CN217944832U - Suspension structure and robot - Google Patents
Suspension structure and robot Download PDFInfo
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- CN217944832U CN217944832U CN202222000649.6U CN202222000649U CN217944832U CN 217944832 U CN217944832 U CN 217944832U CN 202222000649 U CN202222000649 U CN 202222000649U CN 217944832 U CN217944832 U CN 217944832U
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- suspension structure
- connecting flange
- wheel
- flange
- yoke
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Abstract
The utility model discloses a suspended structure and robot, suspended structure includes: a fixing member; the connecting flange is arranged on one side of the fixing piece; the rotating flange is rotatably connected with the connecting flange and is used for connecting a wheel; the coupling is used for connecting the fixing piece and the rotating flange; and the wheel adjusting assembly is connected with the fixing piece and the connecting flange, so that the connecting flange has the trend of moving along the axial direction of the coupler to adjust the inclination angle of the wheel. The utility model provides a suspended structure and robot has solved the unable adjustment wheel inclination's of stand alone type suspended structure of current use technical problem.
Description
Technical Field
The utility model relates to a suspension technical field, in particular to suspended structure and robot.
Background
The suspension structure is an important component applied to the wheel type driving device, and the suspension used at present is mostly a free-standing suspension structure, namely, the wheels on each side are separately suspended below the vehicle frame or the vehicle body. Depending on the structure, the independent suspension can be categorized into cross arm type, trailing arm type, multi-link type, candle type, macpherson type, etc.
However, the independent suspension structure used at present has the technical problem that the inclination angle of the wheel cannot be adjusted.
SUMMERY OF THE UTILITY MODEL
The main objective of the utility model is to provide a suspended structure aims at solving the unable adjustment wheel inclination's of current stand-alone type suspended structure technical problem.
In order to achieve the above object, an embodiment of the present invention provides a suspension structure, the suspension structure includes:
a fixing member;
the connecting flange is arranged on one side of the fixing piece;
the rotating flange is rotationally connected with the connecting flange and is used for connecting a wheel;
the coupling is used for connecting the fixing piece and the rotating flange; and
the wheel adjusting assembly is connected with the fixing piece and the connecting flange, so that the connecting flange has a trend of axial movement along the coupler to adjust the inclination angle of the wheel.
Optionally, in an embodiment of the present invention, the wheel adjusting assembly includes:
two hinged parts are arranged at intervals, one end of each hinged part is provided with a threaded hole, one of the two hinged parts is hinged with the connecting flange, and the other of the two hinged parts is hinged with the fixing part; and
positive and negative silk threaded rod, positive and negative silk threaded rod connects two the screw hole of articulated elements.
Optionally, in an embodiment of the present invention, the positive and negative screw threaded rod includes:
a positive lead screw;
one end of the twisting part is fixedly connected with the positive screw rod; and
and the reverse screw rod is fixedly connected with one end of the forward screw rod, which deviates from the twisting part, and the twisting part can drive the forward screw rod and the reverse screw rod to rotate.
Optionally, in an embodiment of the present invention, the suspension structure further includes a yoke, one end of the yoke is connected to the connecting flange, and the other end of the yoke is connected to the fixing member.
Optionally, in an embodiment of the present invention, the yoke is connected to the fixing member through a universal joint; and/or
The fork arms are connected with the connecting flange through the fish-eye rod ends.
Optionally, in an embodiment of the present invention, the yoke includes an upper yoke and a lower yoke, the upper yoke set up in one side of the coupler deviating from the ground, the lower yoke set up in one side of the coupler towards the ground.
Optionally, in an embodiment of the present invention, the suspension structure further includes a shock absorber, one end of the shock absorber is connected to the upper yoke, and the other end of the shock absorber is connected to the fixing member.
Optionally, in an embodiment of the present invention, the connecting flange and/or the yoke are integrally formed.
Optionally, in an embodiment of the present invention, the coupling is an elastic ball cage coupling.
In order to achieve the above object, the utility model discloses still provide a robot, the robot includes: the chassis is used for bearing the body of the robot; and the suspension structure described above.
Compared with the prior art, the utility model provides a technical scheme, suspended structure includes: mounting, flange, rotation flange, shaft coupling and wheel adjusting part.
