CN217574754U

CN217574754U - Suspension mechanism, chassis and robot

Info

Publication number: CN217574754U
Application number: CN202221642813.7U
Authority: CN
Inventors: 刘大志; 吴强
Original assignee: Uditech Co Ltd
Current assignee: Youdi Robot (Wuxi) Co.,Ltd.
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-10-14
Anticipated expiration: 2032-06-28

Abstract

The utility model discloses a hang mechanism, chassis and robot, wherein, hang the mechanism and set up on chassis frame, including installation department, supporting component and damper, the installation department is used for installing the wheel, and the supporting component includes first swing arm and second swing arm, and the one end of first swing arm and the one end of second swing arm are articulated with chassis frame respectively, and the other end of first swing arm and the other end of second swing arm are connected with the installation department respectively, and damper's one end is articulated with chassis frame, and damper's the other end is articulated with the second swing arm. The utility model discloses technical scheme aims at solving the too complicated problem of overall structure on chassis.

Description

Suspension mechanism, chassis and robot

Technical Field

The utility model relates to the technical field of robot, in particular to hang mechanism, chassis and robot.

Background

With the rapid development of artificial intelligence technology, mobile robots gradually enter more fields and provide various services for people. The mobile robot generally prefers a wheel type chassis, because the wheel type chassis is convenient to control, low in cost and high in movement efficiency. The wheel type chassis of some robots is too complex in overall structure, high in cost and inconvenient to disassemble and assemble wheels.

The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a hang mechanism, chassis and robot, aim at solving the too complicated problem of overall structure on chassis.

In order to achieve the above object, the utility model provides a hang mechanism sets up on chassis frame, it includes to hang the mechanism:

a mounting portion for mounting a wheel;

the supporting assembly comprises a first swing arm and a second swing arm, one end of the first swing arm and one end of the second swing arm are respectively hinged with the chassis frame, and the other end of the first swing arm and the other end of the second swing arm are respectively connected with the mounting part;

and one end of the damping assembly is hinged with the chassis frame, and the other end of the damping assembly is hinged with the second swing arm.

Optionally, the wheel includes an in-wheel motor, the in-wheel motor has an output shaft, the mounting portion is provided with a mounting hole, and the output shaft is inserted into the mounting hole.

Optionally, the first swing arm comprises a first cross arm and a first curved arm, one end of the first cross arm is hinged to the mounting portion, the other end of the first cross arm is hinged to the chassis frame, the first curved arm is fixedly arranged on one side of the first cross arm close to the mounting portion, and the other end of the first curved arm is hinged to the chassis frame;

the second swing arm includes second xarm and second curved boom, the one end of second xarm is articulated the installation department, the other end of second xarm is articulated chassis frame is close to the installation department one side of second xarm has set firmly the second curved boom, the other end of second curved boom is articulated chassis frame.

Optionally, the first curved arm is formed by bending and extending in a direction close to the chassis frame, so that a first avoidance space is formed between the first cross arm and the first curved arm;

the second bent arm is formed by bending and extending towards the direction close to the chassis frame, so that a second avoidance space is formed between the second cross arm and the second bent arm.

Optionally, the shock absorption assembly penetrates through the first avoidance space and the second avoidance space, one end of the shock absorption assembly is hinged to the chassis frame, and the other end of the shock absorption assembly is hinged to the second cross arm and/or the second bent arm.

Optionally, the damping assembly is a spring damper, the damping assembly includes a spring and a damper, and the spring is sleeved on the damper.

Optionally, one end of the shock absorber is hinged to a first connecting rod, the first connecting rod is fixedly arranged on the chassis frame, the other end of the shock absorber is hinged to a second connecting rod, and the second connecting rod is fixedly arranged on the second cross arm and/or the second bent arm.

Optionally, a connecting plate is disposed between the second cross arm and the second curved arm, and the second connecting rod is fixedly disposed on the connecting plate.

The utility model provides a chassis, a serial communication port, include chassis frame and hang the mechanism, hang the mechanism install in chassis frame is last, it includes to hang the mechanism:

a mounting portion for mounting a wheel;

and one end of the shock absorption assembly is hinged with the chassis frame, and the other end of the shock absorption assembly is hinged with the second swing arm.

The utility model provides a robot, a serial communication port, include the chassis and install robot body on the chassis.

