CN212604337U

CN212604337U - Chassis suspension mechanism, chassis and robot

Info

Publication number: CN212604337U
Application number: CN202021186662.XU
Authority: CN
Inventors: 柯辉; 马文成; 彭耀锋; 唐旋来
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-02-26
Anticipated expiration: 2030-06-23

Abstract

The utility model relates to the technical field of machinery, especially, relate to a chassis hangs mechanism, chassis and robot. A chassis suspension mechanism comprising: the swing rod is used for mounting a wheel; the bracket is arranged on the swing rod in a spanning mode at intervals and is used for being connected with the chassis body; the swing rod can swing relative to the bracket; the vibration damping assembly is arranged on the bracket in a crossing manner; and the self-locking connecting rods are respectively connected with the swing rods, the support and the two end pivots of the vibration reduction assembly to form a multi-connecting-rod self-locking framework. Because the support interval is striden and is located on the pendulum rod, the drive wheel of setting on the pendulum rod or receive the vibration that produces when jolting from the driving wheel and can not transmit for the support by the pendulum rod is direct, but transmit for the support through the auto-lock connecting rod by the pendulum rod, because the auto-lock connecting rod still is connected with the damping subassembly again, so the auto-lock connecting rod transmits the vibration majority that transmits the support and is absorbed by the damping subassembly, and the pendulum rod transmits the vibration that transmits the support and reduces by a wide margin, and then can guarantee the steady bass.

Description

Chassis suspension mechanism, chassis and robot

Technical Field

The utility model relates to the technical field of machinery, especially, relate to a chassis hangs mechanism, chassis and robot.

Background

With the rapid development of robotics, robots are increasingly used, for example, welcome robots, meal delivery robots, educational robots, biomimetic robots, and the like. The robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to principles formulated by artificial intelligence technology. With the emphasis of national macro strategy, the research of mobile robots in China has entered the unprecedented period. Various mobile robot chassis gradually reflect the sight of people, and in the prior art, the mobile robot chassis with a suspension is various and basically meets the function, but still has some defects.

The existing suspension is mainly hung by a driving wheel, and the driven wheel is rigidly grounded; or the robot is moved in a mode of linkage of a local driving wheel and a driven wheel. However, the suspension has the advantages that the chassis absorbs vibration in a buffering mode, vibration and noise are large when the suspension encounters bumpy roads such as small steps and floor tiles, adaptability to different road conditions is poor, and the chassis cannot run stably.

Therefore, a chassis suspension mechanism is needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a chassis hangs mechanism and robot, can steadily and the bass removes.

To achieve the purpose, the utility model adopts the following technical proposal:

there is provided a chassis suspension mechanism comprising:

the swing rod is used for mounting a wheel;

the brackets are arranged on the swing rods at intervals in a spanning manner and are used for connecting the chassis body; the swing rod can swing relative to the bracket;

the vibration damping assembly is arranged on the bracket in a crossing manner;

and the self-locking connecting rods are respectively connected with the swing rods, the bracket and the two end parts of the vibration reduction assembly through pivots, so that a multi-connecting-rod self-locking framework is formed.

As a preferable technical solution of the chassis suspension mechanism, the vibration reduction assembly includes a damper, and both ends of the damper are respectively connected to the self-locking link pivot.

As an optimal technical scheme of the chassis suspension mechanism, the vibration reduction assembly further comprises a pressure spring, the pressure spring comprises a spring body and a spring column, the spring body is sleeved on the spring column, and two ends of the spring column are respectively connected with the self-locking connecting rod through a pivot.

As a preferable technical solution of the chassis suspension mechanism, the compression spring is arranged in parallel with the damper.

As a preferred technical solution of the above chassis suspension mechanism, the self-locking link includes a first section, a second section and a second connecting seat which are integrally connected, the first section is pivotally connected to the swing rod, the second section is pivotally connected to the bracket, and the second connecting seat is pivotally connected to the vibration reduction assembly.

As a preferred technical solution of the above chassis suspension mechanism, a first connecting seat is disposed on the swing rod, and the first section is pivotally connected to the first connecting seat.

As an optimal technical scheme of the chassis suspension mechanism, the bracket comprises a bracket beam and bracket seats arranged at the bottom of the bracket beam, the first connecting seats are arranged at two ends of the bracket beam, and the second section passes through the bracket beam and is rotatably pivoted with the bracket beam.

As an optimal technical scheme of the chassis suspension mechanism, the bottom of the bracket base is provided with a protruding connection lug plate, and the bracket base is connected with the chassis through the connection lug plate.

The utility model also provides a chassis, including chassis body and as above the chassis hang the mechanism, the chassis hang the mechanism set up in on the chassis body.

The utility model also provides a robot, including the wheel with as above the chassis.

