CN212604340U

CN212604340U - Chassis suspension mechanism, chassis and robot

Info

Publication number: CN212604340U
Application number: CN202021186738.9U
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 robot, especially, relate to a chassis hangs mechanism, chassis and robot. The chassis suspension mechanism includes: the two ends of the swing rod are used for connecting wheels of the chassis; the bracket is arranged above the swing rod in a spanning mode at intervals, and the bottom end of the bracket is used for being connected with the chassis; the swing rod is connected to the support in a swinging mode and is higher than the bottom end of the support; the vibration absorption device is characterized in that an elastic component capable of buffering and absorbing vibration is arranged between the swing rod and the support, the elastic component comprises a first vibration absorption column and a second vibration absorption column, impact is relieved through the first vibration absorption column, and vibration is absorbed through the second vibration absorption column. The utility model discloses a first post, the second of shaking is shaken the post and is cooperated jointly, can effectual reduction vibration and noise.

Description

Chassis suspension mechanism, chassis and robot

Technical Field

The utility model relates to the technical field of robot, 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, chassis and robot, can play better damping effect.

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

there is provided a chassis suspension mechanism comprising:

the two ends of the swing rod are used for connecting wheels of the chassis;

the bracket is arranged above the swing rod in a spanning mode at intervals, and the bottom end of the bracket is used for being connected with the chassis; the swing rod can be connected to the bracket in an up-and-down motion manner, and is higher than the bottom end of the bracket;

the vibration absorption device is characterized in that an elastic component capable of buffering and absorbing vibration is arranged between the swing rod and the support, the elastic component comprises a first vibration absorption column and a second vibration absorption column, impact is relieved through the first vibration absorption column, and vibration is absorbed through the second vibration absorption column.

As a preferable technical solution of the above chassis suspension mechanism,

the first vibration absorbing column comprises a spring, the spring is arranged between the swing rod and the bracket,

the second vibration absorption column comprises an upper rubber block and a lower rubber block, the upper rubber block is arranged on the support, and the lower rubber block is arranged between the support and the swing rod.

As a preferable technical solution of the chassis suspension mechanism, the first vibration absorbing column further includes rubber cushions, the rubber cushions are disposed at two ends of the spring, and the rubber cushions are respectively fixed to the bracket and the swing link by screws;

the second vibration absorption column further comprises a stud bolt, one end of the stud bolt is fixed on the swing rod, the upper rubber block and the lower rubber block are arranged on the stud bolt in a penetrating mode, and the other end of the stud bolt is in threaded connection with a nut.

As a preferred technical solution of the above chassis suspension mechanism, a connecting shaft is inserted through the swing rod, two opposite sides of the support in the length direction extend downward to form a connecting plate, an adjusting actuating hole is formed in the connecting plate, and two ends of the connecting shaft are inserted through the adjusting actuating hole in a vertically actuating manner.

As a preferred technical solution of the above chassis suspension mechanism, the swing link is provided with a lateral shock absorber protruding in the width direction, and the lateral shock absorber elastically abuts against the inner wall of the connecting plate.

As a preferable technical solution of the chassis suspension mechanism, the lateral shock absorber includes a plurality of shock absorbing plungers and is disposed on two opposite sides of the connecting shaft in the length direction.

As a preferred technical solution of the above chassis suspension mechanism, a connecting lug for fixedly connecting the chassis is protruded from the bottom end of the connecting plate.

As a preferable technical solution of the chassis suspension mechanism, two sides of the bracket opposite to the connecting plate respectively extend downwards to form shielding plates, and the elastic assemblies are shielded by the shielding plates respectively.

The utility model also provides a chassis, include as above chassis suspension mechanism.