The utility model discloses technical scheme passes through installation department installation wheel, and rethread supporting component and damper hang both sides wheel on chassis frame separately for when one side wheel takes place the position change for frame or automobile body to the opposite side wheel not influenced almost, not only simplified the structure on robot chassis greatly, the cost is reduced still makes things convenient for subsequent dismouting.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a suspension mechanism of the present invention;

fig. 2 is a schematic structural diagram of an embodiment of the chassis of the present invention.

The reference numbers indicate:

reference numerals	Name(s)	Reference numerals	Name(s)
				10	Wheel of vehicle	2122	Second curved arm
11	Hub motor	213	Connecting plate
				111	Output shaft	214	First connecting rod
20	Suspension mechanism	215	Second connecting rod
				21	Support assembly	22	Shock-absorbing assembly
211	First swing arm	221	Spring
				2111	First cross arm	222	Vibration damper
2112	First curved arm	23	Mounting part
				212	Second swing arm	231	Mounting hole
2121	Second cross arm	200	Chassis frame

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1 and 2, the present invention provides a suspension mechanism, which includes an installation portion 23, a supporting component 21, and a damping component 22. The mounting portion 23 is used for mounting the wheel 10, the supporting assembly 21 comprises a first swing arm 211 and a second swing arm 212, one end of the first swing arm 211 and one end of the second swing arm 212 are hinged to the chassis frame 200 respectively, the other end of the first swing arm 211 and the other end of the second swing arm 212 are connected to the mounting portion 23 respectively, one end of the shock absorption assembly 22 is hinged to the chassis frame 200, and the other end of the shock absorption assembly 22 is hinged to the second swing arm 212.

The utility model discloses technical scheme passes through installation department 23 installation wheel 10, and rethread supporting component 21 and damper 22 hang both sides wheel 10 on chassis frame 200 separately for when one side wheel for frame or automobile body take place the position change to the opposite side wheel not influenced almost, not only simplified robot chassis 200's structure greatly, the cost is reduced still makes things convenient for subsequent dismouting.

Optionally, the wheel 10 includes an in-wheel motor 11, the in-wheel motor 11 has an output shaft 111, the mounting portion 23 is provided with a mounting hole 231, and the output shaft 111 is inserted into the mounting hole 231 to fixedly connect the wheel 10 with the suspension mechanism 20.

Specifically, in this embodiment, as shown in fig. 1 and fig. 2, the mounting portion 23 is provided with 4 through holes, one end of the in-wheel motor 11 close to the output shaft 111 is correspondingly provided with 4 through holes, and the fastening member sequentially penetrates through the through holes of the mounting portion 23 and the through holes of the in-wheel motor 11, so that the wheel 10 and the suspension mechanism 20 are detachably connected through the fastening member, wherein the fastening member may adopt fastening standard components such as screws, bolts, and the like.

In addition, the mounting portion 23 is provided with a stopper structure such that the mounting hole 231 is not a perfect circle but a circle that is cut flat by a portion. The output shaft 111 is connected with the mounting hole 231 in a matching mode, the output shaft 111 is not cylindrical, but is a cylinder with a part cut flatly, and the radial cross section of the output shaft 111 is completely the same as the size and the shape of the mounting hole 231. Through setting up this limit structure for output shaft 111 inserts mounting hole 231 with correct orientation sooner, has further improved the convenience of wheel dismouting.

In other embodiments, the mounting portion 23 is rotatably connected to the output shaft 111, a clamping groove is disposed on an inner side of the mounting portion 23 close to the mounting hole 231, the output shaft 111 can rotate to close the mounting hole 231, and one side of the output shaft 111 close to the mounting hole 231 abuts against the mounting portion 23, so that the output shaft 111 can be stably mounted in the clamping groove.

The hub motor technology is also called as the wheel built-in motor technology, and the driving, transmission and braking devices are all arranged in the wheel hub to directly drive the wheel to rotate. Therefore, the connection manner of the mounting portion 23 and the output shaft 111 is not limited to the above two, and may be modified and replaced as long as the mounting portion 23 and the output shaft 111 can be detachably connected.

Since the structure of the output shaft 111 is hooked with the structural feature of the mounting hole 231, that is, the wheel 10 is used with the suspension mechanism 20, when a different suspension mechanism 20 is replaced, the corresponding output shaft 111 needs to be replaced, so that the wheel 10 can be used with a different suspension mechanism 20.

Besides the simple structure, the robot driven by the hub motor can obtain better space utilization rate, and meanwhile, the transmission efficiency is also improved by a plurality of degrees. In addition, the wire harness of the in-wheel motor is led out from the stator of the in-wheel motor 11 and led out to the interior of the robot body through the through hole of the output shaft 111, so that when the driving wheel turns 360 degrees, the problem of winding of the wire harness is avoided.

