CN113086050A - Suspension device, chassis with same and robot - Google Patents
Suspension device, chassis with same and robot Download PDFInfo
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- CN113086050A CN113086050A CN202110485666.0A CN202110485666A CN113086050A CN 113086050 A CN113086050 A CN 113086050A CN 202110485666 A CN202110485666 A CN 202110485666A CN 113086050 A CN113086050 A CN 113086050A
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- 239000000725 suspension Substances 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 230000035939 shock Effects 0.000 claims abstract description 44
- 238000009434 installation Methods 0.000 claims abstract description 42
- 230000009471 action Effects 0.000 claims abstract description 33
- 238000010521 absorption reaction Methods 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims description 19
- 239000006096 absorbing agent Substances 0.000 claims description 16
- 230000000694 effects Effects 0.000 abstract description 6
- 230000035558 fertility Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 238000003860 storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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Abstract
The invention discloses a suspension device, a chassis with the suspension device and a robot, wherein the suspension device comprises: the first linkage mechanism is rotatably arranged on the underframe of the robot and is also provided with a first mounting position and a second mounting position; the second linkage mechanism is rotatably arranged on the bottom frame of the robot and is provided with a driving wheel mounting position; and the shock absorption mechanism is connected between the first linkage mechanism and the second linkage mechanism. When lifting on first installation position, then under damper's effect, force second link gear to rotate around the position of being connected of second link gear and chassis, thereby make action wheel installation position descend, and drive lifting on the second installation position through first link gear's effect, damper can provide decurrent pressure for the action wheel on the action wheel installation position, make the contact ground that the action wheel can be abundant, not only avoid the action wheel unsettled, can also guarantee the land fertility of grabbing of action wheel.
Description
Technical Field
The application relates to the technical field of robot suspension structures, in particular to a suspension device, a chassis with the suspension device and a robot.
Background
Most of automatic navigation wheel robots adopt a three-axis form, namely a front wheel, a driving wheel and a rear wheel form three axes, and the three axes are rigidly connected, so that the driving wheel in the middle is overhead and in a suspended state easily when climbing uphill. Although the common two-shaft linkage suspension can solve the problem that the middle wheel of an uphill is suspended, the front wheel is linked with the driving wheel or the rear wheel is linked with the driving wheel, and the whole machine is easy to pitch forwards and backwards and is unstable. If the three shafts are elastically connected, the increased weight is concentrated on the front wheel or the rear wheel and deviates from the central position along with the increase of the load, so that the driving wheel is easy to suspend and slip, and the whole machine is easy to topple.
Disclosure of Invention
The application aims at providing a suspension device, a chassis with the suspension device and a robot, and the load borne by the robot can be equally divided, so that the phenomena of suspension and slipping of a driving wheel are avoided, and the possibility of toppling over can be avoided.
According to a first aspect of the present application, there is provided a suspension apparatus comprising:
the robot comprises a first linkage mechanism, a second linkage mechanism and a driving mechanism, wherein the first linkage mechanism is installed on a chassis of the robot, the first linkage mechanism is also provided with a first installation position and a second installation position, the first installation position is used for installing a first driven wheel, the second installation position is used for installing a second driven wheel, and the first linkage mechanism is used for keeping the first installation position and the second installation position to be lifted or descended together;
the second linkage mechanism is rotatably arranged on the bottom frame of the robot and is provided with a driving wheel mounting position, and the driving wheel mounting position is used for mounting a driving wheel;
and the damping mechanism is connected between the first linkage mechanism and the second linkage mechanism.
Furthermore, a first damping connecting position is further arranged on the first linkage mechanism, a second damping connecting position is further arranged on the second linkage mechanism, and the damping mechanisms are rotatably connected to the first damping connecting position and the second damping connecting position.
Further, the shock absorbing mechanism includes: and the two ends of the shock absorber are respectively and rotatably connected to the first shock absorption connecting position and the second shock absorption connecting position.
