CN213799143U - Wheel type robot chassis suspension and driving system - Google Patents
Wheel type robot chassis suspension and driving system Download PDFInfo
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- CN213799143U CN213799143U CN202022462198.9U CN202022462198U CN213799143U CN 213799143 U CN213799143 U CN 213799143U CN 202022462198 U CN202022462198 U CN 202022462198U CN 213799143 U CN213799143 U CN 213799143U
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Abstract
The application discloses wheeled robot chassis hangs and actuating system, including suspension, driving system, transmission system. The suspension system comprises a damping component, an upper cantilever component, a lower cantilever component and a bearing component, wherein one end of the damping component, one end of the upper cantilever component and one end of the lower cantilever component are fixed on the chassis frame, the other end of the upper cantilever component and the other end of the lower cantilever component are fixed on the bearing component, and the suspension system is used for supporting the chassis and absorbing vibration caused by uneven road surfaces. The power system comprises a motor, a speed reducer support and a second bearing, the power system is fixed on the chassis frame through the speed reducer support, and the power system is used for outputting rotating torque. The transmission system comprises an input shaft, a universal joint, an output shaft and a flange plate, one end of the transmission system is connected with the power system, and the other end of the transmission system is connected with the chassis tire and used for transmitting the torque of the power system to the tire. The chassis suspension and driving system of the wheeled robot has the advantages of simple structure, strong universality and good stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel type robot chassis suspension and driving system.
Background
Wheeled robots are being applied to various fields such as various civil affairs, military affairs and industrial production, for example, scenes such as patrol in a garden and express delivery in the last kilometer. Wheeled robots performing the above work place extremely high demands on the chassis performance, and wheeled robot chassis usually comprise suspension systems, drive systems, etc. The suspension system is used for supporting the wheeled robot and absorbing vibration caused by uneven road surfaces, the performance of the suspension system determines the moving stability of the wheeled robot, and the driving system provides driving force for the movement of the wheeled robot. The chassis suspension and driving system of the wheeled robot, which is simple in structure, strong in universality and good in stability, is researched and developed, and has great value for wide application of the robot.
Disclosure of Invention
The utility model aims at providing a wheeled robot chassis hangs and actuating system, wheeled robot chassis hangs and actuating system simple structure, and the commonality is strong, and stability is good, but wide application in multiple wheeled robot chassis.
In order to achieve the above purpose, the present application provides the following technical solutions:
a wheeled robot chassis suspension and drive system comprising: suspension system, driving system, transmission system.
The suspension system comprises a shock absorption assembly, an upper cantilever assembly, a lower cantilever assembly and a bearing assembly, wherein the shock absorption assembly comprises a shock absorber support and a shock absorber, the upper cantilever assembly comprises a first upper cantilever support, an upper cantilever, a second upper cantilever support and an upper cantilever sleeve, the lower cantilever assembly comprises a first lower cantilever support, a first connecting cylinder, a lower cantilever, a second connecting cylinder, a second lower cantilever support and a lower cantilever sleeve, and the bearing assembly comprises a bearing disc and a first bearing.
Furthermore, one end of the shock absorber is hinged to the shock absorber support through a bolt, the other end of the shock absorber is hinged to the second upper cantilever support through a bolt, and the shock absorber support is welded and fixed to the chassis frame of the wheeled robot; one end of the upper cantilever is hinged to a first upper cantilever support through a bolt, the other end of the upper cantilever is hinged to a second upper cantilever support through a bolt, an upper cantilever sleeve penetrates through the space between the two ends of the upper cantilever and the bolt, the first upper cantilever support is fixed on a chassis frame of the wheeled robot in a welding mode, and the second upper cantilever support is fixed on the bearing plate in a welding mode; one end of the lower cantilever is connected with one end of the first connecting cylinder through threads, the other end of the lower cantilever is connected with one end of the second connecting cylinder through threads, the thread turning directions of the two ends of the lower cantilever are opposite, the other end of the first connecting cylinder is hinged to the first lower cantilever support through a bolt, a lower cantilever sleeve is sleeved between the first connecting cylinder and the bolt, the other end of the second connecting cylinder is hinged to the second lower cantilever support through a bolt, a lower cantilever sleeve is sleeved between the second connecting cylinder and the bolt, the first lower cantilever support is fixedly welded to the chassis frame of the wheeled robot, and the second lower cantilever support is fixedly welded to the bearing disc; bear and overlap on the dish center round hole and be equipped with first bearing, first bearing inner race establishes through interference fit cover bear on the dish center round hole.
Furthermore, welding planes of the shock absorber support, the first upper cantilever support, the second upper cantilever support, the first lower cantilever support and the second lower cantilever support are parallel to each other; the upper cantilever assembly and the lower cantilever assembly are parallel to each other.
