CN216659491U - Chassis suspension mechanism and mobile robot - Google Patents
Chassis suspension mechanism and mobile robot Download PDFInfo
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- CN216659491U CN216659491U CN202122922161.4U CN202122922161U CN216659491U CN 216659491 U CN216659491 U CN 216659491U CN 202122922161 U CN202122922161 U CN 202122922161U CN 216659491 U CN216659491 U CN 216659491U
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- rotating shaft
- suspension mechanism
- hinge hole
- chassis suspension
- shock absorber
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Abstract
The utility model relates to the technical field of chassis, and provides a chassis suspension mechanism and a mobile robot, wherein the chassis suspension mechanism comprises a driving wheel, a fixing piece, a driven wheel, a connecting piece and a shock absorber, the fixing piece is provided with a first hinge hole, the connecting piece is provided with a second hinge hole, one end of the shock absorber is connected with a first rotating shaft, the first rotating shaft is rotatably arranged in the first hinge hole, the other end of the shock absorber is connected with a second rotating shaft, and the second rotating shaft is rotatably arranged in the second hinge hole; a bush is arranged between the first rotating shaft and the hole wall of the first hinge hole, and a bush is arranged between the second rotating shaft and the hole wall of the second hinge hole. The chassis suspension mechanism and the mobile robot provided by the utility model have the beneficial effects that: the bush can reduce the rigidity friction between bumper shock absorber and mounting or the connecting piece, has solved the technical problem that the noise is big when current mobile robot crosses bank and gap, has reduced the noise that produces when mobile robot crosses bank and gap.
Description
Technical Field
The utility model relates to the technical field of chassis, in particular to a chassis suspension mechanism and a mobile robot.
Background
With the rapid development of mobile robot technology, mobile robots are increasingly used, for example, welcome robots, meal delivery robots, educational robots, biomimetic robots, inspection robots, and the like. The mobile robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to principles formulated by artificial intelligence technology.
However, when the existing mobile robot passes through the threshold and the gap, the noise is large.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a chassis suspension mechanism and a mobile robot, and aims to solve the technical problem that the existing mobile robot has high noise when passing through a ridge and a gap.
In order to achieve the purpose, the utility model adopts the technical scheme that: a chassis suspension mechanism comprises a driving wheel, a fixing piece, a driven wheel, a connecting piece and a damper, wherein the driving wheel is mounted on the fixing piece, the fixing piece is provided with a first hinge hole, the driven wheel is mounted on the connecting piece, the connecting piece is provided with a second hinge hole, a first end of the damper is connected with a first rotating shaft, the first rotating shaft is rotatably mounted in the first hinge hole, a second end of the damper is connected with a second rotating shaft, and the second rotating shaft is rotatably mounted in the second hinge hole;
the first rotating shaft and the hole wall of the first hinge hole are provided with a lining, and/or the second rotating shaft and the hole wall of the second hinge hole are provided with a lining.
In one embodiment, the driving wheel is a hub motor.
In one embodiment, the driven wheel is a universal wheel.
In one embodiment, the liner is a self-lubricating liner.
In one embodiment, the bushing is a shouldered bushing.
In one embodiment, the fixing member has two first hinge holes spaced apart from each other, the bushing is disposed in each of the two first hinge holes, and the first end of the shock absorber is located between the two first hinge holes.
In one embodiment, the chassis suspension mechanism further comprises a first locking member, one end of the first rotating shaft is provided with a first shoulder, and the other end of the first rotating shaft is sleeved in the first locking member after sequentially penetrating through the first bushing, the shock absorber and the second bushing.
In one embodiment, the first locking member is a first snap spring.
In one embodiment, the bushing is a shouldered bushing, the shoulder of the shouldered bushing being located on a side of the first hinge bore remote from the shock absorber.
In one embodiment, a first clamping groove for mounting the first clamping spring is formed in the peripheral wall of the other end of the first rotating shaft.
