Suspension assembly and robot

Abstract

The utility model discloses a suspension assembly and a robot. The suspension assembly is used for connecting a movable wheel and the robot. The hanging assembly comprises a first connecting plate, a guide column and a supporting assembly, a groove is formed in the first face of the first connecting plate, a through hole is formed in the bottom face of the groove, and the first face of the first connecting plate is connected with the movable wheel; the guide column comprises a guide part and a connecting part connected with the guide part, the cross section of the connecting part is matched with the through hole, a flange is arranged at the end, away from the guide part, of the connecting part, the connecting part is arranged at the through hole, and the flange is located in the groove and makes contact with the first connecting plate. The supporting assembly is installed on a support of the robot, and the guide column can move in the vertical direction relative to the supporting assembly. Due to the fact that the guide column is provided with the flange, the stress arm of force when the wheel is subjected to forward impact is increased, the strength of the guide column is improved, the impact resistance is improved, and the flange is located in the groove formed in the first connecting plate so that the first connecting plate and the movable wheel can be conveniently installed.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a suspension component and a robot. Background Art

[0002] In the related art, the suspension assembly is the connection structure between the roller and the robot. During the robot's automatic walking process, if the strength of the suspension assembly is not high, the guide column in the suspension assembly is easy to break when the roller passes over a bump, which has a great impact on the use effect of the robot. Utility Model Content

[0003] The utility model provides a connection structure and a robot to improve the strength of a suspension component of the robot.

[0004] The utility model achieves the above-mentioned purpose through the following technical solutions.

[0005] In a first aspect, the utility model provides a suspension assembly, comprising:

[0006] A first connecting plate, wherein a first surface of the first connecting plate is provided with a groove, a bottom surface of the groove is provided with a through hole, and the first surface of the first connecting plate is connected to the movable wheel;

[0007] A guide column, the guide column comprising a guide portion and a connecting portion connected to the guide portion, the cross section of the connecting portion being adapted to the through hole, a flange being provided at one end of the connecting portion away from the guide portion, the connecting portion being provided at the through hole, the flange being located in the groove and in contact with the first connecting plate;

[0008] A support assembly is installed on the support of the robot, and the guide column can move in the vertical direction relative to the support assembly.

[0009] In some embodiments, the second connecting plate of the movable wheel is connected to the first surface; the flange is clamped between the first connecting plate and the second connecting plate, and the thickness of the flange is greater than the depth of the groove.

[0010] In some embodiments, the thickness of the flange differs from the depth of the groove by 0.5-1.5 mm; and / or, one side of the flange facing the bottom surface of the groove is in contact with the bottom surface of the groove to form an annular contact surface, and the width of the annular contact surface is 1-1.5 times the thickness of the flange.

[0011] In some embodiments, the shape and size of the cross section of the guide portion are the same as the shape and size of the connecting portion, and the guide column is connected to the first connecting plate by welding.

[0012] In some embodiments, there is a processing width between the flange and the side of the groove, and / or the angle between the bottom of the groove and the side of the groove is an obtuse angle.

[0013] In some embodiments, the cross-sectional dimension of the guide portion is greater than the cross-sectional dimension of the connecting portion, and the guide column is connected to the first connecting plate by cold heading.

[0014] In some embodiments, the support assembly includes a sliding sleeve and a fixed sleeve, the fixed sleeve is vertically mounted on the bracket, and the sliding sleeve is fixed in the fixed sleeve and slidably sleeved on the guide portion.

[0015] In some embodiments, the support assembly further includes a mounting plate, the mounting plate is mounted on an end of the guide column away from the first connecting plate, and a size of the mounting plate is larger than a size of an inner diameter ring of the fixing sleeve.

[0016] In some embodiments, a stop protrusion is provided on the end surface of the fixing sleeve away from the first connecting plate, and a notch adapted to the stop protrusion is opened at the edge of the mounting plate. The stop protrusion is located at the notch, and the height of the stop protrusion is not less than the movable distance of the guide column.

[0017] In some embodiments, the mounting plate includes a bottom plate and a vertical plate perpendicular to the bottom plate, the bottom plate is mounted on the end surface of the guide column away from the first connecting plate, and a magnetic member is mounted on the vertical plate.

[0018] In a second aspect, the present invention also provides a robot, comprising a bracket and a suspension assembly as described in any one of the above embodiments mounted on the bracket.

