阅读说明：本技术 一种具有独立悬挂系统的底盘装置 (Chassis device with independent suspension system ) 是由 张东 马湛 黎禹昕 王瑞亿 周穎琳 邓云帆 于 2020-12-31 设计创作，主要内容包括：本发明公开了一种具有独立悬挂系统的底盘装置,包括承重板、第一行走机构和第二行走机构,所述第一行走机构通过第一避震机构与承重板的一端连接,所述第二行走机构的一端通过第二避震机构与承重板的另一端连接,所述第二行走机构的另一端与承重板连接；所述第一避震机构包括第一避震座、第一避震器和安装架,所述第一避震座上端固定于承重板,所述第一避震座的下端与第一避震器连接,所述第一避震器安装于安装架。此底盘装置采用第一避震机构和第二避震机构的设计,减小底盘装置在行走过程中受到的冲击力,增加底盘装置的稳定性,此底盘装置承载能力高,使底盘装置搭载机器人不受地形的限制,适应能力强。(The invention discloses a chassis device with an independent suspension system, which comprises a bearing plate, a first travelling mechanism and a second travelling mechanism, wherein the first travelling mechanism is connected with one end of the bearing plate through a first shock absorption mechanism; the first shock absorbing mechanism comprises a first shock absorbing seat, a first shock absorber and a mounting frame, the upper end of the first shock absorbing seat is fixed on the bearing plate, the lower end of the first shock absorbing seat is connected with the first shock absorber, and the first shock absorber is mounted on the mounting frame. This chassis device adopts the design of first mechanism and the second mechanism of moving away to avoid possible earthquakes, reduces the impact force that the chassis device received at the walking in-process, increases the stability of chassis device, and this chassis device bearing capacity is high, makes the chassis device carry on the robot not receive the restriction of topography, and adaptability is strong.)

1. An undercarriage arrangement having an independent suspension system, characterized by: the bearing plate is characterized by comprising a bearing plate, a first walking mechanism and a second walking mechanism, wherein the first walking mechanism is connected with one end of the bearing plate through a first shock absorption mechanism, one end of the second walking mechanism is connected with the other end of the bearing plate through a second shock absorption mechanism, and the other end of the second walking mechanism is connected with the bearing plate;

the first shock absorbing mechanism comprises a first shock absorbing seat, a first shock absorber and a mounting frame, the upper end of the first shock absorbing seat is fixed on the bearing plate, the lower end of the first shock absorbing seat is connected with the first shock absorber, and the first shock absorber is mounted on the mounting frame.

2. The chassis arrangement with an independent suspension system of claim 1, wherein: the first shock absorbing mechanism further comprises a guide rod and a bearing, one end of the guide rod is mounted on the bearing plate, and the other end of the guide rod is connected with the bearing in a sliding mode.

3. The chassis arrangement with an independent suspension system of claim 2, wherein: the mounting frame comprises two side plates and two end plates, the two end plates and the two side plates are sequentially connected end to end in an alternating mode to form a box body, two partition plates are arranged in the box body and divide an inner cavity in the box body into a first mounting cavity, a second mounting cavity and a third mounting cavity, the bearing is mounted in the first mounting cavity and the second mounting cavity through a first rotating shaft, and the first shock absorber is mounted in the third mounting cavity.

4. A chassis arrangement with an independent suspension system according to claim 3, characterized in that: the bearings in the first mounting cavity and the second mounting cavity are provided with four groups, the four groups of bearings form a guide hole, and the guide rod is inserted into the guide hole.

5. A chassis arrangement with an independent suspension system according to claim 3, characterized in that: the side plate is characterized in that a plurality of mounting holes are formed in the plate body of the side plate and distributed in a matrix mode, and the first travelling mechanism passes through the supporting block and the corresponding mounting holes.

6. The chassis arrangement with an independent suspension system of claim 1, wherein: the second shock absorbing mechanism comprises a second shock absorber, a second shock absorbing seat and a shock absorbing bearing frame, one end of the second shock absorber is connected with the bearing plate, the other end of the second shock absorber is connected with the second shock absorbing seat, the second shock absorbing seat is installed on the shock absorbing bearing frame, and the shock absorbing bearing frame is connected with one end of the second walking mechanism.

