Suspension mechanism of robot and robot

Abstract

The present application relates to the field of robot technology, and provides a suspension mechanism of a robot and a robot. The suspension mechanism of the robot includes a frame, a connecting member, and at least one set of Watt's connecting rods; one end of the Watt's connecting rod is connected to the first side of the frame, and the other end of the Watt's connecting rod is connected to the second side of the frame, and the first side and the second side are opposite sides along the direction of travel of the wheel body; the connecting member is provided with a connecting rod connecting position and a wheel body connecting position, the connecting rod connecting position is hinged to the Watt's connecting rod, and the wheel body connecting position is used to hinge the wheel body. The suspension mechanism of the robot proposed in the present application does not produce lateral displacement of the wheel body, has a small longitudinal displacement, occupies a small lateral space, and has a simple structure.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a suspension mechanism of a robot and a robot. Background Art

[0002] A robot is an automatically controlled machine, including industrial robots, household robots and commercial robots. Robots can be used in industrial production, medical surgery, agricultural harvesting, security investigation, commercial services and cleaning. Robots have diverse functions and are widely used, and the level of automation and intelligence of robots is constantly improving.

[0003] The chassis of the robot is provided with a rotatable wheel body, which can be a driving wheel or a driven wheel, and the wheel body is connected to a suspension mechanism. The suspension mechanism includes various forms such as longitudinal single drag suspension, parallel link suspension and vertical linear suspension. The suspension mechanism in the related technology has problems such as difficult to control wheel body offset error and large horizontal space occupied by the suspension mechanism, which affects the function of the suspension mechanism and further affects the movement of the chassis. The function of the robot needs to be improved. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a suspension mechanism of a robot, in which the wheel body does not produce lateral displacement, has a small longitudinal displacement, occupies a small lateral space and has a simple structure.

[0005] The application also proposes a robot.

[0006] The suspension mechanism of a robot according to the first aspect of the present application includes:

[0007] frame;

[0008] at least one set of Watt's connecting rods, one end of each of the Watt's connecting rods being connected to a first side of the frame, and the other end of each of the Watt's connecting rods being connected to a second side of the frame, wherein the first side and the second side are opposite sides along a direction in which the wheel body travels;

[0009] The connecting piece is provided with a connecting rod connecting position and a wheel body connecting position, wherein the connecting rod connecting position is hinged to the Watt connecting rod, and the wheel body connecting position is used for hingedly connecting the wheel body.

[0010] According to the suspension mechanism of the robot in the embodiment of the present application, it includes a frame, a connecting piece and at least one Watt's connecting rod, the end of the Watt's connecting rod is hinged to the frame, and the connecting piece is hinged to the Watt's connecting rod and the wheel body. Based on the structural characteristics, the wheel body will not produce lateral displacement; when the wheel body encounters an obstacle, under the action of the Watt's connecting rod, the longitudinal displacement of the wheel body is small; when two or more groups of Watt's connecting rods are provided, the connecting piece has no lateral and longitudinal rotation inclination angles, and the suspension mechanism is more reliable; when the wheel body is a driving wheel, the rotor in the hub motor of the driving wheel will not produce lateral and longitudinal rotation inclination angles, that is, the rotor will not produce deflection relative to the stator, thereby avoiding vibration and noise caused by the relative deflection of the rotor and the stator, avoiding the shaking of the driving wheel due to the vibration of the hub motor, and ensuring the stable operation of the driving wheel.

[0011] According to one embodiment of the present application, the Watt's connecting rod is divided into a first Watt's connecting rod and a second Watt's connecting rod;

[0012] The two ends of the first Watt's connecting rod are respectively a first end and a second end, the first end is connected to a first side of the frame, and the second end is connected to a second side of the frame;

[0013] The two ends of the second Watt's connecting rod are respectively a third end and a fourth end, the third end is connected to the first side of the frame, and the fourth end is connected to the second side of the frame;

[0014] The connecting line between the wheel body connecting position and the connecting rod connecting position is a vertical line.

