Suspension device, chassis device and self-moving apparatus

Abstract

The application discloses a suspension device, a chassis device and a self-moving device, and relates to the technical field of suspension devices, and specifically discloses a suspension device, which comprises a guiding and buffering mechanism and a damping mechanism; the guiding and buffering mechanism is arranged between a suspension support and a chassis in a vertical direction; the damping mechanism is connected in series with the guiding and buffering mechanism; when the distance between the suspension support and the chassis changes, the guiding and buffering mechanism provides buffering between the suspension support and the chassis, and the damping mechanism provides damping in at least one change direction. The guiding and buffering mechanism arranged in the vertical direction can limit the linear movement of the driving wheel set in the vertical direction when the driving wheel set overcomes obstacles, and can also provide buffering between the suspension support and the chassis; the damping mechanism is connected in series with the guiding and buffering mechanism, so that damping is provided for the guiding and buffering mechanism when the guiding and buffering mechanism buffers; the guiding and buffering mechanism and the damping mechanism are simple in structure, are arranged in the vertical direction only, and thus the occupied space of the structure is reduced, and the obstacle-overcoming and damping effect is improved.

Description

Technical Field

[0001] This application relates to the field of mobile robots, specifically to a suspension device, a chassis device, and a self-moving device. Background Technology

[0002] A mobile robot is a comprehensive device that integrates multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. With the continuous improvement of robot performance, the application scope of mobile robots has greatly expanded, and they are now widely used in people's work and daily lives.

[0003] Most common mobile robots are equipped with high-precision components, which are quite sensitive to vibrations generated during the movement of the mobile robot. To address this, the existing solution is to set up a suspension structure on the mobile robot. Suspension structures are generally divided into two types: one is a rigid suspension without springs, but its obstacle avoidance and shock absorption effect is poor; the other type of suspension structure adds spring shock absorption, but these suspension structures are mostly more complex and take up more space. Summary of the Invention

[0004] This application provides a suspension device to address the deficiencies in the prior art. This application also provides a suspension device, a chassis device, and a self-moving device.

[0005] This application provides a suspension device, mounted on a suspension bracket, to provide suspension support for the chassis; it includes: a guide buffer mechanism and a damping mechanism;

[0006] The guide buffer mechanism is disposed vertically between the suspension bracket and the chassis;

[0007] The damping mechanism is connected in series with the guiding buffer mechanism;

[0008] When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change.

[0009] Optionally, the guide buffer mechanism includes: a guide shaft bearing, a guide shaft, and an elastic element;

[0010] The guide shaft bearing is mounted on the chassis with the axial direction perpendicular to the ground; one end of the guide shaft is fixed to the suspension bracket, and the other end cooperates with the guide shaft bearing; the elastic element is sleeved on the guide shaft, with one end of the elastic element abutting against the suspension bracket and the other end abutting against the chassis.

[0011] Optionally, the damping mechanism is connected in series at one end of the guide shaft that mates with the guide shaft bearing, or in series at the end of the guide shaft that is fixed to the suspension bracket.

[0012] Optionally, the damping mechanism includes: a damping element, a baffle, and a support frame;

[0013] The support frame is mounted on the chassis; the support frame is connected to the damping element through the baffle; the damping element is connected in series at one end of the guide shaft that is engaged with the guide shaft bearing, or in series at one end of the guide shaft that is fixed to the suspension bracket; when the guide shaft drives the damping element to move, the damping element generates damping on the guide shaft.

[0014] This application embodiment also provides a chassis device, including: a chassis, a drive wheel assembly, a suspension bracket, and a suspension device. The suspension device is mounted on the suspension bracket, which is integrally connected to the drive wheel assembly, to provide suspension support for the chassis. The suspension device includes: a guide buffer mechanism and a damping mechanism.

[0015] The guide buffer mechanism is disposed vertically between the suspension bracket and the chassis;

[0016] The damping mechanism is connected in series with the guiding buffer mechanism;

[0017] When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change.

[0018] Optionally, the guide buffer mechanism includes: a guide shaft bearing, a guide shaft, and an elastic element;

[0019] The guide shaft bearing is mounted on the chassis with the axial direction perpendicular to the ground; one end of the guide shaft is fixed to the suspension bracket, and the other end cooperates with the guide shaft bearing; the elastic element is sleeved on the guide shaft, with one end of the elastic element abutting against the suspension bracket and the other end abutting against the chassis.

[0020] Optionally, the damping mechanism is connected in series at one end of the guide shaft that mates with the guide shaft bearing, or in series at the end of the guide shaft that is fixed to the suspension bracket.

[0021] Optionally, the damping mechanism includes: a damping element, a baffle, and a support frame;

[0022] The support frame is mounted on the chassis; the support frame is connected to the damping element through the baffle; the damping element is connected in series at one end of the guide shaft that is engaged with the guide shaft bearing, or in series at one end of the guide shaft that is fixed to the suspension bracket; when the guide shaft drives the damping element to move, the damping element generates damping on the guide shaft.

[0023] Optionally, corresponding to the drive wheels in the drive wheel set, the suspension device is configured as two, located on opposite sides of the drive wheels along the direction of travel.

[0024] Optionally, the damping element of one suspension device's damping mechanism is connected in series at the end of the suspension device's guide shaft that mates with the guide shaft bearing, and the damping mechanism of the other suspension device is connected in series at the end of the suspension device's guide shaft that is fixed to the suspension bracket.

[0025] Optionally, it also includes: a base plate, which is connected to the chassis, and the support frame to which the damping element of the other suspension device is correspondingly connected is disposed on the base plate.

[0026] Optionally, it also includes a drive motor, which is mounted on the suspension bracket along the axis of the drive wheel assembly.

[0027] This application embodiment also provides a self-moving device, including: a device body, a chassis device connected to the device body, and a suspension device disposed on the chassis device. The suspension device is mounted on a suspension bracket integrally connected to the drive wheel assembly to provide suspension support for the chassis. The suspension device includes: a guide buffer mechanism and a damping mechanism.

