Composite articulated suspension device and industrial mobile robot

Abstract

The present application relates to a composite articulated suspension device and an industrial mobile robot, including a first articulated shaft, a driving wheel group, an articulated structure, a suspension frame and a universal wheel; the driving wheel group is installed under the suspension frame through the first articulated shaft, and the universal wheel is installed under the suspension frame; the articulated structure includes an upper articulated support, a lower articulated support and a second articulated shaft, the upper articulated support is installed on the lower articulated support through the second articulated shaft, the lower articulated support is fixed on the suspension frame, and the upper articulated support is used to install a load-bearing structure. The composite articulated suspension device, through a composite articulated design, on the one hand, the driving wheel group is articulated and installed under the suspension frame, and on the other hand, the vehicle body is articulated and installed on the suspension frame, thereby realizing flexible omnidirectional movement of the vehicle and having better ground adaptability, so that the universal wheel and the driving wheel can touch the ground at the same time under different loads and different road conditions, avoiding slipping or snake-like walking, and avoiding the risks of nodding and looking up caused by the traditional elastic connection technology using springs.

Description

Technical Field

[0001] The present application relates to the field of mobile robots, and in particular to a composite articulated suspension device and an industrial mobile robot. Background Art

[0002] With the development of technology, the mobile robot industry for industrial applications involving automated guided vehicles (AGV) and autonomous mobile robots (AMR) has developed rapidly, and higher requirements have been put forward on the motion state and ground adaptability of mobile robots (MR).

[0003] AGV mainly refers to vehicles that solve unmanned transportation problems in industrial logistics, while AMR originates from the field of robotics and can actively respond to light in the environment and can autonomously avoid obstacles to move. AGV and AMR have strong overlaps in industrial scene applications, and both are widely used in logistics and transportation scenes. Summary of the invention

[0004] Based on this, it is necessary to provide a composite articulated suspension device and an industrial mobile robot.

[0005] A composite articulated suspension device comprises: a first articulated shaft, a driving wheel set, an articulated structural member, a suspension frame and a universal wheel;

[0006] The driving wheel set is installed under the suspension frame through the first hinge shaft, and the universal wheel is installed under the suspension frame;

[0007] The hinged structure comprises an upper hinge support, a lower hinge support and a second hinge shaft, the upper hinge support is mounted on the lower hinge support via the second hinge shaft, the lower hinge support is fixed on the suspension frame, and the upper hinge support is used to install a load-bearing structure.

[0008] The above-mentioned composite articulated suspension device, through a composite articulated design, on the one hand, the driving wheel group is hingedly installed under the suspension frame, and on the other hand, the load-bearing structure such as the vehicle body is hingedly installed on the suspension frame, thereby realizing flexible omnidirectional movement of the vehicle and having better ground adaptability, so that the universal wheels and the driving wheels can touch the ground at the same time under different loads and different road conditions, avoiding slipping or serpentine walking, and avoiding the risks of nodding and looking up caused by the traditional elastic connection technology using springs.

[0009] Furthermore, in one of the embodiments, the rotation direction plane of the first articulated shaft is perpendicular to the rotation direction plane of the second articulated shaft to form a steering change in rigid force transmission.

[0010] In one of the embodiments, the composite hinged suspension device further includes a limit block, which is fixed on the suspension frame and is used to limit the extreme position of the movement of the load-bearing structure relative to the suspension frame.

[0011] In one embodiment, the number of the limiting blocks is a pair.

[0012] In one embodiment, the number of the universal wheels is a pair.

[0013] In one embodiment, a pair of the universal wheels are symmetrically arranged, and the driving wheel set is arranged on the symmetry axis of the pair of universal wheels.

[0014] In one embodiment, the number of the articulated structures is a pair, and the pair of articulated structures and the pair of universal wheels have the same axis of symmetry.

[0015] In one embodiment, the driving wheel set is a double differential wheel set.

[0016] In one of the embodiments, the inner ring of the upper hinge support is provided with a copper sleeve.

[0017] In one of the embodiments, the compound articulated suspension device further comprises a servo motor mounted on the suspension frame, and the servo motor is driven to connect to the driving wheel set.

[0018] In one of the embodiments, an industrial mobile robot includes any one of the compound articulated suspension devices described. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology 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 creative work.

[0020] Figure 1 This is a schematic structural diagram of an embodiment of the composite hinged suspension device described in this application.