Further, the air conditioner is provided with a fan,
the first linkage mechanism includes: the first swing arm and the second swing arm are arranged at intervals, and the connecting piece is positioned between the first swing arm and the second swing arm; the first mounting position is arranged on the first swing arm, and the second mounting position and the first damping connecting position are arranged on the second swing arm; the first swing arm is also provided with a first front mounting position and a first rear mounting position, the second swing arm is also provided with a second front mounting position and a second rear mounting position, and the connecting piece is provided with a first mounting position and a second mounting position; the first front mounting position is used for being rotationally connected with an underframe of the robot, and the first rear mounting position is rotationally connected with the first mounting position; the second front mounting position is used for being rotationally connected with an underframe of the robot, and the second rear mounting position is rotationally connected with the second connecting position;
the second linkage mechanism includes: the control arm, action wheel installation position and second shock attenuation connection position all set up on the control arm, still be equipped with the control arm connection position on the control arm, the control arm is used for rotating with the chassis of robot and is connected.
Further, the first vibration damping connecting position is arranged between the second front mounting position and the second rear mounting position.
Further, the driving wheel installation position is arranged between the control arm connection position and the second vibration reduction connection position.
Further, the connecting piece is a flexible body.
According to a second aspect of the present application, there is provided a chassis comprising a suspension arrangement as described.
Further, still include:
the chassis is provided with a first fixed seat and a second fixed seat which are mutually spaced, the first chassis connecting position and the third chassis connecting position are both arranged on the first fixed seat, and the second chassis connecting position is arranged on the second fixed seat;
the first driven wheel is mounted on the first mounting position;
the second driven wheel is mounted on the second mounting position;
the driving wheel is arranged on the driving wheel mounting position.
According to a third aspect of the present application, there is provided a robot comprising said chassis.
According to the suspension device that this application provided, the chassis that has this suspension device, the robot, when the first driven wheel lift of installing on the position first, then under damper's effect, force the second link to rotate around the position of being connected of second link gear and chassis, thereby make action wheel installation position descend downwards, and drive the second of installing on the position through first link gear and follow the lifting of driving wheel, damper can provide decurrent pressure for the action wheel of action wheel installation position, make the contact ground that the action wheel can be abundant, not only avoid the action wheel unsettled, can also guarantee the land fertility of grabbing of action wheel.
Drawings
Fig. 1 is a perspective view of a suspension apparatus provided in the present application;
FIG. 2 is a side view of a suspension apparatus provided herein;
FIG. 3 is a schematic view of the suspension apparatus provided herein on an uphill slope;
fig. 4 is a schematic view of a suspension apparatus provided in the present application when passing through a pit.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
The application provides a suspension device, have this suspension device's chassis, robot, the robot is wheeled mobile robot of automatic navigation, can walk according to the guide route of regulation, mainly is applied to different delivery tasks of execution such as commodity circulation, storage, industrial production line, food and beverage service field. A suspension device and a driving device are arranged on a chassis of the robot, and the suspension device can support the driving device to ensure the stability of the driving device. The driving device is mainly in a three-axis form consisting of a front wheel, a driving wheel and a rear wheel, and the suspension device enables the front wheel, the driving wheel and the rear wheel to be linked in a three-axis linkage mode.
The first embodiment,
Referring to fig. 1 and 2, the suspension apparatus provided in the present embodiment mainly includes: the damping mechanism comprises a first linkage mechanism, a second linkage mechanism and a damping mechanism. The first linkage mechanism, the second linkage mechanism and the shock absorption mechanism are arranged on the same side of the bottom frame 90 of the robot, and the same first linkage mechanism, second linkage mechanism and shock absorption mechanism are arranged on the other side of the bottom frame 90 of the robot.