In one embodiment, the fixing member has two second hinge holes spaced apart from each other, the bushing is disposed in each of the two second hinge holes, and the second end of the shock absorber is located between the two second hinge holes.
In one embodiment, the chassis suspension mechanism further comprises a second locking member, one end of the second rotating shaft is provided with a second shoulder, and the other end of the second rotating shaft sequentially penetrates through the first bushing, the shock absorber and the second bushing and then is sleeved in the second locking member.
In one embodiment, the second locking member is a second snap spring.
In one embodiment, the bushing is a shouldered bushing having a shoulder located on a side of the first hinge bore remote from the shock absorber, and the second shoulder abuts a shoulder of a first of the shouldered bushings.
In one embodiment, the peripheral wall of the other end of the second rotating shaft is provided with a second clamping groove for mounting the second clamping spring.
In one embodiment, a first limiting block is installed at the top of the fixing piece.
In one embodiment, the chassis suspension mechanism further comprises a suspension fixing seat, the suspension fixing seat is hinged to the fixing part and the connecting part respectively, a second limiting block is connected to the bottom of the fixing part, and the bottom of the second limiting block abuts against or is close to the suspension fixing seat.
In one embodiment, the chassis suspension mechanism further comprises a suspension mounting plate, and the suspension mounting plate is mounted at the bottom of the suspension fixing seat.
The utility model also provides a mobile robot, which comprises a robot body and the chassis suspension mechanism, wherein the chassis suspension mechanism is arranged at the bottom of the robot body.
The chassis suspension mechanism and the mobile robot provided by the utility model have the beneficial effects that: the first end of the shock absorber is hinged with the fixing piece through a first rotating shaft, and the second end of the shock absorber is hinged with the connecting piece through a second rotating shaft. Between the pore wall of first pivot and first hinge hole, and/or, be provided with the bush between the pore wall of second pivot and second hinge hole, the bush can reduce the rigidity friction between bumper shock absorber and mounting or connecting piece, realizes reducing wearing and tearing, vibration and noise between bumper shock absorber and mounting or the connecting piece, has solved the technical problem that the noise is big when current mobile robot crosses bank and gap, has reduced the noise that produces when mobile robot crosses bank and gap.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a chassis suspension mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of the chassis suspension mechanism of FIG. 1;
FIG. 3 is a front view of the chassis suspension mechanism of FIG. 1;
FIG. 4 is a cross-sectional view of the chassis suspension mechanism of FIG. 3 taken along line A-A;
FIG. 5 is an enlarged view taken at A in FIG. 4;
FIG. 6 is an enlarged view of FIG. 4 at B
Fig. 7 is a left side view of the chassis suspension mechanism of fig. 3.
Wherein, in the figures, the respective reference numerals:
| numbering | Name (R) | Numbering | Name(s) |
| 100 | |
110 | |
| 200 | |
210 | |
| 220 | |
230 | First limiting |
| 240 | |
300 | |
| 400 | Connecting |
410 | |
| 500 | Shock absorber | 510 | First rotating |
| 511 | |
512 | |
| 520 | Second rotating |
521 | |
| 522 | |
530 | |
| 540 | |
550 | |
| 610 | |
620 | Suspension mounting plate |
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 and 2, a chassis suspension mechanism according to an embodiment of the present invention will now be described.
The chassis suspension mechanism comprises a driving wheel 100, a fixing member 200, a driven wheel 300, a connecting member 400 and a damper 500, wherein the driving wheel 100 is mounted on the fixing member 200, the fixing member 200 is provided with a first hinge hole 210, the driven wheel 300 is mounted on the connecting member 400, and the connecting member 400 is provided with a second hinge hole 410.
