A multi-stage independent suspension structure for a wheeled robot

Abstract

The present invention discloses a multi-stage independent suspension structure of a wheeled robot, including a suspension fixing frame and a suspension support seat; the suspension support seat is fixedly connected to the suspension fixing frame through the multi-stage suspension structure; the multi-stage suspension structure includes at least two-stage suspension, a transition structure with a guiding function is installed between two adjacent stages of suspension, the first-stage suspension is fixedly connected to the suspension fixing frame, and the last-stage suspension is connected to the suspension support seat; each stage of suspension includes an elastic element and at least one guiding mechanism; the stiffness of the elastic element of each stage of suspension decreases in sequence. The load of the multi-stage independent suspension structure of the present invention will be transmitted step by step, and the deformation of elastic elements with different stiffness is different, thereby improving the adaptability and obstacle surmounting ability of the wheel to ground unevenness; the present invention can realize that the overall height of the wheeled robot remains unchanged or changes slightly in both unloaded and overloaded conditions, which is conducive to directly diving into cars, work trucks and other equipment with low bottoms.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a multi-stage independent suspension structure of a wheeled robot. Background Art

[0002] Currently, high-load wheeled robots cannot improve the adaptability of wheels to ground unevenness and obstacle surmounting according to different road conditions due to their single suspension. Moreover, due to the limitation of suspension size, the height of the entire vehicle is relatively high, making it difficult to achieve ultra-thinness. In addition, it is difficult for wheeled robots to maintain the same or slight changes in overall height in both empty and loaded conditions, making it impossible to directly sneak into cars, work trucks and other equipment with low bottoms for transportation and handling. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-stage independent suspension structure for a wheeled robot in view of the deficiencies in the prior art.

[0004] The objective of the present invention is achieved through the following technical solutions: a multi-stage independent suspension structure of a wheeled robot, comprising a suspension fixing frame and a suspension support seat; the suspension support seat is fixedly connected to the suspension fixing frame through the multi-stage suspension structure; the multi-stage suspension structure comprises at least two-stage suspension, a transition structure with a guiding function is installed between two adjacent stages of suspension, the first-stage suspension is fixedly connected to the suspension fixing frame, the last-stage suspension is connected to the suspension support seat, and the last-stage suspension cooperates with the wheel.

[0005] Furthermore, each level of suspension includes an elastic element and at least one guide mechanism, and the upward and downward telescopic movement is achieved through the guide mechanism.

[0006] Furthermore, the guide mechanism is realized by the cooperation between the sliding element and the guide shaft, or by the cooperation between the guide rail and the slider.

[0007] Furthermore, the sliding element adopts a linear bearing, a sliding bearing or a wear-resistant material.

[0008] Furthermore, the first-stage suspension has a pre-stressing structure to provide initial pressure for its elastic element, which can pre-tighten the elastic element and adjust the initial height of the multi-stage independent suspension structure.

[0009] Furthermore, the pre-pressing structure is realized by cooperation between the screw and the nut seat.

[0010] Furthermore, the stiffness of the elastic elements decreases successively from the primary suspension to the final suspension.

[0011] Furthermore, the transition structure is realized by cooperation between the guide rail and the slider.

[0012] Furthermore, the final suspension is mounted directly on the frame of the wheel.

[0013] Furthermore, the suspension fixing frame is a robot load plate, or the robot load plate is installed on the suspension fixing frame.

[0014] The beneficial effects of the present invention are: the load of the multi-stage independent suspension structure of the present invention will be transmitted step by step, the deformation amounts of elastic elements with different stiffness are different, and the difference in deformation amounts is used to improve the adaptability and obstacle surmounting ability of the wheels to ground unevenness; the multi-stage independent suspension structure of the present invention is applied to wheeled robots, so that the overall height of the wheeled robot can remain unchanged or change slightly when the robot is empty or loaded, which is conducive to directly diving into equipment with low bottoms such as cars and work trucks; it can be especially used for ultra-thin wheeled robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of a multi-stage independent suspension structure of the present invention;

[0016] Figure 2 This is a schematic diagram of a multi-stage independent suspension structure of a wheeled robot according to the present invention;

[0017] Figure 3 This is a perspective 1 of the multi-stage independent suspension structure of the present invention;

[0018] Figure 4 This is a perspective 2 of the multi-stage independent suspension structure of the present invention;

[0019] Figure 5 It is a cross-sectional view of the primary suspension structure of the present invention;

[0020] Figure 6 It is a cross-sectional view of the final stage suspension structure of the present invention;

[0021] In the figure, there are suspension support seat 1, frame 2, primary suspension 3, final suspension 4, compression member 5, robot load plate 6, transition structure 7, primary spring 8, primary guide mechanism 9, linear bearing 10, guide shaft 11, screw 12, nut seat 13, guide rail 14, slider 15, final spring 16, final guide mechanism 17, and wheel 18. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1As shown, the present invention provides a multi-stage independent suspension structure of a wheeled robot, including a suspension fixing frame and a suspension support seat; the suspension support seat is fixedly connected to the suspension fixing frame through the multi-stage suspension structure; the multi-stage suspension structure includes at least two-stage suspension, a transition structure with a guiding function is installed between two adjacent stages of suspension, the first-stage suspension is fixedly connected to the suspension fixing frame, the last-stage suspension is connected to the suspension support seat, and the last-stage suspension cooperates with the wheel. Each stage of suspension includes an elastic element and at least one guiding mechanism, and the upward and downward telescopic movement is realized through the guiding mechanism.