The power system comprises a motor, a speed reducer support and a second bearing.
Further, the motor is fixed with the speed reducer through a bolt, an output shaft of the motor is sleeved on an input shaft of the speed reducer, and the torque of the motor is transmitted through a flat key. The speed reducer passes through the bolt with the speed reducer support is fixed, the speed reducer support passes through the bolt fastening on wheeled robot chassis frame, the second bearing outer lane is established through interference fit cover on the circular hole in speed reducer support center, the speed reducer output shaft with the second bearing is concentric.
The transmission system comprises an input shaft, a universal joint, an output shaft and a flange plate.
Furthermore, one end of the input shaft is sleeved on the second bearing and is connected with the output shaft of the speed reducer through a flat key. The other end of the input shaft is connected with one end of the universal joint, and the other end of the universal joint is connected with one end of the output shaft. The other end of the output shaft is sleeved on the first bearing and the flange plate and is in interference fit with the inner ring of the first bearing, the output shaft transmits torque to the flange plate through a flat key, and the flange plate is connected with a tire through bolts, so that the torque of the motor is transmitted to the tire.
The wheel type robot chassis suspension and driving system has the advantages of being simple in structure, strong in universality and good in stability. Through the suspension system with the damping component, the robot has a damping effect, and the moving stability of the robot is improved. The transmission system transmits the rotating torque of the power system to the tire, and the stability and efficiency of power output under different terrains are improved through the first bearing, the second bearing, the universal joint and other structures. The chassis suspension and driving system of the wheeled robot has the advantages of simple structure, strong universality and good stability, and is suitable for various chassis of the wheeled robot.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly introduced below, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.
Fig. 1 is a schematic structural diagram of a chassis suspension and drive system of a wheeled robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a suspension system provided in an embodiment of the present application;
FIG. 3 is a disassembled schematic view of an upper boom assembly structure provided by an embodiment of the present application;
fig. 4 is a disassembled schematic view of a lower suspension arm assembly structure provided in the embodiment of the present application;
FIG. 5 is a schematic structural diagram of a power system provided by an embodiment of the present application;
FIG. 6 is a disassembled schematic view of a transmission system structure provided in the embodiments of the present application.
Reference is made to the accompanying drawings in which:
10-suspension system, 11-damping assembly, 12-upper boom assembly, 13-lower boom assembly, 14-carrier assembly, 111-shock absorber support, 112-shock absorber, 121-first upper boom support, 122-upper boom, 123-second upper boom support, 124-upper boom sleeve, 131-first lower boom support, 132-first connecting cylinder, 133-lower boom, 134-second connecting cylinder, 135-second lower boom support, 136-lower boom sleeve, 141-carrier plate, 142-first bearing;
20-a power system, 21-a motor, 22-a speed reducer, 23-a speed reducer bracket and 24-a second bearing;
30-transmission system, 31-input shaft, 32-universal joint, 33-output shaft and 34-flange plate.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, the present application provides a suspension and drive system for a chassis of a wheeled robot, comprising: suspension system 10, powertrain system 20, and driveline system 30. The suspension system 10 is used for supporting the wheeled robot, and buffering impact force generated by an uneven road surface and attenuating vibration caused by the impact force, so as to ensure that the wheeled robot runs smoothly. The power system 20 and the transmission system 30 are used for driving (not shown) the tires to rotate, so that the wheeled robot is driven to move. The wheeled robot chassis is generally symmetrically provided with 4 or 6 wheeled robot chassis suspension and drive systems.
As shown in fig. 1 to 4, the suspension system 10 includes a shock absorbing assembly 11, an upper suspension arm assembly 12, a lower suspension arm assembly 13, and a carrier assembly 14, wherein the shock absorbing assembly 11 includes a shock absorber support 111 and a shock absorber 112, the upper suspension arm assembly includes a first upper suspension arm support 121, an upper suspension arm 122, a second upper suspension arm support 123, and an upper suspension arm sleeve 124, the lower suspension arm assembly 13 includes a first lower suspension arm support 131, a first connecting sleeve 132, a lower suspension arm 133, a second connecting sleeve 134, a second lower suspension arm support 135, and a lower suspension arm sleeve 136, and the carrier assembly includes a carrier plate 141 and a first bearing 142.
Further, one end of the shock absorber 112 is hinged to the shock absorber support 111 through a bolt, and the other end of the shock absorber 112 is hinged to the second upper suspension arm support 123 through a bolt, and the shock absorber support 111 is welded and fixed to a chassis frame (not shown) of the wheeled robot.