The first end of the shock absorber 500 is connected with a first rotating shaft 510, and the first rotating shaft 510 is rotatably installed in the first hinge hole 210, so that the shock absorber 500 is hinged to the fixing member 200. The second end of the shock absorber 500 is connected with a second rotating shaft 520, and the second rotating shaft 520 is rotatably installed in the second hinge hole 410, so that the shock absorber 500 is hinged to the connecting member 400. When the chassis suspension mechanism passes through the ridge and the gap, a large noise is generated due to the rigid friction at the hinge point of the shock absorber 500, the fixing member 200 and the connecting member 400.
In order to solve the technical problem of high noise when the chassis suspension mechanism passes through the threshold and the gap, a bushing 530 is disposed between the first rotating shaft 510 and the hole wall of the first hinge hole 210, or a bushing 530 is disposed between the second rotating shaft 520 and the hole wall of the second hinge hole 410, so that the bushing 530 can reduce the rigid friction between the shock absorber 500 and the fixing member 200 or the connecting member 400, and accordingly, reduce the wear, vibration and noise between the shock absorber 500 and the fixing member 200 or the connecting member 400.
In particular, the bushings 530 are disposed between the first rotating shaft 510 and the hole wall of the first hinge hole 210, and between the second rotating shaft 520 and the hole wall of the second hinge hole 410, to more effectively reduce noise.
It should be noted that the shock absorber 500 is hinged to the fixing member 200 and the connecting member 400, respectively, and the bushing 530 can also increase the rotational damping between the hinge points of the shock absorber 500 and the fixing member 200 and the connecting member 400, thereby reducing the collision problem of the rigid structural member.
Optionally, the bushing 530 is a self-lubricating bushing, which more effectively reduces wear, vibration and noise between the shock absorber 500 and the mount 200 or the connector 400.
Specifically, the self-lubricating bushing is a self-lubricating structure formed by compounding a metal-reinforced polytetrafluoroethylene layer with a low-friction surface. It is understood that the self-lubricating liner 530 may also be another type of self-lubricating liner known in the art and will not be described herein.
Besides, the liner 530 may be other prior art liners 530 with reduced friction and noise, which are not described herein.
Optionally, the bushing 530 is a shouldered bushing.
Referring to fig. 4 and 5, the shoulder of the shouldered bushing abuts against the sidewall of the fixing member 200, completely separating the first rotating shaft 510 and the fixing member 200, avoiding rigid friction therebetween, and further reducing noise.
Referring to fig. 4 and 6, the shoulder of the shouldered bushing abuts against the sidewall of the connecting member 400 to completely separate the second shaft 520 from the connecting member 400, thereby preventing the two from rigid friction and further reducing noise.
In one possible example, referring to fig. 2 and 3, the drive wheel 100 is a hub motor. The running noise of the hub motor is low, which is beneficial to reducing the chassis suspension mechanism
Specifically, the chassis suspension mechanism further includes a press block 220. The bottom of the fixing member 200 has an opening into which the motor shaft 110 of the in-wheel motor extends, and the pressing block 220 is installed in the opening and located at the bottom of the motor shaft 110.
In one possible example, driven wheel 300 is a universal wheel.
In one possible example, referring to fig. 4 and 5, in order to prevent the first end of the shock absorber 500 from moving in the axial direction of the first rotating shaft 510 and to improve the mounting stability of the first end of the shock absorber 500, the fixing member 200 has two first hinge holes 210 spaced apart from each other, each of the two first hinge holes 210 is provided with a bushing 530, and the first end of the shock absorber 500 is located between the two first hinge holes 210. The first shaft 510 sequentially penetrates through the bushing 530 in the first hinge hole 210, one end of the shock absorber 500, and the bushing 530 in the second hinge hole 210.
Specifically, the chassis suspension mechanism further comprises a first locking member 540. One end of the first rotating shaft 510 has a first shoulder 511, and the other end of the first rotating shaft 510 is inserted into the first locking member 540 after passing through the bushing 530 in the first hinge hole 210, the damper 500, and the bushing 530 in the second first hinge hole 210 in sequence. In this manner, first shoulder 511 and first locking member 540 prevent axial play and removal of first shaft 510, respectively.