[0015] According to an embodiment of the present application, the connecting rod connection position includes a first connecting rod and a second connecting rod, the first Watt connecting rod includes a first connecting rod, a second connecting rod and a third connecting rod, both ends of the second connecting rod are respectively hinged to the first connecting rod and the third connecting rod, the first connecting rod is hinged to the first side, the third connecting rod is hinged to the second side, and the second connecting rod is hinged to the first connecting position;

[0016] The second Watt link comprises a fourth link, a fifth link and a sixth link, the two ends of the fifth link are respectively hinged to the fourth link and the sixth link, the fourth link is hinged to the first side, the sixth link is hinged to the second side, and the fifth link is hinged to the second connection position;

[0017] The first connecting rod is parallel to the fourth connecting rod, the second connecting rod is parallel to the fifth connecting rod, and the third connecting rod is parallel to the sixth connecting rod.

[0018] According to one embodiment of the present application, the distance between the first end and the third end is a first distance, the distance between the second end and the fourth end is a second distance, the distance between the two connecting rod connection positions is a third distance, and the first distance, the second distance and the third distance are equal.

[0019] According to one embodiment of the present application, at least one of the first connecting rod, the third connecting rod, the fourth connecting rod and the sixth connecting rod includes a first connecting part, a second connecting part and a third connecting part, one end of the first connecting part is a hinged end, and the other end of the first connecting part is provided with a second connecting part and a third connecting part, the second connecting part and the third connecting part are hinged to the frame, an insertion groove is provided between the second connecting part and the third connecting part, and the first side is inserted into the insertion groove.

[0020] According to one embodiment of the present application, the center of the first Watt's connecting rod in the length direction is hinged to the first connecting position, and the center of the second Watt's connecting rod in the length direction is hinged to the second connecting position.

[0021] According to one embodiment of the present application, the wheel body connection position is arranged between the first connection position and the second connection position.

[0022] According to an embodiment of the present application, a shock absorbing component is connected between the frame and the connecting member.

[0023] According to an embodiment of the present application, the shock absorbing component is hinged to the connecting piece through the connecting rod connecting position or the wheel body connecting position.

[0024] According to an embodiment of the present application, the shock absorbing component includes an elastic member and a damper, the elastic member is sleeved on the outside of the damper, one end of the damper is connected to the frame, and the other end is connected to the connecting member.

[0025] According to the second aspect of the present application, a robot comprises a chassis, a wheel body and the suspension mechanism as described above, wherein the chassis is connected to the wheel body, and the wheel body is connected to the wheel body connection position.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a structural schematic diagram of a suspension mechanism provided in an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of the connection state of the Watt connecting rod and the connecting member provided in an embodiment of the present application;

[0030] Figure 3 is a schematic diagram of a suspension mechanism provided in an embodiment of the present application;

[0031] Figure 4 is a schematic structural diagram of a suspension mechanism in an exploded state provided in an embodiment of the present application;

[0032] Figure 5 Schematic diagram of the structure of the first link of the suspension mechanism provided in the embodiment of the present application. In addition, the structures of the third link, the fourth link and the sixth link can also refer to Figure 5 ;

[0033] Figure 6 is a structural schematic diagram of a connecting member of a suspension mechanism provided in an embodiment of the present application;

[0034] Figure 7 is a side structural schematic diagram of a suspension mechanism provided in an embodiment of the present application;

[0035] Figure 8 It is a schematic diagram of the top structure of the suspension mechanism provided in the embodiment of the present application.

[0036] Reference numerals:

[0037] 100, frame; 110, first support rod; 120, second support rod; 130, lower support member; 140, upper support member;

[0038] 200, first Watt connecting rod; 210, first connecting rod; 211, first connecting portion; 212, second connecting portion; 213, third connecting portion; 214, plug-in slot; 220, second connecting rod; 230, third connecting rod;

[0039] 300, second Watt connecting rod; 310, fourth connecting rod; 320, fifth connecting rod; 330, sixth connecting rod;

[0040] 400, connecting member; 410, first connecting position; 420, second connecting position; 430, wheel body connecting position; 440, fourth connecting portion; 450, fifth connecting portion;

[0041] 500, shock absorbing component; 510, elastic member; 520, damper; 600, wheel body. DETAILED DESCRIPTION

[0042] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0043] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is an orientation or positional relationship based on the actual use state, which is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meanings of "multiple", "multiple roots", and "multiple groups" are two or more.