[0024] like Figure 2-6 As shown, this embodiment takes a two-stage suspension structure as an example.

[0025] like Figure 2 As shown, in this embodiment, the primary suspension 3 is fixedly connected to the robot load plate 6 through a compression member 5, a transition structure 7 with a guiding function is installed between two adjacent suspension stages, and the final suspension 4 is installed on the frame 2 of the wheel 18.

[0026] like Figure 3 , 4 As shown, in this embodiment, the primary suspension 3 adopts a combination of a primary spring 8 and two primary guide mechanisms 9; the primary spring 8 adopts a mold spring, which is built into the suspension support seat 1, and the compression member 5 is used to compress the primary spring 8. The two primary guide mechanisms 9 both adopt a combination of a linear bearing 10 and a guide shaft 11, such as Figure 5 As shown, the linear bearings 10 are embedded and installed on both sides of the suspension support seat 1, one end of the guide shaft 11 extends into the linear bearing 10, and the other end is fixedly connected to the compression member 5. The primary suspension 3 can pre-tighten the primary spring 8 by cooperating with the screw 12 and the nut seat 13 to adjust the initial height of the multi-stage independent suspension structure.

[0027] like Figure 4 As shown, in this embodiment, the transition structure 7 includes two guide rails 14 and a slider 15 . The two guide rails 14 are installed on the frame 2 of the wheel 18 , and the slider 15 is installed on the suspension support seat 1 of the primary suspension 3 .

[0028] like Figure 6 As shown, in this embodiment, the final stage suspension 4 includes a final stage spring 16 and two final stage guide mechanisms 17. The final stage spring 16 is a mold spring, and the two final stage guide mechanisms 17 are both in the form of a combination of a linear bearing and a guide shaft.

[0029] The stiffness of the elastic elements of the multi-stage suspension decreases successively. After loading, the weight will be transmitted through the first-stage suspension in sequence to the final suspension. The spring of the first-stage suspension will lock an initial pressure, and the spring will not change or change very little. The springs from the second to the final suspension will have a certain amount of compression. During the movement, the multi-stage suspension cooperates to realize the driving wheel jumping up and down.

[0030] The present invention is not limited to the above specific implementations. A person skilled in the art can implement the present invention by using other various specific implementations based on the content disclosed in the present invention. Therefore, any design that adopts the design structure and ideas of the present invention and makes some simple changes or modifications falls within the protection scope of the present invention.

Claims

1. A multi-stage independent suspension structure of a wheeled robot, characterized in that: It comprises a suspension fixing frame and a suspension support seat; the suspension support seat is fixedly connected to the suspension fixing frame through a multi-stage suspension structure; the multi-stage suspension structure comprises at least two-stage suspension, a transition structure with a guiding function is installed between two adjacent stages of suspension, the first-stage suspension is fixedly connected to the suspension fixing frame, the last-stage suspension is connected to the suspension support seat, and the last-stage suspension cooperates with the wheel; each stage of suspension comprises an elastic element and at least one guiding mechanism, and the upward and downward telescopic movement is realized by the guiding mechanism; the stiffness of the elastic element from the first-stage suspension to the last-stage suspension decreases successively; the transition structure realizes the telescopic movement guidance of the adjacent two-stage suspension by cooperating with the guide rail and the slider; The suspensions of each level are arranged in parallel in the horizontal direction, and the transition structure connects the bottom of the upper suspension level and the top of the lower suspension level, and the transition structure moves up and down along with the multi-level suspension structure.

2. The multi-stage independent suspension structure of a wheeled robot according to claim 1, characterized in that: The guide mechanism is realized by the cooperation between the sliding element and the guide shaft, or by the cooperation between the guide rail and the sliding block.

3. The multi-stage independent suspension structure of a wheeled robot according to claim 2, characterized in that: The sliding element is made of linear bearings, sliding bearings or wear-resistant materials.

4. The multi-stage independent suspension structure of a wheeled robot according to claim 1, characterized in that: The primary suspension has a pre-stressing structure, which provides initial pressure to its elastic element, and can pre-tighten the elastic element to adjust the initial height of the multi-stage independent suspension structure.

5. The multi-stage independent suspension structure of a wheeled robot according to claim 4, characterized in that: The pre-pressing structure is realized by the cooperation between the screw and the nut seat.

6. The multi-stage independent suspension structure of a wheeled robot according to claim 1, characterized in that: The final suspension is mounted directly on the frame of the wheel.

7. The multi-stage independent suspension structure of a wheeled robot according to claim 1, characterized in that: The suspension fixing frame is a robot load plate, or a robot load plate is installed on the suspension fixing frame.

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