[0021] Figure 2 for Figure 1 Another schematic diagram of the embodiment shown.

[0022] Figure 3 for Figure 1 Another schematic diagram of the embodiment shown.

[0023] Figure 4 for Figure 1 Another schematic diagram of the embodiment shown.

[0024] Figure 5 for Figure 1 Another schematic diagram of the embodiment shown.

[0025] Figure 6 for Figure 1 Another schematic diagram of the embodiment shown.

[0026] Figure 7 It is a schematic diagram of the structural decomposition of another embodiment of the composite hinged suspension device described in the present application.

[0027] Figure 8 for Figure 7 Another schematic diagram of the embodiment shown.

[0028] Fig. 9 for Figure 7 Another schematic diagram of the embodiment shown.

[0029] Fig.10 for Figure 7 Another schematic diagram of the embodiment shown.

[0030] Fig.11 for Figure 7 Another schematic diagram of the embodiment shown.

[0031] Fig.12 for Fig.11 A further exploded schematic view of the illustrated embodiment.

[0032] Fig.13 for Fig.12 Another schematic diagram of the embodiment shown.

[0033] Fig.14 for Fig.13 A partial enlarged schematic diagram of the structure of the embodiment shown.

[0034] Fig.15 for Fig.12 Another schematic diagram of the embodiment shown.

[0035] Fig.16 for Fig.12 Another schematic diagram of the embodiment shown.

[0036] Reference numerals:

[0037] The first articulated shaft 110, the driving wheel set 120, the articulated structure 130, the suspension frame 140, the universal wheel 150, the clamping plate 160, the limiting member 170, the limiting block 180, and the servo motor 190;

[0038] The rotation angle limiting component 111, the mounting seat 112, the mounting frame 113, the mounting screws 114, the hole groove 115, the limit kit 116, the upper hinge support 131, the lower hinge support 132, the second hinge shaft 133, the bottom beam 141, the traction beam 142, and the through hole 143. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0040] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0042] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in 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.

[0043] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0044] The present application discloses a composite articulated suspension device and an industrial mobile robot, which include some or all of the structures of the following embodiments; that is, the composite articulated suspension device and the industrial mobile robot include some or all of the following technical features. In one embodiment of the present application, a composite articulated suspension device includes a first articulated shaft, a driving wheel group, an articulated structure, a suspension frame and a universal wheel; the driving wheel group is installed under the suspension frame through the first articulated shaft, and the universal wheel is installed under the suspension frame; the articulated structure includes an upper articulated support, a lower articulated support and a second articulated shaft, the upper articulated support is installed on the lower articulated support through the second articulated shaft, the lower articulated support is fixed on the suspension frame, and the upper articulated support is used to install a load-bearing structure. The above-mentioned composite articulated suspension device, through a composite articulated design, has a driving wheel group hingedly installed under the suspension frame on the one hand, and a vehicle body hingedly installed on the suspension frame on the other hand, thereby realizing flexible omnidirectional movement of an industrial mobile robot such as a cart using the composite articulated suspension device, and having better ground adaptability, so that the universal wheels and the driving wheels can touch the ground at the same time under different loads and different road conditions, avoiding slipping or serpentine walking, and avoiding the risks of nodding and looking up caused by the traditional elastic connection technology using springs.

[0045] In one embodiment, a composite articulated suspension device such as Figure 1As shown, it includes a first articulated shaft 110, a driving wheel group 120, an articulated structure 130, a suspension frame 140 and a universal wheel 150; the driving wheel group 120 is installed under the suspension frame 140 through the first articulated shaft 110, and the universal wheel 150 is installed under the suspension frame 140; the articulated structure 130 is fixed on the suspension frame 140 and is used to install the load-bearing structure. The first articulated shaft 110 and the articulated structure 130 respectively cooperate with the suspension frame 140 to form a composite articulated structural design. This is because after abandoning the traditional elastic connection method using springs, the entire system has changed, and only one articulated structure cannot be used to replace the elastic connection to avoid new problems of mechanical transmission and force transmission; and there is a force transmission-related structure of the first articulated shaft 110, the suspension frame 140 and the articulated structure 130 between the driving wheel group 120 and the load-bearing structure, which is beneficial to maintaining the structural stability of an industrial mobile robot such as a cart that uses the composite articulated suspension device, thereby ensuring the flexible and omnidirectional movement of the cart.

