Active rigid-flexible switching suspension system
Through the suspension system with active rigid-flexibility switching, the coordination of brakes and brake discs is used to solve the problem of insufficient rigidity and flexibility of traditional suspension systems, flexible shock absorption during movement and high rigidity vibration during operation, and the mobile robot's ability to cross the slam and slope and work accuracy are improved.
Patent Information
- Application Number
- CN202510879104.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-27
- Publication Date
- 2025-08-08
AI Technical Summary
Traditional mobile robot suspension systems have shortcomings in taking into account both rigidity and flexibility, and cannot effectively absorb impact energy and affect operational accuracy.
The suspension system is adopted with active rigid and flexible switching, including a suspension mechanism, adjustable shock absorbing components, brakes and brake discs. The movable end lifting and lowering movement of the suspension mechanism is prevented by the cooperation of the brakes and brake discs, and the rigidity and flexibility of the suspension system are switched.
Use flexible shock absorption during movement to ensure the ability to pass through the thrust and slope; switch to greater rigidity when stopping work, reduce vibration amplitude and improve work accuracy.
Smart Images
Figure CN120439725A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of suspension systems of mobile robots, and in particular to an active rigid-flexible switching suspension system. Background Art
[0002] The suspension system of a mobile robot is the core component connecting the vehicle body and its running mechanism. Its design directly impacts the robot's maneuverability, stability, and the precision of its onboard equipment. Springs absorb road shock, reducing vibration interference with the robot and precision sensors (such as lidar and cameras). This helps minimize vibration when the mobile robot is navigating uneven terrain.
[0003] However, for traditional mobile robots, the larger the spring coefficient k of the chassis suspension system, the less likely the spring is to deform and the higher the rigidity. When impacted, the spring cannot effectively absorb energy, which is not conducive to the mobile robot going over bumps and slopes. On the other hand, the smaller the spring coefficient, the easier it is to deform and the higher the flexibility, resulting in a large vibration amplitude and easy shaking of the robot body, which affects the operating accuracy of the mobile robot. It is difficult to achieve both with springs alone. Summary of the Invention
[0004] In order to overcome the shortcomings and deficiencies in the prior art, the present invention aims to provide an active rigid-flexible switching suspension system.
[0005] The objectives of the present invention are achieved through the following technical solutions: an active rigid-flexible switching suspension system, comprising a suspension mechanism, an adjustment shock-absorbing assembly connected between a fixed end of the suspension mechanism and a movable end of the suspension mechanism, a brake connected to one side of the fixed end of the suspension mechanism, a brake disc connected to one side of the movable end of the suspension mechanism, and a wheel assembly connected to the movable end of the suspension mechanism, wherein the brake and the brake disc cooperate to prevent the movable end of the suspension mechanism from lifting and lowering.
[0006] Preferably, the suspension mechanism includes a mounting fixed seat, a linear motion guide assembly and a connecting movable seat, the fixed end of the linear motion guide assembly is fixedly connected to the mounting fixed seat, the movable end of the linear motion guide assembly is fixedly connected to the connecting movable seat, the adjusting shock absorbing assembly is connected between the mounting fixed seat and the connecting movable seat, the brake is fixedly connected to one side of the mounting fixed seat, and the brake disc is fixedly connected to one side of the connecting movable seat.
[0007] Preferably, the linear motion guide assembly includes a linear bearing and a guide shaft that passes through the linear bearing and slides with the linear bearing, the linear bearing is fixedly connected to the mounting seat, and the guide shaft is fixedly connected to the connecting movable seat; or the linear bearing is fixedly connected to the connecting movable seat, and the guide shaft is fixedly connected to the mounting seat.
[0008] Preferably, the adjustable shock-absorbing assembly includes a bolt, an adjusting nut, and a compression spring clamped between the mounting fixed seat and the connecting movable seat. The bolt passes through the connecting movable seat, the compression spring and the mounting fixed seat in sequence and cooperates with the adjusting nut thread, or the bolt passes through the connecting movable seat and the compression spring in sequence and cooperates with the adjusting nut thread.
[0009] Preferably, the brake is a pneumatic disc brake or a hydraulic disc brake.
[0010] Preferably, the wheel assembly is a universal wheel assembly, and the universal wheel assembly is connected to the bottom of the movable end of the suspension mechanism.
[0011] Preferably, the wheel assembly is a motor-driven wheel assembly, and the motor-driven wheel assembly is connected to the side of the movable end of the suspension mechanism.
[0012] Preferably, the brake disc is in the shape of a strip, and the brake is used to clamp the end of the brake disc away from the suspension mechanism for braking.
