An independent suspension device with steering for a robot chassis and a robot chassis

Abstract

The present invention discloses an independent suspension device for a robot chassis with steering and a robot chassis. The independent suspension device includes a suspension system mounted on the wheels, and the suspension system includes a hub motor and a suspension mechanism; the suspension mechanism includes a hub motor clamping mechanism, a cantilever link, a lower suspension arm, a support arm and a shock absorber; the front and rear sides of the upper part of the hub motor clamping mechanism are hinged to the outer ends of two cantilever links, and the inner ends of the two cantilever links are hinged to the front and rear sides of the middle part of the support arm; the front and rear sides of the lower part thereof are hinged to the outer ends of two cantilever links, and the inner ends of the two cantilever links are hinged to the front and rear sides of the bottom of the support arm; the shock absorber is located between the two cantilever links, with the top connected to the middle of the top of the support arm and the bottom connected to the middle of the two cantilever links; it further includes two steering systems mounted on the left and right sides of the chassis main body. Through the four-wheel independent suspension system and the two-side independent steering system, the shock absorption effect of the suspension system and the adaptability of the robot chassis to various road conditions such as sharp turns are improved.

Description

Technical Field

[0001] The present invention relates to an independent suspension device for a robot chassis, and particularly to an independent suspension device with steering for a robot chassis and a robot chassis, belonging to the technical field of robot suspension systems. Background Art

[0002] As the application fields of robots are becoming wider and wider and the working scenarios are becoming more and more complex, when a robot is walking, it is often prone to the phenomenon of unstable center of gravity due to complex road conditions (such as potholes, bumps, crossing curbs, going uphill, going downhill, etc.), resulting in the robot being prone to slipping, tilting, or even tipping over. This not only affects the accuracy of the robot's walking, positioning, etc., but also makes the goods carried on the robot easy to fall. Therefore, in addition to the conventional performances such as walking, climbing slopes, crossing obstacles, waterproofing, wading through water, etc., the stability of the robot, especially the obstacle-crossing stability, turning stability, in-situ spinning stability, etc. are also getting more and more attention.

[0003] In order to improve the walking stability of the robot, the suspension systems of robots on the market mainly have the following forms: the front two wheels share a shock absorber with a spring, and the rear two wheels share a shock absorber with a spring; or the two left wheels share a shock absorber with a spring, and the two right wheels share a shock absorber with a spring; or the four wheels share a shock absorber with a spring. And, the steering methods of robots on the market are generally divided into two types: the first is to generate a speed difference between the left and right drive wheel systems to achieve steering, and the second is to add a steering mechanism and a motor to the front two drive wheels, and change the directions of the front two wheels by driving the steering mechanism with the motor, so as to achieve the overall steering of the robot.

[0004] For the whole robot, although the above-mentioned suspension forms all play a certain "shock absorption" effect, the effects are not obvious, and only a certain shock absorption function is achieved, and the shock elimination function is not achieved. Therefore, the suspension systems of the above three structural forms are generally used in robots with not particularly high requirements for shock absorption or good operating environments, such as distribution robots, mobile AGV cars, reception robots, etc.; but for special robots with relatively high requirements for the smoothness during the movement of the robot itself and complex operating environments, such as outdoor inspection robots that take pictures and videos while walking, it is obviously difficult to meet the actual requirements.

[0005] Therefore, how to improve the stability of robot actions in complex environments is a difficult problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0006] In view of the above existing technical problems, the present invention provides an independent suspension device for a robot chassis with steering and a robot chassis, aiming to improve the shock absorption effect of the suspension system and the adaptability of the robot to various road conditions such as sharp turns through a four-wheel independent suspension system and an independent steering system on both left and right sides, thereby improving the stability and smoothness of the robot when walking on complex road conditions.

[0007] To achieve the above object, the present invention provides an independent suspension device for a robot chassis with steering, including a suspension system installed on the wheels; the suspension system includes a hub motor installed on the wheels, and a suspension mechanism connected to the hub motor and installed on the chassis main body.

[0008] The suspension mechanism includes a hub motor clamping mechanism, two cantilever linkages, two suspension lower arms, a support arm, and a shock absorber.

[0009] The hub motor clamping mechanism is installed inside the hub motor; the outer ends of the front and rear sides of its upper part are respectively hinged to the outer ends of the two cantilever linkages, and the inner ends of the two cantilever linkages are respectively hinged to the front and rear sides of the middle part of the support arm; the outer ends of the front and rear sides of its lower part are respectively hinged to the outer ends of the two cantilever linkages, and the inner ends of the two cantilever linkages are respectively hinged to the front and rear sides of the bottom of the support arm.

