawling robots, peristaltic robots, and swimming robots.

Current wheeled mobile robot chassis suspension, as shown in fig. 5, generally, including direct current gear motor, the drive wheel, direct current gear motor installation piece, the slider, the spring guide pillar, link assembly, the rectangle spring, there is not oily cun cover etc., wherein differential drive unit adopts direct current brushless gear motor cooperation rectangle spring hold-down mechanism, the structure is complicated, it is big to occupy the space on chassis, simultaneously because part structure kind is complicated, it is great to cause the chassis dead weight, and the tolerance that comes during the assembly is accumulated greatly, be unfavorable for the accurate navigation location of robot, the accurate electric pile that fills well of adjusting, and the work continuation of the journey that the robot was brought greatly to the part kind is of the quality is reduced.

SUMMERY OF THE UTILITY MODEL

In view of the shortcomings of the prior art, the present invention provides a solution to the above problems. In order to achieve the purpose, the utility model provides the following technical scheme: a spring damper suspension of a longitudinal rotation hinge support comprises a rotating shaft, a servo hub motor, a hub motor mounting assembly, a damping assembly and a longitudinal rotation hinge support; one end of the rotating shaft is connected with the output end of the servo hub motor, and the other end of the rotating shaft is fixedly connected with the hub motor mounting assembly; the wheel hub motor installation component damping component with vertical rotatory hinge support is head and the tail swing joint in proper order and constitutes three-link structure, damping component detachable swing joint is between wheel hub motor installation component and vertical rotatory hinge support for change robot chassis terrain clearance. Compared with the structure in the form of a rectangular spring and a guide rod in the prior art, the three-connecting-rod structure occupies less space of the chassis, is relatively simple in structure, and reduces the accumulated tolerance during assembly. The utility model adopts the servo wheel hub motor, the power device, the transmission device and the control device are integrated and installed in the wheel hub by the servo wheel hub electric wheel, the original structure of the motor, the reducer and the wheel is directly replaced, the design is simplified, the performance is combined with the practicability, the space is greatly saved, the motor is the wheel, the wheel is the motor, the space and the cost are obviously improved, and the accumulation of assembly tolerance is reduced because the types of assembly parts are reduced, thereby improving the assembly precision of the driving wheel of the chassis.

Preferably, one end of the damping assembly is movably connected with one end of the hub motor mounting assembly through a first connecting shaft, the other end of the damping assembly is movably connected with the longitudinal rotating hinge support through a second connecting shaft, and the other end of the hub motor mounting assembly is movably connected with the other end of the longitudinal rotating hinge support through a third connecting shaft.

Preferably, the first connecting shaft, the second connecting shaft and the third connecting shaft are all parallel to the rotating shaft, namely, the wheel hub motor mounting assembly, the damping assembly and the longitudinal rotating hinge support form a three-connecting-rod structure space which is parallel to the side face of the servo wheel hub motor, namely, the three-connecting-rod structure space occupies the longitudinal space of the whole chassis, so that the transverse space of the chassis can be reduced, and the whole volume of the robot is reduced.

Preferably, the longitudinal rotation hinge support comprises an upper hinge support and a lower hinge support, the lower hinge is arranged below the upper hinge, and the upper hinge support and the lower hinge support are fixedly connected to the robot chassis. The longitudinal rotating hinge support can realize the change of the ground clearance of the chassis by replacing damping components with different strokes under the condition of not changing a chassis structure frame, can improve the trafficability of the chassis of the mobile robot and meet the use requirements of different application scenes, and particularly comprises an upper hinge support and a lower hinge support, wherein the upper hinge support is connected with the damping components through a second connecting shaft, the lower hinge support is connected with a hub motor mounting component through a third connecting shaft, under the condition that the structural sizes of the longitudinal rotating hinge support are not changed, the upper hinge support and the lower hinge support are pulled by replacing the damping components with different strokes, the angle sizes of the damping components and the hub motor mounting component are changed and adjusted, the angle sizes of the damping components and the longitudinal rotating hinge support, and the angle sizes of the hub motor mounting component and the longitudinal rotating hinge support, therefore, the change of the ground clearance of the chassis of the robot is realized.

Preferably, the shock-absorbing assembly comprises a shock absorber and an elastic element, the elastic element is arranged on the outer surface of the shock absorber, and two ends of the elastic element are connected with the shock absorber.

Preferably, the elastic element is a coil spring. Simple structure and easy realization.

Preferably, the in-wheel motor installation component comprises an upper installation block and a lower installation block, and the upper installation block, the rotating shaft and the lower installation block are fixedly connected.

Preferably, the in-wheel motor installation component is integrated into one piece's cuboid installation piece, fixes pivot and installation piece through the round pin axle cooperation, makes pivot and installation piece static relatively.