Wherein the entire suspension structure is mounted on the chassis by means of the fixing elements. The connecting flange is arranged on one side of the fixing piece; the rotating flange is rotationally connected with the connecting flange and is used for connecting a wheel; and the coupler is connected with the fixing piece and the rotating flange. The coupler is fixedly connected with the fixing piece and is fixedly connected with the rotating flange, so that driving force is transmitted to the wheel from the engine, and the bearing capacity of the suspension structure can be improved.
The wheel adjusting assembly is connected with the fixing piece and the connecting flange, so that the connecting flange has the trend of moving along the axial direction of the coupler to adjust the inclination angle of the wheel. After the wheels are installed, the robot needs to be subjected to deviation testing, and if the deviation problem exists, the inclination angle of the wheels needs to be adjusted. However, the currently applied suspension structure cannot adjust the inclination angle of the wheel. Through wheel adjusting part, can directly adjust wheel inclination, solve the unable technical problem who adjusts wheel inclination of stand alone type suspended structure who uses at present.
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 structure according to the present invention;
fig. 2 is a schematic structural view of a wheel adjusting assembly according to an embodiment of the present invention shown in fig. 1;
fig. 3 is a schematic structural diagram of another embodiment of a suspension structure according to the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
200 | Connecting |
| 300 | |
400 | |
| 500 | |
510 | Hinge member |
| 520 | Positive and negative |
521 | |
| 522 | |
523 | |
| 600 | |
610 | |
| 620 | |
630 | |
| 640 | |
700 | Shock absorber |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
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 of the present invention, all other embodiments obtained by a person skilled in the art without making 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;) 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 of ordinary skill in the art.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. 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.
The deviation refers to the condition that the driving direction deviates leftwards or rightwards in the process of linear motion, and is a normal phenomenon when the deviation distance is within a preset range. However, if the offset distance is too large, the problems of tire gnawing, tire scrapping and the like occur if the offset distance is too small; if the weight is heavy, dangerous situations such as tire burst and even vehicle runaway can be caused.
In view of this, the embodiment of the utility model provides a through proposing a suspended structure, can be convenient adjust wheel inclination, can adjust fast when the off tracking condition appears.
In order to better understand the technical scheme, the technical scheme is described in detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a suspension structure, which includes:
a fixing member 100;
a connection flange 200 provided at one side of the fixing member 100;
the rotating flange 300 is rotatably connected with the connecting flange 200, and the rotating flange 300 is used for connecting a wheel;
a coupling 400 connecting the fixing member 100 and the rotary flange 300; and
the wheel adjusting assembly 500, the wheel adjusting assembly 500 connects the fixing member 100 and the connecting flange 200 such that the connecting flange 200 has a tendency to move in the axial direction of the coupling 400 to adjust the inclination angle of the wheel.
In the technical solution adopted in this embodiment, the suspension structure includes: mount 100, attachment flange 200, rotating flange 300, coupling 400, and wheel adjustment assembly 500.
Wherein the entire suspension structure is mounted on the chassis by means of the fixing 100. A connection flange 200 provided at one side of the fixing member 100; the rotating flange 300 is rotatably connected with the connecting flange 200, and the rotating flange 300 is used for connecting a wheel; and a coupling 400 connecting the fixing member 100 and the rotary flange 300. The coupling 400 is fixedly connected with the fixing member 100 and the rotating flange 300, so that the driving force is transmitted from the engine to the wheel, and the bearing capacity of the suspension structure can be improved.
The wheel adjusting assembly 500, the wheel adjusting assembly 500 connects the fixing member 100 and the connecting flange 200 such that the connecting flange 200 has a tendency to move in the axial direction of the coupling 400 to adjust the inclination angle of the wheel. After the wheels are installed, the robot needs to be subjected to deviation testing, and if the deviation problem exists, the inclination angle of the wheels needs to be adjusted. However, the currently applied suspension structure cannot adjust the inclination angle of the wheel. Through wheel adjusting part 500, can directly adjust wheel inclination, solve the unable technical problem who adjusts wheel inclination of stand alone type suspended structure of current use.