[0044] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0045] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0047] Before describing the technical solution of the present application, the application scenario is described. The suspension mechanism of the present application is used for shock absorption of the wheel body 600 of the robot, wherein the wheel body 600 can be a driving wheel or a driven wheel, and can be specifically set as needed. The following embodiments are described by taking the suspension mechanism installed on the driving wheel as an example. The horizontal direction described below is the extension direction of the rotation axis of the wheel body 600, which can be understood as the left and right direction of the robot, and the longitudinal direction is the direction of the wheel body 600 moving forward and backward, which can be understood as the front and back direction of the robot.

[0048] Combination Figures 1 to 8 As shown, an embodiment of the first aspect of the present application provides a suspension mechanism of a robot, comprising: a frame 100, a connecting member 400 and at least one group of Watt's connecting rods; one end of the Watt's connecting rod is connected to a first side of the frame 100, and the other end of the Watt's connecting rod is connected to a second side of the frame 100, and the first side and the second side are opposite sides along the moving direction of the wheel body 600; the connecting member 400 is provided with a connecting rod connecting position and a wheel body connecting position 430, the connecting rod connecting position is hinged to the Watt's connecting rod, and the wheel body connecting position 430 is used to articulate the wheel body 600.

[0049] When the suspension mechanism is installed on the robot, the first side and the second side can be understood as the front side and the rear side of the robot.

[0050] The frame 100 plays the role of supporting and connecting the Watt link, which is then connected to the wheel body 600 through the connector 400. When the wheel body 600 encounters an obstacle, the wheel body 600 will rise and fall with the obstacle, and the connector 400 and the wheel body 600 will rise and fall synchronously. At this time, the part where the Watt link is connected to the connector 400 will also rise and fall with the wheel body 600. In this process, the Watt link moves in an approximately vertical straight line, and part of the lifting force is converted into a rotational force between the links of the Watt link. The lifting amplitude of the Watt link is alleviated, which can reduce the lifting amplitude of the frame 100, thereby improving the stability of the wheel body 600. The Watt link is connected to the wheel body 600 through the connector 400 and forms a hard connection, so that the wheel body 600 will not produce an offset to the left or right side (lateral) of the robot.

[0051] In addition, the links of the Watt linkage are hinged to each other. When the wheel body 600 is subjected to a force in the front-to-back direction (longitudinal direction), the Watt linkage will convert part of the force into a force between the links to reduce the movement amplitude in the front-to-back direction. The front-to-back offset of the rotation center of the link located in the middle part of the Watt linkage is small, and thus the front-to-back (longitudinal) offset of the connecting member 400 is small, and the front-to-back offset of the suspension mechanism is small.

[0052] Based on this, the wheel body 600 equipped with the suspension mechanism of the present application has smaller offsets in the longitudinal and vertical directions and no offset in the lateral direction, so that the overall stability of the wheel body 600 is better.

[0053] Based on the foregoing, the suspension mechanism may be provided with one or two or more sets of Watt's linkages. The suspension mechanism has the above-mentioned effects, which will not be described in detail here.

[0054] When a set of Watt links is provided in the suspension mechanism, the suspension mechanism also has the advantages of simple structure and light weight.

[0055] When two or more sets of Watt's links are provided in the suspension mechanism, the line connecting the link connection position of the connecting member 400 and the wheel body connection position 430 needs to be a vertical line so that the connecting member 400 remains vertical, that is, the two or more sets of Watt's links cooperate with each other to limit the connecting member 400. When the wheel body 600 encounters an obstacle, the middle link of the Watt's link only moves up and down, and the connecting member 400 also moves up and down without rotating. At this time, the wheel body 600 has no lateral and longitudinal rotation inclination, and the suspension mechanism is more reliable.