[0028] The guide buffer mechanism is disposed vertically between the suspension bracket and the chassis;

[0029] The damping mechanism is connected in series with the guiding buffer mechanism;

[0030] When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change.

[0031] Compared with the prior art, this application has the following advantages:

[0032] This application provides a suspension device mounted on a suspension bracket to provide suspension support for the chassis. The device includes a guide buffer mechanism and a damping mechanism. The guide buffer mechanism is vertically positioned between the suspension bracket and the chassis. The damping mechanism is connected in series with the guide buffer mechanism. When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change. This application, through the vertically positioned guide buffer mechanism, not only limits the linear vertical movement of the drive wheel assembly when crossing obstacles but also provides buffering between the suspension bracket and the chassis. The damping mechanism, connected in series with the guide buffer mechanism, provides damping in at least one direction of change when the guide buffer mechanism is providing buffering. The guide buffer mechanism and damping mechanism in this application have simple structures, connected only in the vertical direction, reducing the space occupied by the structure and improving the obstacle crossing and shock absorption effect. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a suspension device provided in the first embodiment of this application;

[0034] Figure 2 This is a partial structural schematic diagram of the suspension device provided in the first embodiment of this application, which provides suspension support for the chassis;

[0035] Figure 3 This is a schematic diagram of the structure of a chassis device provided in the second embodiment of this application;

[0036] Figure 4 This is a schematic diagram of the internal structure of a chassis device provided in the second embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the internal structure of another chassis device provided in the second embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the suspension device in the normal motion state of the drive wheel provided in the second embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the suspension device in the upward motion state of the drive wheel provided in the second embodiment of this application;

[0040] Figure 8 This is a schematic diagram of the suspension device in the downward motion state of the drive wheel provided in the second embodiment of this application;

[0041] Figure 9 This is a schematic diagram of the structure of a self-moving device provided in the third embodiment of this application.

[0042] Reference numerals: Suspension device 100, drive wheel set 1, drive wheel 11, caster wheel 12, suspension bracket 2, support ear 21, chassis 3, base plate 4, drive motor 5, guide buffer mechanism 10, guide shaft bearing 101, guide shaft 102, elastic element 103, damping mechanism 20, damping element 201, baffle 202, support frame 203, chassis device 200, outer shell 6, support column 7, support platform 8, nut 9, first suspension device 30, first support ear 211, first guide buffer mechanism 301, first Guide shaft bearing 302, first guide shaft 303, first elastic element 304, first damping mechanism 305, first damping element 306, first baffle 307, first support frame 308, second suspension device 40, second support ear 212, second guide buffer mechanism 401, second guide shaft bearing 402, second guide shaft 403, second elastic element 404, second damping mechanism 405, second damping element 406, second baffle 407, second support frame 408, self-moving device 300, device body 50. Detailed Implementation

[0043] Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of this application. However, the embodiments of this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the embodiments of this application. Therefore, the embodiments of this application are not limited to the specific implementations disclosed below.

[0044] The first embodiment of this application provides a suspension device. Figure 1 This is a structural schematic diagram of the suspension device provided in the first embodiment of this application. Figure 2 This is a partial structural diagram of the suspension device in the first embodiment of this application, which provides suspension support for the chassis.

[0045] Combination Figure 1 and Figure 2As shown, in the first embodiment of this application, the suspension device 100 is mounted on a suspension bracket 2 that is integrally connected to the drive wheel assembly 1, providing suspension support for the chassis 3. The chassis 3 is the support plate of the chassis device 200, used to support various components of the chassis device 200. The suspension bracket 2 in this embodiment is generally configured as a semi-circular shell with an opening. The suspension bracket 2 and the drive wheel 11 of the drive wheel assembly 1 are provided with a predetermined size. This size allows the shell to cover the drive wheel 11, thus protecting it, without affecting the normal rotation of the drive wheel 11. The suspension bracket 2 is integrally connected to the drive wheel assembly 1, and when the drive wheel assembly 1 encounters an obstacle and needs to overcome it, the suspension bracket 2 can move synchronously with the drive wheel assembly 1. Since the suspension bracket 2 covers the circumferential travel surface of the drive wheel 11, support ears 21 are also provided on both sides of the suspension bracket 2 relative to the drive wheel 11 in the travel direction of the drive wheel 11. These support ears 21 are used to mount the suspension device 100. Of course, the suspension device 100 can be installed in other locations, not limited to this. Moreover, a drive motor 5 is provided on the inner wall of the suspension bracket 2 along the axial direction of the drive wheel set 1 to provide driving force for the drive wheel set 1.

[0046] In this embodiment, the suspension device 100 includes a guide buffer mechanism 10 and a damping mechanism 20. The guide buffer mechanism 10 is arranged vertically between the suspension bracket 2 and the chassis 3, that is, one end of the guide buffer mechanism 10 is connected to the suspension bracket 2 and the other end is connected to the chassis 3. The damping mechanism 20 is connected in series with the guide buffer mechanism 10. When the distance between the suspension bracket 2 and the chassis 3 changes, the guide buffer mechanism 10 provides buffering between the suspension bracket 2 and the chassis 3, and the damping mechanism 20 provides damping in at least one direction of change.

