CN218054779U - Parallel four-connecting-rod side independent suspension system for wheeled robot chassis - Google Patents

Abstract

The utility model discloses a parallel four-bar linkage side independent suspension system that wheeled robot chassis used relates to mechanical technical field, including adapting unit, elastic support part and the driver part that is connected, adapting unit is including hanging the frame mounting, the top and the bottom that hang the frame mounting all rotate and have cup jointed first sharp optical axis, two the outside of first sharp optical axis is all fixed and has cup jointed two check rings. The utility model discloses a thrust bearing dispersion transmission gives the axial load of motor, avoid jolting the back many times, the output of motor takes place to buckle, influence the stability of robot main part motion, absorb the kinetic energy that produces when hanging motor connecting piece motion through negative pressure spring damper, the stability of robot main part in the motion process has been ensured, simultaneously because of this device independent setting is in the both sides of robot main part, the influence of one side barrier to whole suspension has been reduced, and further reduced the influence of barrier to robot main part.

Description

A parallel four-link lateral independent suspension system used in a wheeled robot chassis

technical field

The utility model relates to the technical field of machinery, in particular to a parallel four-link lateral independent suspension system used in a wheeled robot chassis.

Background technique

Currently, mobile robots usually work in an indoor environment and undertake material transfer functions in workshops or logistics centers. Because the indoor ground is very flat and there is no requirement to overcome obstacles, mobile robots working in indoor environments usually use a simple suspension structure, which does not require high dynamic performance of the suspension. Nowadays, the manufacturing industry continues to develop, and mobile robots that can work outdoors are favored by more and more people. Wheeled mobile robots have relatively higher mobility and low power consumption. Compared with traditional tracked mobile robots, their ability to overcome obstacles is relatively low. Outdoor mobile robots have high requirements for obstacle-surmounting ability, so how to improve the obstacle-surmounting ability of wheeled mobile robots and give full play to the advantages of its drive system has become a problem worth thinking about.

Existing multi-link transverse arm type suspension mechanism is often used on automobile chassis, and the damping effect is very considerable. However, due to its large size and non-independent suspension, it does not meet the needs of most modern outdoor robots. At the same time, most existing robots rely on differential speed to turn, so there is no need to separately set steering knuckles and connecting rods on the suspension mechanism like a car chassis. It can be seen that if you want to learn from the suspension scheme of the car chassis and apply it to the robot chassis, you need to optimize and improve it again. Therefore, this application provides a parallel four-link side-mounted independent suspension system for the wheeled robot chassis to meet the demand. .

Utility model content

The purpose of this application is to provide a parallel four-bar linkage lateral independent suspension system used in the chassis of a wheeled robot. By improving the suspension structure of the existing robot, the obstacle-surmounting ability of the mobile robot can be improved and the advantages of its drive system can be brought into play. Advantage.

In order to achieve the above purpose, the present application provides the following technical solution: a parallel four-bar linkage lateral independent suspension system used for the chassis of a wheeled robot, including connected connecting parts, elastic supporting parts and driving parts, the connecting parts include suspension The frame fixing part, the top and the bottom of the suspension frame fixing part are both rotatably socketed with the first linear optical axis, and the outer sides of the two first linear optical axes are fixedly socketed with two stop rings , the outer side of the first linear optical axis at the bottom is fixedly sleeved with two embedded bearings, the outer sides of the two embedded bearings are fixedly sleeved with negative pressure connecting rods, the two negative pressure connecting rods One end is fixedly sleeved with flange bearings, and the inner sides of the two flange bearings are fixedly sleeved with half-thread screws. The ends of the two half-thread screws that are close to each other are fixedly installed with a suspension motor connector. The outer side of the first linear optical axis is rotatably sleeved with two upper connecting rods, one end of the two upper connecting rods is rotatably sleeved with a second linear optical axis, and the outer fixed sleeve of the second linear optical axis Two bushings are connected, the outer side of the second linear optical axis is rotatably socketed with the suspension motor connector, and rocker links are fixedly installed on both sides of the suspension frame fixing member, and the two The sides of the rocker links close to each other are fixedly installed with screwed aluminum columns, and one side of the suspension frame fixing part is fixedly installed with two sets of fixed angle brackets; the connecting parts are used to connect the driving parts, the The elastic supporting part is movably connected with the robot main body, the robot main body can move through the driving part, and the elastic supporting part provides elastic support for the connecting part.