[0056] The line connecting the connecting rod connection position and the wheel body connection position 430 needs to be a vertical line, which can be understood as the line connecting the projection of the axis of the connecting rod connection position and the axis of the wheel body connection position 430 on the vertical plane is a vertical line. At this time, it is necessary to ensure that the line connecting the connecting rod connection position of the connecting member 400 and the wheel body connection position 430 is a vertical line, but the shape, size and position relationship of each set of Watt's connecting rods are not limited, as long as the combination of the Watt's connecting rods can ensure the position relationship of the connecting member 400.

[0057] When the suspension mechanism with two or more sets of Watt links is connected to the driving wheel, the connecting member 400 will not have lateral and longitudinal deflection, which can ensure that the rotor in the hub motor of the driving wheel will not deflect relative to the stator, thereby avoiding vibration and noise caused by the deflection of the rotor and the stator, and avoiding the shaking of the driving wheel due to the vibration of the hub motor, thereby ensuring the stable operation of the driving wheel. At the same time, the connecting member 400 has no longitudinal and lateral inclination, the position of the rotor and the stator is accurate, and the mileage calculation of the hub motor is accurate. Without the need for mileage correction, the mileage of the robot can be accurately obtained.

[0058] When the suspension mechanism is provided with two or more sets of Watt's links, the structure of the suspension mechanism is different but the principle is the same. Below, the suspension mechanism is further explained by taking the suspension mechanism being provided with two sets of Watt's links as an example.

[0059] It can be understood that the Watt link is divided into a first Watt link 200 and a second Watt link 300, and correspondingly, the link connection position of the connecting member 400 is divided into a first connection position 410 and a second connection position 420, the first Watt link 200 is hinged at the first connection position 410, the second Watt link 300 is hinged at the second connection position 420, and the line connecting the first connection position 410, the second connection position 420 and the wheel body connection position 430 is a vertical line.

[0060] Among them, the connecting line of the first connecting position 410, the second connecting position 420 and the wheel body connecting position 430 is a vertical line. It can be understood that the central axis of the first connecting position 410, the central axis of the second connecting position 420 and the rotation axis of the wheel body 600 are connected at the projection points on the vertical plane to form a vertical line.

[0061] The first Watt's link 200 has a first end and a second end, the first end is connected to the first side of the frame 100, and the second end is connected to the second side of the frame 100. The second Watt's link 300 has a third end and a fourth end, the third end is connected to the first side of the frame 100, and the fourth end is connected to the second side of the frame 100.

[0062] The first side can be understood as the front side, the second side can be understood as the rear side, and correspondingly, the first end can be understood as the front end, the second end can be understood as the rear end, the third end can be understood as the front end, and the fourth end can be understood as the rear end.

[0063] refer to Figures 1 to 3 As shown, the first Watt link 200 includes a first link 210, a second link 220 and a third link 230. The two ends of the second link 220 are respectively hinged to the first link 210 and the third link 230 at hinge points P7 and P9. The first link 210 is hinged to the first side of the frame 100 at hinge point P6. The third link 230 is hinged to the second side of the frame 100 at hinge point P10. The second link 220 is hinged to the first connection position 410 at hinge point P6. P8; the second Watt link 300 includes a fourth link 310, a fifth link 320 and a sixth link 330, the two ends of the fifth link 320 are hinged to the fourth link 310 and the sixth link 330 respectively, at hinge points P2 and P4, the fourth link 310 is hinged to the first side of the frame 100, at hinge point P1, the sixth link 330 is hinged to the second side of the frame 100, at hinge point P5, and the fifth link 320 is hinged to the second connection position 420, at hinge point P3.

[0064] The suspension mechanism is provided with two sets of Watt's links, which cooperate with each other to limit the connection member 400. At this time, the connection member 400 can be understood as a rod, but the shape of the connection member 400 is not limited.