[0010] The shock absorber is located between the two cantilever linkages, its top is connected to the middle of the top of the support arm, and its bottom is respectively connected to the middle of the two cantilever linkages, so that the robot wheels contact the ground under the elastic force of the shock absorber.

[0011] It can be seen from the above technical solution that when the hub motor moves up or down with the robot wheels, it can drive the suspension lower arm to rotate clockwise or counterclockwise around its hinge point on the support arm through the hub motor clamping mechanism, thereby driving the shock absorber to compress or stretch, playing a role in shock absorption.

[0012] Further, the suspension mechanism of the present invention further includes a cantilever support; the outer end of the cantilever support is connected to the top surface of the support arm, and its inner end is connected to the chassis main body.

[0013] Further, the suspension mechanism of the present invention further includes a lower support arm and a lower support arm fixing seat; the outer end of the lower support arm is connected to the bottom surface of the hub motor clamping mechanism, its inner end is hinged to the outer end of the lower support arm fixing seat, and the inner end of the lower support arm fixing seat is connected to the chassis main body.

[0014] It can be seen from the above technical solution that when the hub motor moves up or down with the robot wheels, it can drive the lower support arm to rotate clockwise or counterclockwise around its hinge point on the lower support arm fixing seat through the hub motor clamping mechanism.

[0015] Further, the hub motor clamping mechanism of the present invention includes an upper clamping for the hub motor and a lower clamping for the hub motor; the upper clamping for the hub motor and the lower clamping for the hub motor respectively clamp the upper and lower parts of the central shaft of the hub motor and are fixed on the central shaft of the hub motor; and the outer ends of two cantilever linkages are respectively hinged to the front and rear sides of the upper clamping for the hub motor, and the outer ends of two cantilever linkages are respectively hinged to the front and rear sides of the lower clamping for the hub motor.

[0016] Specifically, the present invention has four suspension systems, and the four hub motors are respectively installed on the four wheels of the robot, and the four suspension mechanisms are respectively installed on the inner sides of the four hub motors and fixed on the chassis main body.

[0017] As can be seen from the above technical solutions, independent suspension systems are respectively installed on the four wheels of the robot, forming a left front suspension system, a left rear suspension system, a right front suspension system, and a right rear suspension system. The four suspension systems are relatively independent. On the one hand, they jointly support the chassis main body from four directions, and on the other hand, they respectively damp each wheel, making the support and damping very timely and stable.

[0018] Further, the present invention also includes two steering systems respectively installed on the left and right sides of the chassis main body, and each steering system is connected to the two suspension systems on the same side.

[0019] The steering system includes a motor fixing plate connected to the chassis main body, a steering motor installed inside the motor fixing plate, a steering flange installed outside the motor fixing plate, and two guide rail assemblies respectively located on the front and rear sides of the motor fixing plate.

[0020] The inner side of the steering flange is connected to the steering motor, and its outer side is respectively connected to the two guide rail assemblies on the front and rear sides through the upper and lower symmetric ends.

[0021] Each guide rail assembly includes a linear guide rail connected to the chassis main body, two limit blocks respectively installed at both ends of the linear guide rail, a slider movably installed on the linear guide rail, and a slider connection seat installed on the outer side of the slider; the outer ends of the two slider connection seats on the front and rear sides in the two guide rail assemblies are respectively connected to the suspension mechanisms on the same side through the first bearing assemblies, and their inner ends are respectively connected to the upper and lower ends of the steering flange through the second bearing assemblies.

[0022] As can be seen from the above technical solutions, since the two steering systems are respectively installed on the left and right sides of the chassis main body, a left steering system and a right steering system are formed; since each steering system includes two guide rail assemblies, and the two guide rail assemblies are respectively located on the front and rear sides of the motor fixing plate, the left steering system forms a left front side guide rail assembly and a left rear side guide rail assembly, and the right steering system forms a right front side guide rail assembly and a right rear side guide rail assembly. Moreover, the left steering system is respectively connected to the left front side suspension system and the left rear side suspension system, that is, the outer end of the slider connecting seat in the left front side guide rail assembly is connected to the left front side suspension mechanism, and the inner end is connected to the upper end of the steering flange; the outer end of the slider connecting seat in the left rear side guide rail assembly is connected to the left rear side suspension mechanism, and the inner end is connected to the lower end of the steering flange; at the same time, the right steering system is respectively connected to the right front side suspension system and the right rear side suspension system, that is, the outer end of the slider connecting seat in the right front side guide rail assembly is connected to the right front side suspension mechanism, and the inner end is connected to the upper end of the steering flange; the outer end of the slider connecting seat in the right rear side guide rail assembly is connected to the right rear side suspension mechanism, and the inner end is connected to the lower end of the steering flange.

