CN218054779U - Parallel four-connecting-rod side independent suspension system for wheeled robot chassis - Google Patents
Parallel four-connecting-rod side independent suspension system for wheeled robot chassis Download PDFInfo
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- CN218054779U CN218054779U CN202220780580.0U CN202220780580U CN218054779U CN 218054779 U CN218054779 U CN 218054779U CN 202220780580 U CN202220780580 U CN 202220780580U CN 218054779 U CN218054779 U CN 218054779U
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 7
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- 230000033001 locomotion Effects 0.000 abstract description 25
- 238000000034 method Methods 0.000 abstract description 14
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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
Technical Field
The utility model relates to the technical field of machinery, in particular to parallel four-bar linkage side independent suspension that wheeled robot chassis used.
Background
Currently, mobile robots are usually operated in indoor environments, and take on the material transfer function in a workshop or a logistics center. Because the indoor ground is very smooth and has no obstacle crossing requirement, the mobile robot working in the indoor environment usually adopts a simple suspension structure and has low requirement on the dynamic performance of the suspension. Nowadays, the production and manufacturing industry is continuously developing, and mobile robots capable of working outdoors are favored by more and more people. The wheeled mobile robot has relatively higher maneuverability and lower power consumption, and has relatively lower obstacle crossing capability compared with the traditional crawler type mobile robot. The outdoor mobile robot has high requirements on obstacle crossing capability, so that how to improve the obstacle crossing capability of the wheeled mobile robot and exert the advantages of the wheeled mobile robot in terms of a driving system becomes a considerable problem.
The existing multi-connecting-rod cross-arm type suspension mechanism is commonly used on an automobile chassis and has considerable damping effect. But the volume is too large, and the suspension mode is not independent, so that the requirements of most modern outdoor robots are not met. Meanwhile, most of the existing robots are steered by means of differential speed, so that a steering knuckle and a connecting rod do not need to be arranged on a suspension mechanism independently like an automobile chassis. Therefore, the parallel four-connecting-rod side independent suspension system for the wheeled robot chassis meets the requirements by applying the suspension scheme of the automobile chassis to the robot chassis and optimizing and improving the suspension scheme again.
SUMMERY OF THE UTILITY MODEL
The purpose of the application is to provide a parallel four-bar side independent suspension system used by a wheeled robot chassis, which improves the existing suspension structure of the robot to improve the obstacle crossing capability of the mobile robot and exert the advantages of the mobile robot in the aspect of a driving system.
In order to achieve the above purpose, the present application provides the following technical solutions: a parallel four-connecting-rod side independent suspension system used for a wheeled robot chassis 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, the top and the bottom of the suspension frame fixing part are respectively and rotatably sleeved with a first linear optical axis, the outer sides of the two first linear optical axes are respectively and fixedly sleeved with two stop rings, the outer side of the first linear optical axis is fixedly sleeved with two embedded bearings, the outer sides of the two embedded bearings are respectively and fixedly sleeved with a negative pressure connecting rod, one end of each of the two negative pressure connecting rods is respectively and fixedly sleeved with a flange bearing, the inner sides of the two flange bearings are respectively and fixedly sleeved with a half-threaded screw, one end, close to each other, of the two half-threaded screws is fixedly provided with a suspension motor connecting part, the outer side of the second linear optical axis is rotatably sleeved with the suspension motor connecting part, 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, the outer side of the second linear optical axis is fixedly sleeved with two shaft, the outer side of the second linear optical axis is rotatably sleeved with the suspension motor connecting part, the two rocker connecting parts are fixedly sleeved with two rocker arm connecting rods, one side close to each other, and one side of the suspension frame fixing part is fixedly provided with an aluminum corner fixing part, and a suspension bracket; the connecting part is used for movably connecting the driving part, the elastic supporting part and 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 part comprises two negative pressure spring dampers rotatably connected with two ends of the screw hole aluminum column, and one end of each negative pressure spring damper is rotatably connected with one side of the negative pressure connecting rod.
Preferably, the driver part includes fixed mounting and is in hang the motor of motor connecting piece one side, the fixed cover in the output outside of motor has connect the shaft coupling, the output outside fixed mounting of motor has thrust bearing, one side of thrust bearing with one side of shaft coupling is contradicted, thrust bearing's opposite side with one side of hanging the motor connecting piece is contradicted.