The utility model also provides a robot comprising the suspension of the spring damper of the longitudinal rotating hinge bracket.

The utility model has the beneficial technical effects that:

spring damper adds the guide arm form for rectangular spring, and the integration degree is higher, provides more effective differential drive unit packing force, effectively guarantees that the drive wheel can not skid.

The longitudinal rotating hinge support can change the ground clearance of the robot chassis by replacing spring shock absorbers with different strokes under the condition that a chassis frame is not changed, the trafficability of the mobile robot chassis is improved, and the use requirements of different application scenes are met.

The driving motor that vertical rotatory hinge support cooperation spring damper suspension used is servo wheel hub motor, is equivalent to the direct current gear motor, the drive wheel on traditional differential drive chassis, structurally can effectively retrench, alleviates the dead weight simultaneously, and the lightweight duration that can effectively improve the robot.

The types of parts are reduced, tolerance accumulation caused by assembly is reduced, the assembly size precision is effectively improved, the data precision of a navigation algorithm is further improved, and the robot can walk more accurately and smoothly.

Drawings

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a front view of an embodiment of the present invention;

FIG. 3 is a schematic view of a connection relationship between a rotating shaft and a hub motor mounting assembly according to an embodiment of the present invention;

FIG. 4 is a schematic view of the connection between the damper and the hub motor mounting assembly according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a chassis suspension of a conventional wheeled mobile robot.

Reference numerals: 1. a servo hub motor; 11. a rotating shaft; 12. a first connecting shaft; 13. a second connecting shaft; 14. a third connecting shaft; 21. a lower mounting block; 211. connecting a bracket; 22. an upper mounting block; 221. a first boss; 222. a second boss; 223. a bolt; 31. an upper hinge bracket; 32. a lower hinge bracket; 41. a shock absorber; 42. a coil spring.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Example 1

Referring to fig. 1-4, a longitudinal rotation hinge bracket spring damper 41 suspension includes a rotating shaft 11, a servo hub motor 1 rotating with respect to the rotating shaft 11, a hub motor mounting assembly stationary with respect to the rotating shaft 11, a damper assembly, and a longitudinal rotation hinge bracket. Wherein one end of the shock absorption assembly is movably connected with one end of the wheel hub motor installation assembly through the first connecting shaft 12, the other end of the shock absorption assembly is movably connected with the longitudinal rotating hinge support through the second connecting shaft 13, and the other end of the wheel hub motor installation assembly is movably connected with the other end of the longitudinal rotating hinge support through the third connecting shaft 14. Wheel hub motor installation component, damper assembly and vertical rotatory hinge support constitute the structure of three connecting rods through the axle mode of end to end connection in proper order, and first connecting axle, second connecting axle and third connecting axle are all parallel with the pivot, and for the structure of prior art's rectangle spring with the guide arm form, the space that occupies the chassis reduces, and the structure is simple relatively has reduced the accumulative total tolerance when assembling.

The servo hub electric wheel in the embodiment of the utility model integrates the power device, the transmission device and the control device together and is arranged in the hub, the original structure of the motor, the reducer and the wheel is directly replaced, the design is greatly simplified, the performance is combined with the practicability, the space is greatly saved, the motor is the wheel, the wheel is the motor, the space and the cost are obviously improved, and the accumulation of assembly tolerance is reduced due to the reduction of the types of assembly parts, so that the assembly precision of the driving wheel of the chassis is improved. One end swing joint of pivot 11 is at servo in-wheel motor 1's output, and wheel hub rotates for pivot 11 under servo in-wheel motor 1's control, and the other end fixed connection in-wheel motor installation component of pivot 11, and servo in-wheel motor 1 is at the in-process of motion promptly, and pivot 11 and in-wheel motor installation component are static relatively. The specific connection mode is as shown in fig. 3, a plane is turned on the upper surface of one end of the rotating shaft 11 close to the hub motor mounting assembly, and the plane does not need to penetrate through the end of the rotating shaft 11, that is, the plane and the end of the rotating shaft 11 are in an "L" shape. The in-wheel motor mounting assembly comprises an upper mounting block 22 and a lower mounting block 21, the upper mounting block 22 and the lower mounting block 21 are rectangular blocks in the embodiment, the middle position of the upper mounting block 22 is cut into a section matched with the shape of the upper surface of the rotating shaft 11, a semicircular arc with the diameter identical to that of the rotating shaft 11 is arranged at the middle position of the lower mounting block 21, the upper mounting block 22 and the lower mounting block 21 are respectively arranged on the upper side and the lower side of the rotating shaft 11 and are clamped, a bolt 223 enters a threaded blind hole formed in the surface of the lower mounting block 21 through a through hole formed in the surface of the upper mounting block 22 and is fastened, the bolt 223, the upper mounting block 22 and the lower mounting block 21 are locked and fixed, and the front side face and the rear side face of the upper mounting block 22 and the rear side face of the lower mounting block 21 are parallel to the side face of the servo in-wheel motor 1. The connection mode can prevent the rotating shaft 11 from rotating relative to the hub motor mounting assembly under the action of torsion or prevent the hub motor mounting assembly from rotating relative to the rotating shaft 11 under the action of torsion.