[0065] The first side and the second side of the frame 100 are regarded as rods respectively, and the six rods of the two sets of Watt linkages and the connecting member 400 are regarded as a rod. The suspension mechanism includes a total of 9 rods; the suspension mechanism includes a moving pair with a degree of freedom of 1, that is, the lifting and lowering movement of the shock absorbing component 500, and the remaining constraints are all rotation pairs with a degree of freedom of 1, which are 10 in number. According to the plane degree of freedom calculation formula, the degree of freedom of this suspension mechanism is 1. Combined with practical applications, when the driving wheel encounters a road obstacle, the movement of the connecting member 400 is triggered, and this suspension mechanism can be adjusted according to the preset movement mode. The suspension mechanism provides a certain and stable movement, with high structural reliability and sensitive response.

[0066] It can be understood that the first Watt link 200 is parallel to the corresponding part of the second Watt link 300, the first link 210 is parallel to the fourth link 310, the second link 220 is parallel to the fifth link 320, and the third link 230 is parallel to the sixth link 330. Based on this, during the movement of the wheel body 600, the first Watt link 200 and the second Watt link 300 move in the same manner, and the two sets of Watt links cooperate with the limit connector 400 to ensure that the forces on each part are more balanced.

[0067] In some cases, the first Watt connecting rod 200 and the second Watt connecting rod 300 have the same structure, which can simplify the processing technology of the Watt connecting rod and reduce the production cost. In this case, the first connecting rod 210 and the fourth connecting rod 310 are equal in length, the second connecting rod 220 and the fifth connecting rod 320 are equal in length, and the third connecting rod 230 and the sixth connecting rod 330 are equal in length.

[0068] It can be understood that the distance between the first end of the first Watt link 200 and the third end of the second Watt link 300 is a first distance, the distance between the second end of the first Watt link 200 and the fourth end of the second Watt link 300 is a second distance, the distance between the first connecting position 410 and the second connecting position 420 is a third distance, and the first distance, the second distance and the third distance are equal.

[0069] That is, the spacing between the connecting positions of the first Watt link 200 and the second Watt link 300 is the same, so as to ensure that the corresponding rods of the first Watt link 200 and the second Watt link 300 are parallel to each other, and the forces on both sides of the frame 100 are the same, thereby ensuring the stability of the suspension mechanism in the front-rear direction.

[0070] In some cases, the first link 210 has the same structure as the fourth link 310 , the second link 220 has the same structure as the fifth link 320 , and the third link 230 has the same structure as the sixth link 330 , to ensure upper and lower symmetry and facilitate assembly.

[0071] In some cases, the first link 210, the fourth link 310, the third link 230 and the sixth link 330 may all be the same, so as to simplify the structure of the suspension mechanism and facilitate processing.

[0072] Of course, the first Watt link 200 and the second Watt link 300 are not limited to being arranged in parallel, as long as the movement path of the connecting member 400 is always in the vertical direction without generating a deflection angle. That is, the position of the connecting member 400 can be ensured by adjusting the relative position relationship of each link of the first Watt link 200 and the second Watt link 300.

[0073] In some cases, the center of the length direction of the first Watt's link 200 is hinged to the first connection position 410 of the connecting member 400, and the center of the length direction of the second Watt's link 300 is hinged to the second connection position 420 of the connecting member 400. When the lengths of the first link 210 and the third link 230 are the same, the center of the length direction of the second link 220 is hinged to the first connection position 410; when the lengths of the fourth link 310 and the sixth link 330 are the same, the center of the length direction of the fifth link 320 is hinged to the second connection position 420.

[0074] The structure of the Watt connecting rod is provided below.

[0075] Understandably, reference Figure 4 and Figure 5 As shown, at least one of the first connecting rod 210, the third connecting rod 230, the fourth connecting rod 310 and the sixth connecting rod 330 includes a first connecting portion 211, a second connecting portion 212 and a third connecting portion 213, one end of the first connecting portion 211 is a hinged end, the other end of the first connecting portion 211 is provided with a second connecting portion 212 and a third connecting portion 213, the second connecting portion 212 and the third connecting portion 213 are hinged to the frame 100, a plug-in slot 214 is provided between the second connecting portion 212 and the third connecting portion 213, and the first side of the frame 100 is plugged into the plug-in slot 214. The hinged end may be a hinge hole or a hinge shaft, which may be specifically provided as required.