The utility model discloses beneficial effect:

the utility model discloses in the chassis suspension mechanism that provides, because on the pendulum rod was located to the support interval stride, the drive wheel of setting on the pendulum rod or receive the vibration that produces when jolting from the driving wheel can not be transmitted for the support by the pendulum rod is direct, but transmit for the support through the auto-lock connecting rod by the pendulum rod, again because the auto-lock connecting rod still is connected with the damping subassembly, so the auto-lock connecting rod transmits the vibration majority of transmitting for the support and is absorbed by the damping subassembly, the pendulum rod transmits the vibration that reduces for a large margin for the support, and then can guarantee the steady bass operation.

Drawings

Fig. 1 is a schematic structural diagram of a first view angle of a chassis suspension mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a second view angle of the chassis suspension mechanism according to the embodiment of the present invention.

Fig. 3 is a schematic structural view of a self-locking connecting rod according to an embodiment of the present invention.

In the figure:

1. a swing rod; 2. a support beam; 3. a self-locking connecting rod; 31. a first stage; 32. a second stage; 33. a second connecting seat; 4. a damper; 5. a pressure spring; 51. a spring body; 52. a spring post; 6. a first connecting seat; 7. a support base; 8. connecting the ear plates; 9. a drive wheel; 10. a driven wheel.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The chassis that provides among the prior art hangs the mechanism, and there is the chassis to hang the mechanism and give the chassis with vibration transmission in the working process more, and then leads to the problem that the chassis cushions to inhale the vibrations, and this kind of problem produces and can lead to the whole vibration of robot and produce the noise, and the chassis can not even running.

In order to solve the above problem, the present embodiment provides a robot including a chassis and wheels, a vehicle including driving wheels 9 and driven wheels 10 (refer to fig. 1), the chassis including a chassis body and a chassis suspension mechanism, the chassis suspension mechanism being provided on the chassis body. The robot can prevent the driving wheel 9 and the driven wheel 10 from transmitting vibration to the chassis in the operation process, and the stable bass operation of the chassis is ensured.

As shown in fig. 1, the chassis suspension mechanism includes: the chassis suspension mechanism comprises a swing rod 1, a support, a self-locking connecting rod 3 and a vibration damping assembly, wherein the swing rod 1 is used for mounting wheels, namely the swing rod 1 is used for mounting a driving wheel 9 and a driven wheel 10 so as to drive the chassis suspension mechanism to normally move; the supports are arranged on the swing rods 1 in a spanning mode at intervals, the supports 1 are used for being connected with the chassis body, and the swing rods 1 can swing relative to the supports 2; the self-locking connecting rod 3 is respectively connected with the swing rod 1, the bracket and two end parts of the vibration reduction assembly through pivots, so that a multi-connecting-rod self-locking framework is formed.

In the chassis suspension mechanism provided in the embodiment, the support, the swing rod 1, the self-locking connecting rod 3 and the vibration damping assembly jointly form a multi-connecting-rod self-locking framework, so that the difficulty in chassis suspension adjustment is effectively reduced, the chassis support rigidity is indirectly improved, and the chassis moves more stably. Because the support interval is strideed and is located pendulum rod 1, the vibration that produces when setting up drive wheel 9 on pendulum rod 1 or receiving jolting from driving wheel 10 can not be transmitted for the support by pendulum rod 1 directly, but transmit for the support through auto-lock connecting rod 3 by pendulum rod 1, because auto-lock connecting rod 3 still is connected with the damping subassembly again, so the vibration that auto-lock connecting rod 3 transmitted for the support is mostly absorbed by the damping subassembly, the vibration that pendulum rod 1 transmitted for the support reduces by a wide margin, and then can guarantee the steady bass operation of chassis with leg joint. The adjustment refers to the process of adjusting and adapting the hardness of the spring damping or the rigidity of the chassis.

Optionally, the vibration damping assembly in this embodiment includes a damper 4, and both ends of the damper 4 are respectively pivotally connected to the self-locking link 3. The damper 4 is a mechanism for damping mechanical vibration and consuming kinetic energy by using damping characteristics, so that the damper 4 can reduce consumption of vibration transmitted from the swing link 1 to the self-locking link 3. Further, in the present embodiment, the damping assembly further includes a compression spring 5. As shown in fig. 1 and 2, the compression spring 5 includes a spring body 51 and a spring post 52, the spring body 51 is sleeved on the spring post 52, and two ends of the spring post 52 are respectively pivotally connected to the self-locking link 3. The combination mode of the pressure spring 5 and the damper 4 ensures the buffer capacity of the uneven road surface, and can fully absorb the vibration energy continuously given to the chassis by the road surface to avoid resonance. Specifically, the pressure spring 5 is disposed in parallel with the damper 4. The compression spring 5 and the damper 4 can absorb the vibration transmitted by the self-locking connecting rod 3 at the same time.