In this embodiment, the damper assembly is hinged to the hub motor mounting assembly, and includes a damper 41 capable of damping vibration of the vehicle, improving ride comfort of the vehicle, and enhancing adhesion between the wheels and the ground, and an elastic member supporting a load and capable of suppressing vibration and impact caused by an uneven road surface. The elastic element is a coil spring 42, the coil spring 42 is sleeved on the outer surface of the shock absorber 41, and two ends of the coil spring 42 are connected with the shock absorber. One end of the shock absorber 41 is connected with the upper mounting block 22 through the first connecting shaft 12, and the specific connection mode is as shown in fig. 4, the left side of the upper end of the upper mounting block 22 is provided with a first boss 221 extending upwards and symmetrically arranged on a second boss 222 of the upper mounting block 22; set up the through-hole on first boss 221 and the second boss 222 respectively, wherein the diameter of through-hole and the size phase-match of first connecting axle 12 on the first boss 221, first connecting axle 12 passes the through-hole of first boss 221 and inserts the through-hole of bumper shock absorber 41 one end, then bolt 223 gets into the fastening installation in the screw thread blind hole of first connecting axle 12 tip through the through-hole on the second boss 222 of last installation piece 22, thereby make bumper shock absorber 41 can use first connecting axle 12 as the axis and in the space internal rotation that is on a parallel with servo in-wheel motor 1 side rise, first connecting axle 12 adopts bolt 223 fastening connection with last installation piece 22, connect simply reliably, and easily realize.

The other end of the damper 41 is connected to the longitudinal rotation hinge bracket through the second connecting shaft 13. The longitudinal rotation hinge bracket in this embodiment includes an upper hinge bracket 31 and a lower hinge bracket 32. Specifically, the other end of the damper 41 is connected with the upper hinge bracket 31 through the second connecting shaft 13, a groove is formed in one surface, close to the damper 41, of the upper hinge bracket 31, a through hole is formed in a position, close to the upper end, of the side surface of the groove, the second connecting shaft 13 penetrates through the through hole in the side surface of the groove of the upper hinge bracket 31 and the through hole in the other end of the damper 41 to the inner surface of the other side of the groove of the upper hinge bracket 31, and the bolt 223 enters the threaded blind hole in the end portion of the second connecting shaft 13 through the through hole in the other side surface of the groove of the upper hinge bracket 31 to be fastened and installed. One side that the lower extreme of going up hinge bracket 31 deviates from the recess sets up a plane, and the back of going up hinge bracket 31 recess sets up a strengthening rib, extends to the plane of last hinge bracket 31 lower extreme from the top of recess, improves hinge bracket 31's bearing capacity.

The lower hinge support 32 is arranged below the upper hinge support 31, the lower hinge support 32 is hinged on the lower mounting block 21, specifically, one side of the lower mounting block 21, which is far away from the boss of the upper mounting block 22, is provided with a long connecting support 211, and the long connecting support 211 is provided with a through hole; one surface of the lower hinge support 32 close to the lower mounting block 21 is provided with a groove, a through hole is arranged at the position close to the lower end of the side surface of the groove, and the third connecting shaft 14 passes through the through hole at the side surface of the groove of the lower hinge support 32 and the through hole of the long connecting support 211 to enable the lower hinge support 32 to be hinged with the lower mounting block 21. A plane is provided at the upper end of the lower hinge bracket 32 at a position corresponding to the plane provided on the upper hinge bracket 31. The robot chassis is disposed between the upper hinge bracket 31 and the lower hinge bracket 32, and the specific bolts 223 are fastened and connected through mounting holes on the plane of the upper hinge bracket 31, mounting holes of the robot chassis, and mounting holes on the plane of the lower hinge bracket 32. Compared with the existing rectangular spring differential drive suspension, the structure of the utility model adopts the structure that the hub motor mounting assembly, the damping assembly and the longitudinal rotating hinge support form a three-connecting-rod structure in a way that the shafts are sequentially connected end to end, and the first connecting shaft, the second connecting shaft and the third connecting shaft are all parallel to the rotating shaft, thus simplifying the redundant complex structure of the differential drive unit, reducing the types of parts, reducing the space occupied by the longitudinal rotating hinge support on the chassis, effectively reducing the dead weight of the whole chassis, and improving the working endurance time of the robot.