Further, one end of the upper cantilever 122 is hinged to a first upper cantilever support 121 through a bolt, the other end of the upper cantilever is hinged to a second upper cantilever support 123 through a bolt, an upper cantilever sleeve 124 penetrates between two ends of the upper cantilever and the bolt, the first upper cantilever support 121 is welded and fixed to a chassis frame (not shown) of the wheeled robot, and the second upper cantilever support 123 is welded and fixed to the bearing plate 141. The second upper suspension arm support 123 is hinged with the shock absorber 112 and the upper suspension arm 122 at the same time, so that the number of supports is reduced, and the structure is simplified. The upper suspension arm bushing 124 is used to fill the gap between the upper suspension arm 122 and the corresponding bolt, thereby reducing noise and vibration generated during the movement of the suspension system 10.
Further, one end of the lower cantilever 133 is screwed to one end of the first connecting cylinder 132, and the other end is screwed to one end of the second connecting cylinder 134, and the two ends of the lower cantilever 133 are oppositely screwed. The other end of the first connecting cylinder 132 is hinged to the first lower cantilever support 131 through a bolt, a lower cantilever sleeve 136 is sleeved between the first connecting cylinder 132 and the bolt, the other end of the second connecting cylinder 134 is hinged to the second lower cantilever support 135 through a bolt, and a lower cantilever sleeve 136 is sleeved between the second connecting cylinder 134 and the bolt. The first lower cantilever bracket 131 is welded and fixed to a chassis frame (not shown) of the wheeled robot, and the second lower cantilever bracket 135 is welded and fixed to the carrier plate 141. The lower cantilever sleeve 136 is used to fill up the gap between the first connecting cylinder 132 and the second connecting cylinder 134 and the corresponding bolt, thereby reducing noise and vibration generated during the movement of the suspension system 10.
Further, a first bearing 142 is sleeved on a circular hole in the center of the bearing disc 141, and an outer ring of the first bearing 142 is sleeved on the circular hole in the center of the bearing disc 141 through interference fit. The first bearing 142 is used for sleeving the output shaft 33, so that the rotation of the output shaft 33 is more stable.
Further, welding planes of the shock absorber bracket 111, the first upper suspension arm bracket 121, the second upper suspension arm bracket 123, the first lower suspension arm bracket 131 and the second lower suspension arm bracket 135 are parallel to each other; the upper boom assembly 12 and the lower boom assembly 13 are parallel to each other.
As shown in fig. 5, the power system 20 includes a motor 21, a reducer 22, a reducer bracket 23, and a second bearing 24.
Further, the motor 21 is fixed to the speed reducer 22 through a bolt, and an output shaft of the motor 21 is sleeved on an input shaft of the speed reducer 22 and transmits torque of the motor 21 through a flat key. The speed reducer 22 is fixed with the speed reducer support 23 through a bolt, the speed reducer support 23 is fixed on a wheeled robot chassis frame (not shown) through a bolt, the outer ring of the second bearing 24 is sleeved on a circular hole in the center of the speed reducer support 23 through interference fit, the output shaft of the speed reducer 22 is concentric with the second bearing 24, the output shaft of the speed reducer 22 is sleeved on the input shaft 31, and the torque of the output shaft of the speed reducer 22 is transmitted through a flat key. The second bearing 24 is sleeved on the reducer support 23, and a bearing support does not need to be additionally designed, so that the structure is simple and compact.
Further, the reducer 22 is a right-angle planetary gear reducer, and the width of the chassis of the wheeled robot can be effectively reduced by using the right-angle reducer, so that the overall size of the wheeled robot is reduced.
As shown in fig. 6, the transmission system includes an input shaft 31, a universal joint 32, an output shaft 33, and a flange 34.
Furthermore, one end of the input shaft 31 is sleeved on the second bearing 24 and connected with the output shaft of the speed reducer 22 through a flat key, and the rotation of the input shaft 31 can be more stable by using the second bearing 24. The other end of the input shaft 31 is connected to one end of the universal joint 32, and the other end of the universal joint 32 is connected to one end of the output shaft 33. The other end of the output shaft 33 is sleeved on the first bearing 142 and the flange 34 and is in interference fit with the inner ring of the first bearing 142, the output shaft 33 transmits torque to the flange 34 through a flat key, and the flange 34 is connected with a tire (not shown) through bolts, so that the torque of the motor 21 is transmitted to the tire (not shown).
Through the suspension system 10 with the damping component 11, the wheeled robot has a good damping effect, and the moving stability and terrain adaptability of the robot are improved. The torque of the motor 21 is transmitted to the flange plate 34 through the power system 20 and the transmission system 30, and further transmitted to the tire (not shown), so as to drive the wheeled robot to move. The chassis suspension and driving system of the wheeled robot in the embodiment has the advantages of simple structure, strong universality and good stability, and is suitable for various chassis of the wheeled robot.