[0023] Moreover, when the steering motor rotates counterclockwise or clockwise, the sliders on the linear guide rails on its front and rear sides are driven to slide relative to or away from each other through both ends of the steering flange, thereby driving the two suspension mechanisms on the same side to rotate counterclockwise or clockwise.

[0024] Furthermore, in the present invention, the first bearing assembly includes a spherical plain bearing two and a spherical plain bearing one; the outer end of the slider connecting seat is connected to the bearing end of the spherical plain bearing two, the rod end of the spherical plain bearing two is connected to the rod end of the spherical plain bearing one, and the spherical plain bearing one is connected to the top surface of the support arm in the corresponding suspension mechanism.

[0025] Furthermore, in the present invention, the second bearing assembly includes a spherical plain bearing three, a double-headed screw, and a spherical plain bearing four; the inner end of the slider connecting seat is connected to the bearing end of the spherical plain bearing three, the rod end of the spherical plain bearing three is connected to the outer end of the double-headed screw, the inner end of the double-headed screw is connected to the rod end of the spherical plain bearing four, and the bearing end of the spherical plain bearing four is connected to the corresponding end of the steering flange.

[0026] Moreover, the present invention also provides a robot chassis, including a chassis main body and the above-mentioned independent suspension device for a robot chassis with steering.

[0027] In summary, the present invention is a brand-new independent suspension chassis with steering, enabling each of the four wheels of the robot to have an independent suspension system, and there are two independent steering systems on the left and right sides. Moreover, the four independent suspension systems are equipped with adjustable shock absorbers, which can ensure the stability of the robot itself under any road conditions, minimizing the impact of complex road conditions on the stability of the robot, especially the stability required for taking pictures. At the same time, the independent steering systems on the left and right sides can ensure that the robot can spin in place while reducing its turning radius, thereby improving its adaptability to various road conditions such as sharp turns.

[0028] Compared with the traditional suspension system, the present invention has the following technical advantages:

[0029] 1. The four-wheel independent suspension systems in the present invention are independent of each other, with higher flexibility and can adapt to more complex outdoor environments; at the same time, the four shock absorbers in the four independent suspension systems endow the robot with the stability of an off-road vehicle, making the applicable scenarios wider, enhancing the flexibility of the robot to conform to complex terrains, improving the stability and smoothness of the robot when walking on complex road conditions, and avoiding adverse phenomena such as slipping, shaking, tipping, inaccurate walking positioning, and cargo falling when the robot walks on complex road conditions.

[0030] 2. The independent steering systems on the left and right sides in the present invention can achieve zero-offset spin in place, zero turning radius, and stronger steering adaptability, especially having better effects for scenarios with a smaller turning radius or requiring sharp turns. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic structural diagram of an independent suspension robot chassis with steering provided by the present invention;

[0032] Figure 2 is a schematic structural diagram of the suspension system in an independent suspension robot chassis with steering provided by the present invention;

[0033] Figure 3 is a schematic structural diagram of the suspension mechanism in an independent suspension robot chassis with steering provided by the present invention Figure 1 ;

[0034] Figure 4 is a schematic structural diagram of the suspension mechanism in an independent suspension robot chassis with steering provided by the present invention Figure 2 ;

[0035] Figure 5 is a schematic structural diagram of the steering system in an independent suspension robot chassis with steering provided by the present invention;

[0036] Figure 6Schematic diagram of the principle of in-situ rotation of an independent suspension robot chassis with steering provided by the present invention;

[0037] In the figure: 1. Chassis main body, 2. Steering system, 2-1. Steering motor, 2-2. Motor fixing plate, 2-3. Steering flange, 2-4. Limit block, 2-5. Linear guide rail, 2-6. Slide block connecting seat, 2-7. Spherical plain bearing 1, 2-8. Spherical plain bearing 2, 2-9. Set screw 1, 2-10. Set screw 2, 2-11. Double-headed screw, 2-12. Set screw 3, 2-13. Combination screw, 2-14. Locking nut, 2-15. Spherical plain bearing 3, 2-16. Spherical plain bearing 4, 3. Suspension system, 3-1. Hub motor, 3-2. Spring washer, 3-3. Nut, 3-4 Suspension mechanism, 3-4-1. Cantilever support, 3-4-2. Support arm, 3-4-3. Cantilever connecting rod, 3-4-4. Lower support arm fixing seat, 3-4-5. Set screw 4, 3-4-6. Lower support arm, 3-4-7. Single-rod threaded joint rod head, 3-4-8. Shock absorber, 3-4-9. Clamping on the hub motor, 3-4-10. Clamping under the hub motor, 3-4-11. Opposite-lock mother and son screw, 3-4-12. Hinge pin, 3-4-13. Bronze bushing, 3-4-14. Suspension lower swing arm, 3-4-15. Set screw 5, 3-4-16. Ball bearing, 3-4-17. Combined bearing. Specific embodiments