The first linkage mechanism is installed on an underframe 90 of the robot, a first installation position 11 and a second installation position 21 are further arranged on the first linkage mechanism, the first installation position 11 is used for installing a first driven wheel 60, the first driven wheel 60 is installed on the first installation position 11 in a rotating mode, the second installation position 21 is used for installing a second driven wheel 70, and the second driven wheel 70 is installed on the second installation position 21 in a rotating mode. The first linkage mechanism is used for keeping the first mounting position 11 and the second mounting position 21 to be lifted or lowered together, in other words, when the first driven wheel 60 on the first mounting position 11 is lifted, the second driven wheel 70 on the second mounting position 21 is lifted under the action of the first linkage mechanism; when the first driven wheel 60 on the first mounting location 11 is lowered, the second driven wheel 70 on the second mounting location 21 is lowered by the first linkage.
The second linkage mechanism is rotatably mounted on the chassis 90 of the robot, and a driving wheel mounting position 42 is arranged on the second linkage mechanism, and the driving wheel mounting position 42 is used for mounting the driving wheel 80.
The shock absorption mechanism is connected between the first linkage mechanism and the second linkage mechanism.
When the first driven wheel 60 on the first installation position 11 is lifted, under the action of the damping mechanism, the second linkage mechanism is forced to rotate around the connection position of the second linkage mechanism and the chassis, so that the driving wheel installation position 42 is descended downwards, the second driven wheel 70 on the second installation position 21 is driven to lift through the action of the first linkage mechanism, the damping mechanism can provide downward pressure for the driving wheel 80 on the driving wheel installation position 41, the driving wheel 80 can be fully contacted with the ground, the suspension of the driving wheel is avoided, and the ground grabbing force of the driving wheel can be ensured.
With continued reference to fig. 1 and 2, the first linkage mechanism is further provided with a first shock-absorbing connecting position 23, the second linkage mechanism is further provided with a second shock-absorbing connecting position 43, and the shock-absorbing mechanism is rotatably connected to the first shock-absorbing connecting position 23 and the second shock-absorbing connecting position 43.
In this embodiment, the damper mechanism includes: and the two ends of the shock absorber 50 are respectively and rotatably connected to the first shock absorption connecting position 23 and the second shock absorption connecting position 43.
In this application, the first linkage mechanism includes: a first swing arm 10, a second swing arm 20, and a linkage 30. The first swing arm 10 and the second swing arm 20 are arranged at intervals, and the connecting piece 30 is positioned between the first swing arm 10 and the second swing arm 20.
The first swing arm 10 has an elongated structure, but is not limited to an elongated structure, and may have other structures such as a block structure, and an elongated structure is preferable. The first mounting position 11 is disposed on the first swing arm 10, the first swing arm 10 is further provided with a first front mounting position 12 and a first rear mounting position 13, and the first vibration damping connection position 23 is disposed between the first front mounting position 12 and the first rear mounting position 13. A first chassis connecting position 91 is arranged on the top surface of the chassis 90, and the first front mounting position 12 is used for being rotatably connected to the first chassis connecting position 91 of the chassis 90.
The second swing arm 20 is similarly formed in an elongated shape, but is not limited to the elongated shape, and may be formed in other block shapes, and the elongated shape is preferable. The second mounting position 21 is disposed on the second swing arm 20, the second swing arm 20 is further provided with a second front mounting position 22, a first shock-absorbing connecting position 23, and a second rear mounting position 24, the top surface of the base frame 90 is further provided with a second base frame connecting position 92, the second base frame connecting position 92 and the first base frame connecting position 91 are spaced from each other, and the second front mounting position 22 is rotatably connected to the second base frame connecting position 92 of the base frame 90.
The connecting member 30 is provided with a first connecting position 31 and a second connecting position 32, the first connecting position 31 is rotatably connected to the first rear mounting position 13, the second connecting position 32 is rotatably connected to the second rear mounting position 23, and the first rear mounting position 13 is located below the second rear mounting position 24 after the first swing arm 10, the second swing arm 20, the connecting member 30, the first driven wheel 60, and the second driven wheel 70 are assembled.