[0019] Beneficial effects: The utility model discloses a suspension assembly for connecting a movable wheel to a robot. The suspension assembly includes a first connecting plate, a guide column and a support assembly. The first surface of the first connecting plate is provided with a groove, the bottom surface of the groove is provided with a through hole, and the first surface of the first connecting plate is connected to the movable wheel; the guide column includes a guide portion and a connecting portion connected to the guide portion, the cross section of the connecting portion is adapted to the through hole, a flange is provided at one end of the connecting portion away from the guide portion, the connecting portion is provided at the through hole, the flange is located in the groove and contacts with the first connecting plate; the support assembly is installed on the bracket of the robot, and the guide column can move in the vertical direction relative to the support assembly. Due to the flange on the guide column, the force arm when the wheel is subjected to a positive impact is increased, thereby increasing the strength of the guide column and improving the impact resistance, and the flange is located at the groove provided on the first connecting plate to facilitate the installation of the first connecting plate and the movable wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the implementation modes of the present invention, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 An exploded view of a suspension assembly and a movable wheel provided in an embodiment of the utility model is shown;

[0022] Figure 2 A schematic structural diagram of a first connecting plate and a guide column provided in an embodiment of the utility model is shown;

[0023] Figure 3 A schematic structural diagram of a first connecting plate and a guide column combination provided in an embodiment of the utility model is shown;

[0024] Figure 4 A structural schematic diagram showing another perspective of the combination of the first connecting plate and the guide column provided in an embodiment of the utility model;

[0025] Figure 5 A cross-sectional view of a first connecting plate and a guide column combination provided by an embodiment of the utility model is shown;

[0026] Figure 6 A schematic structural diagram of a suspension assembly and a movable wheel provided in an embodiment of the utility model is shown.

[0027] Figure 7 A cross-sectional view of a suspension assembly provided by an embodiment of the utility model is shown;

[0028] Figure 8 A schematic structural diagram of a fixing sleeve provided in an embodiment of the utility model is shown;

[0029] Fig. 9 A schematic diagram of the structure of the mounting plate provided in an embodiment of the utility model is shown;

[0030] Fig.10 A schematic structural diagram of a robot support provided in an embodiment of the utility model is shown.

[0031] Description of Figure Numbers:

[0032] 10. Suspension assembly; 11. First connecting plate; 111. First surface; 112. Groove; 113. Through hole; 12. Guide column; 121. Guide portion; 122. Connecting portion; 123. Flange; 13. Support assembly; 131. Sliding sleeve; 132. Fixed sleeve; 1321. Anti-rotation protrusion; 133. Mounting plate; 1331. Notch; 1332. Bottom plate; 1333. Vertical plate; 14. Magnetic member; 15. Sealing cover; 20. Movable wheel; 21. Second connecting plate; 30. Bracket; 40. Threaded fastener; 50. Retaining spring; 60. Magnetic sensor. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is only a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0034] It should be noted that, in the present invention, unless otherwise clearly specified or limited, the terms "installation", "connection" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, or a transmission connection; it can be a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as specific or special structures. The description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the present utility model, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present utility model and the features of different embodiments or examples without contradiction.

[0036] In addition, when a component is considered to be "disposed on" another component, it can be connected to or directly disposed on the other component, or there may be an intervening component at the same time; when a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component at the same time.

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0038] Reference Figure 1-Figure 7 , Fig.10 In the first aspect, the utility model proposes a suspension assembly 10 for connecting a movable wheel 20 to a robot. The suspension assembly 10 includes a first connecting plate 11, a guide column 12, and a support assembly 13. The first surface 111 of the first connecting plate 11 is provided with a groove 112, and the bottom surface of the groove 112 is provided with a through hole 113. The first surface 111 of the first connecting plate 11 is connected to the movable wheel 20; the guide column 12 includes a guide portion 121 and a connecting portion 122 connected to the guide portion 121, and the cross section of the connecting portion 122 is adapted to the through hole 113. The end of the connecting portion 122 away from the guide portion 121 is provided with a flange 123, and the connecting portion 122 is provided at the through hole 113. The flange 123 is located in the groove 112 and contacts the first connecting plate 11; the support assembly 13 is installed on the bracket 30 of the robot, and the guide column 12 can move in the vertical direction relative to the support assembly 13.