[0046] Combination Figure 2 In order to facilitate force bearing, the hinged structure 130 includes an upper hinge support 131, a lower hinge support 132 and a second hinge shaft 133. The upper hinge support 131 is installed on the lower hinge support 132 through the second hinge shaft 133. The lower hinge support 132 is fixed on the suspension frame 140. The upper hinge support 131 is used to install the load-bearing structure. In one embodiment, a copper sleeve is provided on the inner ring of the upper hinge support 131. With such a design, the load-bearing structure receives downward pressure, which acts on the suspension frame 140 through the hinged structure 130, and the suspension frame 140 applies pressure to the driving wheel group 120 and the universal wheel 150 respectively. The driving wheel set 120 transmits pressure through the first hinge shaft 110. Therefore, there is no elastic buffer during the pressure transmission process. The driving wheel set 120 is always in contact with the ground, and the suspension frame 140 is not subjected to elastic force. Therefore, the nodding and tilting problems caused by the traditional elastic connection technology using springs are overcome.

[0047] Combination Figure 2 and Figure 3In one embodiment, the number of the universal wheels 150 is a pair. In one embodiment, the pair of universal wheels 150 are symmetrically arranged, and the driving wheel group 120 is arranged on the symmetry axis of the pair of universal wheels 150. Such a design is conducive to forming a stable supporting structure. In order to facilitate the structural installation, further, the suspension frame 140 includes a bottom beam 141 and a traction beam 142 fixed on the bottom beam 141; the driving wheel group 120 is installed under the traction beam 142 through the first hinge shaft 110, and the universal wheel 150 is installed under the bottom beam 141. Further, the traction beam 142 protrudes from the bottom beam 141, and the number of the universal wheels 150 is a pair, and the pair of universal wheels 150 are respectively located at both ends of the bottom beam 141, so that the driving wheel group 120 as a whole and the pair of universal wheels 150 form an isosceles triangle to achieve balanced force; combined with Figure 4 , further, the triangle is an obtuse isosceles triangle A, so that the length of the traction beam 142 is shorter than that of the acute triangle, that is, the length of the traction beam 142 protruding from the bottom beam 141 is relatively short, so as to cooperate with the driving wheel set 120 to form the effect of "slow steering" and "fast driving". It can be understood that since the three points define the surface, the isosceles triangle is conducive to forming a stable force-bearing surface under the suspension frame 140, and as mentioned above, since there is no elastic buffer during the pressure transmission process, the driving wheel set 120 is always in contact with the ground, which is conducive to the isosceles triangle always maintaining a stable contact state with the ground, thereby further improving the solution to the nodding and tilting problems caused by the traditional elastic connection technology using springs. And the suspension device arranged in this way makes all the forces on the industrial mobile robot, such as the trolley, be distributed to the pressure-bearing wheel system according to a certain percentage according to the structure of the suspension frame 140 of the composite articulated suspension device, so the load borne by each wheel varies within a certain range, and the load percentage distributed to the driving wheel of the driving wheel group 120 is also relatively fixed, and the friction force on the ground is relatively stable, so that the driving wheel will not slip when adapting to different ground conditions. The purpose of this layout is to ensure that the driving wheel will not slip or snake-like during the omnidirectional movement of the trolley under any different load conditions.

[0048] Furthermore, in one embodiment, the composite articulated suspension device further comprises a rotation angle conversion component and a mounting frame 113, the driving wheel set 120 is fixed under the mounting frame 113, the mounting frame 113 is mounted under the suspension frame 140 or its traction beam 142 through the first articulated shaft 110, the first articulated shaft 110 is connected to the suspension frame 140 or its traction beam 142 through the rotation angle conversion component, and the rotation angle conversion component is used to transform and adjust the rotation angle of the first articulated shaft 110, so that the rotation angle of the suspension frame 140 or its traction beam 142 is reduced to 20% to 2% of the rotation angle of the first articulated shaft 110 relative to the rotation angle of the first articulated shaft 110. In one embodiment, the rotation angle conversion component comprises a gear ratio less than or equal to 0.2. Such a design, on the one hand, is conducive to accurately controlling the direction and movement of the driving wheel group 120, ensuring that it will not cause local imbalance or overall imbalance due to too fast rotation or excessive rotation; on the other hand, it is conducive to accurately controlling the direction and position of the load-bearing structure on the suspension frame 140, so as to cooperate in forming the effects of "slow steering" and "fast driving".