[0038] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] In the description of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a hinge connection, a movable connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] For the convenience of description and understanding, the orientation or positional relationship indicated by top, bottom, up, down, left, right, front, and back is based on the top, bottom, up, down, left, right, front, and back with reference to the robot. Among them, the height direction of the robot is the top-bottom direction or the up-down direction, the left-right direction of the robot is the left-right direction, and the direction along the walking direction of the robot is the front-back direction. Moreover, the orientation or positional relationship indicated by inside and outside is based on the inside and outside with reference to the center of the robot or the center of the system where it is located. Among them, the part close to the center of the robot or the center of the system is the inside, and the part far from the center of the robot or the center of the system is the outside. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0041] As Figure 2 shown, this embodiment provides an independent suspension device for a robot chassis with steering, including a suspension system 3 installed on the wheels; the suspension system 3 includes a hub motor 3-1 installed on the robot wheels, and a suspension mechanism 3-4 connected to the hub motor 3-1 and installed on the chassis main body 1.

[0042] As Figure 3 、 Figure 4 shown, the suspension mechanism 3-4 includes a hub motor clamping mechanism, two cantilever linkages 3-4-3, two suspension lower arms 3-4-14, a support arm 3-4-2, and a shock absorber 3-4-8.

[0043] Specifically, the hub motor clamping mechanism is installed inside the hub motor 3-1 (i.e., the side close to the center of the robot); the front and rear sides of its upper part are respectively hinged to the outer ends (i.e., the ends far from the center of the robot) of the two cantilever linkages 3-4-3, and the inner ends (i.e., the ends close to the center of the robot) of the two cantilever linkages 3-4-3 are respectively hinged to the front and rear sides of the middle part of the support arm 3-4-2 through a combined bearing 3-4-17 and a hinge pin 3-4-12; the front and rear sides of its lower part are respectively hinged to the outer ends of the two cantilever linkages 3-4-3, and the inner ends of the two cantilever linkages 3-4-3 are respectively hinged to the front and rear sides of the bottom of the support arm 3-4-2 through a combined bearing 3-4-17 and a hinge pin 3-4-12.

[0044] As Figure 4 shown, the shock absorber 3-4-8 is located between the two cantilever linkages 3-4-3. Its top is connected to the middle of the top of the support arm 3-4-2 through a pair of locking mother and son screws 3-4-11, and its bottom is respectively connected to the middle of the two cantilever linkages 3-4-3 through a pair of locking mother and son screws 3-4-11, so that the robot wheels contact the ground under the elastic force of the shock absorber 3-4-8.

[0045] In other embodiments of the present invention, asFigure 3 As shown, the suspension mechanism 3-4 further includes a cantilever support 3-4-1; the outer end of the cantilever support 3-4-1 is installed on the top surface of the support arm 3-4-2 through a single-rod threaded joint rod head 3-4-7, and its inner end is connected to the chassis main body 1.

[0046] In other embodiments of the present invention, such as Figure 3 As shown, the suspension mechanism 3-4 further includes a lower support arm 3-4-6 and a lower support arm fixing seat 3-4-4; the outer end of the lower support arm 3-4-6 is connected to the bottom surface of the hub motor clamping mechanism through a single-rod threaded joint rod head 3-4-7, and its inner end is hinged to the outer end of the lower support arm fixing seat 3-4-4 through a set screw four 3-4-5 and a copper bushing 3-4-13. The inner end of the lower support arm fixing seat 3-4-4 is fixed to the corresponding side of the chassis main body 1 by screws.

[0047] In other embodiments of the present invention, such as Figures 2 - 4 As shown, the hub motor clamping mechanism includes an upper hub motor clamp 3-4-9 and a lower hub motor clamp 3-4-10; the upper hub motor clamp 3-4-9 and the lower hub motor clamp 3-4-10 are butted up and down, respectively clamping the upper and lower parts of the central axis of the hub motor 3-1, and are fixed on the central axis of the hub motor 3-1 through a spring washer 3-2 and a nut 3-3; and the front and rear sides of the upper hub motor clamp 3-4-9 are respectively hinged to the outer ends of two cantilever linkages 3-4-3 through a combined bearing 3-4-17, a ball bearing 3-4-16 and a hinge pin 3-4-12, and the front and rear sides of the lower hub motor clamp 3-4-10 are respectively hinged to the outer ends of two cantilever linkages 3-4-3 through a ball bearing 3-4-16 and a set screw five 3-4-15.