Preferably, the two stop rings at the bottom are positioned on one side where the two negative pressure connecting rods are far away from each other, and the two stop rings at the top are positioned between the suspension frame fixing part and the rocker arm connecting rod.
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 fixing part, and the negative pressure connecting rod is parallel to the upper connecting rod.
Preferably, two sets of fixed angle sign indicating number symmetry each other, the mounting hole has all been seted up to one side that fixed angle sign indicating number is close to each other.
Preferably, the negative pressure connecting rod, the rocker connecting rod, the suspension frame fixing part, the suspension motor connecting part and the overhead connecting rod are all integrally formed casting parts.
To sum up, the utility model discloses a technological effect and advantage:
1. the utility model discloses rational in infrastructure, through setting up the mounting hole, can install this device and robot main part fast, install two this devices in the bilateral symmetry of robot main part through this mounting means, through a plurality of half tooth screws, the check ring, the axle sleeve is with fixed negative pressure connecting rod and overhead connecting rod, avoid negative pressure connecting rod and overhead connecting rod to drop in the motion process, guarantee adapting unit's stability in use and security, make the suspension motor connecting piece keep the level with suspension frame mounting throughout in the motion process through setting up second straight line optical axis, embedded bearing, flange bearing and a plurality of first straight line optical axis, in order to avoid taking place crooked with the robot main part that suspension frame mounting fixed connection, guarantee the motion stability and the stability in use of robot main part;
2. the utility model discloses in, through setting up thrust bearing, the motor passes through the shaft coupling and gives pneumatic wheel with power take off, so that the robot motion, when pneumatic wheel meets the barrier in the motion process, pneumatic wheel produces jolting, and extrude one side of shaft coupling, the shaft coupling transmits the extrusion force for the output and the thrust bearing of motor, transmit the axial load of motor through the thrust bearing dispersion, avoid jolting the back many times, the output of motor takes place to buckle, influence the stability of use and robot main part motion.
3. The utility model discloses in, through setting up the negative pressure spring attenuator, when taking place to jolt, the inflation wheel atress still can drive the motion of suspension motor connecting piece through the motor, the suspension motor connecting piece of motion is at the negative pressure connecting rod, the suspension frame mounting, parallel motion takes place for the suspension frame mounting under the support of overhead connecting rod and negative pressure spring attenuator, and absorb the kinetic energy that produces when suspending the motion of motor connecting piece through the negative pressure spring attenuator, with reduce the influence that causes the robot main part behind the inflation wheel atress, the shock attenuation effect of robot main part and obstacle crossing performance have been improved, and further ensure the stability of robot main part in the motion process, simultaneously because of the both sides of this device independent setting in the robot main part, the influence of one side barrier to whole suspension has been reduced, and further reduced the influence of barrier to the robot main part.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings 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 application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a first perspective three-dimensional structure of a parallel four-bar side independent suspension system for use in a wheeled robot chassis;
FIG. 2 is a schematic diagram of a front view structure of a parallel four-bar side independent suspension system used for a wheeled robot chassis;
fig. 3 is a perspective view of the connecting member and the elastic support member after assembly.
In the figure: 1. a negative pressure connecting rod; 2. a flange bearing; 3. a half-thread screw; 4. a negative pressure spring damper; 5. a first linear optical axis; 6. a snap ring; 7. a rocker arm connecting rod; 8. a bearing is embedded; 9. a motor; 10. suspending a frame mount; 11. fixing the corner connectors; 12. hanging a motor connecting piece; 13. a coupling; 14. a connecting rod is arranged on the upper part; 15. a shaft sleeve; 16. a screw hole aluminum column; 17. a thrust bearing; 18. a second rectilinear optical axis.
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 work belong to the protection scope of the present invention.