Preferably, the elastic support member includes two negative pressure spring dampers that are rotatably connected to both ends of the screwed aluminum column, one end of the negative pressure spring damper is rotatably connected to one side of the negative pressure connecting rod .

Preferably, the driving part includes a motor fixedly installed on one side of the suspension motor connector, a coupling is fixedly sleeved outside the output end of the motor, and a thrust bearing is fixedly installed outside the output end of the motor, One side of the thrust bearing interferes with one side of the coupling, and the other side of the thrust bearing interferes with one side of the suspension motor connector.

Preferably, the two stop rings at the bottom are located on the side where the two negative pressure connecting rods are far away from each other, and the two stop rings at the top are located at the side of the suspension frame fixing member and the rocker link. between the poles.

Preferably, the suspension frame fixing part is parallel to the suspension motor connecting part, and the negative pressure spring damper is located between the negative pressure connecting rod and the rocker arm connecting rod.

Preferably, the motor is not in contact with the suspension frame fixture, and the negative pressure link is parallel to the upper link.

Preferably, the two sets of fixed corner brackets are symmetrical to each other, and the sides of the fixed corner brackets that are close to each other are provided with installation holes.

Preferably, the negative pressure connecting rod, the rocker arm connecting rod, the suspension frame fixing part, the suspension motor connecting part and the upper connecting rod are all integrally formed castings.

In summary, the technical effects and advantages of the present utility model:

1. The structure of the utility model is reasonable. By setting the mounting holes, the device can be quickly installed with the main body of the robot. Through this installation method, two devices are symmetrically installed on both sides of the main body of the robot. Through multiple half-thread screws and stop rings , The shaft sleeve is used to fix the negative pressure connecting rod and the upper connecting rod, so as to prevent the negative pressure connecting rod and the upper connecting rod from falling off during the movement, and ensure the stability and safety of the connecting parts. By setting the second linear optical axis, Inline bearings, flange bearings, and multiple first linear optical axes keep the suspension motor connector level with the suspension frame mount during motion to avoid skewing of the robot body that is fixedly connected to the suspension frame mount , to ensure the movement stability and use stability of the main body of the robot;

2. In the utility model, by setting the thrust bearing, the motor outputs power to the inflatable wheel through the coupling to make the robot move. When the inflatable wheel encounters an obstacle during the movement, the inflatable wheel will bump and cause the coupling Squeeze on one side of the motor, the coupling transmits the extrusion force to the output end of the motor and the thrust bearing, and disperses the axial load transmitted to the motor through the thrust bearing to avoid bending of the output end of the motor after repeated bumps , affecting the use and stability of the robot's main body motion.

3. In the utility model, by setting the negative pressure spring damper, when the bump occurs, the force of the inflatable wheel will also drive the suspension motor connector to move through the motor, and the moving suspension motor connector is fixed on the negative pressure connecting rod and the suspension frame Under the support of the upper connecting rod and the negative pressure spring damper, parallel movement occurs relative to the suspension frame fixing part, and the negative pressure spring damper is used to absorb the kinetic energy generated when the suspension motor connector moves, so as to reduce the air wheel The impact on the main body of the robot after the force is applied improves the shock absorption effect and obstacle-crossing performance of the main body of the robot, and further ensures the stability of the main body of the robot during the movement process. The impact of obstacles on one side on the entire suspension system is reduced, and the impact of obstacles on the main body of the robot is further reduced.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative work.

Fig. 1 is a three-dimensional structural schematic diagram of a first-view perspective of a parallel four-bar linkage side-mounted independent suspension system used in a wheeled robot chassis;

Fig. 2 is a schematic diagram of the front view of the parallel four-bar linkage side-mounted independent suspension system used in the chassis of the wheeled robot;

Fig. 3 is a schematic perspective view of the three-dimensional structure after the connecting part and the elastic supporting part are assembled.