[0049] In order to protect the structural design of the composite hinge formed by the two hinge shafts, further, in one embodiment, the rotation direction plane of the first hinge shaft 110 is perpendicular to the rotation direction plane of the second hinge shaft 133 to form a steering change of rigid force transmission. Figure 3 , Figure 4 and Figure 5 , the rotation direction plane B of the first articulated shaft 110 is perpendicular to the rotation direction plane C of the second articulated shaft 133, that is, the Z axis is perpendicular to the X axis and the Y axis, so that the pressure and possible torque from the load-bearing structure on the articulated structure 130 first pass through the reversal of the articulated structure 130, then pass through the reversal of the suspension frame 140, and then pass through the reversal of the first articulated shaft 110, and finally have little impact on the driving wheel group 120. Therefore, it is possible to achieve the effect of flexible omnidirectional movement of the trolley without elastic connection, so that the universal wheels and the driving wheels can touch the ground at the same time under different loads and different road conditions, avoiding slipping or snake-like walking.

[0050] Combination Figure 3 and Figure 5In order to ensure the safety of the hinged structure 130, further, in one embodiment, the composite hinged suspension device is provided with a limiting member 170 on the lower hinge support 132, and the limiting member 170 is used to limit the movement of the second hinge shaft 133; further, the limiting member 170 is also used to abut the upper hinge support 131 when the upper hinge support 131 rotates to a predetermined position along the second hinge shaft 133, so as to limit the extreme rotation position of the upper hinge support 131 along the second hinge shaft 133. In one embodiment, the limiting member 170 is a welding block, which is welded and fixed on the lower hinge support 132; in other embodiments, the limiting member 170 is a screwing block, which is screwed and fixed on the lower hinge support 132 by screws. The rest of the embodiments are similar and will not be described in detail. With such a design, the load-bearing structure will not rotate excessively on the hinged structure 130, thereby avoiding the safety risk of the load-bearing structure tipping over from the suspension frame 140.

[0051] Combination Figure 4 and Figure 5 In order to ensure the stability of the structure, in one embodiment, the number of the articulated structure 130 is a pair, and the pair of articulated structures 130 and the pair of universal wheels 150 have the same axis of symmetry. Further, in one embodiment, the driving wheel set 120 is a double differential wheel set, and its axis of symmetry is also the same as the axis of symmetry of the pair of articulated structures 130, that is, the driving wheel set 120, the pair of articulated structures 130 and the pair of universal wheels 150 have the same axis of symmetry. Further, in one embodiment, the suspension frame 140 or its bottom beam 141 also has an axis of symmetry, and its axis of symmetry is also the same as the axis of symmetry of the pair of articulated structures 130, that is, the suspension frame 140 or its bottom beam 141, the driving wheel set 120, the pair of articulated structures 130 and the pair of universal wheels 150 have the same axis of symmetry. With such a design, the composite articulated suspension device forms a stable central axis as a whole, so that the load-bearing structure on which it is installed has a stable, reliable and predictable chassis structure, so that industrial automatic devices such as automatic manipulator arms or industrial robots can be installed to achieve stable operation.

[0052] Combination Figure 5 and Figure 6In order to avoid the problem of loss of control caused by the rotation of the driving wheel set 120 beyond the predetermined range, in one embodiment, the driving wheel set 120 is a double differential wheel set, which has a pair of differential wheels. Furthermore, the composite articulated suspension device also includes a rotation angle limiting component 111 and a mounting frame 113, the driving wheel set 120 is fixed under the mounting frame 113, the mounting frame 113 is installed under the suspension frame 140 or its traction beam 142 through the first articulated shaft 110, the first articulated shaft 110 is connected to the suspension frame 140 or its traction beam 142 through the rotation angle limiting component 111, and the rotation angle limiting component 111 is used to limit the rotation angle of the first articulated shaft 110 so that the rotation angle of the first articulated shaft 110 for the suspension frame 140 or its traction beam 142 cannot exceed a preset range. In this embodiment, the rotation angle limiting assembly 111 is a gear pair, one of which is a driving wheel driven by the driving wheel set 120, and the other gear is a driven wheel. The driven wheel is movably installed in the limiting kit 116 through a limiting rod. The driven wheel is used to rotate under the driving wheel. When it rotates to a certain position, for example, when it rotates 5 circles clockwise or counterclockwise, the limiting rod is limited in the limiting kit 116, thereby limiting the continued rotation of the driven wheel, and then limiting the continued rotation of the driving wheel, even if the rotation angle of the first hinge shaft 110 cannot exceed the preset range for the suspension frame 140 or its traction beam 142. In one embodiment, the limiting rod is limited in the limiting kit 116 by screwing, clamping or abutting. Such a design is conducive to accurately controlling the direction and travel of the driving wheel set 120 on the one hand, ensuring that it will not lose control or lose balance as a whole due to excessive rotation; on the other hand, it is conducive to accurately controlling the direction and position of the load-bearing structure on the suspension frame 140.