[0048] When the present invention is specifically implemented, such as Figure 1 As shown, there are four suspension systems 3. Four hub motors 3-1 are respectively installed on the four wheels of the robot. Four suspension mechanisms 3-4 are respectively installed on the inner sides of the four hub motors 3-1 and fixed to the chassis main body 1, forming a left front suspension system 3, a left rear suspension system 3, a right front suspension system 3, and a right rear suspension system 3, so that the four wheels of the robot respectively use independent suspension systems 2, which is more flexible and more adaptable to complex outdoor environments.

[0049] Such as Figures 2 - 4As shown in the figure, the assembly sequence of the above-mentioned suspension mechanism 3-4 is as follows: First, fix the cantilever support 3-4-1 to the chassis main body 1 with screws, and connect the support arm 3-4-2 to the bottom of the cantilever support 3-4-1 through the single-rod threaded joint rod head 3-4-7. Second, connect the top of the shock absorber 3-4-8 to the middle of the top of the support arm 3-4-2 through the locking mother and son screws 3-4-11. At the same time, connect the bottom of the shock absorber 3-4-8 to the middle of the front and rear two suspension lower swing arms 3-4-14 through the locking mother and son screws 3-4-11. Then, connect the inner ends of the two suspension lower swing arms 3-4-14 to the front and rear sides of the bottom of the support arm 3-4-2 through the combined bearing 3-4-17 and the hinge pin 3-4-12 respectively, and connect the outer ends of the two suspension lower swing arms 3-4-14 to the front and rear sides of the lower clamping of the hub motor 3-4-10 through the ball bearing 3-4-16 and the set screw five 3-4-15 respectively. Subsequently, clamp the upper and lower parts of the corresponding hub motor 3-1 central shaft with the upper clamping of the hub motor 3-4-9 and the lower clamping of the hub motor 3-4-10 and fix them with screws. Then, fix the upper clamping of the hub motor 3-4-9 and the lower clamping of the hub motor 3-4-10 to the inner side of the hub motor 3-1 through the spring washer 3-2 and the nut 3-3. Furthermore, connect the front and rear sides of the upper clamping of the hub motor 3-4-9 to the outer ends of the two cantilever connecting rods 3-4-3 through the combined bearing 3-4-17, the ball bearing 3-4-16 and the hinge pin 3-4-12 respectively, and connect the inner ends of the two combined bearings 3-4-17 through the ball bearing 3-4-16 and the hinge pin 3-4-12, while the inner ends of the two cantilever connecting rods 3-4-3 are connected to the front and rear sides of the middle part of the support arm 3-4-2 through the combined bearing 3-4-17 and the hinge pin 3-4-12 respectively. Finally, connect the bottom surface of the lower clamping of the hub motor 3-4-10 to the lower support arm 3-4-6 through the single-rod threaded joint rod head 3-4-7, connect the inner side of the lower support arm 3-4-6 to the lower support arm fixing seat 3-4-4 through the set screw 43-4-5 and the copper bushing 3-4-13, and fix the lower support arm fixing seat 3-4-4 to the corresponding side of the chassis main body 1 with screws. Thus, the suspension mechanism assembly is completed.

[0050] In addition, as Figure 5 shown, the present invention further includes two steering systems 2 respectively installed on the left and right sides of the chassis main body 1, forming a left steering system 2 and a right steering system 2; each of the steering systems 2 is connected to the two suspension systems 3 on the same side, that is, the left steering system 2 is respectively connected to the left front suspension system 3 and the left rear suspension system 3, and the right steering system 2 is respectively connected to the right front suspension system 3 and the right rear suspension system 3.

[0051] Moreover, the steering system 2 includes a motor fixing plate 2-2 connected to the chassis main body 1, a steering motor 2-1 installed inside the motor fixing plate 2-2, a steering flange 2-3 installed outside the motor fixing plate 2-2, and two guide rail assemblies respectively located on the front and rear sides of the motor fixing plate 2-2.

[0052] Among them, the inner side of the steering flange 2-3 is connected to the steering motor 2-1, and its outer side is connected to the two guide rail assemblies on the front and rear sides respectively through the upper and lower symmetric ends, that is, the upper end is connected to the front-side guide rail assembly, and the lower end is connected to the rear-side guide rail assembly.

[0053] Each of the guide rail assemblies includes a linear guide rail 2-5 connected to the chassis main body 1, two limit blocks 2-4 respectively installed at both ends of the linear guide rail 2-5, a slider movably installed on the linear guide rail 2-5 through a combination screw 2-13, and a slider connection seat 2-6 installed on the outer side of the slider. The limit block 2-4 at the inner end (i.e., the end close to the center of the steering system 2) of the linear guide rail 2-5 is installed on the corresponding side of the chassis main body 1. The outer ends (i.e., the ends far from the center of the steering system 2) of the two slider connection seats 2-6 on the front and rear sides are respectively connected to the suspension mechanisms 3-4 on the same side through the first bearing assemblies, and their inner ends (i.e., the ends close to the center of the steering system 2) are respectively connected to the upper and lower ends of the steering flange 2-3 through the second bearing assemblies.