[0047] Specifically, in this embodiment, such as Figure 1 , Figure 2As shown, the guide buffer mechanism 10 includes: a guide shaft bearing 101, a guide shaft 102, and an elastic element 103. The guide shaft bearing 101 is mounted on the chassis 3 with the axial direction perpendicular to the ground plane, and is a linear bearing. One end of the guide shaft 102 is fixed to the suspension bracket 2. Specifically, one end of the guide shaft 102 is connected to the suspension bracket 2 via a connecting structure. This connecting structure includes a thread on one end of the guide shaft 102 and a nut 9 that mates with the thread. One end of the guide shaft 102 passes through a through hole in a support lug, and the nut 9 fixes one end of the guide shaft 102 to the suspension bracket 2 by engaging with the thread. The other end of the guide shaft 102 is fitted into the guide shaft bearing 101. The guide shaft bearing 101 cooperates with the guide shaft 102 to limit the guidance of the guide shaft 102, that is, the guide shaft 102 moves in the vertical direction, which in turn limits the movement of the drive wheel 11 in the vertical direction, so that the drive wheel 11 can be perpendicular to the driving surface at 90 degrees, thereby making the chassis 3 more stable when crossing obstacles. The elastic element 103 is fitted on the guide shaft 102. Specifically, one end of the elastic element 103 abuts against the suspension bracket 2, and the other end of the elastic element 103 abuts against the chassis 3 or the inner side of the guide shaft bearing 101. In this way, when the guide shaft 102 moves synchronously with the suspension bracket 2, the shape of the elastic element 103 can be changed. For example, when the drive wheel 11 needs to cross a protruding obstacle, the drive wheel 11 moves upward. The guide shaft 102 is integrated with the drive wheel 11 through the suspension bracket 2, so it also moves upward. Since the guide shaft 102 and the guide shaft bearing 101 are in sliding fit, and an elastic element 103 is sleeved on the guide shaft 102, with the upper end of the elastic element 103 abutting against the chassis 3, the guide shaft 102 slides in the guide bearing 101 on the one hand, and the chassis 3 is supported by the elastic element 103 on the other hand. Through the deformation of the elastic element 103, the vibration generated by the drive wheel 11 can be buffered. After the drive wheel 11 passes over the obstacle, the guide shaft 102 moves downward with the suspension bracket 2, and the elastic element 103 is gradually stretched. This deformation of the elastic element 103 also buffers the vibration generated by the drive wheel 11. Therefore, throughout the entire obstacle-crossing process of the drive wheel 11, the guide buffer mechanism 10 can buffer the vibration between the suspension bracket 2 and the chassis 3, thereby maintaining the stability of the chassis 3. In this embodiment, the elastic element 103 can be a compression spring, a spring, etc.

[0048] In this embodiment, although the elastic element 103 can play a shock-absorbing role, if the road surface is uneven, the shock-absorbing effect will still be unsatisfactory, and the chassis 3 will still not be stable enough. To avoid this situation, the damping mechanism 20 is connected in series at the end of the guide shaft 102 that cooperates with the guide shaft bearing 101, or connected in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2. Figure 1 and Figure 2A schematic diagram of the structure of the damping mechanism 20 connected in series at one end of the guide shaft 102 and the guide shaft bearing 101 is shown.

[0049] like Figure 1 and Figure 2 As shown, in this embodiment, the damping mechanism 20 includes: a damping element 201, a baffle 202, and a support frame 203. The support frame 203 is mounted on the chassis 3 or the guide shaft bearing 101. The support frame 203 is connected to the damping element 201 via the baffle 202. The damping element 201 is connected in series at the end of the guide shaft 102 that mates with the guide shaft bearing 101, or in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2. Figure 1 , Figure 2 (Not shown), when the guide shaft 102 drives the damping element 201 to move, the damping element 201 dampens the guide shaft 102, thereby buffering and limiting the movement of the guide shaft 102.

[0050] In this embodiment, the damping element 201 can be a unidirectional damping element 201 or a bidirectional damping element 201. The damping element 201 can be categorized into hydraulic and pressurized types based on the damping material; in this embodiment, the damping element 201 is hydraulic. In this embodiment, the damping element 201 is a unidirectional damping element, comprising a single-cylinder body (not shown), within which are disposed a pressure tube, a piston rod, a combined compression and rebound valve, a floating piston (not shown), and a chamber (not shown). The pressure tube is fitted inside the single-cylinder body, with a floating piston at one end. The chamber is located below the floating piston and is a sealed chamber that can be filled with high-pressure nitrogen or oil. Inside the pressure tube are a piston rod and a combined compression and rebound valve, with the combined compression and rebound valve located at the end of the piston rod. When in operation, if the distance between the suspension bracket 2 and the chassis 3 decreases, the piston rod of the damping element 201 drives the combined compression rebound valve to move upward, and at the same time the floating piston moves upward, the oil in the chamber is compressed, thereby achieving a damping effect.

[0051] Corresponding to the above, the damping element 201 is connected in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2. At this time, the support frame 203 can be correspondingly set on the chassis 3. The support frame 203 is connected to the damping element 201 through the baffle 202. That is to say, there can be two damping mechanisms 20. The support frames 203 of the two damping mechanisms 20 are respectively set on the chassis 3 or the guide shaft bearing 101. When the drive wheel 11 crosses the obstacle, the guide shaft 102 moves upward with the suspension bracket 2. The guide shaft 102 compresses the damping element 201 connected in series at the end of the guide shaft 102 that is connected to the guide shaft bearing 101. The guide shaft 102 stretches the damping element 201 connected in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2, thereby playing a damping role and slowing down the deformation speed of the elastic element 103 used for buffering on the guide shaft 102, thereby making the chassis 3 more stable in the running state.

[0052] It is understandable that the number of suspension devices 100 can be set to one or more according to the actual situation, so as to meet the requirements of obstacle crossing and shock absorption under different conditions.

[0053] It should be noted that the suspension device 100 in this embodiment can be installed as a component on a robot. The robot can include companion robots, cleaning robots, welcoming robots, self-propelled vending robots, etc. For example, when the suspension device 100 is installed on a companion robot, it can provide obstacle-crossing shock absorption when the companion robot crosses obstacles, thus making the companion robot more stable. As another example, when the suspension device 100 is installed on a cleaning robot, it can provide obstacle-crossing shock absorption when the cleaning robot crosses obstacles, thus making the cleaning robot more stable.