[0053] In one embodiment, the composite articulated suspension device further comprises a servo motor 190 mounted on the suspension frame 140, Figure 7 and Figure 8In one embodiment, the composite articulated suspension device further includes a servo motor 190 mounted on the traction beam 142 of the suspension frame 140, which can also be understood as the servo motor 190 being mounted under the traction beam 142. For the embodiment with the mounting seat 112, the servo motor 190 is mounted under the mounting seat 112, and is mounted on the suspension frame 140 or under the traction beam 142 thereof through the mounting seat 112, that is, the servo motor 190 is mounted on the suspension frame 140 or under the traction beam 142 thereof through the mounting seat 112 and the first articulated shaft 110. Such a design is conducive to the output shaft of the servo motor 190 being connected to the driving wheel set 120. In each embodiment, the servo motor 190 drives and connects to the driving wheel set 120. The servo motor 190 drives the driving wheel set 120, especially drives the dual differential wheel set, and drives the driving wheel set 120 to turn or advance and retreat. The rotation direction and speed of the two sets of servo motors installed on the rubber-coated wheels are used to control the direction and movement of the dual differential wheel set, thereby driving the compound articulated suspension device to move, and then driving the load-bearing structure and the objects it carries to move.

[0054] In other embodiments, a power supply assembly may be installed on the suspension frame 140 to supply power to the servo motor 190. Furthermore, in one embodiment, the composite articulated suspension device further comprises a control assembly installed on the suspension frame 140, the control assembly is signal-connected or electrically connected to the servo motor 190, and the control assembly is used to control the servo motor 190 to drive the driving wheel assembly 120 according to a stored control signal or a received control signal, so that the composite articulated suspension device moves in a controlled manner.

[0055] Combination Fig. 9 and Fig.10In order to maintain the position stability of the load-bearing structure and limit its displacement range, in one embodiment, the composite hinged suspension device further includes a limit block 180, which is fixed to the suspension frame 140, and is used to limit the limit position of the load-bearing structure relative to the suspension frame 140. In one embodiment, the number of the limit blocks 180 is a pair. In one embodiment, the shape of the limit block 180 is rectangular or further, the limit block 180 has a two-dimensional limit portion, which limits the limit position of the load-bearing structure relative to the suspension frame 140 in the plane direction and the height direction respectively. Such a design is conducive to reasonably limiting the extreme displacement range of the load-bearing structure on the compound articulated suspension device when the compound articulated suspension device is in motion. Although it is a simple limit block structure, it effectively prevents the vehicle body stability problem caused by excessive rotation and swing of the upper hinge support 131 and / or the lower hinge support 132, which is a new problem generated during testing due to the use of a compound articulated design, thereby ensuring production safety.

[0056] like Fig.11 and Fig.12 As shown, further, in one embodiment, the rotation angle limiting component 111 is provided with a hole slot 115, and the suspension frame 140 or its traction beam 142 is provided with a through hole 143 corresponding to the hole slot 115, and the hole slot 115 cooperates with the through hole 143 to pass the line to connect the servo motor 190. In this embodiment, the rotation angle limiting component 111 is fixed to the bottom of the suspension frame 140 or its traction beam 142 by installing screws 114.