7. The chassis arrangement with an independent suspension system of claim 1, wherein: the lower end of the bearing plate is provided with a rectangular frame and a connecting seat, the guide rod is fixedly connected with the frame, the middle of the frame is fixedly connected with the connecting seat, and the connecting seat is fixedly connected with a connecting block of the second walking mechanism.

8. The chassis arrangement with an independent suspension system of claim 1, wherein: the first walking mechanism comprises a first motor and a herringbone first support frame, a step optical axis is arranged at the upper end of the mounting block, the end part of the step optical axis is connected with the mounting frame, front rubber wheels are arranged at the front end and the rear end of the mounting block, and the front rubber wheels are connected with an output shaft of the first motor through flange shafts.

9. The chassis arrangement with an independent suspension system of claim 8, wherein: the flange shaft is mounted on the first support frame through a flange bearing.

10. The chassis arrangement with an independent suspension system of claim 1, wherein: the second running mechanism comprises a second motor and an L-shaped second support frame, the other end of the second support frame is fixedly connected with the connecting seat through a connecting block, one end of the second support frame is connected with the bearing plate through a second shock absorber, the second support frame is provided with a rear rubber wheel, and the rear rubber wheel is connected with the second motor through a flange shaft.

Technical Field

The invention relates to the application of a damping technology, in particular to a chassis device with an independent suspension system.

Background

Along with the development and the popularization of six rounds of mobile robot techniques of cantilever type, six rounds of mobile chassis of cantilever type are applied to various environment and topography, especially some rugged topography. As the cantilever type six-wheel mobile robot is generally used for transporting mechanical parts, it is particularly important to have a chassis with good impact absorption capability in order to protect the precise parts and expensive instruments on the robot. Most of the chassis of the cantilever type six-wheel mobile robot do not adopt a suspension system, so that when the chassis with the structure faces some severe terrains such as pits or steps, the chassis does not have the capability of absorbing impact, and mechanical parts shipped by the mobile robot are damaged.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention aims to provide a chassis device with an independent suspension system, which can protect the stability of a robot in the walking process and can absorb the impact force caused by bumping.

In order to achieve the purpose, the invention adopts the following technical scheme:

a chassis device with an independent suspension system comprises a bearing plate, a first traveling mechanism and a second traveling mechanism, wherein the first traveling mechanism is connected with one end of the bearing plate through a first shock absorption mechanism, one end of the second traveling mechanism is connected with the other end of the bearing plate through a second shock absorption mechanism, and the other end of the second traveling mechanism is connected with the bearing plate;

the first shock absorbing mechanism comprises a first shock absorbing seat, a first shock absorber and a mounting frame, the upper end of the first shock absorbing seat is fixed on the bearing plate, the lower end of the first shock absorbing seat is connected with the first shock absorber, and the first shock absorber is mounted on the mounting frame.

Preferably, the first shock absorbing mechanism further comprises a guide rod and a bearing, one end of the guide rod is mounted on the bearing plate, and the other end of the guide rod is connected with the bearing in a sliding manner.

Preferably, the mounting frame comprises two side plates and two end plates, the two end plates and the two side plates are sequentially and alternately connected end to form a box body, two partition plates are arranged in the box body and divide an inner cavity in the box body into a first mounting cavity, a second mounting cavity and a third mounting cavity, the bearing is mounted in the first mounting cavity and the second mounting cavity through a first rotating shaft, and the first shock absorber is mounted in the third mounting cavity.

Preferably, the bearings in the first mounting cavity and the second mounting cavity are provided with four groups, the four groups of bearings form a guide hole, and the guide rod is inserted into the guide hole.

Preferably, the body of the side plate is provided with a plurality of mounting holes, the mounting holes are distributed in a matrix, and the first travelling mechanism passes through the supporting block and the corresponding mounting holes.

Preferably, the second shock absorbing mechanism comprises a second shock absorber, a second shock absorbing seat and a shock absorbing support frame, one end of the second shock absorber is connected with the bearing plate, the other end of the second shock absorber is connected with the second shock absorbing seat, the second shock absorbing seat is installed on the shock absorbing support frame, and the shock absorbing support frame is connected with one end of the second traveling mechanism.