[0054] The first embodiment of this application provides a suspension device 100, installed on a suspension bracket 2, providing suspension support for a chassis 3, including: a guide buffer mechanism 10 and a damping mechanism 20; the guide buffer mechanism 10 is arranged vertically between the suspension bracket 2 and the chassis 3; the damping mechanism 20 is connected in series with the guide buffer mechanism 10; when the distance between the suspension bracket 2 and the chassis 3 changes, the guide buffer mechanism 10 provides buffering between the suspension bracket 2 and the chassis 3, and the damping mechanism 20 provides damping in at least one direction of change. The first embodiment of this application, through the guide buffer mechanism 10 arranged vertically, can not only limit the linear movement of the drive wheel assembly 1 in the vertical direction when crossing obstacles, but also provide buffering between the suspension bracket 2 and the chassis 3. The damping mechanism 20 is connected in series with the guide buffer mechanism 10 to provide damping in at least one direction of change when the guide buffer mechanism 10 is providing buffering. The guide buffer mechanism 10 and the damping mechanism 20 of the first embodiment of this application have simple structures, are only connected in the vertical direction, reduce the space occupied by the structure, and can also improve the effect of obstacle crossing and shock absorption.

[0055] The second embodiment of this application provides a chassis device. Figure 3 This is a schematic diagram of the chassis device provided in the second embodiment of this application. Figure 4 This is a schematic diagram of the internal structure of the chassis device according to the second embodiment of this application. Since the second embodiment adopts the same or similar structure as the first embodiment, the same reference numerals are used on the same or similar structures.

[0056] Combination Figure 3 and Figure 4 As shown, the chassis assembly 200 includes a housing 6 and a chassis 3, a base plate 4, a drive wheel assembly 1, a suspension bracket 2, and a suspension device 100 disposed inside the housing 6, as well as a support platform 8 disposed outside the housing 6. The housing 6 acts as a protective shell, covering the aforementioned components to protect them. The support platform 8 is connected to the chassis 3 via support columns 7, providing support for the self-moving device body 50 mounted on the support platform 8. Figure 9 (As shown) it plays a supporting role. Since the main body 50 of the self-moving device is not the focus of this embodiment, it will not be described in detail here.

[0057] In this embodiment, the chassis 3 and the base plate 4 are fixedly connected in a stacked manner, with the base plate 4 positioned below the chassis 3. The two are essentially the same shape and size, which facilitates assembly while also enhancing the aesthetics of the structure. Universal wheels 12 are provided at the bottom of the base plate 4. The number and specific position of the universal wheels 12 are not limited, but their placement must ensure the balance of the base plate 4 during operation. Openings are provided at the edges of both the chassis 3 and the base plate 4, overlapping vertically. These openings are primarily for mounting the drive wheels 11 of the drive wheel assembly 1. Placing the drive wheels 11 within these openings reduces the space occupied by the drive wheels 11 without affecting their ability to move the chassis device 200.

[0058] In this embodiment, as Figure 1 As shown, the suspension bracket 2 is connected to the drive wheel assembly 1. The suspension bracket 2 is configured as a semi-circular shell with an opening. The suspension bracket 2 and the drive wheel 11 of the drive wheel assembly 1 are provided with a predetermined size. This size allows the shell to cover the drive wheel 11, thus protecting it, without affecting the normal rotation of the drive wheel 11. The suspension bracket 2 and the drive wheel assembly 1 are connected as a whole. When the drive wheel assembly 1 encounters an obstacle and needs to overcome it, the suspension bracket 2 can move synchronously with the drive wheel assembly 1. Since the suspension bracket 2 covers the circumferential travel surface of the drive wheel 11, support ears 21 are also provided on both sides of the suspension bracket 2 relative to the drive wheel 11 in the travel direction of the drive wheel 11. These support ears 21 are used to install the suspension device 100. Of course, the installation position of the suspension device 100 can also be in other positions, not limited to this. Moreover, a drive motor 5 is provided on the inner wall of the suspension bracket 2 along the axial direction of the drive wheel assembly 1 to provide driving force to the drive wheel assembly 1.

[0059] In this embodiment, as Figure 1 and Figure 4 As shown, the suspension device 100 includes a guide buffer mechanism 10 and a damping mechanism 20. The guide buffer mechanism 10 is vertically disposed between the suspension bracket 2 and the chassis 3, with one end connected to the chassis 3 and the other end connected to the suspension bracket 2, specifically to the support lug 21 of the suspension bracket 2. The damping mechanism 20 is connected in series with the guide buffer mechanism 10. When the distance between the suspension bracket 2 and the chassis 3 changes, the guide buffer mechanism 10 provides buffering between the suspension bracket 2 and the chassis 3, and the damping mechanism 20 provides damping in at least one direction of change.