[0076] Taking the first connecting rod 210 provided with a first connecting portion 211, a second connecting portion 212 and a third connecting portion 213 as an example, the first connecting portion 211 is used to be hinged with the adjacent second connecting rod 220, and the second connecting portion 212 and the third connecting portion 213 are both used to be hinged with the first side of the frame 100, and the second connecting portion 212 and the third connecting portion 213 cooperate to limit the first side of the frame 100, which can strengthen the structural strength of the first connecting rod 210, and the Watt connecting rod limits the first side of the frame 100, which can improve the connection stability of the Watt connecting rod.

[0077] Among them, the second connecting part 212 extends along the extension direction of the first connecting part 211, that is, the second connecting part 212 and the first connecting part are a straight rod structure, the third connecting part 213 is located on one side of the second connecting part 212 and forms a plug-in groove 214 with the second connecting part 212. The structure of the first connecting rod 210 is simple and easy to process.

[0078] refer to Figure 4 As shown, the third connecting rod 230 , the fourth connecting rod 310 and the sixth connecting rod 330 all have the same structure as the first connecting rod 210 .

[0079] The second connecting rod 220 and the fifth connecting rod 320 are rod bodies extending in a straight line, and are both provided with three hinge positions, and have a simple structure. The three hinge positions of the second connecting rod 220 and the fifth connecting rod 320 are hinge holes located in the middle and hinge shafts located at both ends.

[0080] refer to Figure 4 and Figure 6 As shown, the structure of the connecting member 400 is provided below.

[0081] The wheel body connection position 430 is rotationally connected to the wheel body 600, and the connecting rod connection position is rotationally connected to the Watt connecting rod. The wheel body connection position 430 and the connecting rod connection position can be holes or shafts, which can be selected according to needs.

[0082] It can be understood that the wheel body connection position 430 is arranged between the first connection position 410 and the second connection position 420, that is, the first Watt's connecting rod 200 and the second Watt's connecting rod 300 are located on the upper and lower sides of the wheel body connection position 430, so that the two sides of the connecting member 400 are respectively connected to the Watt's connecting rod.

[0083] In some cases, the first connection position 410 and the second connection position 420 are symmetrically arranged on the upper and lower sides of the wheel body connection position 430, which can ensure that the force on both sides of the connecting member 400 is more uniform.

[0084] Of course, the first connection position and the second connection position can also be arranged on the same side of the wheel body connection position, which can be selected according to needs.

[0085] refer to Figure 1 , Figure 4 and Figure 7 As shown, the structure of the shock absorbing component 500 is provided below.

[0086] It is understandable that a shock absorbing component 500 is connected between the frame 100 and the connecting member 400, and the Watt connecting rod cooperates with the shock absorbing component 500 to buffer and absorb shock to the wheel body 600, and the suspension mechanism plays a role in buffering and absorbing shock. The shock absorbing component 500 is connected to the connecting member 400, and can be directly connected to the connecting member 400, or indirectly connected to the connecting member 400 through other components.

[0087] The shock absorbing component 500 is hinged to the connecting member 400 through the connecting rod connection position or the wheel body connection position 430. The shock absorbing component 500 can share the connection position with the Watt connecting rod or the wheel body 600, which can simplify the structure of the connecting member 400 and further simplify the structure of the suspension mechanism.

[0088] refer to Figure 3 , Figure 4 and Figure 6 As shown, a fourth connection part 440 and a fifth connection part 450 are provided at the upper end of the connecting member 400, and a groove body with an upper opening is provided between the fourth connection part 440 and the fifth connection part 450, and the shock absorbing component 500 is inserted into the groove body and is hinged with the fourth connection part 440 and the fifth connection part 450, and the hinge point P11, and the fourth connection part 440 and the fifth connection part 450 are also hinged with the Watt connecting rod, which can simplify the structure of the connecting member 400 and facilitate the installation of the shock absorbing component 500, so that the structure of the suspension mechanism is simple and reasonable.