The second linkage mechanism includes: the control arm 40 and the control arm 40 are similarly formed in an elongated shape, but the control arm 40 is not limited to the elongated shape, and may be formed in other block shapes, and the elongated shape is preferable. The driving wheel mounting position 42 is disposed on the control arm 40, the control arm 40 is further provided with a control arm connecting position 41 and a second damping connecting position 43, and the driving wheel mounting position 42 is located between the control arm connecting position 41 and the second damping connecting position 43. The control arm connecting position 41 is positioned below the first front mounting position 12, so that the whole control arm 40 is positioned below the first swing arm 10, and the compactness of the connection of all structures is improved. A third chassis connection site 93 is further disposed on the top surface of the chassis 90, and the control arm connection site 41 is configured to be rotatably connected to the third chassis connection site 93 of the chassis 90.
In a preferred embodiment, the control arm connection site 41 and the second shock absorption connection site 43 are both located below the driving wheel installation site 42, so that the installation space of the driving wheel 80 is formed only under the bottom frame 40 on the premise of having a low height, and the structure is compact and simple.
Both ends of the damper 50 are rotatably connected to the first and second damper connecting portions 23 and 42, respectively, and after the first swing arm 10, the second swing arm 20, the connecting member 30, the first driven wheel 60, the second driven wheel 70, and the driving wheel 80 are assembled, the first damper connecting portion 23 is located above the second damper connecting portion 43.
In the present embodiment, the first and second shock-absorbing connecting portions 23 and 43 arranged in the up-down direction correspond to the height direction of the robot, so that the shock absorbers 50 are formed in a substantially vertical state. The first shock absorption connecting position 23 and the second rear mounting position 24 are both located above the second front mounting position 22, and meanwhile, the first shock absorption connecting position 23 is located above the second front mounting position 22, so that a mounting space of the shock absorber 50 is formed between the first shock absorption connecting position 23 and the second shock absorption connecting position 43, the whole mounting space of the shock absorber 50 can be saved, and the structure is compact.
Note that the broken lines in fig. 1 and 2 represent a case where the component is hidden by another component.
In this embodiment, the first driven wheel 60 is a front wheel of the robot, the second driven wheel 70 is a rear wheel of the robot, the driving wheel 80 is a driving wheel of the robot, the driving wheel 80 provides power for the walking of the robot, and the first driven wheel 60 and the second driven wheel 70 can support the robot to a certain extent.
In one embodiment, the first driven wheel 60 and the second driven wheel 70 are universal wheels, so that the robot can be guaranteed to turn when moving.
As shown in fig. 3, fig. 3 is a schematic diagram of the robot when it ascends a slope, and at this time, the driving wheel 80 of the robot is located at the top of the slope 101, the first driven wheel 60 and the second driven wheel 70 are respectively located on two inclined slopes 100, and according to the walking direction of the robot, the first driven wheel 60 is located on a downward slope 100, and the second driven wheel 70 is located on an upward slope 100. In the following embodiment, the first driven wheel 60 starts ascending along the upward slope 100 as an example.
When the robot moves to an upward slope 100, the first driven wheel 60 is lifted upwards, so that the first swing arm 10 rotates clockwise around the first front mounting position 12, the connecting piece 30 is pulled to move downwards through the second connecting position 32 on the connecting piece 30, the connecting piece 30 moving downwards drives the second swing arm 20 to rotate counterclockwise around the second front mounting position 22 through the first connecting position 31, so that the second driven wheel 70 moves downwards, meanwhile, the shock absorber 50 is forced to bear downward pressure of the second swing arm 20, the shock absorber 50 is compressed, the control arm 40 rotates clockwise around the control arm connecting position 41, and the driving wheel 80 is driven to be in full overhead contact with the ground, the driving wheel is not in a suspended state, meanwhile, the ground gripping force of the driving wheel 80 can be ensured, and the robot cannot lean backwards in states such as emergency braking.