Specifically, the first locking member 540 is a first snap spring, so that the stop effect is good, and the installation is convenient.
Specifically, the peripheral wall of the other end of the first rotating shaft 510 is provided with a first clamping groove 512 for mounting a first clamping spring, so that the mounting position of the first clamping spring is stable.
Specifically, when bushing 530 is a shoulder bushing, the shoulder of the shoulder bushing is located on the side of first hinge bore 210 away from shock absorber 500, and first shoulder 511 abuts against the shoulder of the first shoulder bushing, preventing the two shoulder bushings from coming out of the space therebetween.
Optionally, first shaft 510 is removably mounted to a first end of shock absorber 500.
In one possible example, referring to fig. 4 and 6, the connecting member 400 has two second hinge holes 410 oppositely spaced, the two second hinge holes 410 are each provided with a bushing 530, and the second end of the shock absorber 500 is located between the two second hinge holes 410.
Specifically, the chassis suspension mechanism further includes a second locking member 550, one end of the second rotating shaft 520 has a second shoulder 521, and the other end of the second rotating shaft 520 sequentially penetrates through the bushing 530 located in the first second hinge hole 410, the shock absorber 500 and the bushing 530 located in the second hinge hole 410 and then is sleeved in the second locking member 550. Similarly, the second shoulder 521 and the second locking member 550 can limit the axial play and the disengagement of the second rotating shaft 520, and reduce the noise caused by the axial play of the second rotating shaft 520.
Specifically, the second locking member 550 is a second snap spring.
Specifically, the other end peripheral wall of the second rotating shaft 520 is provided with a second locking groove 522 for mounting a second locking spring.
Specifically, when sleeve 530 is a shoulder sleeve, the shoulder of the shoulder sleeve is located on the side of second hinge hole 410 away from shock absorber 500, and second shoulder 521 abuts against the shoulder of the first shoulder sleeve, so that the two shoulder sleeves can be prevented from being removed from the space therebetween.
Optionally, a second shaft 520 is detachably mounted to a second end of shock absorber 500.
In one embodiment, referring to fig. 1 and 7, in order to prevent the chassis suspension mechanism from rigidly colliding with other structural members when jumping up to the extreme position, which may result in generating operating noise, a first stopper 230 is installed on the top of the fixing member 200. When the chassis suspension mechanism jumps up to the limit position, the first stopper 230 separates the fixing member 200 from other structural members, and avoids rigid collision between the fixing member 200 and other structural members.
In one embodiment, referring to fig. 1 and 7, in order to prevent the chassis suspension mechanism from rigidly colliding with other structural members when the chassis suspension mechanism jumps down to the extreme position, which may cause operation noise, the chassis suspension mechanism further includes a suspension fixing seat 610, the suspension fixing seat 610 is hinged to the fixing member 200 and the connecting member 400, the bottom of the fixing member 200 is connected to the second limiting block 240, and the bottom of the second limiting block 240 abuts against or is close to the suspension fixing seat 610. When the chassis suspension mechanism jumps down to the limit position, the second limit block 240 separates the fixing member 200 from the suspension fixing seat 610, so as to avoid rigid collision between the fixing member 200 and the suspension fixing seat 610.
Wherein, the both ends of bumper shock absorber 500 are articulated with mounting 200, connecting piece 400 respectively, and the both ends of hanging fixing base 610 are articulated with mounting 200, connecting piece 400 respectively, and bumper shock absorber 500 and hanging fixing base 610 are in mechanical parallel relation promptly, and this chassis hangs the mechanism and has shock-absorbing function. When the robot or vehicle having the chassis suspension mechanism passes through an uneven road surface, the robot or vehicle is shocked to generate vibration, and the shock absorber 500 can attenuate the vibration to improve ride comfort.
Specifically, referring to fig. 2, the shock absorber 500 includes a damper and a compression spring sleeved on the damper.
