CN210062595U - Suspension system and robot - Google Patents
Suspension system and robot Download PDFInfo
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- CN210062595U CN210062595U CN201920675092.1U CN201920675092U CN210062595U CN 210062595 U CN210062595 U CN 210062595U CN 201920675092 U CN201920675092 U CN 201920675092U CN 210062595 U CN210062595 U CN 210062595U
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Abstract
The utility model provides a suspension and robot, include: the supporting seat is fixedly arranged on the chassis; the driving wheel connecting piece comprises a first connecting arm and a first supporting arm which is perpendicular to the first connecting arm; the driven wheel connecting piece comprises a second connecting arm and a second supporting arm which is perpendicular to the second connecting arm; one end of the shock absorber is hinged to a first hinge point of the first support arm, and the other end of the shock absorber is hinged to a second hinge point of the second support arm; wherein, the drive wheel is installed to the first end of first linking arm, and the second end of first linking arm articulates in the third hinge point of supporting seat, and the first follow driving wheel of first end installation of second linking arm, the second end of second linking arm articulate in the fourth hinge point of supporting seat to, first hinge point is close to the third hinge point, and the second hinge point is close to the fourth hinge point. The utility model provides a suspension and robot can promote the stability that the robot removed, prevent empting.
Description
Technical Field
The utility model relates to the technical field of robot, in particular to suspension and robot.
Background
Mobile robots are being applied to the service field step by step. Such as restaurant and hotel delivery, delivery in a building, etc. The mobile robot has extremely high requirements on the mobility when completing the service. Robots typically have a chassis system comprising a suspension system, a drive system, etc. The suspension system determines the stability of the robot movement. Robots usually have symmetrically arranged drive wheels and symmetrically arranged universal wheels. In practical application, when the universal wheels pass through a rugged ground, such as climbing, a slip phenomenon exists, which easily causes a robot to topple over, and the problem still remains to be solved.
SUMMERY OF THE UTILITY MODEL
The present invention has been made in view of the above-mentioned conventional situation, and an object of the present invention is to provide a suspension system and a robot, which can improve the stability of the movement of the robot.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the utility model provides a suspension system, include:
the supporting seat is fixedly arranged on the chassis;
the driving wheel connecting piece comprises a first connecting arm and a first supporting arm which is perpendicular to the first connecting arm;
the driven wheel connecting piece comprises a second connecting arm and a second supporting arm which is perpendicular to the second connecting arm; and
one end of the shock absorber is hinged to a first hinge point of the first support arm, and the other end of the shock absorber is hinged to a second hinge point of the second support arm;
the first end of the first connecting arm is provided with a driving wheel, the second end of the first connecting arm is hinged to a third hinged point of the supporting seat, the first end of the second connecting arm is provided with a first driven wheel, the second end of the second connecting arm is hinged to a fourth hinged point of the supporting seat, the first hinged point is close to the third hinged point, and the second hinged point is close to the fourth hinged point.
In this case, the position of the hinge point is designed to increase the positive pressure of the driving wheel during the traveling of the suspension system, so as to increase the friction between the driving wheel and the first driven wheel, thereby preventing the suspension system from slipping during climbing or rough road.
Wherein an angle α between a line connecting the second hinge point and the fourth hinge point and a line connecting the third hinge point and the fourth hinge point is not less than 60 °.
Therefore, the fourth hinge point can be close to the first driven wheel as much as possible, and the friction force of the second driven wheel is further improved.
An included angle β between a connecting line of the first hinge point and the third hinge point and a connecting line of the fourth hinge point and the third hinge point is equal to the included angle α.
Therefore, the fatigue damage resistance of the supporting seat can be improved, and the strength of the suspension system can be further improved.
The distance from the position where the first connecting arm is connected with the driving wheel to the third hinge point is a, the vertical distance from the position where the second connecting arm is connected with the first driven wheel to the fourth hinge point is b, and b is 1.2 a.
In this case, interference with the drive wheel when the suspension system is installed can be prevented.
The second connecting arm comprises a first arm and a second arm vertically connected with the first arm, the first arm is hinged to the fourth hinge point, the second supporting arm is vertically connected to the first arm, the first driven wheel is mounted on the second arm, and the second arm extends towards the inside of the chassis.
Therefore, the first driven wheel is positioned in the projection area of the chassis, and the moving stability of the suspension system can be improved.
Wherein, the bumper shock absorber is the spring damper.
In this case, the vibration damping effect can be achieved by the conversion of the elastic potential energy.
The driving wheels are arranged on two sides of the middle of the chassis, and the first driven wheel and the second driven wheel are respectively arranged at two ends of the chassis.
Therefore, the three-row wheel design can improve the motion stability of the suspension system.
The second driven wheel is provided with a shock absorber, and the shock absorber extends along the direction perpendicular to the chassis.
In this case, the vibration in the direction of gravity of the second driven wheel can be reduced.
The shock absorber is characterized in that a supporting cover is arranged on the surface of the chassis, the supporting cover is provided with an installation part protruding out of the supporting cover, the shock absorber is arranged in the installation part, and the shock absorber is a spring.