[0013] The beneficial effects of the present invention are as follows: the active rigid-flexible switching suspension system of the present invention adopts a suspension mechanism, an adjustable shock-absorbing assembly connected between the fixed end of the suspension mechanism and the movable end of the suspension mechanism, a brake connected to one side of the fixed end of the suspension mechanism, a brake disc connected to one side of the movable end of the suspension mechanism, and a wheel assembly connected to the movable end of the suspension mechanism, wherein the brake and the brake disc cooperate to prevent the movable end of the suspension mechanism from moving up and down. When the system is actually applied to a mobile robot chassis, the flexible shock-absorbing of the adjustable shock-absorbing assembly is utilized during movement, which is beneficial to ensuring the mobile robot's ability to cross bumps and slopes; when the mobile robot stops moving and is operating, the brake and the brake disc cooperate to brake and prevent the movable end of the suspension mechanism from moving up and down, thereby switching from the flexibility of the adjustable shock-absorbing assembly to maintaining a relatively large rigidity of the suspension mechanism as a whole, effectively reducing the vibration amplitude of the mobile robot, reducing the shaking of the mobile robot during operation, and improving the operating accuracy of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a structural schematic diagram of the present invention;
[0015] Figure 2 It is an exploded schematic diagram of the present invention;
[0016] Figure 3 is a partial structural diagram of another embodiment of the present invention;
[0017] Figure 4 yes Figure 3 Schematic diagram of the decomposition.
[0018] The accompanying drawings are marked as follows: 1. Brake; 2. Brake disc; 3. Suspension mechanism; 31. Mounting seat; 32. Linear motion guide assembly; 321. Linear bearing; 322. Guide shaft; 33. Connecting movable seat; 4. Adjusting shock absorber assembly; 41. Bolt; 42. Adjusting nut; 43. Compression spring; 5. Wheel assembly. DETAILED DESCRIPTION
[0019] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.
[0020] like Figure 1-2 As shown, an active rigid-flexible switching suspension system includes a suspension mechanism 3, an adjusting shock-absorbing component 4 connected between a fixed end of the suspension mechanism 3 and a movable end of the suspension mechanism 3, a brake 1 connected to one side of the fixed end of the suspension mechanism 3, a brake disc 2 connected to one side of the movable end of the suspension mechanism 3, and a wheel assembly 5 connected to the movable end of the suspension mechanism 3. The brake 1 and the brake disc 2 cooperate to prevent the movable end of the suspension mechanism 3 from rising and falling.
[0021] This active rigid-flexible switching suspension system comprises a suspension mechanism 3, an adjustable damping assembly 4 connected between the fixed end and the movable end of the suspension mechanism 3, a brake 1 connected to the fixed end of the suspension mechanism 3, a brake disc 2 connected to the movable end of the suspension mechanism 3, and a wheel assembly 5 connected to the movable end of the suspension mechanism 3. The brake 1 and brake disc 2 cooperate to prevent the movable end of the suspension mechanism 3 from moving up and down. When used on a mobile robot chassis, the fixed end of the suspension mechanism 3 is fixedly mounted to the chassis. During movement, the flexible damping provided by the adjustable damping assembly 4 helps ensure the robot's ability to navigate bumps and slopes. When the mobile robot stops moving and is operating, the brake 1 and brake disc 2 cooperate to apply brakes to prevent the movable end of the suspension mechanism 3 from moving up and down. Even when the adjustable damping assembly 4 has a low stiffness coefficient, the system can switch from adjusting the flexibility of the damping assembly 4 to maintaining a high stiffness for the suspension mechanism 3 as a whole, effectively reducing the vibration amplitude of the mobile robot, alleviating sway during operation and improving the robot's operational accuracy.
[0022] Furthermore, the suspension mechanism 3 includes a mounting base 31, a linear motion guide assembly 32, and a connecting movable base 33. The fixed end of the linear motion guide assembly 32 is fixedly connected to the mounting base 31, and the movable end of the linear motion guide assembly 32 is fixedly connected to the connecting movable base 33. The adjustable shock-absorbing assembly 4 is connected between the mounting base 31 and the connecting movable base 33. The brake 1 is fixedly connected to one side of the mounting base 31, and the brake disc 2 is fixedly connected to one side of the connecting movable base 33. When actually used in a mobile robot chassis, the mounting base 31 is fixedly mounted to the chassis of the mobile robot, and the connecting movable base 33 can be raised and lowered by the elastic action of the adjustable shock-absorbing assembly 4 through the linear motion guide assembly 32.
[0023] Furthermore, the linear motion guide assembly 32 includes a linear bearing 321 and a guide shaft 322 that passes through the linear bearing 321 and slides with the linear bearing 321. In this embodiment, the linear bearing 321 is fixedly connected to the mounting base 31, and the guide shaft 322 is fixedly connected to the connecting movable base 33.