Alternatively, as shown in fig. 3, the self-locking link 3 in this embodiment is an L-shaped structure, the self-locking link 3 includes a first section 31, a second section 32 and a second connecting seat 33 which are integrally connected, the first section 31 is pivotally connected to the swing rod 1, the second section 32 is pivotally connected to the bracket, and the second connecting seat 33 is pivotally connected to the damping assembly. Because the self-locking connecting rod 3 is of an L-shaped structure, the self-locking connecting rod 3, the swing rod 1 and the vibration reduction assembly form a multi-connecting-rod self-locking mechanism similar to a trapezoid, so that the driving wheel 9 and the driven wheel 10 are reserved for fixing the free rotation of the swing rod 1 and limiting the freedom degrees in other directions.

Preferably, in the present embodiment, the swing link 1 is provided with a first connecting seat 6, and the first segment 31 is pivotally connected to the first connecting seat 6. The support includes support roof beam 2 and sets up in the support seat 7 of support roof beam 2 bottom, and first connecting seat 6 is located support roof beam 2 both ends, and second section 32 passes support roof beam 2 to be connected with support roof beam 2 pivot rotation. The first connecting seat 6 is fixed on the swing link 1, and the first connecting seat 6 is provided to effectively connect the first section 31 with the swing link 1, so that the connection between the two is easier. With continued reference to fig. 3, further, a second connecting block 33 is pivotally connected to the damping assembly. Wherein the pressure spring 5 is connected with the inner side wall of the second connecting seat 33 through a pivot, and the damper 4 is connected with the outer side wall of the second connecting seat 33 through a pivot, it should be noted that the pressure spring 5 and the damper 4 are connected through the same pivot, so that the vibration received by the swing rod 1 is ensured to be transmitted to the pressure spring 5 and the damper 4 simultaneously. In addition, the first section 31, the second section 32 and the second connecting seat 33 are of an integrated structure, and the structure is convenient for the integral assembly of the chassis suspension mechanism.

In order to facilitate the connection of the chassis suspension mechanism and the chassis, in this embodiment, referring to fig. 1 and fig. 2, the chassis suspension mechanism further includes a connection lug plate 8 fixedly disposed at the bottom of the bracket base 7, the connection lug plate 8 is protruded, the connection lug plate 8 is disposed in a non-contact manner with the swing rod 1, so as to prevent the swing rod 1 from transmitting vibration to the bracket through the connection lug plate 8, which causes vibration of the chassis, and the bottom of the connection lug plate 8 is connected to the chassis through a bolt.

It should be noted that, in the present embodiment, the swing link 1 is a rigid swing link 1, which is an integrated structure rather than a separate structure, and this limitation enables the driving wheel 9 and the driven wheel 10 to be fixed on the swing link 1, and simultaneously improves the landing force of two wheels, and effectively avoids the problem of slipping of the driving wheel 9 on uneven road surfaces such as uphill and downhill and soft ground such as carpet.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A chassis suspension mechanism, comprising:

the swing rod (1) is used for mounting a wheel;

the bracket is arranged on the swing rod (1) at intervals in a spanning manner and is used for connecting the chassis body; the swing rod (1) can swing relative to the bracket;

the vibration damping assembly is arranged on the bracket in a crossing manner;

and the self-locking connecting rods (3) are respectively connected with the swing rod (1), the bracket and two end parts of the vibration reduction assembly through pivots, so that a multi-connecting-rod self-locking framework is formed.

2. Chassis suspension according to claim 1, wherein the damping assembly comprises a damper (4), the damper (4) being pivotally connected at each end to the self-locking link (3).

3. The chassis suspension mechanism according to claim 2, wherein the damping assembly further comprises a compression spring (5), the compression spring (5) comprises a spring body (51) and a spring post (52), the spring body (51) is sleeved on the spring post (52), and two ends of the spring post (52) are respectively pivotally connected with the self-locking connecting rod (3).

4. Chassis suspension according to claim 3, characterized in that the pressure spring (5) is arranged parallel to the damper (4).

5. The chassis suspension according to claim 1, wherein the self-locking link (3) comprises a first section (31), a second section (32) and a second connecting seat (33) which are integrally connected, the first section (31) is pivotally connected with the swing link (1), the second section (32) is pivotally connected with the bracket, and the second connecting seat (33) is pivotally connected with the damping assembly.

6. Chassis suspension arrangement according to claim 5, characterized in that a first connection seat (6) is provided on the swing link (1), the first section (31) being pivotally connected to the first connection seat (6).

7. The chassis suspension according to claim 6, wherein the bracket comprises a bracket beam (2) and bracket seats (7) arranged at the bottom of the bracket beam (2), the first connecting seats (6) are arranged at both ends of the bracket beam (2), and the second section (32) passes through the bracket beam (2) and is rotatably pivoted with the bracket beam (2).

8. The chassis suspension mechanism according to claim 7, wherein the bottom of the bracket holder (7) is provided with a protruding connecting ear plate (8), and the bracket holder is connected with the chassis through the connecting ear plate (8).

9. A chassis comprising a chassis body and a chassis suspension mechanism as claimed in any one of claims 1 to 8, the chassis suspension mechanism being provided on the chassis body.

10. A robot comprising wheels and a chassis according to claim 9.