Therefore, the second driven wheel can be prevented from being vibrated in the gravity direction by utilizing the spring, the structure is simpler, the second driven wheel is positioned in the projection area of the chassis, and the moving stability of the suspension system can be improved.
The utility model also provides a robot, the robot includes as above suspension.
In this case, the movement stability of the robot over a rough road surface can be improved, preventing toppling.
According to the utility model provides a suspension and robot, thereby make suspension increase drive wheel and the first frictional force from the driving wheel at the normal pressure of the in-process multiplicable drive wheel of marcing, and then avoided taking place at suspension in the condition of skidding through climbing or rugged road surface.
Drawings
Fig. 1 shows a schematic perspective view of a suspension system according to an embodiment of the present invention;
fig. 2 shows a schematic top view of a suspension system according to an embodiment of the invention;
FIG. 3 shows a schematic cross-sectional A-A view of the suspension system of FIG. 2;
fig. 4 shows a schematic side view of a suspension system according to an embodiment of the invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
As shown in fig. 1 to 4, a suspension system 1 according to the present embodiment includes a support base 10, a drive wheel coupling member 20, a driven wheel coupling member 30, a shock absorber 40, and a chassis 50. The support base 10 is fixed to the base plate 50. The driving wheel link 20 includes a first link arm 21 and a first support arm 22 disposed perpendicular to the first link arm 21. The driven wheel coupling member 30 includes a second coupling arm 31 and a second support arm 32 disposed perpendicular to the second coupling arm 31. One end of the damper 40 is hinged to the first hinge point 221 of the first support arm 22. The other end of the shock absorber 40 is hinged to the second hinge point 321 of the second support arm 32. Wherein, a first end of the first connecting arm 21 is provided with the driving wheel 60, and a second end of the first connecting arm 21 is hinged with the third hinge point 11 of the supporting seat 10. A first end of the second connecting arm 31 is provided with a first driven wheel 70, and a second end of the second connecting arm 31 is hinged to the fourth hinge point 12 of the supporting seat 10. And, the first hinge point 221 is close to the third hinge point 11, and the second hinge point 321 is close to the fourth hinge point 12. In this case, the position of the hinge point is designed to increase the positive pressure of the driving wheel during the traveling of the suspension system, so as to increase the friction between the driving wheel and the first driven wheel, thereby preventing the suspension system from slipping during climbing or rough road.
In the present embodiment, there are two drive wheels 60 and two first driven wheels 70, and two of them are symmetrically disposed with respect to the chassis 50. It will be appreciated that 10, drive wheel connection 20, driven wheel connection 30, and shock absorber 40 are each two in number and are symmetrically disposed about chassis 50.
In some examples, the first connecting arm 21 and the first support arm 22 may be generally "T" shaped. A line connecting the first hinge point 221 and the second hinge point 321 may be parallel to a line connecting the third hinge point 11 and the fourth hinge point 12.
As shown in fig. 4, in the present embodiment, the angle α between the connection line of the second hinge point 321 and the fourth hinge point 12 and the connection line of the third hinge point 11 and the fourth hinge point 12 is not less than 60 °, so that the fourth hinge point can be as close to the first driven wheel as possible, thereby increasing the friction force of the second driven wheel.
In some examples, included angle α is no greater than 90 °.
As shown in fig. 4, in the present embodiment, the angle β between the connection line of the first hinge point 221 and the third hinge point 11 and the connection line of the fourth hinge point 12 and the third hinge point 11 is equal to the angle α, so that the fatigue failure resistance of the supporting seat can be improved, and the strength of the suspension system can be improved.
In the present embodiment, the first hinge point 221, the second hinge point 321, the third hinge point 11, and the fourth hinge point 12 are sequentially connected to form an isosceles trapezoid. And, the distance of the first hinge point 221 from the second hinge point 321 is greater than the distance of the third hinge point 11 from the fourth hinge point 12.
As shown in fig. 4, in the present embodiment, the distance a from the position where the first link arm 21 links the driving wheel 60 to the third hinge point 11 is. The second connecting arm 31 connects the first driven wheel 70 to the fourth hinge point 12 at a vertical distance b, where b is 1.2 a. In this case, interference with the drive wheel when the suspension system is installed can be prevented.
As shown in fig. 1 and 2, in the present embodiment, the second connection arm 31 includes a first arm 311 and a second arm 312 perpendicularly connected to the first arm 311. The first arm 311 is hinged to the fourth hinge point 12. The second support arm 32 is vertically connected to the first arm 311. The first driven pulley 70 is mounted to the second arm 312. The second arm 312 extends inwardly of the chassis 50. Therefore, the first driven wheel is positioned in the projection area of the chassis, and the moving stability of the suspension system can be improved.
In some examples, the second arm 312 may have a rectangular block shape. The first arm 311 is substantially "L" shaped. The first driven wheel 70 may be provided on the bottom surface of the second pen 12. The chassis 50 may be provided with openings. The opening may be circular. The first driven pulley 70 may extend from the bottom surface of the second arm 312 through an opening to below the chassis 50.