In the figure: 1. Negative pressure connecting rod; 2. Flange bearing; 3. Half thread screw; 4. Negative pressure spring damper; 5. First linear optical axis; 6. Stop ring; 7. Rocker arm connection Rod; 8. Embedded bearing; 9. Motor; 10. Suspension frame fixing part; 11. Fixed corner code; 12. Suspension motor connector; 13. Coupling; 14. Upper connecting rod; 15. Bushing ; 16, screw aluminum column; 17, thrust bearing; 18, the second linear optical axis.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Embodiment: Referring to the parallel four-bar linkage lateral independent suspension system used for a wheeled robot chassis shown in Figures 1-3, it includes connected connecting parts, elastic support parts and driving parts, and the connecting parts include suspension frame fixed Part 10, the top and bottom of the suspension frame fixing part 10 are both rotatably sleeved with a first linear optical axis 5, and the outer sides of the two first linear optical axes 5 are fixedly sleeved with two stop rings 6, and the bottom The outer side of the first linear optical axis 5 is fixedly sleeved with two embedded bearings 8, and the outer sides of the two embedded bearings 8 are fixedly sleeved with negative pressure connecting rods 1, and one end of the two negative pressure connecting rods 1 is fixed Flange bearings 2 are socketed, and the inner sides of the two flange bearings 2 are fixedly socketed with half-thread screws 3, and the ends of the two half-thread screws 3 are fixedly installed with a suspension motor connector 12, and the first straight line on the top The outer side of the optical axis 5 is rotatably connected with two upper connecting rods 14, and one end of the two upper connecting rods 14 is rotatably connected with a second linear optical axis 18, and the outer side of the second linear optical axis 18 is fixedly sleeved with two A shaft sleeve 15, the outer side of the second linear optical axis 18 is rotatably socketed with the suspension motor connector 12, and both sides of the suspension frame fixture 10 are fixedly installed with a rocker link 7, and the two rocker links 7 are connected to each other. A screwed aluminum column 16 is fixedly installed on the close side, and two sets of fixed corner codes 11 are fixedly installed on one side of the suspension frame fixture 10; The main body can move through the driving part, and the elastic supporting part provides elastic support for the connecting part.

The suspension frame fixture 10 is fixedly connected with the main body of the robot through the fixed angle code 11, and the negative pressure connecting rod 1 and the upper connecting rod 14 are fixed through a plurality of half-thread screws 3, stop rings 6 and bushings 15 to avoid negative pressure. The pressure connecting rod 1 and the upper connecting rod 14 fall off during the movement to ensure the stability and safety of the connecting parts. By setting the second linear optical axis 18, the embedded bearing 8, the flange bearing 2 and multiple first The linear optical axis 5 makes the suspension motor connector 12 always keep level with the suspension frame fixture 10 during the movement, so as to avoid skewing of the robot main body fixedly connected with the suspension frame fixture 10 and ensure the motion stability of the robot main body and use stability.

In this embodiment, the driving part includes a motor 9 fixedly installed on one side of the suspension motor connector 12, a shaft coupling 13 is fixedly sleeved outside the output end of the motor 9, and a thrust bearing is fixedly installed on one side of the shaft coupling 13. 17. One side of the thrust bearing 17 is fixedly connected to one side of the suspension motor connector 12, the thrust bearing 17 is sleeved on the outside of the output end of the motor 9, and the outside of the output end of the motor 9 is fixedly sleeved with an air wheel; the elastic support components include Two negative pressure spring dampers 4 that are rotatably connected at both ends of the threaded aluminum column 16, one end of the negative pressure spring damper 4 is rotatably connected with one side of the negative pressure connecting rod 1, and the two stop rings 6 at the bottom are located at the two On the side where the negative pressure connecting rods 1 are far away from each other, the top two stop rings 6 are located between the suspension frame fixture 10 and the rocker link 7, and the two stop rings 6 at the bottom prevent the embedded bearing 8 Vibration occurs during the movement, which ensures the stable use of the embedded bearing 8 .