Optionally, the first swing arm 211 includes a first cross arm 2111 and a first bent arm 2112, one end of the first cross arm 2111 is hinged to the mounting portion 23, the other end of the first cross arm 2111 is hinged to the chassis frame 200, the first bent arm 2112 is fixedly arranged on one side of the first cross arm 2111 close to the mounting portion 23, and the other end of the first bent arm 2112 is hinged to the chassis frame 200. The second swing arm 212 includes a second cross arm 2121 and a second curved arm 2122, one end of the second cross arm 2121 is hinged to the mounting portion 23, the other end of the second cross arm 2121 is hinged to the chassis frame 200, the second curved arm 2122 is fixedly disposed on one side of the second cross arm 2121 close to the mounting portion 23, and the other end of the second curved arm 2122 is hinged to the chassis frame 200. First swing arm 211, second swing arm 212 are the structure of two arms, for supporting wheel 10 provides four fulcrums, compare the structure of an arm more firm.

Further, the first bent arm 2112 is bent and extended in a direction approaching the chassis frame 200, so that a first avoidance space is formed between the first cross arm 2111 and the first bent arm 2112; the second bent arm 2122 is bent and extended in a direction approaching the chassis frame 200 so that a second escape space is formed between the second crossbar 2121 and the second bent arm 2122. The provision of the first and second avoidance spaces provides greater spatial placement of the shock assembly 22.

In the present embodiment, the first swing arm 211 and the second swing arm 212 have the same length, and like a double-wishbone structure, the lateral force is absorbed by both wishbone structures, and the shock absorbing assembly 22 only bears the weight of the vehicle body, so that the lateral stiffness is large and the anti-roll performance is excellent.

When the practical application, can also debug in order to reach better effect, adjust the length of first swing arm 211 and second swing arm 212, make first swing arm 211 shortfall in second swing arm 212, let wheel 10 can the automatic camber angle that changes and reduce the wheel tread change and reduce tire wear when up-and-down motion to can the self-adaptation road surface, tire ground contact area is big, pastes the ground nature good.

In other embodiments, the first swing arm 211 can be eliminated and only the second swing arm 212 can be used, so that most of the lateral force applied to the wheel is borne by the second swing arm through the knuckle, and the rest is borne by the damping assembly 22. So set up, still reduce cost under the prerequisite that satisfies the shock attenuation demand.

In addition, the first swing arm 211 and the second swing arm 212 may also adopt a multi-link structure. The specific structures of the first swing arm 211 and the second swing arm 212 are not particularly limited herein.

Further, the shock absorbing assembly 22 is disposed in the first avoidance space and the second avoidance space in a penetrating manner, one end of the shock absorbing assembly 22 is hinged to the chassis frame 200, and the other end of the shock absorbing assembly 22 is hinged to the second cross arm 2121 and/or the second bent arm 2122. The two ends of the damping component 22 are respectively hinged to the chassis frame 200 and the supporting component 21, so that the stability of the robot passing through uneven roads is improved by a simple damping design, the comfort of the chassis is greatly enhanced, and the vibration of the running environment to parts of the robot is reduced.

Further, the damper assembly 22 is a spring damper, the damper assembly 22 includes a spring 221 and a damper 222, and the spring 221 is sleeved on the damper 222.

The function of the springs 221 is mainly to support the weight of the chassis frame 200, while the vibration dampers 222 are to reduce vibration. The damper 222 is mainly used to suppress the shock when the spring 221 absorbs shock and then rebounds and the impact from the road surface. Although the spring 221 can filter the vibration of the road surface when passing through the uneven road surface, the spring 221 itself will reciprocate, and the damper 222 is used to suppress the spring 221 from jumping. The shock absorber 222 is too soft, the chassis jumps up and down, and the shock absorber 222 is too hard, which causes too much resistance and prevents the spring 221 from working normally. The stiff dampers 222 are matched with stiff springs 221, and the stiffness of the springs 221 is related to the weight of the object, so that the stiffer dampers 222 are generally used for heavier objects.

In other embodiments, the shock absorbing assembly 22 may also employ a rubber shock absorber, a hydraulic shock absorber, an air shock absorber, etc., and is not limited herein.