[0057] like Fig.13 and Fig.14 As shown, further, in one embodiment, the composite articulated suspension device further includes a mounting seat 112 and a mounting frame 113, the driving wheel set 120 is fixed under the mounting frame 113, and the mounting frame 113 is installed under the mounting seat 112 through the first articulated shaft 110, combined with Fig.15 and Fig.16, the mounting seat 112 is fixed under the suspension frame 140; that is, through the hinge connection between the mounting frame 113 and the mounting seat 112, one of the hinges of the composite hinged suspension device is realized, and the load-bearing structure that carries the load acts on the suspension frame 140 in an hinged manner through the hinged structure 130, and the suspension frame 140 acts on the mounting frame 113 in an hinged manner through the mounting seat 112, and then acts on the driving wheel group 120, that is, in the implementation method of the composite hinge, an additional mounting seat 112 and a mounting frame 113 for dispersing and transmitting pressure are provided to reduce the rigid collision problem of direct connection, and the pressure is converted into torque through the hinged manner, so it is conducive to replacing the traditional elastic connection method using springs and directly adopting the composite hinge design, thereby realizing flexible omnidirectional movement of the trolley, and ensuring that the driving wheels are always on the ground under different loads and different road conditions under normal use, avoiding the occurrence of nodding problems and head-up problems, and thus improving the safety of the composite hinged suspension device.

[0058] In one embodiment, the double differential wheel set with the first articulated shaft 110, i.e., the driving wheel set 120, is connected to the suspension frame 140 by screws, the articulated structure 130 is connected to the suspension frame 140 by screws, the upper hinge support 131 is fixed to the articulated structure 130 by the second articulated shaft 133 and the limiting member 170, such as a clamp or a welding block, and the limiting block 180 is fixed to the suspension frame 140 by welding, wherein a copper sleeve is placed on the inner ring of the upper hinge support 131. The composite articulated suspension device with articulation in the present application has an omnidirectional movement principle, which is achieved by the driving wheel set 120 with double differential wheels, and realizes steering and provides power through the differential movement of two servo motors 190, thereby realizing the movement process of omnidirectional movement. The adaptability of the composite articulated suspension device to the ground is achieved by the first articulated shaft 110 on the driving wheel set 120 with dual differential wheels to achieve a rotational freedom in the XY plane, and by the connection of the upper articulated structure 130, the suspension frame has a rotational freedom in the YZ plane. Through these two rotational freedoms, the driving wheel set 120 with dual differential wheels and the two universal wheels 150 can be grounded at the same time. The composite articulated suspension device is also provided with safety protection measures. By welding two limit blocks 180 on the suspension frame 140, the overall stability problem caused by the excessive rotation and swing amplitude of the upper and lower articulated supports is effectively prevented, for example, the body of the car can be guaranteed to be stable. In this way, the composite articulated suspension device can achieve the simultaneous grounding of the four driving wheels under different loads and different road conditions, without slipping or snake-like walking, and realizes the flexible omnidirectional movement of the car, has a certain ground adaptability, and avoids the risks of nodding and looking up that are easy to occur in many differential wheels with springs.

[0059] In each embodiment, the composite articulated suspension device achieves a certain ground adaptability under the premise of satisfying omnidirectional movement. Taking a car as an example, many existing cars use a suspension device with a spring, which is prone to nodding and tilting problems, and there is a risk that the driving wheel will leave the ground and cause poor stability. The embodiments of the present application use a double differential wheel with a composite articulation to avoid such problems to a large extent, and increase the composite articulation point on the suspension to achieve a certain ground adaptability of the car.

[0060] In one embodiment, a trolley includes the composite articulated suspension device of any embodiment. The trolley can exist as an industrial mobile robot or as a part of an industrial mobile robot.

[0061] In one embodiment, an industrial mobile robot includes the composite articulated suspension device described in any embodiment. With such a design, the industrial mobile robot uses a composite articulation scheme, with the driving wheel set articulated under the suspension frame on one hand, and the vehicle body articulated on the suspension frame on the other hand, to achieve flexible omnidirectional movement of the vehicle, with better ground adaptability, so that the universal wheels and driving wheels can touch the ground at the same time under different loads and different road conditions, avoiding slipping or snake-like walking, and avoiding the risks of nodding and looking up caused by the traditional elastic connection technology using springs.

[0062] In one embodiment, an electric control device includes a memory and a processor, the memory stores a computer program, and the processor implements the drive control of the driving wheel group of the industrial mobile robot or the composite articulated suspension device in any embodiment when executing the computer program. The electric control device can also be called a device or an electronic device. In one embodiment, an electric control device is also provided, including a memory and a processor, the memory stores a computer program, and the processor implements the drive control of the driving wheel group of the composite articulated suspension device in each embodiment when executing the computer program.