The robot continues to move, when the driving wheel 80 is located at the top of a slope, the driving wheel 80 is lifted upwards, the control arm 40 rotates around the control arm connecting position 41 in the anticlockwise direction, the shock absorber 50 is compressed upwards, under the action of the shock absorber 50, the second swing arm 20 rotates around the second front mounting position 22 in the clockwise direction, the second driven wheel 70 moves downwards, the first swing arm 10 is driven to rotate around the first front mounting position 12 in the anticlockwise direction through the connecting piece 30, and the first driven wheel 60 moves downwards. The driving wheel 80 is not overhead in a suspended state, the ground gripping force of the driving wheel 80 can be ensured, and the robot cannot lean forward and lean backward in states of emergency braking and the like.
As shown in fig. 4, fig. 4 is a schematic diagram of the robot when the robot passes through the pit, and at this time, the driving wheel 80 of the robot is located at the bottom of the pit 200, the first driven wheel 60 is located in the upward pit 200, and the second driven wheel is located in the downward pit 200. In the following embodiment, the first driven wheel 60 starts to pass through the pit along the downward pit 200.
When the robot moves to the downward tunnel 200, the first driven wheel 60 is lifted upwards, so that the first swing arm 10 rotates clockwise around the first front mounting position 12, the connecting piece 30 is pulled downwards by the second connecting position 32 on the connecting piece 30, the connecting piece 30 moving downwards drives the second swing arm 20 to rotate counterclockwise around the second front mounting position 22 by the first connecting position 31, so that the second driven wheel 70 moves downwards, meanwhile, the shock absorber 50 is forced to bear downward pressure of the second swing arm 20, the shock absorber 50 is compressed, the control arm 40 rotates clockwise around the control arm connecting position 41, and the driving wheel 80 is driven to fully contact the ground, so that the driving wheel is not in a suspended state by the air, meanwhile, the ground gripping force of the driving wheel 80 can be ensured, and the robot cannot tilt backwards in a state such as a sudden braking state.
The robot continues to move, and when the first driven wheel 60 moves to the upward tunnel 200, the above-mentioned action process is repeated by each component, which is specifically referred to the above description and is not repeated herein.
In a word, no matter the robot is the upslope or crosses the hole, can both guarantee that the action wheel is not maked somebody a mere figurehead and is in unsettled state to guarantee the land fertility of grabbing of action wheel, and the robot can not pitch forward backward under states such as emergency braking.
In an embodiment, the connecting element 30 may also be a flexible body, which may generate a certain elastic deformation, when the robot goes up a slope or passes a threshold, and when the first swing arm 10 rotates around the first front rotating connecting position 12 in a clockwise direction or a counterclockwise direction, the flexible body generates an elastic deformation to replace the rotating motion of the connecting element 30 around the first connecting position 31 and the second connecting position 32, and the flexible body may also drive the second swing arm 20 to rotate around the second front rotating connecting position 22 in a counterclockwise direction or a clockwise direction.
Of course, in other embodiments, the connection manner between the first swing arm 10 and the base frame 90 and the connection manner between the second swing arm 20 and the base frame 90 are not limited to rotational connection, and may also be flexible connection, for example, connection is made through rubber members, so that when the robot goes up a slope or passes a threshold, the rotation angle change of the first swing arm 10 and the second swing arm 20 relative to the base frame 90 is also ensured.
As shown in fig. 2-4, the distance between the second mounting position 21 and the second front mounting position 21 is smaller than the distance between the second front mounting position 21 and the first shock absorption connection position 23, according to the lever principle, the second front mounting position 21 is equivalent to a fulcrum, a part of the second swing arm 20 between the second front mounting position 21 and the first shock absorption connection position 23 is equivalent to a power arm, and a part of the second swing arm 20 between the second mounting position 21 and the second front mounting position 21 is equivalent to a resistance arm, so that the second swing arm can easily drive the second driven wheel 70 to swing on the premise that the length of the power arm is greater than that of the resistance arm.