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, inhale through the first post and the second of inhaling between rigidity pendulum rod and the support and inhale the post and absorb vibration. The first vibration absorption column can relieve impact, and the second vibration absorption column can absorb vibration. The arrangement mode not only utilizes the buffer effect of the mutual conversion of the arm of force of the swing rod on uneven road surfaces such as small steps, but also ensures that two wheels can simultaneously land under any working condition, and simultaneously avoids the direct transmission of ground impact to the chassis through the driving wheel or the driven wheel. The first vibration absorption column and the second vibration absorption column are matched together, so that vibration and noise can be effectively reduced.

Drawings

Fig. 1 is a schematic structural diagram (in a natural state) of a chassis suspension mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a chassis suspension mechanism according to an embodiment of the present invention (in a compressed state of a first vibration absorbing pillar).

Fig. 3 is a schematic structural diagram (without a bracket) of a chassis suspension mechanism provided by an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a bracket according to an embodiment of the present invention.

In the figure:

1. a swing rod; 2. a support; 21. a connecting plate; 211. adjusting the actuating hole; 22. connecting lugs; 23. a shielding plate; 3. connecting columns; 4. a spring; 5. feeding a rubber block; 6. a connecting shaft; 7. a vibration damping plunger; 8. a drive wheel; 9. a driven wheel; 10. a nut; 11. and (5) a lower rubber block.

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 chassis suspension mechanism, which can absorb and relieve vibration automatically, and does not generate large noise while ensuring stable operation of the chassis.

The present embodiment provides a robot including a chassis and wheels, wherein the wheels include a driving wheel 8 and a driven wheel 9 (refer to fig. 1), and the chassis includes a chassis suspension mechanism. The robot is beneficial to relieving the starting, stopping, accelerating and decelerating in the advancing direction of the chassis and the nodding problem shown in the face of impact in the running process, especially when passing through a bumpy road surface, so that the overall stability of the chassis is improved, and further the running stability of the robot is improved.

As shown in fig. 1 and 2, the chassis suspension mechanism includes: the vibration absorption device comprises a swing rod 1, a bracket 2, a first vibration absorption column and a second vibration absorption column, wherein the swing rod is used for connecting wheels, and two ends of the swing rod 1 are respectively provided with a driving wheel 8 and a driven wheel 9; the driving wheel 8 and the driven wheel 9 are fixed at the bottom of the swing rod 1, and the driving wheel 8 and the driven wheel 9 can rotate relative to the swing rod 1 so as to drive the robot to move integrally. The bracket 2 is arranged above the swing rod 1 in a spanning mode at intervals, and the bottom end of the bracket 2 is used for being connected with the chassis; the swing rod can be connected to the bracket 2 in an up-and-down motion manner, and the swing rod 1 is higher than the bottom end of the bracket 2; be provided with the elastic component who can cushion between pendulum rod 1 and the support 2 and inhale to shake and support 2, elastic component includes that first inhale the post and the second of shaking and inhale the post, and first inhale the post of shaking and can alleviate the impact, and the second is inhaled the post and can be absorbed vibration.

As shown in figure 2, when the chassis suspension mechanism is on a non-flat ground, the first vibration absorbing column at the right end in the figure is squeezed and compressed to lift the driven wheel 9 at the right end of the swing rod 1, so that the driven wheel 9 and the driving wheel 8 are ensured to be simultaneously grounded, and the chassis can not be influenced by the vertical motion of the wheels and can be always kept stable because the swing rod 1 can vertically move relative to the bracket 2.

In the chassis suspension mechanism provided in this embodiment, vibration is absorbed between the rigid swing link 1 and the bracket 2 through the first vibration absorption column and the second vibration absorption column. The first vibration absorption column can relieve impact, and the second vibration absorption column can absorb vibration. The arrangement mode not only utilizes the buffer effect of the mutual conversion of the force arms of the swing rod 1 on uneven road surfaces such as small steps, but also ensures that two wheels can simultaneously land under any working condition, and simultaneously avoids the direct transmission of ground impact to the chassis through the driving wheel 8 or the driven wheel 9. The first vibration absorption column and the second vibration absorption column are matched together, so that vibration and noise can be effectively reduced.

