CN219830313U - Suspension system for intelligent super-flat bearing robot - Google Patents
Suspension system for intelligent super-flat bearing robot Download PDFInfo
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- CN219830313U CN219830313U CN202321034662.1U CN202321034662U CN219830313U CN 219830313 U CN219830313 U CN 219830313U CN 202321034662 U CN202321034662 U CN 202321034662U CN 219830313 U CN219830313 U CN 219830313U
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- 239000000725 suspension Substances 0.000 title claims abstract description 57
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Abstract
The utility model provides a suspension system for an intelligent super-flat bearing robot, which is characterized in that: the front suspension system (02) is arranged at the front end of a chassis frame of the intelligent super-flat bearing robot (01) and is composed of a supporting plate (03); a swing arm (04); a kingpin mount (05); a cylinder (06); a support rod (07); a support base (07); an electric cylinder (09); a main tie rod (10); a main arm (11); a kingpin (12); a slave arm (13); a slave tie rod (14); the wheel (15) and the caliper disc brake plate assembly (16) are formed, and the functions of suspension, steering and braking are integrated; the main components of the utility model are arranged flatly, have extremely low height, are suitable for the suspension of a carrier which simulates the high-speed motion of a target object vehicle on an actual road, and can realize the adjustment of the height of the suspension from the ground more conveniently by adopting the air suspension on the basic suspension function.
Description
Technical Field
The utility model relates to the technical field of active safety of automobiles, in particular to a suspension system for an intelligent ultra-flat bearing robot.
Background
In recent years, the industry increasingly pays attention to vehicle automatic driving technology aiming at the sequential release of test regulations of intelligent driving of vehicles, and the requirements on test scenes, test regulations and passing conditions of the automatic driving technology are increasingly severe. However, the current testing standard and evaluation system of intelligent network-connected automobiles in China basically refer to foreign countries, and the testing equipment is monopoly foreign countries, so that the price is high, the supply period is long, the service is poor, and the development of domestic intelligent driving technology is severely restricted. The intelligent ultra-flat bearing robot is key equipment necessary for constructing a complex test scene in intelligent driving test, has a high-precision high-speed motion control function, and can realize the authenticity of the field test through the self-defined track motion. One of the key core technologies and difficulties is how to construct a suspension system with high stability and high strength in a limited space, so that the high-speed motion characteristics of a vehicle on an actual road can be simulated, and meanwhile, the high-speed motion characteristics have high motion precision and stability, and the fidelity and the test repeatability of a test scene are improved.
At present, related high-speed sports products in the field are not available in China, and a customized suspension system and a customized motor are basically adopted for supporting and driving abroad, so that the cost of the products is extremely high, the time for delivering goods is long, maintenance is difficult after equipment is damaged, monopoly markets are extremely easy to form, and the road-leaving device does not have an adjustable ground-leaving travel and is difficult to adapt to actual application scenes of China roads. Therefore, it is necessary to invent a low cost suspension system for an intelligent ultra-flat load bearing robot and to implement a device with adjustable ground clearance.
Disclosure of Invention
The utility model aims at providing a suspension system which can support a machine body and transfer a tangential force and moment between a wheel and the machine body through an air cylinder, so that the functions of extending the wheel out of the machine body during normal running, retracting the wheel back into the machine body when the wheel is rolled by a weight exceeding a certain load limit and the like are realized; meanwhile, the device capable of adjusting the height of the suspension system is arranged, the adjustment of the ground clearance of the intelligent super-flat bearing robot is realized by adjusting the compression amount of the air cylinder, the road condition adaptability is strong, the manufacturing cost is low, and the test requirement of the actual road condition of the Chinese road is further met.
The technical scheme of the utility model provides a front suspension system for an intelligent super flat bearing robot, which is arranged at the front end of a chassis frame of the intelligent super flat bearing robot, wherein:
the front suspension system comprises a supporting plate, a swing arm, a master pin support, an air cylinder, a supporting rod and a supporting seat; wherein the supporting plate and the supporting seat are fixedly connected with a chassis frame of the intelligent super-flat bearing robot;
the swing arms comprise an upper swing arm and a lower swing arm, and two ends of the upper swing arm and the lower swing arm are respectively connected with the support plate and the main pin support through hinges to form a quadrilateral structure for the up-and-down movement of the suspension; the main pin support is connected with the supporting seat through a vertically installed cylinder and a supporting rod, wherein two ends of the supporting rod are connected to the supporting seat;
the cylinder body is fixed with the master pin support, the cylinder piston rod is fixed with the supporting rod, the supporting rod is arranged on the chassis frame of the intelligent super-flat bearing robot through the supporting seat hinged at the two ends, and the master pin support is supported by the cylinder along the suspension movement in the direction vertical to the ground.