Example (b): referring to fig. 1-3, a parallel four-bar side independent suspension system for a wheeled robot chassis, including a connecting part, an elastic supporting part and a driving part, the connecting part includes a suspension frame fixing part 10, the top and bottom of the suspension frame fixing part 10 are both rotatably sleeved with first linear optical axes 5, the outer sides of the two first linear optical axes 5 are both fixedly sleeved with two stop rings 6, the outer side of the bottom first linear optical axis 5 is fixedly sleeved with two embedded bearings 8, the outer sides of the two embedded bearings 8 are both fixedly sleeved with negative pressure connecting bars 1, one ends of the two negative pressure connecting bars 1 are both fixedly sleeved with flange bearings 2, the inner sides of the two flange bearings 2 are both fixedly sleeved with half-thread screws 3, one end of the two half-thread screws 3 close to each other is fixedly installed with a suspension motor connecting part 12, the outer side of the top first linear optical axis 5 is rotatably sleeved with two overhead connecting bars 14, one end of the two overhead connecting bars 14 is rotatably sleeved with a second linear optical axis 18, the outer side of the second linear optical axis 18 is fixedly sleeved with two shaft sleeves 15, the outer side of the second linear suspension motor suspension rod 18 is sleeved with a suspension connecting part 12, one side of the fixing part is sleeved with two rocker arm fixing parts 7, and one side of the rocker arm fixing part is installed with two rocker arm fixing bolts 11, one side of the rocker arm fixing bracket fixing part 10, and one side of the rocker arm fixing bracket fixing part 11 close to each other is installed with two rocker arm fixing the suspension frame fixing bracket fixing part 10; the connecting part is used for movably connecting the driving part and the elastic supporting part 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.
Hang frame mounting 10 and robot main part fixed connection through fixed angle sign indicating number 11, through a plurality of half screw 3, stop ring 6, axle sleeve 15 is with fixed negative pressure connecting rod 1 and overhead connecting rod 14, avoid negative pressure connecting rod 1 and overhead connecting rod 14 to drop in the motion process, guarantee adapting unit's stability in use and security, through setting up second straight line optical axis 18, embedded bearing 8, flange bearing 2 and a plurality of first straight line optical axis 5 make suspension motor connecting piece 12 remain the level with hanging frame mounting 10 all the time in the motion process, take place to be crooked with the robot main part that hangs frame mounting 10 fixed connection, guarantee robot main part's motion stability and stability in use.
In this embodiment, the driving component includes a motor 9 fixedly installed on one side of a suspension motor connecting piece 12, a coupler 13 is fixedly sleeved on the outer side of the output end of the motor 9, a thrust bearing 17 is fixedly installed on one side of the coupler 13, one side of the thrust bearing 17 is fixedly connected with one side of the suspension motor connecting piece 12, the thrust bearing 17 is sleeved on the outer side of the output end of the motor 9, and a pneumatic wheel is fixedly sleeved on the outer side of the output end of the motor 9; the elastic supporting part comprises two negative pressure spring dampers 4 which are rotatably connected with two ends of a screw hole aluminum column 16, one end of each negative pressure spring damper 4 is rotatably connected with one side of a negative pressure connecting rod 1, the two stop rings 6 at the bottom are respectively positioned at one side, far away from the two negative pressure connecting rods 1, the two stop rings 6 at the top are respectively positioned between a suspension frame fixing part 10 and a rocker arm connecting rod 7, the two stop rings 6 arranged at the bottom are used for avoiding the play of the embedded bearing 8 in the movement process, and the stable use of the embedded bearing 8 is ensured.
The motor 9 gives pneumatic wheel with power output through shaft coupling 13 to make the robot move, when pneumatic wheel met the barrier in the motion process, pneumatic wheel jolted, and extrude one side of shaft coupling 13, shaft coupling 13 transmitted the extrusion force to the output of motor 9 and thrust bearing 17, through thrust bearing 17 dispersion transmission to the axial load of motor 9, avoid jolting the back many times, the output of motor 9 takes place to buckle, influence the stability of use and robot main part motion.
When bumping, the pneumatic wheel is stressed and drives the suspension motor connecting piece 12 to move through the motor 9, the moving suspension motor connecting piece 12 moves in parallel relative to the suspension frame fixing piece 10 under the support of the negative pressure connecting rod 1, the suspension frame fixing piece 10, the upper connecting rod 14 and the negative pressure spring damper 4, and kinetic energy generated when the suspension motor connecting piece 12 moves is absorbed through the negative pressure spring damper 4, so that the influence of the pneumatic wheel on the robot main body after being stressed is reduced, the damping effect and the obstacle crossing performance of the robot main body are improved, the stability of the robot main body in the moving process is further ensured, meanwhile, because the device is independently arranged on two sides of the robot main body, the influence of an obstacle on one side on the whole suspension system is reduced, and the influence of the obstacle on the robot main body is further reduced.