In one embodiment, the distance between the control arm connecting position 41 and the driving wheel mounting position 42 is greater than the distance between the driving wheel mounting position 42 and the second shock-absorbing connecting position 43. Equally according to lever principle, action wheel installation position 42 is equivalent to between, part control arm 40 between control arm junction 41 and the action wheel installation position 42 is equivalent to the power arm, part control arm 40 between action wheel installation position 42 and the second shock attenuation junction 43 is equivalent to the resistance arm, under the prerequisite that power arm length is greater than resistance arm length, make the drive action wheel 80 swing that the control arm can relax, guarantee the action wheel can remain the contact with the bottom surface all the time, and under bumper shock absorber 50's effect, make action wheel 80 have certain land fertility of grabbing.
In this embodiment, when the first swing arm 10 rotates around the first front mounting position 12 in the clockwise direction or the counterclockwise direction, so that the first driven wheel 60 moves downward, and the second swing arm 20 is driven by the connecting member to rotate around the second front mounting position in the counterclockwise direction or the clockwise direction, so that the second driven wheel 70 moves downward, and meanwhile, the shock absorber is compressed, and the control arm 40 is driven to rotate around the control arm connecting position 41 in the clockwise direction or the counterclockwise direction, and the bottom surface is fully contacted with the driving wheel 80, not only the driving wheel is not in a suspended state, but also the ground gripping force of the driving wheel can be ensured, and the robot cannot lean forward and lean backward in states such as emergency braking.
Example II,
The application provides a chassis, including above-mentioned embodiment suspension device, under this suspension device's effect, first swing arm 10 is when first preceding installation position 12 is rotatory along clockwise or anticlockwise, make first driven wheel 60 downstream, and drive second swing arm 20 through the connecting piece and rotate along anticlockwise or clockwise around the second preceding installation position, make the second move down from driving wheel 70, force the bumper shock absorber compression simultaneously, and drive control arm 40 and rotate along clockwise or anticlockwise around control arm connection position 41, and drive the abundant contact bottom surface of action wheel 80, not only the action wheel is not maked somebody a mere figurehead in unsettled state, still can guarantee the land fertility of grabbing of action wheel simultaneously, and the robot can not pitch forward backward under states such as emergency brake.
As shown in fig. 1 to 4, the chassis further includes: a first driven pulley 60, a second driven pulley 70, a drive pulley 80, and a chassis 90.
The first driven wheel 60 is rotatably mounted on the first mounting position 11 of the first swing arm 10, the second driven wheel 70 is rotatably mounted on the second mounting position 21 of the second swing arm 20, and the driving wheel 80 is rotatably mounted on the driving wheel mounting position 42 of the control arm 40.
The top surface of the bottom frame 90 is provided with a first fixed seat 94 and a second fixed seat 95 which are spaced from each other, the first bottom frame connecting position 91 and the third bottom frame connecting position 93 are both arranged on the first fixed seat 94, the first bottom frame connecting position 91 is arranged above the third bottom frame connecting position 93, and the second bottom frame connecting position 92 is arranged on the second fixed seat 95.
Example III,
The embodiment provides a robot, which comprises the chassis. Under the effect of the suspension device on the chassis, when the first swing arm 10 rotates clockwise or anticlockwise around the first front mounting position 12, so that the first driven wheel 60 moves downwards, and the second swing arm 20 is driven by the connecting piece to rotate anticlockwise or clockwise around the second front mounting position, so that the second driven wheel 70 moves downwards, meanwhile, the shock absorber is forced to be compressed, and the control arm 40 is driven to rotate clockwise or anticlockwise around the control arm connecting position 41, and the bottom surface of the driving wheel 80 is driven to be fully contacted, not only the driving wheel is not overhead in a suspended state, but also the ground gripping force of the driving wheel can be ensured, and the robot cannot lean forward and lean backward under states such as emergency braking.