Further, one end of the shock absorber is hinged to a first link 214, the first link 214 is fixed to the chassis frame 200, the other end of the shock absorber is hinged to a second link 215, and the second link 215 is fixed to a second cross arm 2121 and/or a second curved arm 2122. The arrangement is used for transmitting power or bearing a part of load, and the damping effect is better realized.

In other embodiments, first link 214 and second link 215 may not be used, and one end of shock assembly 22 may be directly hinged to chassis frame 200, and the other end of shock assembly 22 may be directly hinged to second cross arm 2121 and/or second curved arm 2122.

Further, a connecting plate is disposed between the second cross arm 2121 and the second bending arm 2122, and the second link 215 is fixedly connected to the connecting plate 213. As shown in fig. 2, the second connecting rod 215 is centrally disposed on the connecting plate 213, so that the shock absorbing assembly 22 is centrally inserted into the supporting assembly 21, and the shock absorbing assembly 22 is prevented from being blocked by other parts and the shock absorbing and buffering effects of the shock absorbing assembly 22 are prevented from being affected.

When the robot passes through the hollow of the hollow road surface, the wheels 10 are upward, the mounting part 23, the first swing arm 211 and the second swing arm 212 are upward and simultaneously pressed against the shock absorption assembly 22, and the shock absorption assembly 22 contracts and buffers. When the robot returns to the flat ground after passing through a pothole, the shock absorbing assembly 22 expands and recovers. This allows the wheel 10 to land evenly, maintaining the adhesion of the tire to the ground.

Because the in-wheel motor 11 has the characteristic of independent driving of a single wheel, it can be easily realized in a forward driving mode, a rear driving mode or a four-wheel driving mode. In the embodiment, the chassis adopts 4 driving wheels to realize four-wheel drive running, and has strong complex environment adaptability and superior climbing performance. In other embodiments, the chassis may also adopt a combination of 2 driving wheels and 2 driven wheels, which is not limited in detail herein.

Meanwhile, the hub motor can realize differential steering by setting different rotating speeds and even reverse rotation of the left wheel and the right wheel, so that the turning radius of the robot is greatly reduced, and pivot steering can be almost realized under special conditions.

The utility model discloses still provide a chassis, this chassis includes chassis frame and hangs the mechanism, hangs the mechanism and installs on chassis frame, and the concrete structure that should hang the mechanism refers to above-mentioned embodiment, because this chassis has adopted the whole technical scheme of all above-mentioned embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, and the repeated description is no longer repeated here one by one.

Furthermore, the utility model provides a robot, this robot includes the chassis and installs the robot on the chassis, and the concrete structure on this chassis refers to above-mentioned embodiment, because this robot has adopted the whole technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, and the repeated description is no longer given here.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A suspension mechanism provided to a chassis frame, the suspension mechanism comprising:

a mounting portion for mounting a wheel;

2. The suspension mechanism of claim 1, wherein the wheel includes an in-wheel motor having an output shaft, the mounting portion having a mounting hole, the output shaft being inserted into the mounting hole.

3. The suspension mechanism as claimed in claim 1, wherein said first swing arm includes a first cross arm and a first bent arm, one end of said first cross arm is hinged to said mounting portion, the other end of said first cross arm is hinged to said chassis frame, said first bent arm is fixedly provided at a side of said first cross arm adjacent to said mounting portion, and the other end of said first bent arm is hinged to said chassis frame;

4. A suspension mechanism according to claim 3, wherein said first bent arm is bent and extended in a direction approaching said chassis frame so that a first escape space is formed between said first cross arm and said first bent arm;

5. The suspension mechanism according to claim 4, wherein the shock absorbing assembly is inserted into the first avoidance space and the second avoidance space, one end of the shock absorbing assembly is hinged to the chassis frame, and the other end of the shock absorbing assembly is hinged to the second cross arm and/or the second bent arm.

6. A suspension mechanism as set forth in claim 3 wherein said damper assembly is a spring damper, said damper assembly including a spring and a damper, said spring bushing mounted to said damper.

7. The suspension mechanism according to claim 6, wherein one end of the shock absorber is hinged to a first link fixed to the chassis frame and the other end of the shock absorber is hinged to a second link fixed to the second cross arm and/or the second bent arm.

8. The suspension mechanism of claim 7 wherein a link plate is disposed between said second cross arm and said second bent arm, said second link being fixedly secured to said link plate.

9. A chassis comprising a chassis frame and a suspension mechanism as claimed in any one of claims 1 to 8, the suspension mechanism being mounted to the chassis frame.

10. A robot comprising the chassis of claim 9 and a robot body mounted on the chassis.