[0054] As Figure 1 shown, in specific implementation, two steering systems 2 are respectively installed on the left and right sides of the chassis main body 1, forming a left-side steering system 2 and a right-side steering system 2; each steering system 2 includes two guide rail assemblies, and the two guide rail assemblies are respectively located on the front and rear sides of the motor fixing plate 2-2, forming a left-front-side guide rail assembly, a left-rear-side guide rail assembly, a right-front-side guide rail assembly, and a right-rear-side guide rail assembly. Moreover, the outer end of the left-front-side slider connection seat 2-6 is connected to the left-front-side suspension mechanism 3-4, and the inner end is connected to the upper end of the steering flange 2-3. The outer end of the left-rear-side slider connection seat 2-6 is connected to the left-rear-side suspension mechanism 3-4, and the inner end is connected to the lower end of the steering flange 2-3; meanwhile, the outer end of the right-front-side slider connection seat 2-6 is connected to the right-front-side suspension mechanism 3-4, and the inner end is connected to the upper end of the steering flange 2-3. The outer end of the right-rear-side slider connection seat 2-6 is connected to the right-rear-side suspension mechanism 3-4, and the inner end is connected to the lower end of the steering flange 2-3.

[0055] In other embodiments of the present invention, the first bearing assembly includes a spherical plain bearing two 2-8 and a spherical plain bearing one 2-7; the outer end (i.e., the end far from the center of the steering system 2) of the slider connection seat 2-6 is connected to the bearing end of the spherical plain bearing two 2-8 through a set screw one 2-9 and a lock nut 2-14. The rod end of the spherical plain bearing two 2-8 is connected to the rod end of the spherical plain bearing one 2-7, and the spherical plain bearing one 2-7 is connected to the top surface of the support arm 3-4-2 in the corresponding suspension mechanism 3-4.

[0056] In other embodiments of the present invention, the second bearing assembly includes a spherical plain bearing three 2-15, a double-headed screw 2-11, and a spherical plain bearing four 2-16; the inner end of the slider connecting seat 2-6 (i.e., the end close to the center of the steering system 2) is connected to the bearing end of the spherical plain bearing three 2-15 through a dowel screw two 2-10, the rod end of the spherical plain bearing three 2-15 is connected to the outer end of the double-headed screw 2-11 (i.e., the end far from the center of the steering system 2), the inner end of the double-headed screw 2-11 (i.e., the end close to the center of the steering system 2) is connected to the rod end of the spherical plain bearing four 2-16, and the bearing end of the spherical plain bearing four 2-16 is connected to the corresponding end of the steering flange 2-3 through a dowel screw three 2-12.

[0057] As Figure 1 , Figure 5 shown, the assembly sequence of the above-mentioned steering system 2 is as follows: First, fix the steering motor 2-1 to the motor fixing plate 2-2, and fix the two as a whole to the chassis main body 1 with screws. Secondly, on the front and rear sides of the steering motor 2-1, fix the two linear guides 2-5 to the chassis main body 1 with screws, and fix the limit blocks 2-4 at the inner ends of the two linear guides 2-5 to the chassis main body 1 with screws respectively. Then, fix the steering flange 2-3 to the steering motor 2-1 with screws. Next, the two ends of the steering flange 2-3 are respectively connected to a spherical plain bearing two 2-8 through a dowel screw three 2-12, fix the slider connecting seat 2-6 to the slider on the linear guide 2-5 with screws, then connect the outer end of the slider connecting seat 2-6 to another spherical plain bearing two 2-8 through a dowel screw one 2-9, connect the inner end of the slider connecting seat 2-6 to another spherical plain bearing two 2-8 through a dowel screw two 2-10, and fix with a double-headed screw 2-11 between the two spherical plain bearings 2-8 installed at the inner end of the slider connecting seat 2-6 and the steering flange 2-3. Finally, each spherical plain bearing two 2-8 installed at the outer end of the slider connecting seat 2-6 is connected to a spherical plain bearing one 2-7, and each spherical plain bearing one 2-7 is respectively connected to the top surface mounting shaft of the support arm 3-4-2 in the corresponding suspension mechanism 3-4 through a dowel screw two 2-10. Moreover, the spherical plain bearings one 2-7 on the front and rear sides of each steering system 2 are respectively connected to the top surface mounting shafts of the support arms 3-4-2 in the two same-side suspension systems 3.