[0039] Specifically, the robot can be a garden robot used outdoors, such as a snow-clearing robot, a lawn-mowing robot, a pruning robot, etc., or a household robot, such as a sweeping robot, a floor-cleaning robot, etc. The robot can be a split robot, which includes a self-propelled self-moving device and various functional devices that provide various functions, such as a snow-clearing machine, a lawn mower, etc. The first connecting plate 11, the guide column 12 and the supporting assembly 13 are usually made of metal. A groove 112 is provided on the first surface 111 of the first connecting plate 11, that is, the side facing the movable wheel 20. The size of the groove 112 needs to be able to accommodate the entire flange 123. In the method of forming the groove 112 on the first surface 111, if the plate is thicker, the groove can be directly dug on the first surface 111 of the first connecting plate 11. If the plate is thinner, such as Figure 3 , Figure 4 and Figure 5 As shown, a groove 112 can be pressed out of the first surface 111 , and a boss corresponding to the groove 112 can be formed on the other surface of the first connecting plate 11 , that is, the groove 112 is formed by deformation of the plate.

[0040] A through hole 113 is provided at the bottom of the groove 112, and the size of the through hole 113 is adapted to the cross section of the connecting portion 122 of the guide post 12, that is, the connecting portion 122 can just pass through the through hole 113. For example, if the through hole 113 is a circular hole and the cross section of the guide post 12 as a whole is circular, then the diameter of the circular hole is equal to the diameter of the cross section of the connecting portion 122 of the guide post 12.

[0041] The guide column 12 is designed to include two parts, one part is the guide part 121, and the guide part 121 is used to move in the vertical direction relative to the support assembly 13. It should be noted that the vertical direction refers to the direction perpendicular to the robot chassis during the use of the suspension assembly 10. The other part is the connecting part 122, and the connecting part 122 is used to connect with the first connecting plate 11. A flange 123 is provided at one end of the connecting part 122 away from the guide part 121. The shape of the flange 123 can be any shape such as a rectangle, a triangle, a trapezoid, etc. The flange 123 is located in the groove 112 and contacts the bottom surface of the groove 112. In this way, the guide column 12 can be increased when subjected to a positive force. The force arm increases, thereby enhancing the strength of the entire guide column 12, and can resist the impact force received by the movable wheel, preventing the guide column 12 from breaking. At the same time, the connection between the suspension component 10 and the movable wheel 20 is usually achieved through a surface connection of two plates, that is, the connecting plate of the suspension component 10 and the connecting plate of the movable wheel 20 are stacked and fixed by threaded fasteners 40. Since the flange 123 needs to have a certain thickness to have a certain strength, if the groove 112 is not provided, a "seesaw" phenomenon is likely to occur when installing the suspension component 10 and the movable wheel 20, resulting in inconvenient installation. Therefore, the groove 112 can provide sufficient space to accommodate the flange 123, so that the thickness of the flange 123 can be adjusted as needed to achieve the desired strength while facilitating the installation of the suspension component 10 and the movable wheel 20.

[0042] The support assembly 13 is mounted on the support 30 of the robot, and the guide portion 121 of the guide column 12 is slidably connected to the support assembly 13. The support assembly 13 can be a slidable sleeve, which is fixedly mounted on the support 30 and sleeved with the guide portion 121, so that the guide portion 121 can slide up and down relative to the sleeve. The support assembly 13 can also be a rod and a sliding set fixed on the rod, and the guide portion 121 is slidably connected to the sliding set.

[0043] In some embodiments, the second connecting plate 21 of the movable wheel 20 is connected to the first surface 111 ; the flange 123 is sandwiched between the first connecting plate 11 and the second connecting plate 21 , and the thickness of the flange 123 is greater than the depth of the groove 112 .

[0044] Specifically, the movable wheel 20 selected in this embodiment includes a universal wheel and a second connecting plate 21 rotatably connected to the universal wheel. The second connecting plate 21 is used to connect with the first connecting plate 11, so as to fix the movable wheel 20 to the suspension assembly 10. The flange 123 is sandwiched between the first surface 111 of the first connecting plate 11 and the surface of the second connecting plate 21 facing away from the universal wheel, so as to form a "sandwich" structure. At the same time, the thickness of the flange 123 needs to be slightly greater than the depth of the groove 112, that is, the end surface of the guide column 12 close to the flange 123 slightly protrudes from the second surface of the first connecting plate 11, so that the bending moment resistance of the suspension assembly 10 can be increased, and the strength of the suspension assembly 10 can be further improved.