Preferably, the lower end of the bearing plate is provided with a rectangular frame and a connecting seat, the guide rod is fixedly connected with the frame, the middle of the frame is fixedly connected with the connecting seat, and the connecting seat is fixedly connected with a connecting block of the second traveling mechanism.

Preferably, first running gear includes first motor and chevron shape first support frame, the upper end of installation piece is equipped with the ladder optical axis, the tip and the mounting bracket of ladder optical axis are connected, the preceding, the rear end of installation piece all are equipped with preceding rubber wheel, preceding rubber wheel passes through the output shaft of flange axle and first motor.

Preferably, the flange shaft is mounted to the first support frame by a flange bearing.

Preferably, the second running mechanism comprises a second motor and an L-shaped second support frame, the other end of the second support frame is fixedly connected with the connecting seat through a connecting block, one end of the second support frame is connected with the bearing plate through a second shock absorber, the second support frame is provided with a rear rubber wheel, and the rear rubber wheel is connected with the second motor through a flange shaft.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. the chassis device with the independent suspension system adopts the design of the first shock absorption mechanism and the second shock absorption mechanism, reduces the impact force applied to the chassis device in the walking process, increases the stability of the chassis device, has high bearing capacity, ensures that the robot carried by the chassis device is not limited by the terrain, and has strong adaptability.

2. The first shock absorber is connected with the bearing plate in a sliding manner by adopting a bearing, so that the residual impact force of the first shock absorber is absorbed, and the stability of the structure is improved.

3. The chassis device with the independent suspension system has the advantages that one end of the second travelling mechanism is connected with the middle part of the bearing plate through the connecting block, the other end of the second travelling mechanism is connected with the bearing plate through the second shock absorber, the pressure of the bearing plate is received more uniformly, the bearing capacity of the chassis is increased, the bearing plate is connected with the first travelling mechanism and the second travelling mechanism through the square tube, and the manufacturing cost is low.

Drawings

Fig. 1 is a schematic view of a chassis arrangement with an independent suspension system according to the invention.

Fig. 2 is a schematic view of a first suspension mechanism of a chassis apparatus having an independent suspension system according to the present invention.

Fig. 3 is a sectional view of a first suspension mechanism of a chassis apparatus having an independent suspension system according to the present invention.

FIG. 4 is a schematic view of a second suspension mechanism of the chassis assembly with independent suspension system of the present invention.

Fig. 5 is a schematic view of a load bearing plate of a chassis arrangement with an independent suspension system according to the present invention.

Fig. 6 is a schematic view of a first travel mechanism of a chassis arrangement with an independent suspension system according to the invention.

Fig. 7 is a schematic view of a second running gear of a chassis arrangement with an independent suspension system according to the invention.

Fig. 8 is a schematic view of the walking of a chassis arrangement with an independent suspension system according to the invention.

The vibration damping device comprises a bearing plate 1, an H-shaped pipe 101, a connecting pipe 102, a guide rod 103, a first vibration damping mechanism 2, a first vibration damping seat 201, a second vibration damper 202, a side plate 203, an end plate 204, a bearing 205, a support block 206, a rotating shaft 207, a first mounting cavity 208, a second mounting cavity 209, a third mounting cavity 210, a second vibration damping mechanism 3, a second vibration damper 301, a second vibration damping seat 302, a vibration damping support frame 303, a first traveling mechanism 4, a first support frame 401, a second support frame 402, a stepped optical axis 403, a front rubber wheel 404, a flange shaft 405, a flange bearing 406, a bearing pressing plate 407, a shaft coupling 408, a motor seat 410, a first motor, a second traveling mechanism 5, a second support frame 501, a rear rubber wheel 502, a second motor 503, a connecting seat 6 and a connecting block 7.

Detailed Description

The following describes the object of the present invention in further detail with reference to the drawings and specific examples, which are not repeated herein, but the embodiments of the present invention are not limited to the following examples.

