WO2022021871A1 - Système de suspension et robot - Google Patents

Système de suspension et robot Download PDF

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Publication number
WO2022021871A1
WO2022021871A1 PCT/CN2021/078413 CN2021078413W WO2022021871A1 WO 2022021871 A1 WO2022021871 A1 WO 2022021871A1 CN 2021078413 W CN2021078413 W CN 2021078413W WO 2022021871 A1 WO2022021871 A1 WO 2022021871A1
Authority
WO
WIPO (PCT)
Prior art keywords
driven wheel
suspension system
shock absorber
wheel set
chassis
Prior art date
Application number
PCT/CN2021/078413
Other languages
English (en)
Chinese (zh)
Inventor
周兴凯
张涛
王远志
Original Assignee
深圳市普渡科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市普渡科技有限公司 filed Critical 深圳市普渡科技有限公司
Publication of WO2022021871A1 publication Critical patent/WO2022021871A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
    • B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle

Definitions

  • the present application relates to the field of robotics, and in particular, to a suspension system and a robot.
  • Robots are gradually being used in the service field. For example, restaurant and hotel delivery, delivery in buildings and other scenarios. Mobile robots have extremely high requirements on mobile performance to complete the above services.
  • Robots usually have a chassis system, which includes a suspension system, a drive system, and the like.
  • the suspension system determines the stability of the robot's movement.
  • Robots usually have symmetrically arranged drive wheels and symmetrically arranged universal wheels.
  • the universal wheel needs to have a certain shock absorption capacity.
  • the vibration reduction of the universal wheel is realized by the shock absorber.
  • the existing shock absorption will generate noise during the movement of the robot, which affects the user experience.
  • the present application has been made in view of the above-mentioned existing situation, and an object thereof is to provide a suspension system and a robot, which can reduce the noise generated by the shock absorber.
  • the present application provides a suspension system including:
  • the chassis includes a driving wheel set and a first driven wheel set, the first driven wheel set and the driving wheel set are arranged in parallel, the first driven wheel set includes two driven wheel assemblies, the two driven wheel sets are Two driven wheel assemblies are respectively disposed on both sides of the chassis, the driven wheel assemblies include a driven wheel, a driven wheel connecting piece, a shock absorber and a first blocking member, the shock absorber can be connected along the driven wheel The extension direction of the member performs axial reciprocating motion, the driven wheel connecting piece connects the driven wheel and the shock absorber, and the first blocking member is arranged between the driven wheel and the shock absorber.
  • the first blocking member can prevent the shock absorber from directly colliding with the driven wheel during the shock-absorbing movement, and the first blocking member can buffer the impact force of the shock absorber on the driven wheel, eliminating the need for the shock absorber in the suspension system. Abnormal noise produced by the shock absorber during movement.
  • the shock absorber includes a shock absorbing part, a fixing part and an end cover
  • the end cover has a through hole
  • the driven wheel connecting piece penetrates the through hole
  • one end of the shock absorbing part is fixedly connected to the slave A driving wheel connecting piece
  • the other end of the shock absorbing portion is fixedly connected to the fixing portion
  • the end cover is connected to the fixing portion
  • the driven wheel connecting piece is provided with a second blocking piece
  • the end cover is arranged on the Between the first blocking member and the second blocking member, the second blocking member is disposed close to the shock absorbing portion.
  • the first blocking member and the second blocking member perform shock absorption, buffering and blocking on the end cover on the stroke of the shock absorber, thereby reducing the noise of the shock absorber.
  • the fixing part has a concave cavity and a resisting platform disposed at the opening of the concave cavity, and the resisting platform is butted with the end cap.
  • the driven wheel assembly further includes a accommodating shell, the accommodating shell is fixed to the chassis, and the fixing portion penetrates the accommodating shell and is fixed to the accommodating shell.
  • the driven wheel can move up and down relative to the receiving case through the shock absorber, so as to achieve the shock absorption effect.
  • one side of the abutting table is butted with the end cover, and the other side of the abutting table is fixed on the inner wall of the receiving shell.
  • the first blocking member is made of rubber material.
  • the second blocking member is made of rubber material.
  • the damping part includes an elastic element.
  • the chassis further includes a second driven wheel set, and the first driven wheel set, the driving wheel set, and the second driven wheel set are arranged in parallel in sequence.
  • the present application also provides a robot comprising the suspension system as described above.
  • the stability of the robot's movement through rough surfaces can be improved to prevent tipping.
  • the first blocking member can prevent the shock absorber from directly colliding with the driven wheel during the shock-absorbing movement process, thereby improving the movement stability, and the first blocking member can buffer the shock absorber against The impact force of the driven wheel eliminates the abnormal noise produced by the shock absorber during the movement of the suspension system.
  • FIG. 1 shows a schematic three-dimensional structure diagram of a suspension system according to an embodiment of the present application
  • FIG. 2 shows a schematic partial cross-sectional side view of the suspension system according to the embodiment of the present application
  • Fig. 3 shows the exploded structure schematic diagram of the driven wheel assembly of the first driven wheel group in the suspension system in Fig. 2;
  • FIG. 4 shows a schematic cross-sectional view of the driven wheel assembly of the first driven wheel set in the suspension system of FIG. 2 .
  • the present embodiment relates to a suspension system 1 , which is applied to a mobile robot to drive the robot to move.
  • the suspension system 1 includes a chassis 10 .