In this embodiment, the suspension frame fixing member 10 is parallel to the suspension motor connecting member 12, and the negative pressure connecting rod 1 is parallel to the overhead connecting rod 14, so that irregular deflection generated after the suspension motor connecting member 12 is stressed is avoided, the robot main body is further severely shaken, and the stable motion of the robot main body is further ensured.
In this embodiment, the negative pressure spring damper 4 is located between the negative pressure connecting rod 1 and the rocker arm connecting rod 7, the motor 9 is not in contact with the suspension frame fixing member 10, and the situation that one side of the motor 9 collides with the suspension frame fixing member 10 after the suspension motor connecting member 12 is stressed to move and then damages the motor is avoided, so that the normal use of the motor 9 is ensured, and the service life of the motor 9 is prolonged.
In this embodiment, 11 mutual symmetries of two sets of fixed angle sign indicating numbers, the mounting hole has all been seted up to one side that 11 mutual nears of fixed angle sign indicating numbers, can install this device and robot main part fast through this mounting hole, further ensures robot main part and this device's stability of being connected through setting up two sets of fixed angle sign indicating numbers 11.
In this embodiment, the negative pressure connecting rod 1, the rocker connecting rod 7, the suspension frame fixing member 10, the suspension motor connecting member 12 and the overhead connecting rod 14 are all cast parts which are integrally formed, so that the structural strength and the use stability of the negative pressure connecting rod 1, the rocker connecting rod 7, the suspension frame fixing member 10, the suspension motor connecting member 12 and the overhead connecting rod 14 are guaranteed.
This practical theory of operation:
the device can be quickly installed with a robot main body through the installation hole, the negative pressure connecting rod 1 and the overhead connecting rod 14 are fixed through the half-thread screws 3, the stop ring 6 and the shaft sleeve 15, the negative pressure connecting rod 1 and the overhead connecting rod 14 are prevented from falling off in the motion process, the use stability and the safety of a connecting part are guaranteed, the suspension motor connecting piece 12 is enabled to be always kept horizontal with the suspension frame fixing piece 10 in the motion process through the arrangement of the second linear optical axis 18, the embedded bearing 8, the flange bearing 2 and the first linear optical axes 5, the robot main body fixedly connected with the suspension frame fixing piece 10 is prevented from being inclined, and the motion stability and the use stability of the robot main body are guaranteed;
the motor 9 outputs power to the pneumatic wheel through the coupler 13 so as to enable the robot to move, when the pneumatic wheel encounters an obstacle in the moving process, the pneumatic wheel bumps and extrudes one side of the coupler 13, the coupler 13 transmits extrusion force to the output end of the motor 9 and the thrust bearing 17, axial load transmitted to the motor 9 is dispersed through the thrust bearing 17, and the problem that the output end of the motor 9 is bent after multiple bumps to affect use and the stability of the motion of a robot main body is avoided;
when bumping, the pneumatic wheel is stressed to drive the suspension motor connecting piece 12 to move through the motor 9, the moving suspension motor connecting piece 12 moves in parallel relative to the suspension frame fixing piece 10 under the support of the negative pressure connecting rod 1, the suspension frame fixing piece 10, the upper connecting rod 14 and the negative pressure spring damper 4, and kinetic energy generated when the suspension motor connecting piece 12 moves is absorbed through the negative pressure spring damper 4, so that the influence of the pneumatic wheel on the robot main body after being stressed is reduced, the damping effect and the obstacle crossing performance of the robot main body are improved, and the stability of the robot main body in the moving process is further ensured.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions on some technical features, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of the present invention.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220780580.0U CN218054779U (en) | 2022-04-01 | 2022-04-01 | Parallel four-connecting-rod side independent suspension system for wheeled robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220780580.0U CN218054779U (en) | 2022-04-01 | 2022-04-01 | Parallel four-connecting-rod side independent suspension system for wheeled robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218054779U true CN218054779U (en) | 2022-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220780580.0U Expired - Fee Related CN218054779U (en) | 2022-04-01 | 2022-04-01 | Parallel four-connecting-rod side independent suspension system for wheeled robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218054779U (en) |
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2022
- 2022-04-01 CN CN202220780580.0U patent/CN218054779U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
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Address after: No. 301, Xunhua Road, Xuancheng Economic and Technological Development Zone, Anhui Province, 242099 Patentee after: Hefei University of Technology Address before: No. 193, Tunxi Road, Hefei City, Anhui Province Patentee before: Hefei University of Technology |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221216 |