In the present embodiment, the 40 damper is a spring damper. In this case, the vibration damping effect can be achieved by the conversion of the elastic potential energy.
As shown in fig. 3, in the present embodiment, the suspension system 1 further includes a second driven wheel 80. The driving wheels 60 are provided at both sides of the middle portion of the chassis 50. A first driven pulley 70 and a second driven pulley 80 are respectively provided at both ends of the chassis 50. Therefore, the three-row wheel design can improve the motion stability of the suspension system.
In the present embodiment, the second driven wheel 80 has a damper 81. The shock absorber 81 extends in a direction perpendicular to the chassis 50. In this case, the vibration in the direction of gravity of the second driven wheel can be reduced.
In the present embodiment, a support cover 51 is provided on the surface of the chassis 50. The support cover 51 has a mounting portion 511 protruding therefrom. The damper 81 is provided in the mounting portion 511. The shock absorber 81 is a spring. Therefore, the second driven wheel can be prevented from being vibrated in the gravity direction by utilizing the spring, the structure is simpler, the second driven wheel is positioned in the projection area of the chassis, and the moving stability of the suspension system can be improved.
In some examples, the support cap 51 may be generally cylindrical. The mounting portion 511 may also be generally cylindrical. The mounting portion 511 may be provided at the center of the support cover 51.
The utility model discloses still provide a robot (not shown). The robot comprises a suspension system 1 as described above. In this case, the movement stability of the robot over a rough road surface can be improved, preventing toppling. Details regarding the suspension system 1 are not described herein.
In some examples, the robot may move autonomously, performing delivery tasks.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. A suspension system including a chassis, comprising:
the supporting seat is fixedly arranged on the chassis;
the driving wheel connecting piece comprises a first connecting arm and a first supporting arm which is perpendicular to the first connecting arm;
the driven wheel connecting piece comprises a second connecting arm and a second supporting arm which is perpendicular to the second connecting arm; and
one end of the shock absorber is hinged to a first hinge point of the first support arm, and the other end of the shock absorber is hinged to a second hinge point of the second support arm;
the first end of the first connecting arm is provided with a driving wheel, the second end of the first connecting arm is hinged to a third hinged point of the supporting seat, the first end of the second connecting arm is provided with a first driven wheel, the second end of the second connecting arm is hinged to a fourth hinged point of the supporting seat, the first hinged point is close to the third hinged point, and the second hinged point is close to the fourth hinged point.
2. The suspension system of claim 1 wherein a line connecting the second hinge point and the fourth hinge point makes an angle α of no less than 60 ° with a line connecting the third hinge point and the fourth hinge point.
3. The suspension system of claim 2 wherein an angle β between a line connecting the first hinge point and the third hinge point and a line connecting the fourth hinge point and the third hinge point is equal to the angle α.
4. The suspension system of claim 2 wherein said first link arm is connected to said drive wheel at a location spaced from said third pivot point by a distance a, and said second link arm is connected to said first driven wheel at a location spaced from said fourth pivot point by a vertical distance b, b being 1.2 a.
5. The suspension system of claim 1 wherein said second link arm includes a first arm and a second arm perpendicularly connected to said first arm, said first arm being hingedly connected to said fourth hinge point, said second support arm being perpendicularly connected to said first arm, said first driven wheel being mounted to said second arm, said second arm extending inwardly of said chassis.
6. A suspension system as set forth in claim 1 wherein said shock absorber is a spring shock absorber.
7. The suspension system of claim 1, further comprising a second driven wheel, wherein the driving wheels are disposed on both sides of a middle portion of the chassis, and the first driven wheel and the second driven wheel are disposed on both ends of the chassis, respectively.
8. The suspension system of claim 7 wherein the second driven wheel has a damper extending in a direction perpendicular to the chassis.
9. The suspension system of claim 8 wherein the chassis surface is provided with a support cover having a mounting portion protruding from the support cover, the shock absorber is disposed within the mounting portion, and the shock absorber is a spring.
10. A robot, characterized in that the robot comprises a suspension system according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920675092.1U CN210062595U (en) | 2019-05-11 | 2019-05-11 | Suspension system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920675092.1U CN210062595U (en) | 2019-05-11 | 2019-05-11 | Suspension system and robot |
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| Publication Number | Publication Date |
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| CN210062595U true CN210062595U (en) | 2020-02-14 |
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| CN201920675092.1U Active CN210062595U (en) | 2019-05-11 | 2019-05-11 | Suspension system and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053438A (en) * | 2019-05-11 | 2019-07-26 | 深圳市普渡科技有限公司 | Suspension and robot |
| WO2022021871A1 (en) * | 2020-07-30 | 2022-02-03 | 深圳市普渡科技有限公司 | Suspension system and robot |
-
2019
- 2019-05-11 CN CN201920675092.1U patent/CN210062595U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053438A (en) * | 2019-05-11 | 2019-07-26 | 深圳市普渡科技有限公司 | Suspension and robot |
| WO2022021871A1 (en) * | 2020-07-30 | 2022-02-03 | 深圳市普渡科技有限公司 | Suspension system and robot |
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