[0089] like Figure 3 As shown, the upper end of the connecting member 400 corresponds to the P8 point of the suspension mechanism. The P8 point is a composite hinge of three rods, which includes two rotation pairs with a degree of freedom of 1.

[0090] Of course, the connecting member 400 may also be provided with an independent installation position for connecting the shock absorbing component 500, and multiple shock absorbing components 500 may be installed, and the specific selection can be made according to needs.

[0091] It can be understood that the shock absorbing component 500 includes an elastic member 510 and a damper 520, wherein the elastic member 510 is sleeved on the outside of the damper 520, one end of the damper 520 is connected to the frame 100, and the other end is connected to the connecting member 400. The elastic member 510 and the damper 520 cooperate to reduce shock, have a double shock absorbing effect, and are easy to assemble.

[0092] The upper end of the shock absorbing component 500 is hinged to the frame 100, and the lower end is hinged to the connecting member 400. The shock absorbing component 500 can be arranged vertically or tilted, such as the lower end of the shock absorbing component 500 tilts forward or backward. The elastic member 510 can be a spring, such as a telescopic spring. The damper 520 can be an oil pressure damper 520 or a gas pressure damper 520, which can be selected according to needs.

[0093] Of course, the shock absorbing component 500 may also be provided with one of the elastic member 510 and the damper 520 , which can also play a shock absorbing role.

[0094] When the shock absorbing component 500 is an elastic member 510 , a connecting rod can be provided between the frame 100 and the elastic member 510 . The connecting rod plays a guiding role inside the elastic member 510 . The connecting rod is hinged to the frame 100 and the connecting member 400 to ensure the stability of the elastic member 510 .

[0095] When the shock absorbing component 500 is a damper 520 , the upper end of the damper 520 is hinged to the frame 100 , and the lower end is hinged to the connecting member 400 . The damper 520 can be vertically arranged or form an angle with the vertical direction.

[0096] The structure of the rack 100 is provided below.

[0097] refer to Figure 4 As shown, the frame 100 includes a first support rod 110, a second support rod 120, a lower support member 130 and an upper support member 140. The first support rod 110 is located on a first side of the frame 100, and the second support rod 120 is located on a second side of the frame 100, that is, the first support rod 110 and the second support rod 120 are used to be hinged with the Watt connecting rod. The lower support rod is at the lower end of the first support rod 110 and the second support rod 120 and connects the first support rod 110 and the second support rod 120. The upper support rod is at the upper end of the first support rod 110 and the second support rod 120 and connects the first support rod 110 and the second support rod 120. The shock absorbing component 500 is connected between the upper support rod and the connecting member 400.

[0098] When the first connecting rod 210 and the fourth connecting rod 310 are provided with the plug-in slot 214, the first support rod 110 is inserted into the plug-in slot 214; the third connecting rod 230 and the sixth connecting rod 330 are provided with the plug-in slot 214, the second connecting rod 220 is inserted into the plug-in slot 214, which facilitates the connection between the frame 100 and the Watt connecting rod, and the connection stability is better.

[0099] Among them, the first support rod 110, the second support rod 120, the lower support member 130 and the upper support member 140 can be independent parts, and the frame 100 is formed by assembly. The first support rod 110, the second support rod 120, the lower support member 130 and the upper support member 140 can also be an integrated structure, and the frame 100 is an integrated structure.

[0100] The frame 100, the Watt link and the shock absorbing component 500 are connected by hinges, and the hinged connection is sensitive to rotation response and reliable in structure. The structure of two sets of Watt links is used for the driving wheel, and the driving wheel has a small longitudinal lateral displacement and no lateral displacement, and the machine size of the robot is more accurate, and the driving wheel has no longitudinal inclination and no lateral inclination, and the mileage calculation of the robot is more accurate, and no odometer correction algorithm is required, and the driving wheel has a small longitudinal lateral displacement and no lateral displacement.

[0101] The embodiment of the second aspect of the present application provides a robot, including a chassis, a wheel body 600 and a suspension mechanism of the robot in the above embodiment, wherein the chassis is connected to the wheel body 600, and the wheel body 600 is connected to the wheel body connection position 430. If the suspension mechanism has the above-mentioned beneficial effects, then the robot has the above-mentioned beneficial effects, and the details can be referred to the above content, which will not be repeated here.