[0060] Specifically, in this embodiment, the guide buffer mechanism 10 includes: a guide shaft bearing 101, a guide shaft 102, and an elastic element 103. The guide shaft bearing 101 is mounted on the chassis 3 with its axial direction perpendicular to the ground plane. The guide shaft bearing 101 is a linear bearing. One end of the guide shaft 102 is fixed to the suspension bracket 2. Specifically, one end of the guide shaft 102 is connected to the suspension bracket 2 via a connecting structure. This connecting structure includes a thread on one end of the guide shaft 102 and a nut 9 that mates with the thread. One end of the guide shaft 102 passes through a through hole in a support lug, and the nut 9 fixes one end of the guide shaft 102 to the suspension bracket 2 by engaging with the thread. The other end of the guide shaft 102 is fitted into the guide shaft bearing 101. The guide shaft bearing 101 cooperates with the guide shaft 102 to limit the guidance of the guide shaft 102, that is, the guide shaft 102 moves in the vertical direction, which in turn limits the movement of the drive wheel 11 in the vertical direction, so that the drive wheel 11 can be perpendicular to the driving surface at 90 degrees, thereby making the chassis 3 more stable when crossing obstacles. The elastic element 103 is sleeved on the guide shaft 102. Specifically, one end of the elastic element 103 abuts against the suspension bracket 2, and the other end abuts against the chassis 3 or the inner side of the guide shaft bearing 101. In this way, when the guide shaft 102 moves synchronously with the suspension bracket 2, the shape of the elastic element 103 can be changed. For example, when the drive wheel 11 needs to cross a protruding obstacle, the drive wheel 11 moves upward. The guide shaft 102 is integrated with the drive wheel 11 through the suspension bracket 2, so it also moves upward. Since the guide shaft 102 and the guide shaft bearing 101 are in sliding fit, and the elastic element 103 is sleeved on the guide shaft 102, with the upper end of the elastic element 103 abutting against the chassis 3, the guide shaft 102 slides in the guide bearing 101 on the one hand, and the chassis 3 is supported by the elastic element 103 on the other hand. Through the deformation of the elastic element 103, the vibration generated by the drive wheel 11 can be buffered. After the drive wheel 11 passes over the obstacle, the guide shaft 102 moves downward with the suspension bracket 2, and the elastic element 103 is gradually stretched. This deformation of the elastic element 103 also buffers the vibration generated by the drive wheel 11. Therefore, throughout the entire obstacle-crossing process of the drive wheel 11, the guide buffer mechanism 10 can buffer the vibration between the suspension bracket 2 and the chassis 3, thereby maintaining the stability of the chassis 3. In this embodiment, the elastic element 103 can be a compression spring, a spring, etc.

[0061] In this embodiment, although the elastic element 103 can play a shock-absorbing role, if the road surface is uneven, the shock-absorbing effect will still be unsatisfactory, and the chassis 3 will still not be stable enough. To avoid this situation, the damping mechanism 20 is connected in series at the end of the guide shaft 102 that cooperates with the guide shaft bearing 101, or connected in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2.

[0062] like Figure 1 and Figure 4 As shown, in this embodiment, the damping mechanism 20 includes: a damping element 201, a baffle 202, and a support frame 203. The support frame 203 is mounted on the chassis 3 or the guide shaft bearing 101. The support frame 203 is connected to the damping element 201 via the baffle 202. The damping element 201 is connected in series at the end of the guide shaft 102 that mates with the guide shaft bearing 101, or in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2. Figure 1 (Not shown), when the guide shaft 102 drives the damping element 201 to move, the damping element 201 dampens the guide shaft 102, thereby buffering and limiting the movement of the guide shaft 102. In this embodiment, the damping element 201 can be a unidirectional damping element 201 or a bidirectional damping element 201.

[0063] Corresponding to the above, the damping element 201 is connected in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2. At this time, the support frame 203 can be correspondingly set on the chassis 3. The support frame 203 is connected to the damping element 201 through the baffle 202. That is to say, there can be two damping mechanisms 20. The support frames 203 of the two damping mechanisms 20 are respectively set on the chassis 3 or the guide shaft bearing 101. When the drive wheel 11 crosses the obstacle, the guide shaft 102 moves upward with the suspension bracket 2. The guide shaft 102 compresses the damping element 201 connected in series at the end of the guide shaft 102 that is connected to the guide shaft bearing 101. The guide shaft 102 stretches the damping element 201 connected in series at the end of the guide shaft 102 that is fixed to the suspension bracket 2, thereby playing a damping role and slowing down the deformation speed of the elastic element 103 used for buffering on the guide shaft 102, thereby making the chassis 3 more stable in the running state.

[0064] Furthermore, in this embodiment, corresponding to the drive wheel 11 in the drive wheel set 1, the suspension device 100 can be set to two, such as... Figure 5 As shown, Figure 5 This is a schematic diagram of the internal structure of another chassis device provided in this embodiment. Two suspension devices 100 are respectively mounted on the support ears 21 on both sides of the suspension bracket 2 in the direction of travel of the drive wheel 11, i.e. Figure 5Two suspension devices 100 are arranged opposite each other on the left and right sides of the drive wheel 11. The damping element 201 of the damping mechanism 20 of one suspension device 100 is connected in series at the end of the guide shaft 102 of the suspension device 100 that mates with the guide shaft bearing 101. The damping mechanism 20 of the other suspension device 100 is connected in series at the end of the guide shaft 102 of the suspension device 100 that is fixed to the suspension bracket 2. In this embodiment, for ease of description of the structure and relative position of the two suspension devices 100, the suspension device 100 on the right side of the drive wheel 11 is defined as the first suspension device 30, and correspondingly, the other suspension device 100 on the left side of the drive wheel 11 is defined as the second suspension device 40. Furthermore, to avoid repetitive use of reference numerals, the following explanation will be combined with... Figure 5 The following description does not obscure the structure of the two suspension devices 100 in this embodiment.

[0065] like Figure 5 As shown, the right-side support ear 21 of the suspension bracket 2 is defined as the first support ear 211, and the left-side support ear 21 of the suspension bracket 2 is defined as the second support ear 212. The first suspension device 30 includes a first guide buffer mechanism 301 and a first damping mechanism 305. The first guide buffer mechanism 301 includes a first guide shaft bearing 302, a first guide shaft 303, and a first elastic element 304. The first guide shaft bearing 302 is arranged vertically on the chassis 3 and is a linear bearing. One end of the first guide shaft 303 is fixed to the first support ear 211 of the suspension bracket 2, and the other end is fitted inside the first guide shaft bearing 302. The first guide shaft bearing 302 and the first guide shaft 303 cooperate to limit the guidance of the first guide shaft 303. The first elastic element 304 is sleeved on the first guide shaft 303. Specifically, one end of the first elastic element 304 abuts against the first support ear 211, and the other end abuts against the inner side of the chassis 3 or the first guide shaft bearing 302. The first damping mechanism 305 includes a first damping element 306, a first baffle 307, and a first support frame 308. The first support frame 308 is disposed on the chassis 3 or the first guide shaft bearing 302. The first support frame 308 is connected to the first damping element 306 through the first baffle 307. The first damping element 306 is connected in series at the end of the first guide shaft 303 that mates with the first guide shaft bearing 302. When the drive wheel 11 passes over an obstacle, the first guide shaft 303 moves upward with the suspension bracket 2. The first guide shaft 303 compresses the first damping element 306 connected in series at the end of the first guide shaft 303 that mates with the first guide shaft bearing 302, thereby achieving a damping effect.