As shown in fig. 1 to 4, a chassis device with an independent suspension system includes a bearing plate, two sets of first traveling mechanisms and two sets of second traveling mechanisms, wherein a robot is connected to the upper side of the bearing plate or an article is carried, the first traveling mechanisms are connected to one end of the bearing plate through first shock absorbing mechanisms, one end of the second traveling mechanisms are connected to the other end of the bearing plate through second shock absorbing mechanisms, and the other end of the second traveling mechanisms are connected to the middle of the bearing plate through connecting blocks; the first shock-absorbing mechanism comprises a first shock-absorbing seat, a first shock absorber and a mounting frame, the upper end of the first shock-absorbing seat is fixed on the bearing plate, the lower end of the first shock-absorbing seat is connected with the first shock absorber, the first shock absorber is mounted on the mounting frame, the first shock-absorbing mechanism further comprises a guide rod and a bearing, one end of the guide rod is mounted on the bearing plate, and the other end of the guide rod is connected with the bearing in a sliding manner. When the first traveling mechanism meets bumpy road conditions, the bearing plate transmits impact force to the first shock absorber, the first shock absorber absorbs part of the force, the bearing receives the rest part of the force to generate sliding friction with the guide rod, and the rest part of the force is consumed, so that the impact force received by the chassis device when the chassis device meets bumps is reduced, and the bearing can also increase the stability of the chassis device when the chassis device travels.

The second shock absorbing mechanism comprises a second shock absorber, a second shock absorbing seat and a shock absorbing bearing frame, one end of the second shock absorber is connected with the bearing plate, the other end of the second shock absorber is connected with the second shock absorbing seat, the second shock absorbing seat is installed on the shock absorbing bearing frame, and the shock absorbing bearing frame is connected with one end of the second walking mechanism. When the first walking mechanism meets bumpy road conditions, impact force is transmitted to the shock absorber in the walking process, and the shock absorber absorbs most of the impact force, so that the impact force on the bearing plate is reduced. This chassis device adopts the design of first mechanism and the second of moving away to avoid possible earthquakes, and first mechanism and the second of moving away to avoid possible earthquakes mechanism mutually supports, reduces the impact force that the chassis device received at the walking in-process, increases chassis device's stability, and this chassis device bearing capacity is high, makes chassis device carry on the robot not receive the restriction of topography, and adaptability is strong.

The mounting frame comprises two side plates and two end plates, the two end plates and the two side plates are sequentially connected end to end in an alternating mode to form a box body, two partition plates are arranged in the box body and divide an inner cavity in the box body into a first mounting cavity, a second mounting cavity and a third mounting cavity, the bearing is mounted in the first mounting cavity and the second mounting cavity through a first rotating shaft, and the first shock absorber is mounted in the third mounting cavity. The bearing is connected with the guide rod in a sliding mode and matched with the first shock absorber, so that impact force caused by inertia is reduced, sliding friction displacement is generated between the bearing and the guide rod, the impact force of the first traveling mechanism is consumed, and meanwhile the overall stability of the first traveling mechanism and the bearing plate is reinforced. The first shock absorber is arranged between the first installation cavity and the second installation cavity, and the impact force is consumed through the sliding connection of the first shock absorber and the bearing and the guide rod, so that the impact force borne by the bearing plate is reduced to the minimum, and a robot or a mechanical department on the bearing plate cannot be damaged in the walking process.

The bearings in the first mounting cavity and the second mounting cavity are provided with four groups, the four groups of bearings form a guide hole, and the guide rod is inserted into the guide hole. When the guide arm receives upwards or decurrent impact force, guide arm and bearing produce sliding friction, the guide arm is wrapped up by the bearing all around, the bearing is injectd the left and right sides displacement of guide arm, strengthen walking in-process bearing plate and first running gear's stability, the guide arm receives behind the impact force and produces the displacement with the bearing, and first shock absorber has carried on spacingly again to the displacement of bearing, under first shock absorber and bearing interact, reduce the impact force that the bearing plate received, thereby avoid the robot to receive the impact force and take place to damage.

