阅读说明：本技术 机器人的底盘悬挂系统 (Chassis suspension system of robot ) 是由 王成武 韦国琪 刘园园 王可可 沈剑波 于 2018-07-25 设计创作，主要内容包括：本发明涉及机器人底盘的技术领域,提供了一种机器人的底盘悬挂系统,包括具有电机轴的轮毂电机和用于与底盘连接的悬挂装置,所述悬挂装置包括避震支架和与所述电机轴连接固定的电机固定块；所述避震支架包括彼此平行且间隔设置的下基座和上基座,所述避震支架内设置有固定轴,所述固定轴自所述下基座沿垂直于下基座顶面的方向延伸至所述上基座；所述电机固定块滑动设置在所述固定轴上并通过弹性部件弹性连接于所述避震支架。与现有技术对比,本发明提供的底盘悬挂系统,抗震缓冲能力较强,能够保证轮毂电机的运动平稳性,且能使轮毂电机与地面之间保持有效的附着力,避免打滑现象发生。(The invention relates to the technical field of robot chassis, and provides a chassis suspension system of a robot, which comprises a hub motor with a motor shaft and a suspension device connected with the chassis, wherein the suspension device comprises a shock-absorbing bracket and a motor fixing block fixedly connected with the motor shaft; the shock-absorbing support comprises a lower base and an upper base which are parallel to each other and arranged at intervals, a fixed shaft is arranged in the shock-absorbing support, and the fixed shaft extends to the upper base from the lower base along a direction vertical to the top surface of the lower base; the motor fixing block is arranged on the fixing shaft in a sliding mode and is elastically connected to the shock-absorbing support through an elastic component. Compared with the prior art, the chassis suspension system provided by the invention has stronger shock resistance and buffer capacity, can ensure the motion stability of the hub motor, can keep effective adhesive force between the hub motor and the ground, and avoids the occurrence of a slipping phenomenon.)

1. A chassis suspension system of a robot comprises a hub motor with a motor shaft and a suspension device connected with a chassis, and is characterized in that the suspension device comprises a shock-absorbing bracket and a motor fixing block fixedly connected with the motor shaft; the shock-absorbing support comprises a lower base and an upper base which are parallel to each other and arranged at intervals, a fixed shaft is arranged in the shock-absorbing support, and the fixed shaft extends to the upper base from the lower base along a direction vertical to the top surface of the lower base; the motor fixing block is arranged on the fixing shaft in a sliding mode and is elastically connected to the shock-absorbing support through an elastic component.

2. The chassis suspension system of claim 1, wherein the shock-absorbing bracket further comprises two side plates located between the lower base and the upper base, the two side plates are respectively a first side plate and a second side plate, and the first side plate, the lower base, the second side plate and the upper base are sequentially connected and enclosed to form a shock-absorbing cavity for accommodating the fixing shaft, the motor fixing block and the elastic component.

3. The chassis suspension system of claim 2, wherein the upper base is provided with a stopper in the shock absorbing cavity to limit the motor fixing block from moving toward the upper base.

4. The robot chassis suspension system of claim 3, wherein the retainer is fixedly attached to the upper base.

5. The robot chassis suspension system according to claim 3 or 4, wherein the number of the fixed shafts is two, the two fixed shafts are spaced apart, and the stopper is disposed between the two fixed shafts.

6. A chassis suspension system of a robot according to any of claims 1 to 4, wherein the motor fixing block is slidably connected to the fixed shaft by a linear bearing.

7. The chassis suspension system of a robot according to any one of claims 1 to 4, wherein the elastic member is a compression spring, and the compression spring is sleeved on the outer side of the fixed shaft and abuts against the upper base and the motor fixing block respectively.

8. The chassis suspension system of a robot according to any one of claims 1 to 4, wherein the elastic member is an extension spring, and both ends of the extension spring are respectively connected to the lower base and the motor fixing block.

9. The chassis suspension system of a robot as claimed in any one of claims 1 to 4, wherein the motor shaft is locked to the motor fixing block by a nut.

10. A chassis suspension system of a robot according to any of claims 1 to 4, wherein one of said suspension units is connected to each of both ends of said in-wheel motor, and said two suspension units are symmetrically arranged with respect to a longitudinal center plane of said in-wheel motor.