[0058] In addition, the present invention also provides an embodiment of a robot chassis, and the robot chassis includes a chassis main body 1 and the above-mentioned independent suspension device for a robot chassis with steering. As Figure 1As shown in the figure, in specific implementation, the robot chassis of the present invention mainly consists of three major parts, including a chassis main body 1, four suspension systems 3 respectively installed on the four wheels of the robot, namely a left front suspension system, a left rear suspension system, a right front suspension system and a right rear suspension system, and two steering systems 2 respectively installed on the left and right sides of the chassis main body 1, namely a left side steering system and a right side steering system. And each steering system 2 is respectively connected to the two suspension systems 3 on the same side, that is, the left side steering system is respectively connected to the left front suspension system and the left rear suspension system, and the right side steering system is respectively connected to the right front suspension system and the right rear suspension system.

[0059] When the robot is walking normally, the working principle and process of the present invention are as follows:

[0060] When the robot chassis of the present invention crosses an obstacle or a bump, the bump will squeeze the hub motor 3-1 to move upward, which will drive the hub motor upper clamp 3-4-9, the hub motor lower clamp 3-4-10, and the suspension lower swing arm 3-4-14 to rotate clockwise around its hinge point on the support arm 3-4-2. At the same time, it will drive the lower support arm 3-4-6 to rotate clockwise followingly around its hinge point on the lower support arm fixing seat 3-4-4, so that the shock absorber 3-4-8 is compressed and plays a shock absorption role, ensuring the smooth operation of the robot chassis of the present invention.

[0061] When the robot chassis of the present invention crosses an obstacle or a ditch, in order to make the robot tire closely adhere to the ground, the shock absorber 3.4.8 will release its compression amount, which will drive the hub motor upper clamp 3-4-9, the hub motor lower clamp 3-4-10, and the suspension lower swing arm 3-4-14 to rotate counterclockwise around its hinge point on the support arm 3-4-2. At the same time, it will drive the lower support arm 3-4-6 to rotate counterclockwise followingly around its hinge point on the lower support arm fixing seat 3-4-4, so as to play a shock absorption role and realize that the tire always adheres to the ground as much as possible, ensuring the smooth operation of the robot chassis of the present invention.

[0062] It can be seen that no matter which wheel of the robot encounters a ditch or a bump, each suspension system 3 can independently adapt to the terrain and rise or fall, improving the adaptability, smoothness and stability of the wheel under different road conditions when the robot walks on complex road conditions; ensuring the stability, smoothness of the robot's walking, and the accuracy of walking and positioning, meeting especially the use scenarios with a small tolerance for the walking error of the robot; expanding the applicable scenarios of the robot, such as taking pictures with special equipment, one-to-one precise services (distribution or drug delivery), medical treatment (surgery), laboratory (replacing human operation) and other high-precision use fields; of course, it can also be applied to the use scenarios with a larger tolerance for errors.

[0063] When the robot chassis of the present invention steers, such as Figure 2As shown, the steering motor 2-1 in the steering system 2 rotates clockwise, simultaneously driving the steering flange 2-3 to rotate clockwise, thereby driving the sliders on the linear guide rails 2-5 on the front and rear sides of the steering flange 2-3 to slide away from each other respectively. Furthermore, through two joint bearings one 2-7, it drives the two suspension mechanisms 3-4 on the same side to rotate clockwise, thus realizing the coordinated action of the steering system 2 and the two suspension systems 3 on the same side, that is, it can effectively reduce the turning radius and maintain the stability of the robot during turning. Moreover, the steering systems 2 on the left and right sides of the robot rotate according to needs and do not require simultaneous rotation.

[0064] When the robot chassis of the present invention spins in place, as Figure 2 shown, the steering motor 2-1 in the steering system 2 rotates counterclockwise, simultaneously driving the steering flange 2-3 to rotate counterclockwise, thereby driving the sliders on the linear guide rails 2-5 on the front and rear sides of the steering flange 2-3 to slide relatively, and further driving the two suspension mechanisms 3-4 on the same side to rotate counterclockwise through two joint bearings one 2-7, making the front and rear wheels of the robot assume the "positive eight" and "inverted eight" shapes as Figure 5 shown. Moreover, the condition for the robot chassis to spin in place is that among the four wheels of the robot, the speed magnitudes of the wheels on the same side (i.e., both in the front side or both in the rear side) are equal and the directions are the same (i.e., both clockwise or both counterclockwise), and the speed magnitudes of the diagonal wheels are the same and the directions are opposite (i.e., one clockwise and one counterclockwise).