Further, the steering structure of the front suspension system comprises an electric cylinder, a main pull rod, a main arm, a main pin, a slave arm and a slave pull rod, wherein the main arm fixedly connected with the main pin is driven to rotate along the main pin by controlling the electric cylinder to stretch and retract, the wheel connected with the main pin is driven to swing at a corresponding angle, and the slave arm fixedly connected with the main pin can drive the slave pull rod to drive the wheel at the other side to swing.
Further, the braking structure of the front suspension system comprises a caliper disc brake plate assembly, a bevel gear pair, an inner transmission shaft, a telescopic universal joint and a main shaft,
the disc brake sheet of the caliper disc brake sheet assembly and the inner transmission shaft are driven by a bevel gear pair, the transmission shaft and the main shaft are driven by a key piece telescopic universal joint, and finally the braking force of the caliper disc brake sheet assembly is transmitted to the wheels arranged on the main shaft
The beneficial effect of this scheme is:
(1) The utility model designs a low-height suspension structure, and realizes the integration of suspension, steering and braking structures in a flat space.
(2) The utility model designs the air elastic suspension system, the air cylinder is used for replacing the spring, the height space is saved, the intelligent super-flat bearing robot is rolled in the use process, the wheel suspension part can retract into the robot, the suspension structure is protected from being damaged, and the air suspension is additionally convenient to realize suspension height adjustment by adjusting air pressure.
Drawings
The advantages of the foregoing and/or additional aspects of the present utility model will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the overall assembly structure of a suspension system for an intelligent ultra-flat load carrying robot of the present utility model;
FIG. 2 is a schematic diagram of a suspension system for an intelligent ultra-flat carrier robot according to the present utility model;
fig. 3 is a detailed view of a suspension system integrated suspension brake structure for an intelligent ultra-flat carrier robot according to the present utility model.
Wherein: 01-an intelligent ultra-flat bearing robot; 02-front suspension system; 03-a support plate; 04-swinging arm; 0401-upper swing arm; 0402 lower swing arm; 05-a kingpin mount; 06-cylinder; 07-supporting rods; 08-supporting seat; 09—electric cylinder; 10-a main pull rod; 11-a main arm; 12-master pin; 13-slave arm; 14-a slave tie rod; 15-wheels; 16-a caliper disc brake pad assembly; 17-bevel gear pairs; 18-an inner drive shaft; 19-telescopic universal joint; 20-main shaft.
Detailed Description
In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, embodiments of the present utility model and features in the embodiments may be combined with each other.
In the present utility model, terms such as "mounted," "connected," "fixed," "front-to-back," "left-to-right," "inside-to-outside," "up-to-down," and the like are to be construed broadly based on the device, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1, this embodiment provides a front suspension system for an intelligent super flat carrier robot, the front suspension system 02 is mounted at the front end of a chassis frame of the intelligent super flat carrier robot 01, and suspension, steering and braking functions are integrated;
as shown in fig. 2 and 3: the front suspension system 02 comprises a supporting plate 03, a swing arm 04, a master pin support 05, an air cylinder 06, a supporting rod 07, a supporting seat 08 and wheels 17;
wherein the supporting plate 03 and the supporting seat 08 are fixedly connected with a chassis frame of the intelligent super-flat bearing robot 01;
two ends of the upper swing arm 0401 and the lower swing arm 0402 are respectively connected with the supporting plate 03 and the master pin support 05 in a hinge manner to form a quadrilateral structure for the up-and-down movement of the suspension;
meanwhile, the king pin support 05 is connected with the supporting seat 08 through a vertically installed air cylinder 06 and a supporting rod 07, wherein two ends of the supporting rod 07 are connected with the supporting seat 08;
the cylinder body of the cylinder 06 is fixed with the master pin support 05, the piston rod of the cylinder 06 is fixed with the supporting rod 07, the supporting rod 07 is arranged on the chassis frame of the intelligent super-flat bearing robot 01 through a supporting seat 08 with two ends hinged, and the suspension movement of the master pin support 05 along the direction vertical to the ground is supported by the cylinder 06.