[0066] The second suspension device 40 includes a second guide buffer mechanism 401 and a second damping mechanism 405. The second guide buffer mechanism 401 includes a second guide shaft bearing 402, a second guide shaft 403, and a second elastic element 404. The second guide shaft bearing 402 is vertically mounted on the chassis 3 and is a linear bearing. One end of the second guide shaft 403 is fixed to the second support lug 212 of the suspension bracket 2, and the other end is fitted inside the second guide shaft bearing 402. The second guide shaft bearing 402 cooperates with the second guide shaft 403 to limit the guidance of the second guide shaft 403. The second elastic element 404 is fitted onto the second guide shaft 403. Specifically, one end of the second elastic element 404 abuts against the second support lug 212, and the other end abuts against the chassis 3 or the inner surface of the second guide shaft bearing 402. The second damping mechanism 405 includes a second damping element 406, a second baffle 407, and a second support frame 408. The second support frame 408 is disposed on the substrate 4 (see reference). Figure 4 On the base plate 4, the second support frame 408 is connected to the second damping element 406 through the second baffle 407. The second damping element 406 is connected in series at one end of the second guide shaft 403 and the suspension bracket 2. When the drive wheel 11 crosses the obstacle, the second guide shaft 403 moves upward with the suspension bracket 2. The second guide shaft 403 stretches the second damping element 406 connected in series at one end of the second guide shaft 403 and the suspension bracket 2, thereby playing a damping role.

[0067] It is understandable that, considering the above-mentioned situation where there is only one suspension device 100, the damping mechanism 20 can be connected to opposite ends of the same guide shaft 102. Therefore, when there are two suspension devices 100, the damping mechanism 20 can also have the same connection method. For example, when the first damping element 306 is connected in series at the end of the first guide shaft 303 that cooperates with the first guide shaft bearing 302, the second damping element 406 can be connected in series at the end of the second guide shaft 403 that is fixed to the suspension bracket 2, or the second damping element 406 can be connected in series at the end of the first guide shaft 303 that is fixed to the suspension bracket 2, or the second damping element 406 can be connected in series at the end of the second guide shaft 403 that cooperates with the second guide shaft bearing 402, and so on. In other words, the position and number of damping mechanisms 20 are not limited to this embodiment. Figure 5 The structure shown can also be set in other locations. Figure 5 The damping mechanism 20 is a preferred embodiment.

[0068] The operating principles of the first suspension device 30 and the second suspension device 40 in the chassis device 200 will be explained below in conjunction with specific motion states.

[0069] Combination Figures 6 to 8 As shown, Figure 6This is a schematic diagram of the suspension device under normal driving wheel motion conditions in this embodiment. Figure 7 This is a schematic diagram of the suspension device in the upward movement state of the drive wheel in this embodiment. Figure 8 This is a schematic diagram of the suspension device in the downward motion state of the drive wheel in this embodiment.

[0070] like Figure 7 As shown, when the drive wheel 11 crosses the obstacle, the first guide shaft 303 and the second guide shaft 403 move upward simultaneously with the suspension bracket 2. The first guide shaft 303 compresses the first damping element 306 connected in series at the end of the first guide shaft 303 that cooperates with the first guide shaft bearing 302, while the second guide shaft 403 stretches the second damping element 406 connected in series at the end of the second guide shaft 403 that is fixed to the suspension bracket 2, thereby achieving a damping effect. For example... Figure 8 As shown, when the drive wheel 11 passes over an obstacle, the first guide shaft 303 and the second guide shaft 403 move downwards simultaneously with the suspension bracket 2. The first guide shaft 303 stretches the first damping element 306 connected in series at one end of the first guide shaft 303 and the first guide shaft bearing 302, and the second guide shaft 403 compresses the second damping element 406 connected in series at one end of the second guide shaft 403 and the suspension bracket 2, thereby playing a damping role to slow down the deformation speed of the first elastic element 304 and the second elastic element 404, thereby making the chassis device 200 more stable in operation.

[0071] It should be noted that the chassis device 200 in this embodiment can be mounted on a robot as a component. The robot can include companion robots, cleaning robots, welcoming robots, self-propelled vending robots, etc. For example, when the chassis device 200 is mounted on a companion robot, it can provide obstacle-crossing shock absorption when the companion robot crosses obstacles, thus making the companion robot more stable. As another example, when the chassis device 200 is mounted on a cleaning robot, it can provide obstacle-crossing shock absorption when the cleaning robot crosses obstacles, thus making the cleaning robot more stable.

[0072] The second embodiment of this application provides a chassis device 200, including: a chassis 3, a drive wheel set 1, a suspension bracket 2, and a suspension device 100. The suspension device 100 is mounted on the suspension bracket 2, which is integrally connected with the drive wheel set 1, to provide suspension support for the chassis 3. The suspension device 100 includes: a guide buffer mechanism 10 and a damping mechanism 20. The guide buffer mechanism 10 is disposed vertically between the suspension bracket 2 and the chassis 3. The damping mechanism 20 is connected in series with the guide buffer mechanism 10. When the distance between the suspension bracket 2 and the chassis 3 changes, the guide buffer mechanism 10 provides buffering between the suspension bracket 2 and the chassis 3, and the damping mechanism 20 provides damping in at least one direction of change. The second embodiment of this application, through the guide buffer mechanism 10 arranged in the vertical direction, can not only limit the linear movement of the drive wheel assembly 1 in the vertical direction when crossing obstacles, but also provide buffering between the suspension bracket 2 and the chassis 3. A damping mechanism 20 is connected in series on the guide buffer mechanism 10 to provide damping in at least one changing direction for the guide buffer mechanism 10 when it is buffering. The guide buffer mechanism 10 and the damping mechanism 20 of the second embodiment of this application have simple structures and are only connected in the vertical direction, which reduces the space occupied by the structure and can also improve the obstacle crossing and shock absorption effect of the chassis device 200.