The motor 9 outputs power to the inflatable wheel through the coupling 13 to make the robot move. When the inflatable wheel encounters an obstacle during the movement, the inflatable wheel will bump and squeeze one side of the coupling 13. The shaft device 13 transmits the extrusion force to the output end of the motor 9 and the thrust bearing 17, and disperses the axial load transmitted to the motor 9 through the thrust bearing 17, so as to avoid bending of the output end of the motor 9 after repeated bumps, which will affect the use and the stability of the main body of the robot.

When turbulence occurs, the force of the inflatable wheel will also drive the suspension motor connector 12 to move through the motor 9, and the moving suspension motor connector 12 will be connected to the negative pressure connecting rod 1, the suspension frame fixing part 10, the upper connecting rod 14 and the negative pressure. Under the support of the spring damper 4, parallel movement occurs with respect to the suspension frame fixture 10, and the kinetic energy generated when the suspension motor connector 12 moves is absorbed by the negative pressure spring damper 4, so as to reduce the impact on the robot after the pneumatic wheel is stressed. The impact caused by the main body improves the shock absorption effect and obstacle-crossing performance of the main body of the robot, and further ensures the stability of the main body of the robot during movement. The impact of obstacles on the entire suspension system, and further reduce the impact of obstacles on the main body of the robot.

In this embodiment, the suspension frame fixing part 10 is parallel to the suspension motor connection part 12, and the negative pressure connecting rod 1 is parallel to the upper connecting rod 14, so as to avoid irregular skewing of the suspension motor connection part 12 after being stressed and make the main body of the robot Severe shaking occurs to further ensure the smooth movement of the main body of the robot.

In this embodiment, the negative pressure spring damper 4 is located between the negative pressure connecting rod 1 and the rocker connecting rod 7, and the motor 9 is not in contact with the suspension frame fixing part 10, so as to prevent the suspension motor connector 12 from moving under force. One side of 9 collides with the suspension frame fixture 10 and then causes damage, which ensures the normal use of the motor 9 and prolongs the service life of the motor 9.

In this embodiment, the two sets of fixed corner brackets 11 are symmetrical to each other, and the sides of the fixed corner brackets 11 that are close to each other are provided with installation holes, through which the device can be quickly installed with the robot body. Code 11 further ensures the stability of the connection between the main body of the robot and the device.

In this embodiment, the negative pressure connecting rod 1, the rocker connecting rod 7, the suspension frame fixing part 10, the suspension motor connecting part 12 and the upper connecting rod 14 are all integrally formed castings, which ensures that the negative pressure connecting rod 1. The structural strength and stable use of the rocker link 7, the suspension frame fixing part 10, the suspension motor connection part 12 and the upper link 14.

The working principle of this utility:

Through the installation hole, the device can be quickly installed with the main body of the robot, and the negative pressure connecting rod 1 and the upper connecting rod 14 can be fixed by multiple half-thread screws 3, stop rings 6, and bushings 15 to avoid negative pressure connecting rod 1 and the upper connecting rod 14 fall off during the movement to ensure the stability and safety of the connected parts. By setting the second linear optical axis 18, the embedded bearing 8, the flange bearing 2 and multiple first linear optical axes 5. Make the suspension motor connecting piece 12 always keep level with the suspension frame fixing piece 10 during the movement, so as to avoid the robot main body fixedly connected with the suspension frame fixing piece 10 from skewing, and ensure the movement stability and use stability of the robot main body ;

The motor 9 outputs power to the inflatable wheel through the coupling 13 to make the robot move. When the inflatable wheel encounters an obstacle during the movement, the inflatable wheel will bump and squeeze one side of the coupling 13. The shaft device 13 transmits the extrusion force to the output end of the motor 9 and the thrust bearing 17, and disperses the axial load transmitted to the motor 9 through the thrust bearing 17, so as to avoid bending of the output end of the motor 9 after repeated bumps, which will affect the use and the stability of the main body of the robot;

When turbulence occurs, the force of the inflatable wheel will also drive the suspension motor connector 12 to move through the motor 9, and the moving suspension motor connector 12 will be connected to the negative pressure connecting rod 1, the suspension frame fixing part 10, the upper connecting rod 14 and the negative pressure. Under the support of the spring damper 4, parallel movement occurs with respect to the suspension frame fixture 10, and the kinetic energy generated when the suspension motor connector 12 moves is absorbed by the negative pressure spring damper 4, so as to reduce the impact on the robot after the pneumatic wheel is stressed. The impact caused by the main body improves the shock absorption effect and obstacle-surmounting performance of the main body of the robot, and further ensures the stability of the main body of the robot during motion.