  • the chassis 10 includes a driving wheel set 12 and a first driven wheel set 11 .
  • the first driven wheel set 11 and the driving wheel set 12 are arranged in parallel.
  • the first driven wheel set 11 includes two driven wheel assemblies 100 .
  • the two driven wheel assemblies 100 are respectively disposed on two sides of the chassis 10 .
  • the driven wheel assembly 100 includes a driven wheel 110 , a driven wheel connecting member 120 , a shock absorber 130 and a first blocking member 140 .
  • the shock absorber 130 can reciprocate axially along the extending direction of the driven wheel connecting member 120 .
  • the driven wheel connecting member 120 connects the driven wheel 110 and the shock absorber 130 .
  • the first blocking member 140 is disposed between the driven wheel 110 and the shock absorber 130 .
  • the first blocking member 140 can prevent the shock absorber 130 from directly colliding with the driven wheel 110 during the shock-absorbing movement, and the first blocking member 140 can buffer the impact force of the shock absorber 130 on the driven wheel 110 , which eliminates the abnormal sound produced by the shock absorber during the movement of the suspension system 1.
  • the driven wheel connection 120 is cylindrical.
  • the first blocking member 140 has a circular shape.
  • the shock absorber 130 includes a shock absorbing portion 131 , a fixing portion 132 and an end cover 133 .
  • the end cap 133 has a through hole 1331 .
  • the driven wheel connecting member 120 penetrates through the through hole 1331 .
  • One end of the shock absorbing portion 131 is fixedly connected to the driven wheel connecting member 120 .
  • the other end of the shock absorbing portion 131 is fixedly connected to the fixing portion 132 .
  • the end cap 133 is connected to the fixing portion 132 .
  • the driven wheel connecting member 120 is provided with a second blocking member 140 .
  • the end cap 133 is disposed between the first blocking member 140 and the second blocking member 150 .
  • the second blocking member 150 is disposed close to the shock absorbing portion 131 .
  • the first blocking member 140 and the second blocking member 150 perform shock absorption and buffer blocking on the end cover 133 on the stroke of the shock absorber 130, thereby reducing shock absorption the noise of the device 130.
  • the second stopper 150 may have a circular shape.
  • the second blocking member 150 can be sleeved on the driven wheel connecting member 120 .
  • the first blocking member 140 , the driven wheel connecting member 120 , the end cover 133 , the shock absorbing portion 131 , and the fixing portion 132 may be coaxially arranged.
  • the fixing portion 132 has a cavity (not shown) and a resisting platform 1321 disposed at the opening of the cavity.
  • the abutting table 1321 is docked with the end cap 133 .
  • the abutting table 1321 and the end cap 133 may both be circular.
  • the driven wheel assembly 100 further includes a housing case 160 .
  • the receiving case 160 is fixed to the chassis 10 .
  • the fixing portion 132 penetrates through the accommodating case 160 and is fixed to the accommodating case 160 . Therefore, the driven wheel 110 can move up and down relative to the receiving case 160 through the shock absorber 130 to achieve the shock absorption effect.
  • one side of the abutting table 1321 is abutted with the end cap 133 .
  • the other side of the abutting table 1321 is fixed to the inner wall of the receiving shell 160 .
  • the first blocking member 140 can be made of rubber material.
  • the second blocking member 150 may be made of rubber material.
  • the shock absorbing portion 131 includes an elastic element.
  • one end of the elastic element may be fixed to the fixing part 132 .
  • the other end of the elastic element may be fixed to the driven wheel connecting member 120 .
  • the elastic element may be a spring. It can be understood that the elastic element can also be other elastic structures.
  • the chassis 10 further includes a second driven wheel set 13 .
  • the first driven wheel set 11 , the driving wheel set 12 , and the second driven wheel set 13 are arranged in parallel in sequence.
  • the drive wheel set 12 may include two symmetrically disposed drive wheel assemblies.
  • the second driven wheel set 13 may include two symmetrically arranged second driven wheel assemblies, wherein the second driven wheel assemblies include a buffer portion and a driven wheel, wherein one end of the buffer portion is fixed to the chassis , the other end of the buffer portion is fixed to the driven wheel bracket of the second driven wheel assembly.
  • the buffer portion can also be a spring.
  • the present application also provides a robot (not shown).
  • the robot includes the suspension system 1 as described above.
  • the noise generated by the shock absorber during the movement of the robot can be effectively reduced or eliminated.
  • the specific implementation of the suspension system 1 will not be repeated here.
  • the robot can set up the carrier and move autonomously to perform delivery tasks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de suspension (1) et un robot. Le système de suspension comprend un châssis (10). Le châssis (10) comprend un train de roues motrices (12) et un premier train de roues entraînées (11). Le premier train de roues entraînées (11) et le train de roues motrices (12) sont disposés en parallèle. Le premier train de roues entraînées (11) comprend deux ensembles roues entraînées (100). Les deux ensembles roues entraînées (100) sont respectivement disposés sur deux côtés du châssis (10). Chaque ensemble roue entraînée (100) comprend une roue entraînée (110), un élément de liaison de roue entraînée (120), un amortisseur (130) et un premier élément d'arrêt (140). L'amortisseur (130) peut effectuer un mouvement de va-et-vient axial dans la direction d'extension de l'élément de liaison de roue entraînée (120). L'élément de liaison de roue entraînée (120) est relié à la roue entraînée (110) et à l'amortisseur (130). Le premier élément d'arrêt (140) est disposé entre la roue entraînée (110) et l'amortisseur (130). Le système de suspension (1) et le robot peuvent améliorer la stabilité de mouvement et réduire le bruit généré par l'amortisseur (130).
PCT/CN2021/078413 2020-07-30 2021-03-01 Système de suspension et robot WO2022021871A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202021553879.X 2020-07-30
CN202021553879.XU CN212860989U (zh) 2020-07-30 2020-07-30 悬挂系统及机器人