Specifically, referring to fig. 1, the chassis suspension mechanism further includes a suspension mounting plate 620, and the suspension mounting plate 620 is mounted at the bottom of the suspension fixing base 610. The suspension mounting plate 620 is used for mounting the chassis suspension mechanism, so that the chassis suspension mechanism can be applied to a robot, a vehicle, and the like.
The utility model also provides a mobile robot, which comprises a robot body and the chassis suspension mechanism. The chassis suspension mechanism is mounted to the robot body. Accordingly, the mobile robot has the technical effect brought by the chassis suspension mechanism, and the running noise is low when the ridge and the gap are crossed, which is no longer worth mentioning here.
Specifically, the chassis suspension mechanism is mounted on the chassis of the robot body by a suspension mounting plate 620.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A chassis suspension mechanism is characterized in that: the driving wheel is mounted on the fixing piece, the fixing piece is provided with a first hinge hole, the driven wheel is mounted on the connecting piece, the connecting piece is provided with a second hinge hole, a first end of the shock absorber is connected with a first rotating shaft, the first rotating shaft is rotatably mounted in the first hinge hole, a second end of the shock absorber is connected with a second rotating shaft, and the second rotating shaft is rotatably mounted in the second hinge hole;
the first rotating shaft and the hole wall of the first hinge hole are provided with a lining, and/or the second rotating shaft and the hole wall of the second hinge hole are provided with a lining.
2. The chassis suspension mechanism of claim 1, wherein: the mounting has two first hinge holes that relative interval set up, two all be provided with in the first hinge hole the bush, the first end of bumper shock absorber is located two between the first hinge hole.
3. The chassis suspension mechanism of claim 2, wherein: the chassis suspension mechanism further comprises a first locking piece, a first shoulder is arranged at one end of the first rotating shaft, the other end of the first rotating shaft sequentially penetrates through the bushing, the shock absorber and the second bushing and then is sleeved in the first locking piece.
4. The chassis suspension mechanism of claim 3, wherein: the first locking piece is a first clamp spring; and the peripheral wall of the other end of the first rotating shaft is provided with a first clamping groove for mounting the first clamping spring.
5. The chassis suspension mechanism of claim 1, wherein: the mounting has two second hinge holes that relative interval set up, two all be provided with in the second hinge hole the bush, the second end of bumper shock absorber is located two between the second hinge hole.
6. The chassis suspension mechanism of claim 5, wherein: the chassis suspension mechanism further comprises a second locking piece, a second shoulder is arranged at one end of the second rotating shaft, a first bushing is sequentially penetrated at the other end of the second rotating shaft, and the shock absorber and the second bushing are sleeved in the second locking piece.
7. The chassis suspension mechanism of claim 1, wherein: a first limiting block is installed at the top of the fixing piece.
8. The chassis suspension mechanism according to any one of claims 1 to 7, wherein: the chassis hangs the mechanism still includes hangs the fixing base, hang the fixing base respectively with the mounting the connecting piece is articulated, the bottom of mounting is connected with the second stopper, the bottom of second stopper supports to lean on or is close to hang the fixing base.
9. The chassis suspension mechanism of claim 8, wherein: the chassis suspension mechanism further comprises a suspension mounting plate, and the suspension mounting plate is mounted at the bottom of the suspension fixing seat.
10. A mobile robot, characterized in that: comprising a robot body and a chassis suspension mechanism according to any of claims 1 to 9, which is mounted at the bottom of the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122922161.4U CN216659491U (en) | 2021-11-24 | 2021-11-24 | Chassis suspension mechanism and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122922161.4U CN216659491U (en) | 2021-11-24 | 2021-11-24 | Chassis suspension mechanism and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216659491U true CN216659491U (en) | 2022-06-03 |
Family
ID=81791606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122922161.4U Active CN216659491U (en) | 2021-11-24 | 2021-11-24 | Chassis suspension mechanism and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216659491U (en) |
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2021
- 2021-11-24 CN CN202122922161.4U patent/CN216659491U/en active Active
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