The first vibration absorption column top support is connected between the swing rod and the bracket and is respectively arranged at two sides of the swing rod and the bracket; the second vibration absorption column top support is connected between the swing rod 1 and the bracket 2 and arranged in the middle of the swing rod 1 and the bracket 2.

The second vibration absorption column comprises a stud bolt 3, an upper rubber block 5 and a lower rubber block 11, the bottom end of the stud bolt 3 is fixedly connected with the swing rod 1, the upper rubber block 5 and the lower rubber block 11 penetrate through the stud bolt 3, the other end of the stud bolt 3 is in threaded connection with a nut 10, the upper rubber block 5 is arranged on the support 2, and the lower rubber block 11 is arranged between the support 2 and the swing rod 1; because the rubber has the multi-directional property and self-damping, the rubber can realize good buffering and vibration absorbing effects. Therefore, the upper rubber block 5 and the lower rubber block 11 made of rubber have better vibration isolation effect on the high-frequency vibration of a hard road surface, the mounting structure is simpler, the occupied space is smaller, and meanwhile, the noise can be effectively eliminated. Two ends of each first vibration absorption column are respectively and vertically connected with the swing rod 1 and the bracket 2; the first vibration absorption column comprises a spring 4 and a rubber buffer cushion, the spring 4 is arranged between the swing rod 1 and the support 2, the rubber buffer cushion is arranged at two ends of the spring 4, and the rubber buffer cushion is fixed on the support 2 and the swing rod 1 through screws respectively.

Wherein the cross section of the upper rubber block 5 positioned above the bracket 2 is trapezoidal, and the cross section of the lower rubber block 11 positioned below the bracket 2 is rectangular. And the volume of the lower rubber block 11 positioned below the bracket 2 is larger than that of the upper rubber block 5 positioned above the bracket 2.

In this embodiment, the swing rod 1 is provided with the connecting shaft 6 in a penetrating manner, and the connecting shaft 6 and the connecting plate 21 are arranged to effectively connect the bracket 2 with the suspension, so that the bracket 2 and the suspension bracket 2 are prevented from having large position deviation. As shown in fig. 3 and 4, two opposite sides of the bracket 2 in the length direction extend downward to form a connecting plate 21, the connecting plate 21 is provided with an adjusting actuating hole 211, and two ends of the connecting shaft 6 respectively penetrate through the adjusting actuating hole 211 in an up-and-down action manner. The adjusting actuating hole 211 is matched with the connecting shaft 6 to limit the longitudinal and transverse movement of the swing rod 1. The adjusting actuating hole 211 is a long waist-shaped hole or a long rectangular hole extending vertically, and no matter which hole the adjusting actuating hole 211 is, the support 2 is guaranteed to move up and down relative to the swing rod 1, so that a certain stretching space is provided for the first vibration absorbing column to absorb vibration. In this embodiment, the two sides of the support 2 are both extended downwards to form connecting plates 21, that is, the swing rod 1 and the support 2 are connected through the two connecting plates 21, each connecting plate 21 is provided with an adjusting actuating hole 211, the connecting plates 21 are symmetrically arranged, the adjusting actuating holes 211 are also symmetrically arranged, and further, the connecting shaft 6 penetrates through the swing rod 1 to be connected with the two connecting plates 21 respectively. Therefore, the sliding mode of the structural part matching surface and the adjusting actuating hole 211 can limit partial direction dislocation between the swing rod 1 and the bracket 2, and only vertical up-and-down and free rotation motion is reserved.

Since the bracket 2 is connected with the chassis through the bolts, in order to ensure the connection of the bracket 2 with the chassis, the lower end of the connecting plate 21 is provided with a connecting lug 22 connected with the chassis in the embodiment. The engaging lug 22 is disposed perpendicular to the connecting plate 21, and the engaging lug 22 extends outward of the connecting plate 21. The support 2 has shielding plate 23 in the both sides of relative connecting plate 21 downwardly extending respectively, shelters from elastic component's the first post of shaking through shielding plate 23 respectively, prevents that drive wheel 8 or follow driving wheel 9 from in the rotation in-process stone splashes to the first post of shaking, influences the use of the first post of shaking. It is believed that the support 2 is generally T-shaped and facilitates attachment to the swing link 1.