Example 2

The difference from the embodiment 1 is that: the in-wheel motor installation component is integrated into one piece's cuboid installation piece, and the intermediate position of installation piece sets up the through-hole corresponding with pivot 11, and the surface of pivot 11 sets up the round pin, through the fixed pivot 11 of round pin axle cooperation and installation piece, makes pivot 11 and installation piece static relatively.

The structural composition of the chassis suspension mechanism is described in detail above, and the working process of the chassis suspension mechanism is specifically described as follows:

when the driving wheel of the robot rolls on the ground to walk, the shock absorber spring is compressed to generate torque force around the supporting point of the upper bracket of the longitudinal rotating hinge bracket due to the positive pressure vertical to the ground, and the torque force is balanced with the positive pressure vertical to the driving wheel from the ground along the upward component force vertical to the ground, so that the positive pressure of the driving wheel to the ground is effectively ensured when the chassis of the robot walks, and the robot does not slip when walking. Meanwhile, the longitudinal rotating hinge support can realize the change of the ground clearance of the chassis under the condition that a chassis structure frame is not changed by replacing the damping assemblies with different strokes, the trafficability characteristic of the chassis of the mobile robot can be improved, the use requirements of different application scenes are met, concretely, under the condition that the structure size of the longitudinal rotating hinge support is not changed, only the damping assemblies with different strokes are replaced, namely, the angle size of the damping assemblies and the hub motor installation assemblies is adjusted, the angle size of the damping assemblies and the longitudinal rotating hinge support, the angle size of the hub motor installation assemblies and the longitudinal rotating hinge support, and therefore the change of the ground clearance of the chassis of the robot is realized. The longitudinal hinge is matched with the servo hub motor, the configuration of the traditional chassis driving wheel, the speed reducer and the direct current motor of the robot is greatly reduced, the space and the cost are obviously improved, and the accumulation of assembly tolerance is reduced due to the reduction of the types of assembly parts, so that the assembly precision of the chassis driving wheel is improved, and the navigation and travel precision of the robot algorithm is higher.

The utility model also provides a robot, and the suspension structure of the moving chassis of the robot is the same as that of the suspension of the spring shock absorber of the longitudinal rotating hinge bracket, and repeated description is omitted here.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the utility model may occur to those skilled in the art without departing from the principle of the utility model, and are considered to be within the scope of the utility model.

Claims (7)

1. A longitudinal rotation hinge support spring damper suspension characterized in that: the servo hub motor comprises a rotating shaft, a servo hub motor, a hub motor mounting assembly, a damping assembly and a longitudinal rotating hinge bracket; one end of the rotating shaft is connected with the output end of the servo hub motor, and the other end of the rotating shaft is fixedly connected with the hub motor mounting assembly; the hub motor mounting assembly, the damping assembly and the longitudinal rotating hinge bracket are sequentially movably connected end to form a three-connecting-rod structure; the hub motor mounting assembly is an integrally formed cuboid mounting block, and the rotating shaft and the cuboid mounting block are fixed in a matched mode through a pin shaft; the shock absorption assembly is detachably and movably connected between the hub motor mounting assembly and the longitudinal rotating hinge support and used for changing the ground clearance of the robot chassis.

2. The longitudinally rotating hinge bracket spring damper suspension of claim 1, wherein: one end of the damping assembly is movably connected with one end of the hub motor mounting assembly through a first connecting shaft, the other end of the damping assembly is movably connected with the longitudinal rotating hinge support through a second connecting shaft, and the other end of the hub motor mounting assembly is movably connected with the other end of the longitudinal rotating hinge support through a third connecting shaft.

3. The longitudinally rotating hinge bracket spring damper suspension according to claim 2, wherein: the first connecting shaft, the second connecting shaft and the third connecting shaft are all parallel to the rotating shaft.

4. The longitudinally rotating hinge bracket spring damper suspension of claim 1, wherein: the longitudinal rotating hinge support comprises an upper hinge support and a lower hinge support, the lower hinge is arranged below the upper hinge, and the upper hinge support and the lower hinge support are fixedly connected to the robot chassis.

5. The longitudinally rotating hinge bracket spring damper suspension of claim 1, wherein: the shock absorption assembly comprises a shock absorber and an elastic element, the elastic element is arranged on the outer surface of the shock absorber, and two ends of the elastic element are connected with the shock absorber.

6. The longitudinally rotating hinge bracket spring damper suspension according to claim 5, wherein: the elastic element is a coil spring.

7. A robot, characterized by: a longitudinally rotating hinge bracket spring damper suspension comprising any one of claims 1-6.

Images