Publications (1)

Publication Number Publication Date
WO2022021871A1 true WO2022021871A1 (fr) 2022-02-03

Family

ID=75218469

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/078413 WO2022021871A1 (fr) 2020-07-30 2021-03-01 Système de suspension et robot

Country Status (2)

Country Link
CN (1) CN212860989U (fr)
WO (1) WO2022021871A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08300929A (ja) * 1995-05-02 1996-11-19 Hino Motors Ltd 駆動車軸重付加装置
CN103287523A (zh) * 2013-05-06 2013-09-11 中国科学技术大学 一种弹性足与轮式运动机构结合的复合变形移动机器人
WO2014191941A1 (fr) * 2013-05-31 2014-12-04 Bombardier Recreational Products Inc. Suspension de motoneige
CN207809660U (zh) * 2018-01-25 2018-09-04 吴国生 一种三轮车车身可摆动的两后轮悬挂机构
CN110053438A (zh) * 2019-05-11 2019-07-26 深圳市普渡科技有限公司 悬挂系统及机器人
CN210062595U (zh) * 2019-05-11 2020-02-14 深圳市普渡科技有限公司 悬挂系统及机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08300929A (ja) * 1995-05-02 1996-11-19 Hino Motors Ltd 駆動車軸重付加装置
CN103287523A (zh) * 2013-05-06 2013-09-11 中国科学技术大学 一种弹性足与轮式运动机构结合的复合变形移动机器人
WO2014191941A1 (fr) * 2013-05-31 2014-12-04 Bombardier Recreational Products Inc. Suspension de motoneige
CN207809660U (zh) * 2018-01-25 2018-09-04 吴国生 一种三轮车车身可摆动的两后轮悬挂机构
CN110053438A (zh) * 2019-05-11 2019-07-26 深圳市普渡科技有限公司 悬挂系统及机器人
CN210062595U (zh) * 2019-05-11 2020-02-14 深圳市普渡科技有限公司 悬挂系统及机器人

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