Technical Field

The invention relates to the technical field of robot chassis, in particular to a chassis suspension system of a robot.

Background

At present, intelligent robots are increasingly widely applied to service industries, particularly wheel type intelligent robots, and are used by people in various industries due to excellent moving reliability and larger load capacity of the wheel type intelligent robots. Along with the use of wheeled intelligent robot in a large number, people discover that this type of robot appears the wheel easily and skids, train buffering ability is poor, the operation scheduling problem not steady. The main reason for these problems is that the robot chassis has no suspension or the suspension is unstable.

Disclosure of Invention

The invention aims to provide a chassis suspension system of a robot, which aims to overcome the defects of poor buffering capacity and unstable running in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that: the chassis suspension system of the robot comprises a hub motor with a motor shaft and a suspension device connected with a chassis, wherein the suspension device comprises a shock-absorbing bracket and a motor fixing block fixedly connected with the motor shaft; the shock-absorbing support comprises a lower base and an upper base which are parallel to each other and arranged at intervals, a fixed shaft is arranged in the shock-absorbing support, and the fixed shaft extends to the upper base from the lower base along a direction vertical to the top surface of the lower base; the motor fixing block is arranged on the fixing shaft in a sliding mode and is elastically connected to the shock-absorbing support through an elastic component.

Further, the support of moving away to avoid possible earthquakes still including being located down the base with two curb plates between the upper base, two the curb plate is first curb plate and second curb plate respectively, first curb plate down the base the second curb plate the upper base connects gradually and encloses to close and form and is used for the holding the fixed axle, the motor fixed block and elastomeric element's chamber of moving away to avoid possible earthquakes.

Furthermore, the upper base is provided with a limiting piece in the shock absorbing cavity to limit the motor fixing block to move towards the upper base.

Further, the limiting piece is fixedly connected to the upper base.

Furthermore, the number of the fixed shafts is two, the two fixed shafts are arranged at intervals, and the limiting piece is arranged between the two fixed shafts.

Further, the motor fixing block is slidably connected to the fixing shaft through a linear bearing.

Furthermore, the elastic component is a compression spring, and the compression spring is sleeved on the outer side of the fixed shaft and abuts against the upper base and the motor fixing block respectively.

Furthermore, the elastic component is an extension spring, and two ends of the extension spring are respectively connected with the lower base and the motor fixing block.

Further, the motor shaft is locked on the motor fixing block through a nut.

Furthermore, both ends of the in-wheel motor are connected with the suspension devices, and the two suspension devices are symmetrically arranged relative to the longitudinal central plane of the in-wheel motor.

Compared with the prior art, the chassis suspension system provided by the invention adopts the suspension device consisting of the shock absorption support, the motor fixing block, the fixed shaft and the elastic component, the motor fixing block is elastically connected with the shock absorption support and is arranged on the fixed shaft in a sliding manner, and the motor fixing block connected with the hub motor can move up and down relative to the shock absorption support according to the change of the terrain to keep effective contact and adhesive force with the ground, so that the shock resistance and the buffer capacity are stronger, the motion stability of the hub motor can be ensured, the effective adhesive force between the hub motor and the ground can be kept, and the slipping phenomenon is avoided.

Drawings

FIG. 1 is a schematic perspective view of an in-wheel motor and suspension system according to an embodiment of the present invention;

FIG. 2 is an exploded view of the in-wheel motor and suspension provided by the present invention;

fig. 3 is a cross-sectional view taken along the plane a-a in fig. 1.

Description of the main elements

10: in-wheel motor 10 a: motor shaft

20: suspension device

21: the shock absorbing bracket 211: lower base

212: the upper base 213: first side plate

214: second side plate

22: motor fixing block 221: the top surface

222: bottom surface 223: first side

224: second surface 225: first hole

226 second hole

23: fixed shaft

24: elastic member 25: nut

26: linear bearing 27: position limiting piece

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

In order to make the technical solutions of the present invention better understood by those skilled in the art, the following detailed description of the implementations of the present invention is provided with reference to the accompanying drawings.