[0073] The third embodiment of this application provides a self-moving device, such as... Figure 9 As shown, Figure 9 This is a structural schematic diagram of a self-moving device provided in the third embodiment of this application. The self-moving device 300 includes: a device body 50, a chassis device 200 connected to the device body 50, and a suspension device 100 (not shown) disposed on the chassis device 200. The suspension device 100 can be referred to the description of the first or second embodiment above, and will not be repeated in this embodiment. The structural schematic diagram of the suspension device 100 is also referred to the accompanying drawings of the first or second embodiment above. The suspension device 100 is mounted on a suspension bracket 2 that is integrally connected to the drive wheel set 1, and provides suspension support for the chassis 3. It includes: a guide buffer mechanism 10 and a damping mechanism 20. The guide buffer mechanism 10 is disposed vertically between the suspension bracket 2 and the chassis 3. The damping mechanism 20 is connected in series with the guide buffer mechanism 10. When the distance between the suspension bracket 2 and the chassis 3 changes, the guide buffer mechanism 10 provides buffering between the suspension bracket 2 and the chassis 3, and the damping mechanism 20 provides damping in at least one direction of change.

[0074] In this embodiment, the self-moving device can specifically be a robot, which may include companion robots, cleaning robots, welcoming robots, self-moving vending robots, etc. Specifically, when a companion robot crosses an obstacle, the suspension device 100 installed in the companion robot can provide obstacle-crossing shock absorption, thereby making the companion robot move more stably. Similarly, when a cleaning robot crosses an obstacle, the suspension device 100 installed in the cleaning robot can provide obstacle-crossing shock absorption, thereby making the cleaning robot move more stably.

[0075] The third embodiment of this application, through the guide buffer mechanism 10 arranged in the vertical direction, can not only limit the linear movement of the drive wheel set 1 in the vertical direction when crossing obstacles, but also provide buffering between the suspension bracket 2 and the chassis 3. A damping mechanism 20 is connected in series on the guide buffer mechanism 10 to provide damping in at least one changing direction for the guide buffer mechanism 10 when it is buffering. The guide buffer mechanism 10 and the damping mechanism 20 of the third embodiment of this application have simple structures and are only connected in the vertical direction, which reduces the space occupied by the structure and can also improve the obstacle crossing and shock absorption effect of the self-moving device 300.

[0076] The aforementioned self-mobile device 300 can achieve better performance than existing self-mobile devices in different scenarios. The specific application scenarios are given below.

[0077] Application Scenario 1

[0078] The self-moving device 300 can specifically be a cleaning robot. The cleaning robot travels on the surface to be cleaned. There are obstacles on the surface to be cleaned. The obstacles can be crossed by the drive wheel set 1 of the cleaning robot. The specific crossing process is as follows: when the drive wheel 11 in the drive wheel set 1 crosses the protruding obstacle, the first guide shaft 303 and the second guide shaft 403 move upward with the suspension bracket 2 at the same time. The first guide shaft 303 compresses the first damping element 306 connected in series at one end of the first guide shaft 303 and the bearing of the first guide shaft 302. The second guide shaft 403 stretches the second damping element 406 connected in series at one end of the second guide shaft 403 and the fixed end of the suspension bracket 2, thereby playing a damping role. When the drive wheel 11 passes over the obstacle, the first guide shaft 303 and the second guide shaft 403 move downward with the suspension bracket 2. The first guide shaft 303 stretches the first damping element 306 connected in series at the end of the first guide shaft 303 that cooperates with the first guide shaft bearing 302, and the second guide shaft 403 compresses the second damping element 406 connected in series at the end of the second guide shaft 403 that is fixed to the suspension bracket 2, thereby playing a damping role to slow down the deformation speed of the first elastic element 304 and the second elastic element 404, thus making the cleaning robot more stable in operation.

[0079] Application Scenario 2

[0080] The self-moving device 300 can specifically be a companion robot. The companion robot travels on a driving surface with obstacles on it. These obstacles can be crossed by the drive wheel set 1 of the companion robot. The specific crossing process is as follows: when the drive wheel 11 in the drive wheel set 1 crosses the protruding obstacle, the first guide shaft 303 and the second guide shaft 403 move upward with the suspension bracket 2 at the same time. The first guide shaft 303 compresses the first damping element 306 connected in series at one end of the first guide shaft 303 and the bearing of the first guide shaft 302, and the second guide shaft 403 stretches the second damping element 406 connected in series at one end of the second guide shaft 403 and the fixed end of the suspension bracket 2, thereby playing a damping role. When the drive wheel 11 passes over the obstacle, the first guide shaft 303 and the second guide shaft 403 move downward with the suspension bracket 2. The first guide shaft 303 stretches the first damping element 306 connected in series at the end of the first guide shaft 303 that cooperates with the first guide shaft bearing 302, and the second guide shaft 403 compresses the second damping element 406 connected in series at the end of the second guide shaft 403 that is fixed to the suspension bracket 2, thereby playing a damping role to slow down the deformation speed of the first elastic element 304 and the second elastic element 404, thus making the companion robot more stable in operation.