Specifically, the fixing member 100 is detachably connected to the chassis by a stud, and the fixing member 100 is provided with a transmission hole, so that the engine can conveniently pass through the transmission hole to be connected with the coupler 400 for transmission. Further, to improve the load bearing capacity of the suspension structure, the coupling 400 is an elastic ball cage coupling. Compared with other types of couplings, the Rzeppa coupling has good buffering and damping performance, and the Rzeppa coupling 400 can improve the bearing capacity by 0.5-1 times under the same rotation diameter and inclination angle. Compared with the rigid coupling 400, the elastic coupling 400 has remarkable damping and buffering functions, and can compensate the axial deviation of the transmission shaft and keep the transmission stable.
Further, referring to fig. 2, the wheel adjusting assembly 500 includes:
two hinge parts 510 are arranged at intervals, one end of each hinge part 510 is provided with a threaded hole, one of the two hinge parts 510 is hinged with the connecting flange 200, and the other hinge part 510 is hinged with the fixing part 100; and
and the positive and negative wire threaded rods 520, the positive and negative wire threaded rods 520 are connected with the threaded holes of the two hinges 510.
In the technical scheme adopted by the embodiment, the positive and negative screw threaded rods 520 are connected with the threaded holes of the two hinged pieces 510, and the distance between the two hinged pieces 510 can be reduced or increased by rotating the positive and negative screw threaded rods 520, so that the inclination angle of the wheel can be adjusted.
Specifically, the articulating member 510 is a rod end knuckle bearing, which is a spherical plain bearing having a basic form consisting of inner and outer races having spherical sliding spherical contact surfaces. The joint bearing mainly comprises an inner ring with an outer spherical surface and an outer ring with an inner spherical surface, and can bear larger load.
Further, the positive and negative wire screw rod 520 includes:
a positive lead screw 521;
one end of the twisting part 522 is fixedly connected with the positive screw rod 521; and
and the reverse screw rod 523 is fixedly connected to one end of the twisting part 522, which is away from the positive screw rod 521, and the positive screw rod 521 and the reverse screw rod 523 can be driven to rotate by rotating the twisting part 522.
Because the positive and negative screw threaded rod 520 itself is not easy to directly rotate, the middle part of the positive and negative screw threaded rod 520 is provided with the torsion part, and the whole positive and negative screw threaded rod 520 is driven to rotate by rotating the torsion part, so that the positive and negative screw threaded rod 520 is more convenient to rotate.
Further, referring to fig. 3, the suspension structure further includes a yoke 600, and one end of the yoke 600 is connected to the connection flange 200 and the other end is connected to the fixing member 100.
Specifically, the yoke 600 includes an upper yoke 610 and a lower yoke 620, the upper yoke 610 is disposed on one side of the coupler 400 departing from the ground, and the lower yoke 620 is disposed on one side of the coupler 400 facing the ground.
In the technical scheme adopted by the embodiment, the suspension structure is provided with the fork arms 600, and the fork arms 600 are arranged to absorb the transverse force generated when the wheel turns.
To further improve the motion stability of the suspension structure, the yoke 600 comprises an upper yoke 610 and a lower yoke 620, forming a double yoke structure. In this embodiment, the lateral forces of the suspension structure are simultaneously absorbed by the two yoke arms 600, reducing cornering roll while increasing the lateral stiffness of the suspension structure. The upper fork arm 600 and the lower fork arm 600 can accurately position various parameters of the wheel, and the wheel can automatically change the camber angle and reduce the wheel track change when moving up and down so as to reduce the abrasion of the tire, and can also adapt to the road surface and improve the ground contact area of the tire.
Further, referring to fig. 3, the yoke 600 is connected to the fixing member 100 by a universal joint 630; and/or the yoke 600 is attached to the attachment flange 200 by a fisheye rod end 640.
In the solution adopted in this embodiment, it is preferable that one end of the yoke 600 is connected to the fixing member 100 through the universal joint 630, and the other end is connected to the connecting flange 200 through the fisheye rod end 640. The connection mode can meet the up-and-down floating of the wheels in the movement process, and the adaptability of the suspension to rugged road surfaces is improved.
Specifically, one end of the fisheye rod end 640 is hinged to the fixing member 100, and the other end is fixedly connected to the yoke 600; one end of the universal joint 630 is hinged with the connecting flange 200, and the other end is fixedly connected with the fork arm 600.