The side plate is characterized in that a plurality of mounting holes are formed in the plate body of the side plate and distributed in a matrix mode, and the first travelling mechanism passes through the supporting block and the corresponding mounting holes. This curb plate reduces the self weight of mounting bracket to the inertia impact force that makes the mounting bracket receive diminishes, reduces the first pressure of keeping away the shock absorber, and the position of supporting shoe at the curb plate can also be adjusted to this mounting hole, thereby adjusts first running gear mounted position, adapts to different running gear's needs.

The lower end of the bearing plate is provided with a rectangular frame and a connecting seat, the guide rod is fixedly connected with the frame, the middle of the frame is fixedly connected with the connecting seat, and the connecting seat is fixedly connected with a connecting block of the second walking mechanism. The frame includes two sets of H type pipes, the connecting pipe, connecting seat and connecting block, connect through the connecting pipe between two sets of H type pipes, wherein the both ends of a set of H type pipe all are through the both ends fixed connection of connecting pipe with another set of H type pipe, the connecting pipe is connected with the second shock absorber, the one end and the H type union coupling of guide arm, the other end and the bearing sliding connection of guide arm, the middle part in H type pipe is installed to the connecting seat, be equipped with the screw at the middle part of H type pipe, the connecting seat passes through bolt and screw fixed connection, the connecting seat passes through the connecting block and is connected with second running gear, first running gear is connected with the one end of bearing plate, second running gear adopts connecting block and second shock absorber to be connected with the bearing plate respectively, the pressure evenly distributed that makes weighing plate receive is in first running gear and second running gear, make.

The first walking mechanism comprises a first motor and a herringbone first support frame, a step optical axis is arranged at the upper end of the mounting block, the end part of the step optical axis is connected with the mounting frame, front rubber wheels are arranged at the front end and the rear end of the mounting block, and the front rubber wheels are connected with an output shaft of the first motor through flange shafts. When the first travelling mechanism meets a bumpy road surface, the first travelling mechanism can smoothly cross the bumpy road surface under the mutual matching of the front rubber wheels, so that the impact force of the bearing plate is reduced. The front rubber wheel is installed on the flange shaft, the flange shaft is installed on the first supporting frame through the flange bearing, the flange bearing reduces the friction force generated when the front rubber wheel rotates, the flange shaft is connected with an output shaft of the first motor through the coupler, the motor base is arranged between the flange shaft and the first motor, one end of the motor base is connected with the first supporting frame, the other end of the motor base is connected with the first motor, the motor base is used for fixing the side wall of the first supporting frame, the motor base is used for reinforcing the stability of the connection of the first supporting frame and the motor, and when the first motor needs to be decelerated or stopped, the coupler and the flange shaft are controlled to be disconnected through a clutch in the motor, so that the front rubber wheel can rotate or stop.

The chevron shape is adopted to the shape of first support frame, the ladder optical axis is located the upper end of first support frame, when meetting the road conditions of convex surface, the generally bellied road surface of chevron shape first support frame adaptation, and can cross the road conditions of convex surface, first support frame makes preceding rubber wheel can both contact with the road surface, thereby make first running gear's pressure can not produce the uneven phenomenon of atress because of the road conditions is complicated, thereby arouse the spare part atress dispersion of first running gear, avoid first running gear to meet the road conditions of complicacy and appear the part damage, especially first support frame atress inequality takes place distortion, chevron shape first support frame has improved first running gear's stability.

The second running mechanism comprises a second motor and an L-shaped second support frame, the other end of the second support frame is fixedly connected with the connecting seat through a connecting block, one end of the second support frame is connected with the bearing plate through a second shock absorber, the second support frame is provided with a rear rubber wheel, and the rear rubber wheel is connected with the second motor through a flange shaft. The shock-proof seat bearing frame is positioned right above the rear rubber wheel, the impact force received by the rear rubber wheel is transmitted to the second shock absorber through the shock-proof seat bearing frame, the structure is more reasonable and compact, one end of the second support frame is connected with the connecting block, the second walking mechanism is connected with the bearing plate through the connecting block and the shock-proof bearing frame, the supporting force received by the bearing plate is more uniform, and the supporting force received by the bearing plate is more stable.

The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.