[0081] Application Scenario 3

[0082] The self-moving device 300 can specifically be a welcoming robot. The welcoming robot drives on the road, where there are obstacles. These obstacles can be crossed by the driving wheel set 1 of the welcoming robot. The specific crossing process is as follows: when the driving wheel 11 in the driving wheel set 1 crosses the protruding obstacle, the first guide shaft 303 and the second guide shaft 403 move upward with the suspension bracket 2 at the same time. The first guide shaft 303 compresses the first damping element 306 connected in series at one end of the first guide shaft 303 and the bearing of the first guide shaft 302, and the second guide shaft 403 stretches the second damping element 406 connected in series at one end of the second guide shaft 403 and the fixed end of the suspension bracket 2, thereby playing a damping role. When the drive wheel 11 passes over the obstacle, the first guide shaft 303 and the second guide shaft 403 move downward with the suspension bracket 2. The first guide shaft 303 stretches the first damping element 306 connected in series at the end of the first guide shaft 303 that cooperates with the first guide shaft bearing 302, and the second guide shaft 403 compresses the second damping element 406 connected in series at the end of the second guide shaft 403 that is fixed to the suspension bracket 2, thereby playing a damping role to slow down the deformation speed of the first elastic element 304 and the second elastic element 404, thus making the welcoming robot more stable in operation.

[0083] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

Claims

1. A suspension device, mounted on a suspension bracket, providing suspension support for a chassis; characterized in that, include: Guiding buffer mechanism and damping mechanism; The guide buffer mechanism is disposed vertically between the suspension bracket and the chassis; The damping mechanism is connected in series with the guiding buffer mechanism; When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change; a drive motor is provided on the inner wall of the suspension bracket. The damping mechanism includes: a damping element, a baffle, and a support frame; The support frame is mounted on the chassis; the support frame is connected to the damping element through the baffle; the damping element is connected in series at one end of the guide shaft that is engaged with the guide shaft bearing, or in series at one end of the guide shaft that is fixed to the suspension bracket; when the guide shaft drives the damping element to move, the damping element generates damping on the guide shaft.

2. The suspension device according to claim 1, characterized in that, The guide buffer mechanism includes: a guide shaft bearing, a guide shaft, and an elastic element; The guide shaft bearing is mounted on the chassis with the axial direction perpendicular to the ground; one end of the guide shaft is fixed to the suspension bracket, and the other end cooperates with the guide shaft bearing; the elastic element is sleeved on the guide shaft, with one end of the elastic element abutting against the suspension bracket and the other end abutting against the chassis.

3. The suspension device according to claim 2, characterized in that, The damping mechanism is connected in series at one end of the guide shaft that mates with the guide shaft bearing, or in series at the end of the guide shaft that is fixed to the suspension bracket.

4. A chassis device, characterized in that, include: The chassis, drive wheel assembly, suspension bracket, and suspension device are provided, wherein the suspension device is mounted on the suspension bracket that is integrally connected to the drive wheel assembly, and provides suspension support for the chassis. The suspension device includes: a guide buffer mechanism and a damping mechanism; The guide buffer mechanism is disposed vertically between the suspension bracket and the chassis; The damping mechanism is connected in series with the guiding buffer mechanism; When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change; a drive motor is provided on the inner wall of the suspension bracket. The damping mechanism includes: a damping element, a baffle, and a support frame; The support frame is mounted on the chassis; the support frame is connected to the damping element through the baffle; the damping element is connected in series at one end of the guide shaft that is engaged with the guide shaft bearing, or in series at one end of the guide shaft that is fixed to the suspension bracket; when the guide shaft drives the damping element to move, the damping element generates damping on the guide shaft.

5. The chassis device according to claim 4, characterized in that, The guide buffer mechanism includes: a guide shaft bearing, a guide shaft, and an elastic element; The guide shaft bearing is mounted on the chassis with the axial direction perpendicular to the ground; one end of the guide shaft is fixed to the suspension bracket, and the other end cooperates with the guide shaft bearing; the elastic element is sleeved on the guide shaft, with one end of the elastic element abutting against the suspension bracket and the other end abutting against the chassis.

6. The chassis device according to claim 5, characterized in that, The damping mechanism is connected in series at one end of the guide shaft that mates with the guide shaft bearing, or in series at the end of the guide shaft that is fixed to the suspension bracket.

7. The chassis device according to claim 6, characterized in that, Corresponding to the drive wheels in the drive wheel set, the suspension device is configured as two, located on opposite sides of the drive wheels along the direction of travel.

8. The chassis device according to claim 7, characterized in that, The damping element of one suspension device's damping mechanism is connected in series at the end of the suspension device's guide shaft that mates with the guide shaft bearing, while the damping mechanism of the other suspension device is connected in series at the end of the suspension device's guide shaft that is fixed to the suspension bracket.

9. The chassis device according to claim 8, characterized in that, Also includes: A base plate, which is connected to the chassis, and a support frame correspondingly connected to the damping element of the other suspension device is disposed on the base plate.

10. The chassis device according to claim 4, characterized in that, The drive motor is mounted on the suspension bracket along the axis of the drive wheel assembly.

11. A self-moving device, characterized in that, include: The equipment body, the chassis device connected to the equipment body, and the suspension device mounted on the chassis device, wherein the suspension device is mounted on a suspension bracket integrated with the drive wheel assembly to provide suspension support for the chassis; The suspension device includes: a guide buffer mechanism and a damping mechanism; The guide buffer mechanism is disposed vertically between the suspension bracket and the chassis; The damping mechanism is connected in series with the guiding buffer mechanism; When the distance between the suspension bracket and the chassis changes, the guide buffer mechanism provides buffering between the suspension bracket and the chassis, and the damping mechanism provides damping in at least one direction of change; a drive motor is provided on the inner wall of the suspension bracket. The damping mechanism includes: a damping element, a baffle, and a support frame; The support frame is mounted on the chassis; the support frame is connected to the damping element through the baffle; the damping element is connected in series at one end of the guide shaft that is engaged with the guide shaft bearing, or in series at one end of the guide shaft that is fixed to the suspension bracket; when the guide shaft drives the damping element to move, the damping element generates damping on the guide shaft.

Images