For convenience of description, the terms "left", "right", "up" and "down" used hereinafter are the same as the left, right, up and down directions of the drawings themselves, but do not limit the structure of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

Fig. 1 to 3 show a preferred embodiment of the present invention.

The chassis suspension system of the robot provided by the embodiment comprises a hub motor 10 with a motor shaft 10a and a suspension device 20 for connecting with a chassis (not shown), wherein the suspension device 20 comprises a shock-absorbing bracket 21 and a motor fixing block 22 fixedly connected with the motor shaft 10 a; the shock absorbing bracket 21 comprises a lower base 211 and an upper base 212 which are parallel to each other and are arranged at intervals, a fixed shaft 23 is arranged in the shock absorbing bracket 21, and the fixed shaft 23 extends from the lower base 211 to the upper base 212 along a direction vertical to the top surface of the lower base 211; the motor fixing block 22 is slidably disposed on the fixing shaft 23 and elastically coupled to the suspension bracket 21 by an elastic member 24.

Foretell chassis suspension, adopt shock absorber support 21, motor fixed block 22, the linkage 20 that fixed axle 23 and elastomeric element 24 constitute, motor fixed block 22 elastic connection is in shock absorber support 21 and slides and set up on fixed axle 23, the motor fixed block 22 of being connected with in-wheel motor 10 can be according to the change of topography, relative shock absorber support 21 reciprocates in order to keep with the effective contact and the adhesive force on ground, thus, this chassis suspension shock-proof buffer capacity is stronger, can guarantee in-wheel motor 10's motion stationarity, and can make and keep effectual adhesive force between in-wheel motor 10 and the ground, avoid the phenomenon of skidding to take place, furthermore, still have simple structure, the space occupies advantages such as less.

Referring to fig. 1 to 3, the chassis suspension system of the robot of the present embodiment includes an in-wheel motor 10 having a motor shaft 10a and a suspension device 20 for connecting to a chassis, the in-wheel motor 10 has a size of, but not limited to, 6.5 inches, and other in-wheel motors 10 may be selected according to the needs of the robot, and the suspension device 20 is integrally modularized, so as to facilitate the assembly, disassembly and replacement with the in-wheel motor 10. In the present embodiment, the number of the suspension devices 20 is, but not limited to, one, and is detachably installed at one side of the in-wheel motor 10.

In another embodiment, a suspension device 20 is connected to each end of the in-wheel motor 10, and the two suspension devices 20 are symmetrically arranged with respect to the longitudinal center plane of the in-wheel motor 10.

Of course, a plurality of suspension devices 20 can be arranged according to the load requirement of the robot and connected with the in-wheel motor 10.

Referring to fig. 1 to 3, the shock absorbing bracket 21 includes a lower base 211 and an upper base 212, the lower base 211 and the upper base 212 are both in a square plate shape, and the lower base 211 and the upper base 212 are parallel to each other and spaced apart from each other. In this embodiment, the shock absorbing bracket 21 includes two side plates located between the lower base 211 and the upper base 212, the two side plates are respectively a first side plate 213 and a second side plate 214, the first side plate 213, the lower base 211, the second side plate 214, and the upper base 212 are connected in sequence, and enclose to form a shock absorbing cavity for accommodating the fixed shaft 23, the motor fixing block 22, and the elastic component 24. The upper base 212 is positioned above (shown above) the lower base 211, the first side plate 213 and the second side plate 214 are connected to the left and right (left and right directions in the drawing) sides of the lower base, respectively, and the first side plate 213, the lower base 211, the second side plate 214, and the upper base 212 are connected and fixed by any conventional fixing means such as screws and welding. It should be pointed out that lower base 211 and upper base 212 all are used for being connected fixedly with the chassis of robot, adopt upper base 212 and lower base 211, are more favorable to guaranteeing parallel and firm of upper and lower base lower 212, 211, and when fixing to the robot chassis, fix simultaneously through upper and lower base lower 212, 211, and are more firm, can bear bigger load.

The fixing shaft 23, which has a circular cross section, is disposed in the shock absorbing bracket 21, the fixing shaft 23 extends from the lower base 211 to the upper base 212 in a direction perpendicular to the top surface of the lower base 211, and both ends of the fixing shaft 23 are respectively held on the lower base 211 and the upper base 212. In the present embodiment, the number of the fixing shafts 23 is, but not limited to, two, and the two fixing shafts 23 are arranged side by side and spaced apart from each other.