[0065] It can be seen that the independent steering systems 2 on the left and right sides of the robot ensure that the robot can spin in place, simultaneously reduce the turning radius of the robot, and improve the adaptability of the robot to various road conditions such as sharp turns. Moreover, it can achieve zero-offset in-place spinning, zero turning radius, and stronger steering adaptability, especially having better effects for scenarios with a relatively small turning radius or requiring sharp turns.

[0066] Of course, the above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit essence of the main technical solution of the present invention should be covered within the protection scope of the present invention.

Claims

1. An independent suspension device for a robot chassis with steering, characterized in that, It includes a suspension system installed on the wheels; the suspension system includes a hub motor installed on the wheels, and a suspension mechanism connected to the hub motor and installed on the chassis main body; the suspension mechanism includes a hub motor clamping mechanism, two cantilever linkages, two suspension lower arms, a support arm, and a shock absorber; the hub motor clamping mechanism is installed inside the hub motor; the front and rear sides of its upper part are respectively hinged to the outer ends of the two cantilever linkages, and the inner ends of the two cantilever linkages are respectively hinged to the front and rear sides of the middle part of the support arm; the front and rear sides of its lower part are respectively hinged to the outer ends of the two cantilever linkages, and the inner ends of the two cantilever linkages are respectively hinged to the front and rear sides of the bottom of the support arm; the shock absorber is located between the two cantilever linkages, its top is connected to the middle of the top of the support arm, and its bottom is respectively connected to the middle of the two cantilever linkages, so that the robot wheels contact the ground under the elastic force of the shock absorber; The suspension mechanism further includes a cantilever support; the outer end of the cantilever support is connected to the top surface of the support arm, and its inner end is connected to the chassis main body; The suspension mechanism further includes a lower support arm and a lower support arm fixing seat; the outer end of the lower support arm is connected to the bottom surface of the hub motor clamping mechanism, its inner end is hinged to the outer end of the lower support arm fixing seat, and the inner end of the lower support arm fixing seat is connected to the chassis main body; There are four suspension systems, and the four hub motors are respectively installed on the four wheels of the robot. The four suspension mechanisms are respectively installed inside the four hub motors and fixed on the chassis main body; It further includes two steering systems respectively installed on the left and right sides of the chassis main body, and each steering system is connected to the two suspension systems on the same side; the steering system includes a motor fixing plate connected to the chassis main body, a steering motor installed inside the motor fixing plate, a steering flange installed outside the motor fixing plate, and two guide rail assemblies respectively located on the front and rear sides of the motor fixing plate; the inner side of the steering flange is connected to the steering motor, and its outer side is respectively connected to the two guide rail assemblies on the front and rear sides through the symmetric upper and lower ends; each guide rail assembly includes a linear guide rail connected to the chassis main body, two limit blocks respectively installed at both ends of the linear guide rail, a slider movably installed on the linear guide rail, and a slider connecting seat installed on the outer side of the slider; the outer ends of the two slider connecting seats on the front and rear sides in the two guide rail assemblies are respectively connected to the suspension mechanisms on the same side through the first bearing assemblies, and their inner ends are respectively connected to the upper and lower ends of the steering flange through the second bearing assemblies.

2. The independent suspension device for a robot chassis with steering according to claim 1, characterized in that, The hub motor clamping mechanism includes an upper hub motor clamp and a lower hub motor clamp; the upper hub motor clamp and the lower hub motor clamp respectively clamp the upper and lower parts of the hub motor central shaft and are fixed on the hub motor central shaft; and the front and rear sides of the upper hub motor clamp are respectively hinged to the outer ends of the two cantilever linkages, and the front and rear sides of the lower hub motor clamp are respectively hinged to the outer ends of the two cantilever linkages.

3. The independent suspension device for a robot chassis with steering according to claim 1, characterized in that, The first bearing assembly described above includes a spherical plain bearing two and a spherical plain bearing one; the outer end of the slider connecting seat is connected to the bearing end of the spherical plain bearing two, the rod end of the spherical plain bearing two is connected to the rod end of the spherical plain bearing one, and the spherical plain bearing one is connected to the top surface of the support arm in the corresponding suspension mechanism.

4. The independent suspension device for a robot chassis with steering according to claim 1 or 3, characterized in that, The second bearing assembly described above includes a spherical plain bearing three, a double-headed screw rod, and a spherical plain bearing four; the inner end of the slider connecting seat is connected to the bearing end of the spherical plain bearing three, the rod end of the spherical plain bearing three is connected to the outer end of the double-headed screw rod, the inner end of the double-headed screw rod is connected to the rod end of the spherical plain bearing four, and the bearing end of the spherical plain bearing four is connected to the corresponding end of the steering flange.

5. A robot chassis, characterized in that, It includes a chassis main body and a steerable robot chassis independent suspension device according to any one of claims 1-4.

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