To further increase the load-bearing capacity and the service life of the suspension, the attachment flange 200 and/or the yoke 600 are manufactured in one piece.
In this embodiment, it is preferable that the connecting flange 200 and the yoke 600 are integrally formed, and the integrally formed manner may be selected from casting or machining. Compared with other metal processing modes, the product formed after integral manufacture has higher structural strength, can bear larger load or impact and has longer service life.
Further, referring to fig. 3, the suspension structure further includes a shock absorber 700, one end of the shock absorber 700 is connected to the upper yoke 610, and the other end is connected to the fixing member 100.
In the embodiment, the suspension structure generates vibration due to the impact of the elastic element, and in order to improve the ride comfort, the suspension structure is provided with a shock absorber 700 to attenuate the vibration. In the present embodiment, the shock absorber 700 is a hydraulic shock absorber 700, when a shock occurs, a piston in the shock absorber 700 moves up and down, oil in a cavity of the shock absorber 700 repeatedly flows from one cavity to another cavity through different pores, and friction between the pore wall and the oil and internal friction of oil molecules form a damping force on the shock to absorb energy generated by the shock.
The embodiment of the utility model provides a still provide a robot, this robot includes as above suspended structure, and is specific, and this suspended structure's concrete structure 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 is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (10)
1. A suspension structure, characterized in that it comprises:
a fixing member;
the connecting flange is arranged on one side of the fixing piece;
the rotating flange is rotatably connected with the connecting flange and is used for connecting a wheel;
the coupling is used for connecting the fixing piece and the rotating flange; and
the wheel adjusting assembly is connected with the fixing piece and the connecting flange, so that the connecting flange has the trend of axial movement along the coupler to adjust the inclination angle of the wheel.
2. The suspension structure of claim 1, wherein the wheel adjustment assembly comprises:
two hinged parts are arranged at intervals, one end of each hinged part is provided with a threaded hole, one of the two hinged parts is hinged with the connecting flange, and the other of the two hinged parts is hinged with the fixing part; and
positive and negative silk threaded rod, positive and negative silk threaded rod connects two the screw hole of articulated elements.
3. The suspension structure of claim 2, wherein the positive and negative threaded rods comprise:
a positive lead screw;
one end of the twisting part is fixedly connected with the positive screw rod; and
and the reverse screw rod is fixedly connected with one end of the forward screw rod, which deviates from the twisting part, and the twisting part can drive the forward screw rod and the reverse screw rod to rotate.
4. The suspension structure of claim 1, wherein: the suspension structure further comprises a fork arm, one end of the fork arm is connected with the connecting flange, and the other end of the fork arm is connected with the fixing piece.
5. The suspension structure of claim 4, wherein: the fork arm is connected with the fixing piece through a universal joint; and/or
The fork arm is connected with the connecting flange through the fisheye rod end.
6. The suspension structure of claim 4, wherein: the yoke includes yoke and lower yoke, go up the yoke set up in the shaft coupling deviates from one side on ground, lower yoke set up in the shaft coupling is towards one side on ground.
7. The suspension structure of claim 6, wherein: the suspension structure further comprises a shock absorber, one end of the shock absorber is connected with the upper fork arm, and the other end of the shock absorber is connected with the fixing piece.
8. The suspension structure of claim 4, wherein: the connecting flange and/or the yoke are integrally manufactured and molded.
9. The suspension structure of claim 1, wherein: the coupler is an elastic ball cage coupler.
10. A robot, characterized in that the robot comprises:
the chassis is used for bearing the body of the robot; and
a suspension structure mounted to the chassis, the suspension structure being as claimed in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222000649.6U CN217944832U (en) | 2022-07-29 | 2022-07-29 | Suspension structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222000649.6U CN217944832U (en) | 2022-07-29 | 2022-07-29 | Suspension structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217944832U true CN217944832U (en) | 2022-12-02 |
Family
ID=84224384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222000649.6U Active CN217944832U (en) | 2022-07-29 | 2022-07-29 | Suspension structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217944832U (en) |
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2022
- 2022-07-29 CN CN202222000649.6U patent/CN217944832U/en active Active
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