The motor fixing block 22 is, but not limited to, a rectangular parallelepiped shape, and the motor fixing block 22 is fixedly connected to the motor shaft 10a, slidably disposed on the fixing shaft 23, and elastically connected to the shock absorbing bracket 21 through an elastic member 24. In the present embodiment, the motor fixing block 22 has a top surface 221, a bottom surface 222, and a first surface 223, a second surface 224, a third surface (not shown), and a fourth surface (not shown) therebetween, wherein the top surface 221 faces the upper base 212, the bottom surface 222 faces the lower base 211, the first surface 223 is opposite to the third surface, and the second surface 224 is opposite to the fourth surface. The motor fixing block 22 is formed with a first hole 225 through which the motor shaft 10a passes and a second hole 226 through which the fixing shaft 23 passes, the first hole 225 is formed to penetrate the first surface 223 and the third surface, and the second hole 226 is formed to penetrate the top surface 221 and the bottom surface 222. The outer end of the motor shaft 10a penetrates through the first hole 225 and is locked on the motor fixing block 22 through the nut 25, so that the motor shaft 10a and the motor fixing block 22 are connected and fixed. The number of the second holes 226 is, but not limited to, two and is respectively disposed corresponding to the two fixing shafts 23, so that the motor fixing block 22 fixed to the motor shaft 10a of the in-wheel motor 10 can move between the lower base 211 and the upper base 212 relative to the fixing shafts 23, and the in-wheel motor 10 can freely lift and fall, and the two fixing shafts 23 parallel to each other can ensure the moving stability of the motor fixing block 22.

As can be seen from fig. 1 to 3, the motor fixing block 22 is slidably connected to the fixed shaft 23 through the linear bearing 26, the linear bearings 26 are disposed in the second holes 226 of the motor fixing block 22, and the linear bearings 26 may be ball bearings, or bushings or sliding bearings, and mainly achieve that the in-wheel motor 10 can move up and down along the fixed shaft 23, so that the motor fixing block 22 moves more stably, and has the characteristics of high sensitivity, high precision, and the like.

Referring to fig. 1 to 3, in the present embodiment, the elastic member 24 is a compression spring, which is two but not limited to, and is respectively corresponding to the two fixing shafts 23 one by one, and the compression spring is sleeved on the outer side of the fixing shaft 23 and respectively abuts against the upper base 212 and the corresponding linear bearing 26 mounted on the motor fixing block 22. It will be understood that, after the suspension unit 20 is connected to the in-wheel motor 10 and the chassis, respectively, the suspension bracket 21 is pressed down under the gravity of the chassis, and moves downward relative to the motor fixing block 22, compressing the elastic member 24 and generating an elastic restoring force to the motor fixing block 22 toward the lower base 211. That is, the height of the in-wheel motor 10 can be adjusted according to the height of the ground when the robot walks, and when the robot encounters a low-lying road surface, the elastic component 24 pushes the motor fixing block 22 to enable the in-wheel motor 10 to descend to contact the road surface; on the contrary, when a raised obstacle is encountered on the road surface, the in-wheel motor 10 further contracts the elastic component 24 through the motor fixing block 22, so as to lift the in-wheel motor 10.

In another embodiment, the elastic member 24 is a tension spring, and both ends of the tension spring are respectively connected to the lower base 211 and the motor fixing block 22.

Referring to fig. 1 to 3, the upper base 212 is provided with a limiting member 27 in the shock absorbing cavity for limiting the movement of the motor fixing block 22 towards the upper base 212, in this embodiment, the limiting member 27 is a rectangular plate body, which is fixedly connected to the upper base 212 by any conventional fixing method such as screws and welding, and is located between the two fixing shafts 23. It should be noted that the up-down stroke of the motor fixing block 22 in the shock absorbing bracket 21 is limited by the limiting member 27 and the lower base 211, and in this embodiment, the stroke of the motor fixing block 22 in the up-down direction is within 20mm, which can also be widened as needed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.