[0102] The robot has good stability and can be a service robot, transport robot or industrial production robot. The robot has flexible application scenarios and a wide range of applicability.

[0103] The above implementation modes are only used to illustrate the present application, but not to limit the present application. Although the present application is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application, and should be included in the scope of the claims of the present application.

Claims

1. A suspension mechanism for a robot, characterized in that: include: frame; at least one set of Watt's connecting rods, one end of each of the Watt's connecting rods being connected to a first side of the frame, and the other end of each of the Watt's connecting rods being connected to a second side of the frame, wherein the first side and the second side are opposite sides along a direction in which the wheel body travels; A connecting member is provided with a connecting rod connecting position and a wheel body connecting position, wherein the connecting rod connecting position is hinged to the Watt connecting rod, and the wheel body connecting position is used to hinge the wheel body; The Watt's connecting rod is divided into a first Watt's connecting rod and a second Watt's connecting rod; The two ends of the first Watt's connecting rod are respectively a first end and a second end, the first end is connected to a first side of the frame, and the second end is connected to a second side of the frame; The two ends of the second Watt's connecting rod are respectively a third end and a fourth end, the third end is connected to the first side of the frame, and the fourth end is connected to the second side of the frame; The connecting line between the wheel body connecting position and the connecting rod connecting position is a vertical line.

2. The robot suspension mechanism according to claim 1, characterized in that: The connecting rod connection position includes a first connecting position and a second connecting position, the first Watt connecting rod includes a first connecting rod, a second connecting rod and a third connecting rod, two ends of the second connecting rod are respectively hinged to the first connecting rod and the third connecting rod, the first connecting rod is hinged to the first side, the third connecting rod is hinged to the second side, and the second connecting rod is hinged to the first connecting position; The second Watt link comprises a fourth link, a fifth link and a sixth link, the two ends of the fifth link are respectively hinged to the fourth link and the sixth link, the fourth link is hinged to the first side, the sixth link is hinged to the second side, and the fifth link is hinged to the second connection position; The first connecting rod is parallel to the fourth connecting rod, the second connecting rod is parallel to the fifth connecting rod, and the third connecting rod is parallel to the sixth connecting rod.

3. The robot suspension mechanism according to claim 1, characterized in that: The distance between the first end and the third end is a first distance, the distance between the second end and the fourth end is a second distance, the distance between the two connecting rod connection positions is a third distance, and the first distance, the second distance and the third distance are equal.

4. The robot suspension mechanism according to claim 2, characterized in that: At least one of the first connecting rod, the third connecting rod, the fourth connecting rod and the sixth connecting rod includes a first connecting part, a second connecting part and a third connecting part, one end of the first connecting part is a hinged end, the other end of the first connecting part is provided with a second connecting part and a third connecting part, the second connecting part and the third connecting part are hinged to the frame, an insertion groove is provided between the second connecting part and the third connecting part, and the first side is inserted into the insertion groove.

5. The robot suspension mechanism according to claim 2, characterized in that: The center of the first Watt's connecting rod in the length direction is hinged to the first connecting position, and the center of the second Watt's connecting rod in the length direction is hinged to the second connecting position.

6. The robot suspension mechanism according to claim 2, characterized in that: The wheel body connection position is arranged between the first connection position and the second connection position.

7. The robot suspension mechanism according to any one of claims 1 to 6, characterized in that: A shock absorbing component is connected between the frame and the connecting member.

8. The robot suspension mechanism according to claim 7, characterized in that: The shock absorbing component comprises an elastic member and a damper. The elastic member is sleeved on the outer side of the damper. One end of the damper is connected to the frame, and the other end is connected to the connecting member.

9. A robot, characterized in that: It comprises a chassis, a wheel body and the suspension mechanism according to any one of claims 1 to 8, wherein the chassis is connected to the wheel body, and the wheel body is connected to the wheel body connecting position.

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