The air cylinder 06 is driven by air pressure and plays a role of an elastic device in a suspension system, and the wheel 15 which is contacted with the ground is arranged on the main shaft 20 in the main pin support 05;
the steering structure of the front suspension system 02 comprises an electric cylinder 09, a main pull rod 10, a main arm 11, a main pin 12, a slave arm 13 and a slave pull rod 14, wherein the main pull rod 10 is driven by the telescopic motion of the electric cylinder 09 to enable the main arm 11 fixedly connected with the main pin 12 to rotate along the main pin, the wheel 15 connected with the main pin 12 is driven to swing at a corresponding angle, and meanwhile, the slave arm 13 fixedly connected with the main pin 12 can drive the slave pull rod 14 to drive the wheel at the other side to swing, so that the steering function is realized;
the braking structure of the front suspension system 02 comprises a caliper disc brake pad assembly 16, a bevel gear pair 17, an inner transmission shaft 18, a telescopic universal joint 19 and a main shaft 20,
the disc brake plate of the caliper disc brake plate assembly 16 and the inner transmission shaft 18 are transmitted through the bevel gear pair 17, the transmission shaft 18 and the main shaft 20 are transmitted by the key telescopic universal joint 19, when the suspension is adapted to the motion, the transmission shaft 18 and the main shaft 20 have the condition of relatively vertical up-and-down motion on the ground, and finally the braking force of the caliper disc brake plate assembly 16 is transmitted to the wheels 15 arranged on the main shaft 20, and the transmission arrangement enables the caliper disc brake plate assembly 16 to be arranged in the vehicle body which does not participate in the up-and-down swing of the suspension;
the suspension support structure, the steering structure and the braking structure of the front suspension system 02 are arranged in an interpenetration and dislocation way, so that the whole suspension structure layout is flattened, the height of the intelligent super-flat bearing robot 01 body is effectively reduced on the premise of keeping the basic function of the suspension system perfect, and meanwhile, the integration density and the internal space utilization rate are improved.
Although the utility model has been provided in detail with reference to the accompanying drawings, it is to be understood that these descriptions are merely illustrative and are not intended to limit the application of the utility model. The scope of the utility model is defined by the appended claims and may include various modifications, alterations and equivalents of the utility model without departing from the scope and spirit of the utility model.
Claims (3)
1. Front suspension system for intelligent super flat bearing robot, front suspension system (02) install in the chassis frame front end of intelligent super flat bearing robot (01), its characterized in that:
the front suspension system (02) comprises a supporting plate (03), a swing arm (04), a main pin support (05), an air cylinder (06), a supporting rod (07) and a supporting seat (08); wherein the supporting plate (03) and the supporting seat (08) are fixedly connected with a chassis frame of the intelligent super-flat bearing robot (01);
the swing arm (04) comprises an upper swing arm (0401) and a lower swing arm (0402), and two ends of the upper swing arm (0401) and the lower swing arm (0402) are respectively hinged with the support plate (03) and the main pin support (05) to form a quadrilateral structure for the up-and-down movement of the suspension; the main pin support (05) is connected with the support seat (08) through a vertically installed air cylinder (06) and a support rod (07), wherein two ends of the support rod (07) are connected to the support seat (08);
the cylinder body of the air cylinder (06) is fixed with the master pin support (05), a piston rod of the air cylinder (06) is fixed with the supporting rod (07), the supporting rod (07) is installed on a chassis frame of the intelligent super-flat bearing robot (01) through a supporting seat (08) with two ends hinged, and the suspension movement of the master pin support (05) along the direction vertical to the ground is supported by the air cylinder (06).
2. The front suspension system for an intelligent ultra-flat load carrying robot of claim 1, wherein: the steering structure of the front suspension system (02) comprises an electric cylinder (09), a main pull rod (10), a main arm (11), a main pin (12), a slave arm (13) and a slave pull rod (14), wherein the main arm (11) fixedly connected with the main pin (12) is driven to rotate along the main pin by controlling the electric cylinder (09) to stretch and retract, the wheel (15) connected with the main pin (12) is driven to swing at a corresponding angle, and the slave arm (13) fixedly connected with the main pin (12) can drive the slave pull rod (14) to drive the wheel at the other side to swing.
3. The front suspension system for an intelligent ultra-flat load carrying robot of claim 1, wherein: the braking structure of the front suspension system (02) comprises a caliper disc brake plate assembly (16), a bevel gear pair (17), an inner transmission shaft (18), a telescopic universal joint (19) and a main shaft (20),
the disc brake sheet of the caliper disc brake sheet assembly (16) and the inner transmission shaft (18) are transmitted through a bevel gear pair (17), the transmission shaft (18) and the main shaft (20) are transmitted through a key piece telescopic universal joint (19), and finally the braking force of the caliper disc brake sheet assembly (16) is transmitted to the wheels (15) arranged on the main shaft (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321034662.1U CN219830313U (en) | 2023-05-04 | 2023-05-04 | Suspension system for intelligent super-flat bearing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321034662.1U CN219830313U (en) | 2023-05-04 | 2023-05-04 | Suspension system for intelligent super-flat bearing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219830313U true CN219830313U (en) | 2023-10-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321034662.1U Active CN219830313U (en) | 2023-05-04 | 2023-05-04 | Suspension system for intelligent super-flat bearing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219830313U (en) |
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2023
- 2023-05-04 CN CN202321034662.1U patent/CN219830313U/en active Active
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