[0063] In one embodiment, a computer-readable storage medium stores a computer program, that is, the computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the drive control of the driving wheel group of the industrial mobile robot or the composite articulated suspension device described in any embodiment is realized. A person of ordinary skill in the art can understand that the implementation of all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the drive control process of each of the above-mentioned embodiments. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0064] It should be noted that other embodiments of the present application also include a composite articulated suspension device and an industrial mobile robot that can be implemented by combining the technical features in the above embodiments.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A composite articulated suspension device, characterized in that: include: A first articulated shaft, a driving wheel set, an articulated structural member, a suspension frame and a universal wheel; The driving wheel set is installed under the suspension frame through the first hinge shaft, and the universal wheel is installed under the suspension frame; The hinged structure comprises an upper hinge support, a lower hinge support and a second hinge shaft, the upper hinge support is mounted on the lower hinge support via the second hinge shaft, the lower hinge support is fixed on the suspension frame, and the upper hinge support is used to install the load-bearing structure; The rotation direction plane of the first articulated shaft is perpendicular to the rotation direction plane of the second articulated shaft to form a steering change of rigid force transmission; The number of the articulated structural members is a pair, and the pair of articulated structural members and the pair of universal wheels have the same symmetry axis; The driving wheel set is a double differential wheel set; The suspension frame, the driving wheel set, the pair of articulated structures and the pair of universal wheels have the same axis of symmetry; The composite articulated suspension device further comprises a rotation angle limiting component and a mounting frame, wherein the driving wheel set is fixed under the mounting frame, and the mounting frame is mounted under the suspension frame through the first articulated shaft, and the first articulated shaft is connected to the suspension frame through the rotation angle limiting component, and the rotation angle limiting component is used to limit the rotation angle of the first articulated shaft so that the rotation angle of the first articulated shaft cannot exceed a preset range for the suspension frame; Among them, the rotation angle limiting component is a gear pair, one gear is a driving wheel driven by the driving wheel group, and the other gear is a driven wheel, the driven wheel is movably installed in the limiting kit through a limiting rod, and the driven wheel is used to rotate under the drive of the driving wheel. When it rotates to a certain position, the limiting rod is limited in the limiting kit, thereby limiting the continued rotation of the driven wheel, and then limiting the continued rotation of the driving wheel.

2. The composite articulated suspension device according to claim 1, characterized in that: It also includes a limit block, which is fixed on the suspension frame and is used to limit the extreme position of the load-bearing structure moving relative to the suspension frame; The limit block has two-dimensional limit parts, which respectively limit the limit position of the load-bearing structure relative to the suspension frame in the plane direction and the height direction; Furthermore, the rotation angle limiting component is provided with a hole slot, and the suspension frame is provided with a through hole corresponding to the hole slot, and the hole slot cooperates with the through hole to pass the line to connect the servo motor.

3. The composite articulated suspension device according to claim 2, characterized in that: The number of the limiting blocks is a pair.

4. The composite articulated suspension device according to claim 1, characterized in that: The number of the universal wheels is a pair.

5. The composite articulated suspension device according to claim 4, characterized in that: The pair of universal wheels are symmetrically arranged, and the driving wheel set is arranged on the symmetry axes of the pair of universal wheels.

6. The composite articulated suspension device according to claim 5, characterized in that: The suspension frame includes a bottom beam and a traction beam fixed on the bottom beam; the driving wheel group is installed under the traction beam through the first hinge shaft, the traction beam protrudes from the bottom beam, the universal wheel is installed under the bottom beam, and a pair of universal wheels are respectively located at both ends of the bottom beam, so that the driving wheel group as a whole and the pair of universal wheels form an obtuse isosceles triangle.

7. The composite articulated suspension device according to claim 1, characterized in that: The inner ring of the upper hinge support is provided with a copper sleeve.

8. The composite articulated suspension device according to claim 1, characterized in that: The composite hinged suspension device is provided with a limiting member on the lower hinge support, and the limiting member is used to limit the movement of the second hinge shaft.

9. The composite articulated suspension device according to any one of claims 1 to 8, characterized in that: It also includes a servo motor installed on the suspension frame, and the servo motor is driven and connected to the driving wheel set.

10. An industrial mobile robot, characterized in that: A suspension device comprising the compound hinge as claimed in any one of claims 1 to 9.

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