[0024] Furthermore, the adjustable shock-absorbing assembly 4 includes a bolt 41, an adjusting nut 42, and a compression spring 43 interposed between the mounting base 31 and the movable connecting base 33. In this embodiment, the bolt 41 sequentially passes through the movable connecting base 33, the compression spring 43, and the mounting base 31, and is threadedly engaged with the adjustment nut 42. The compression spring 43 is positioned between the mounting base 31 and the movable connecting base 33. In actual use, when the mobile robot traverses bumps and slopes, the movable connecting base 33 is lifted and lowered relative to the mounting base 31 under the action of the compression spring 43 and the linear motion guide assembly 32.
[0025] Furthermore, the brake 1 is a pneumatic disc brake 1 or a hydraulic disc brake 1. The brake 1 is commercially available and is used herein for reference only. Pneumatic disc brake 1 or hydraulic disc brake 1 is preferred. By clamping the brake disc 2, the movable seat 33 stops lifting and lowering. At this point, the suspension mechanism 3 is in a fixed state, providing greater rigidity. In this embodiment, the brake 1 is preferably a pneumatic disc brake 1.
[0026] Furthermore, the brake disc 2 is in the shape of a slat, and the brake 1 is used to clamp the brake disc away from one end of the suspension mechanism for braking, that is, the brake 1 is used to clamp the slat-shaped brake disc 2 to stop the lifting and lowering movement of the connected movable seat 33. At this time, the suspension mechanism 3 is in a fixed state and has greater rigidity, which effectively reduces the vibration amplitude of the mobile robot and reduces the shaking of the mobile robot during operation.
[0027] In this embodiment, the wheel assembly 5 is a universal wheel assembly, which is connected to the bottom of the movable end of the suspension mechanism 3. Specifically, the universal wheel assembly is connected to the bottom of the movable seat 33.
[0028] In another embodiment, Figure 3-4 As shown, the wheel assembly 5 is a motor-driven wheel assembly, which is connected to the side of the movable end of the suspension mechanism 3; specifically, the linear bearing 321 is fixedly connected to the connecting movable seat 33, the guide shaft 322 is fixedly connected to the mounting fixed seat 31, the bolt 41 passes through the connecting movable seat 33 and the compression spring 43 in sequence and is threadedly engaged with the adjusting nut 42, and the motor-driven wheel assembly is connected to the side of the connecting movable seat 33.
[0029] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present invention is within the scope of protection of the present invention.
Claims
1. An active rigid-flexible switching suspension system, characterized by: It includes a suspension mechanism, an adjustment shock-absorbing component connected between the fixed end of the suspension mechanism and the movable end of the suspension mechanism, a brake connected to one side of the fixed end of the suspension mechanism, a brake disc connected to one side of the movable end of the suspension mechanism, and a wheel assembly connected to the movable end of the suspension mechanism. The brake and the brake disc cooperate to prevent the movable end of the suspension mechanism from rising and falling.
2. The active rigid-flexible switching suspension system according to claim 1, characterized in that: The suspension mechanism includes a mounting base, a linear motion guide assembly and a connecting movable base, the fixed end of the linear motion guide assembly is fixedly connected to the mounting base, the movable end of the linear motion guide assembly is fixedly connected to the connecting movable base, the adjusting shock absorbing assembly is connected between the mounting base and the connecting movable base, the brake is fixedly connected to one side of the mounting base, and the brake disc is fixedly connected to one side of the connecting movable base.
3. The active rigid-flexible switching suspension system according to claim 2, characterized in that: The linear motion guide assembly includes a linear bearing and a guide shaft that passes through the linear bearing and slides with the linear bearing. The linear bearing is fixedly connected to the mounting base, and the guide shaft is fixedly connected to the connecting movable base; or the linear bearing is fixedly connected to the connecting movable base, and the guide shaft is fixedly connected to the mounting base.
4. The active rigid-flexible switching suspension system according to claim 2, characterized in that: The adjustable shock-absorbing assembly includes a bolt, an adjusting nut, and a compression spring clamped between the mounting fixed seat and the connecting movable seat. The bolt sequentially passes through the connecting movable seat, the compression spring, and the mounting fixed seat and cooperates with the adjusting nut thread, or the bolt sequentially passes through the connecting movable seat and the compression spring and cooperates with the adjusting nut thread.
5. The active rigid-flexible switching suspension system according to claim 1, characterized in that: The brake is a pneumatic disc brake or a hydraulic disc brake.
6. The active rigid-flexible switching suspension system according to claim 1, characterized in that: The wheel assembly is a universal wheel assembly, and the universal wheel assembly is connected to the bottom of the movable end of the suspension mechanism.
7. The active rigid-flexible switching suspension system according to claim 1, characterized in that: The wheel assembly is a motor-driven wheel assembly, and the motor-driven wheel assembly is connected to the side surface of the movable end of the suspension mechanism.
8. The active rigid-flexible switching suspension system according to claim 5, characterized in that: The brake disc is in the shape of a strip, and the brake is used to clamp the end of the brake disc away from the suspension mechanism for braking.