Because there is the clearance between support 2 and the pendulum rod 1, support 2 can produce the striking with pendulum rod 1 in the course of the work, can produce vibration and noise in the striking process, in order to eliminate the clearance between support 2 and the pendulum rod 1 and then reduce vibration and noise, as shown in fig. 3, the width direction of pendulum rod 1 is equipped with convex side direction shock absorbers respectively in this embodiment, through side direction shock absorber elasticity top touch on the inner wall of connecting plate 21. Optionally, the lateral damping body includes a plurality of damping plungers 7, and the damping plungers 7 are respectively disposed at two opposite sides of the connecting shaft 6 in the length direction. The damping plunger 7 is a ball plunger with a spring for eliminating a gap, and the structure of the ball plunger with the spring is the prior art and is not described herein again.

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 two ends of the swing rod (1) are used for connecting wheels of the chassis;

the support (2) is arranged above the swing rod (1) in a spanning mode at intervals, and the bottom end of the support (2) is used for being connected with a chassis; the swing rod (1) is connected to the support (2) in a swinging mode, and the swing rod (1) is higher than the bottom end of the support (2);

the vibration absorption device is characterized in that an elastic component capable of buffering and absorbing vibration is arranged between the swing rod (1) and the support (2), the elastic component comprises a first vibration absorption column and a second vibration absorption column, impact is relieved through the first vibration absorption column, and vibration is absorbed through the second vibration absorption column.

2. The chassis suspension mechanism of claim 1,

the first vibration absorption column comprises a spring (4), and the spring (4) is arranged between the swing rod (1) and the bracket (2);

the second vibration absorption column comprises an upper rubber block (5) and a lower rubber block (11), the upper rubber block (5) is arranged on the support (2), and the lower rubber block (11) is arranged between the support (2) and the swing rod (1).

3. The chassis suspension mechanism of claim 2,

the first vibration absorption column further comprises rubber buffering cushions, the rubber buffering cushions are arranged at two ends of the spring (4), and the rubber buffering cushions are respectively fixed on the bracket (2) and the swing rod (1) through screws;

the second vibration absorption column further comprises a stud (3) of which one end is fixed on the swing rod (1), the upper rubber block (5) and the lower rubber block (11) are arranged on the stud (3) in a penetrating mode, and the other end of the stud (3) is in threaded connection with a nut (10).

4. The chassis suspension mechanism according to claim 1, wherein a connecting shaft (6) is inserted through the swing rod (1), two opposite sides of the bracket (2) in the length direction extend downward to form a connecting plate (21), an adjusting actuating hole (211) is formed in the connecting plate (21), and two ends of the connecting shaft (6) are inserted through the adjusting actuating hole (211) in a vertically actuating manner.

5. Chassis suspension according to claim 4, characterized in that the pendulum rods (1) are each provided with a protruding lateral damping body in the width direction, by means of which lateral damping bodies a resilient contact is made against the inner wall of the connection plate (21).

6. The chassis suspension according to claim 5, characterized in that the lateral damping body comprises a plurality of damping plungers (7) and is arranged on opposite sides of the connecting shaft (6) in the length direction.

7. The chassis suspension mechanism according to claim 4, wherein the bottom end of the connecting plate (21) protrudes with a connecting lug (22) for fixedly connecting the chassis.

8. The chassis suspension mechanism according to claim 4, characterized in that the brackets (2) extend downwards from two sides of the connecting plate (21) with shielding plates (23), and the elastic components are shielded by the shielding plates (23).

9. A chassis comprising a chassis suspension mechanism according to any one of claims 1 to 8.

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