Finally, it should be noted that: the above is only a preferred embodiment of the utility model, and is not intended to limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art , it can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model, All should be included within the protection scope of the present utility model.

Claims (8)

1. The utility model provides a parallel four-bar linkage side independent suspension that wheeled robot chassis used which characterized in that: the suspension mechanism comprises a connecting part, an elastic supporting part and a driving part which are connected, wherein the connecting part comprises a suspension frame fixing part (10), the top and the bottom of the suspension frame fixing part (10) are respectively and rotatably sleeved with a first linear optical shaft (5), two stopping rings (6) are respectively and fixedly sleeved on the outer side of the first linear optical shaft (5), the bottom of the first linear optical shaft is respectively and fixedly sleeved with two embedded bearings (8), two embedded bearings (8) and two negative pressure connecting rods (1) and two flange bearings (2) are respectively and fixedly sleeved on the inner sides of the flange bearings (2), two half-thread screws (3) are respectively and fixedly sleeved on one ends, close to each other, of the half-thread screws (3) and fixedly installed with a suspension motor connecting piece (12), the top of the first linear optical shaft (5) is respectively and rotatably sleeved with two upper connecting rods (14), two upper connecting rods (14) are respectively and rotatably sleeved with a second linear optical shaft (18) and two side fixing connecting rods (7) and fixedly sleeved with two aluminum rocker arms (7) and two suspension rocker arms (7) are respectively and fixedly sleeved with the aluminum rocker arms (7), two groups of fixed corner connectors (11) are fixedly arranged on one side of the suspension frame fixing piece (10);

the connecting component is used for movably connecting the driving component, the elastic supporting component and the robot main body, the robot main body can move through the driving component, and the elastic supporting component provides elastic support for the connecting component.

2. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 1, wherein: the elastic supporting component comprises two negative pressure spring dampers (4) rotatably connected with two ends of the screw hole aluminum column (16), and one end of each negative pressure spring damper (4) is rotatably connected with one side of the corresponding negative pressure connecting rod (1).

3. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 1, wherein: the drive assembly includes fixed mounting and is in hang motor (9) of motor connecting piece (12) one side, the fixed cover in the output outside of motor (9) has connect shaft coupling (13), the output outside fixed mounting of motor (9) has thrust bearing (17), one side of thrust bearing (17) with one side of shaft coupling (13) is contradicted, the opposite side of thrust bearing (17) with one side of hanging motor connecting piece (12) is contradicted.

4. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 1, wherein: the two stop rings (6) at the bottom are positioned at one side where the two negative pressure connecting rods (1) are far away from each other, and the two stop rings (6) at the top are positioned between the suspension frame fixing part (10) and the rocker arm connecting rod (7).

5. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 2, wherein: the suspension frame fixing piece (10) is parallel to the suspension motor connecting piece (12), and the negative pressure spring damper (4) is located between the negative pressure connecting rod (1) and the rocker arm connecting rod (7).

6. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 3, wherein: the motor (9) is not in contact with the suspension frame fixing piece (10), and the negative pressure connecting rod (1) is parallel to the upper connecting rod (14).

7. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 1, wherein: two sets of fixed angle sign indicating number (11) are symmetry each other, the mounting hole has all been seted up to one side that fixed angle sign indicating number (11) are close to each other.

8. The parallel four-bar side independent suspension system for a wheeled robot chassis of claim 1, wherein: the negative pressure connecting rod (1), the rocker connecting rod (7), the suspension frame fixing part (10), the suspension motor connecting part (12) and the overhead connecting rod (14) are all integrally formed casting parts.

Images