In summary, the suspension apparatus provided in this embodiment, a chassis having the suspension apparatus, and a robot, when a first driven wheel on a first installation position is lifted, under the action of a damping mechanism, a second linkage mechanism is forced to rotate around a connection position of a second linkage mechanism and the chassis, so that an installation position of a driving wheel is lowered downward, and the second driven wheel on the second installation position is driven to be lifted under the action of the first linkage mechanism, the damping mechanism can provide downward pressure for the driving wheel on the installation position of the driving wheel, so that the driving wheel can be in full contact with the ground, thereby not only avoiding suspension of the driving wheel, but also ensuring the ground-grasping force of the driving wheel.
The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.
Claims (10)
1. A suspension device characterized by comprising:
the robot comprises a first linkage mechanism, a second linkage mechanism and a driving mechanism, wherein the first linkage mechanism is installed on a chassis of the robot, the first linkage mechanism is also provided with a first installation position and a second installation position, the first installation position is used for installing a first driven wheel, the second installation position is used for installing a second driven wheel, and the first linkage mechanism is used for keeping the first installation position and the second installation position to be lifted or descended together;
the second linkage mechanism is rotatably arranged on the bottom frame of the robot and is provided with a driving wheel mounting position, and the driving wheel mounting position is used for mounting a driving wheel;
and the damping mechanism is connected between the first linkage mechanism and the second linkage mechanism.
2. The suspension system of claim 1 wherein said first linkage further includes a first shock absorbing attachment location and said second linkage further includes a second shock absorbing attachment location, said shock absorbing mechanism being pivotally attached to said first shock absorbing attachment location and said second shock absorbing attachment location.
3. The suspension device according to claim 2 wherein the shock absorbing mechanism comprises: and the two ends of the shock absorber are respectively and rotatably connected to the first shock absorption connecting position and the second shock absorption connecting position.
4. The suspension device according to claim 2,
the first linkage mechanism includes: the first swing arm and the second swing arm are arranged at intervals, and the connecting piece is positioned between the first swing arm and the second swing arm; the first mounting position is arranged on the first swing arm, and the second mounting position and the first damping connecting position are arranged on the second swing arm; the first swing arm is also provided with a first front mounting position and a first rear mounting position, the second swing arm is also provided with a second front mounting position and a second rear mounting position, and the connecting piece is provided with a first mounting position and a second mounting position; the first front mounting position is used for being rotationally connected with a first underframe connecting position on an underframe, and the first rear mounting position is rotationally connected with the first mounting position; the second front mounting position is used for being rotationally connected with a second underframe connecting position of the underframe, and the second rear mounting position is rotationally connected with the second connecting position;
the second linkage mechanism includes: the control arm, action wheel installation position and second shock attenuation connection position all set up on the control arm, still be equipped with the control arm connection position on the control arm, the control arm connection position is used for rotating with the third chassis connection position of chassis and is connected.
5. The suspension device of claim 4 wherein the first shock absorbing interface is disposed between the second front mounting location and the second rear mounting location.
6. The suspension apparatus of claim 4 wherein the drive wheel mounting location is disposed between the control arm connection location and the second damper connection location.
7. The suspension apparatus of claim 4 wherein the link is a flexible body.
8. A chassis comprising a suspension arrangement according to any one of claims 1 to 7.
9. The chassis of claim 8, further comprising:
the chassis is provided with a first fixed seat and a second fixed seat which are mutually spaced, the first chassis connecting position and the third chassis connecting position are both arranged on the first fixed seat, and the second chassis connecting position is arranged on the second fixed seat;
the first driven wheel is mounted on the first mounting position;
the second driven wheel is mounted on the second mounting position;
the driving wheel is arranged on the driving wheel mounting position.
10. A robot, characterized in that it comprises a chassis according to any of claims 8-9.
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| CN114560027A (en) * | 2022-02-11 | 2022-05-31 | 奥佳华智能健康科技集团股份有限公司 | Robot chassis and robot |
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