Claims (6)
1. The utility model provides a wheeled robot chassis hangs and actuating system which characterized in that, wheeled robot chassis hangs and actuating system includes:
the suspension system comprises a shock absorption assembly, an upper suspension arm assembly, a lower suspension arm assembly and a bearing assembly, wherein one end of the shock absorption assembly, one end of the upper suspension arm assembly and one end of the lower suspension arm assembly are fixed on the chassis frame, and the other end of the upper suspension arm assembly and the other end of the lower suspension arm assembly are fixed on the bearing assembly;
the power system comprises a motor, a speed reducer bracket and a second bearing, and is fixed on the chassis frame through the speed reducer bracket;
and the transmission system comprises an input shaft, a universal joint, an output shaft and a flange plate, one end of the transmission system is connected with the power system, and the other end of the transmission system is connected to the chassis tire through the flange plate.
2. The wheeled robot chassis suspension and drive system of claim 1, wherein the shock assembly comprises a shock absorber support, a shock absorber, the upper boom assembly comprises a first upper boom support, an upper boom, a second upper boom support, an upper boom sleeve, the lower boom assembly comprises a first lower boom support, a first connecting cylinder, a lower boom, a second connecting cylinder, a second lower boom support, a lower boom sleeve, and the load bearing assembly comprises a load bearing plate, a first bearing.
3. The wheeled robot chassis suspension and drive system of claim 2, wherein the shock absorber is bolted at one end to a shock absorber support and at the other end to a second upper suspension arm support, the shock absorber support being welded to the wheeled robot chassis frame; one end of the upper cantilever is hinged to a first upper cantilever support through a bolt, the other end of the upper cantilever is hinged to a second upper cantilever support through a bolt, an upper cantilever sleeve penetrates through the space between the two ends of the upper cantilever and the bolt, the first upper cantilever support is fixed on a chassis frame of the wheeled robot in a welding mode, and the second upper cantilever support is fixed on the bearing plate in a welding mode; one end of the lower cantilever is connected with one end of the first connecting cylinder through threads, the other end of the lower cantilever is connected with one end of the second connecting cylinder through threads, the thread turning directions of the two ends of the lower cantilever are opposite, the other end of the first connecting cylinder is hinged to the first lower cantilever support through a bolt, a lower cantilever sleeve is sleeved between the first connecting cylinder and the bolt, the other end of the second connecting cylinder is hinged to the second lower cantilever support through a bolt, a lower cantilever sleeve is sleeved between the second connecting cylinder and the bolt, the first lower cantilever support is fixedly welded to the chassis frame of the wheeled robot, and the second lower cantilever support is fixedly welded to the bearing disc; bear and overlap on the dish center round hole and be equipped with first bearing, first bearing inner race establishes through interference fit cover bear on the dish center round hole.
4. The wheeled robot chassis suspension and drive system of claim 2, wherein the weld planes of the shock absorber support, the first upper boom support, the second upper boom support, the first lower boom support, and the second lower boom support are parallel to each other; the upper cantilever assembly and the lower cantilever assembly are parallel to each other.
5. The wheeled robot chassis suspension and drive system of claim 1, wherein the motor is fixed to the speed reducer by bolts, the output shaft of the motor is sleeved to the input shaft of the speed reducer and transmits the torque of the motor by a flat key, the speed reducer is fixed to the speed reducer bracket by bolts, the speed reducer bracket is fixed to the wheeled robot chassis frame by bolts, the outer ring of the second bearing is sleeved to the circular hole in the center of the speed reducer bracket by interference fit, and the output shaft of the speed reducer is concentric with the second bearing.
6. The wheeled robot chassis suspension and drive system of claim 1, wherein one end of the input shaft is sleeved on the second bearing and connected to the output shaft of the speed reducer through a flat key, the other end of the input shaft is connected to one end of the universal joint, the other end of the universal joint is connected to one end of the output shaft, the other end of the output shaft transmits torque to the flange plate through the flat key, and the flange plate is connected to the tire through bolts, so that torque of the motor is transmitted to the tire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022462198.9U CN213799143U (en) | 2020-11-01 | 2020-11-01 | Wheel type robot chassis suspension and driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022462198.9U CN213799143U (en) | 2020-11-01 | 2020-11-01 | Wheel type robot chassis suspension and driving system |
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| CN213799143U true CN213799143U (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022462198.9U Active CN213799143U (en) | 2020-11-01 | 2020-11-01 | Wheel type robot chassis suspension and driving system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683791A (en) * | 2022-05-06 | 2022-07-01 | 深圳市大道智创科技有限公司 | Robot chassis suspension structure |
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2020
- 2020-11-01 CN CN202022462198.9U patent/CN213799143U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683791A (en) * | 2022-05-06 | 2022-07-01 | 深圳市大道智创科技有限公司 | Robot chassis suspension structure |
| CN114683791B (en) * | 2022-05-06 | 2024-01-16 | 深圳市大道智创科技有限公司 | Robot chassis suspension structure |
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