[0045] In some embodiments, the thickness of the flange 123 differs from the depth of the groove 112 by 0.5-1.5 mm.

[0046] Specifically, after the first connecting plate 11 and the second connecting plate 21 are stacked and locked, there will be a slight bending deformation. Since the two plates are made of metal, the degree of deformation is generally small. The difference between the thickness of the flange 123 and the depth of the groove 112 is in the range of 0.5-1.5mm, that is, the height of the end face of the guide column 12 protruding from the first connecting plate 11 close to the movable wheel 20 is controlled to be 0.5-1.5mm, so that the stability of the connection structure between the suspension component 10 and the movable wheel 20 can be further improved. In one embodiment, the thickness of the flange 123 differs from the depth of the groove 112 by 0.8-1.2mm. Further, the thickness of the flange 123 differs from the depth of the groove 112 by 1mm. The specific difference can also be determined according to actual conditions.

[0047] In some embodiments, one side of the flange 123 facing the bottom surface of the groove 112 contacts the bottom surface of the groove 112 to form an annular contact surface, and the width of the annular contact surface is 1-1.5 times the thickness of the flange 123 .

[0048] Specifically, the side of the flange 123 facing the bottom of the groove 112 is in contact with the bottom surface of the groove 112 to form an annular contact surface, so that the force arm that can be formed can be maximized when the height of the flange 123 is determined, and the forces in all directions are equal, further improving the strength of the suspension component 10. The larger the width of the annular contact surface, the higher the connection strength between the guide column 12 and the first connecting plate 11, but the processing cost of the guide column 12 will be higher. The width of the annular contact surface is controlled to be 1-1.5 times the thickness of the flange 123, which can balance the required strength of the suspension component 10 and the processing cost of the guide column 12.

[0049] In some embodiments, the shape and size of the cross section of the guide portion 121 are the same as the shape and size of the connecting portion 122 , and the guide column 12 is connected to the first connecting plate 11 by welding.

[0050] Specifically, the guide column 12 is fixedly connected to the first connecting plate 11 by welding. The shape and size of the cross section of the guide portion 121 are the same as the shape and size of the connecting portion 122, that is, the guide portion 121 and the connecting portion 122 form a column with a constant cross section. During processing, the column passes through the through hole 113 of the first connecting plate 11 until the flange 123 abuts against the bottom surface of the groove 112, and then the first surface 111 of the first connecting plate 11 is welded to the guide column 12, and the flange 123 is welded to the bottom surface and / or side surface of the groove 112. The structure of this embodiment can be applied to welding processing, and the welding processing is suitable for small batch processing.

[0051] In some embodiments, there is a processing width between the flange 123 and the side of the groove 112, and / or the angle between the bottom of the groove 112 and the side of the groove 112 is an obtuse angle.

[0052] Specifically, the welding process needs to reserve a certain processing width to facilitate the welding operation. The size of the groove 112 can be set larger than the size of the flange 123, or the angle between the bottom and the side of the groove 112 can be processed into an obtuse angle. In this way, a certain width can be reserved to facilitate the welding and fixing of the guide column 12 and the first connecting plate 11.

[0053] In some embodiments, the cross-sectional dimension of the guide portion 121 is greater than the cross-sectional dimension of the connection portion 122 , and the guide post 12 is connected to the first connection plate 11 by cold heading.

[0054] Specifically, the guide column 12 and the connecting plate can also be fixedly connected by cold heading, and the cross-sectional dimension of the guide portion 121 is larger than the cross-sectional dimension of the connecting portion 122, that is, the guide portion 121 and the connecting portion 122 form a column with a constant cross-sectional shape but different dimensions. In other words, the structure formed by the cold heading method is: the guide portion 121 is pressed into a flange, the flange 123 serves as another flange, and the two flanges clamp the first connecting plate 11. Since cold heading requires the production of a mold, it will increase the cost for small-batch processing, but cold heading is more efficient and suitable for large-scale processing, so the cost of large-scale production is lower.

[0055] In some embodiments, the support assembly 13 includes a fixed sleeve 132 and a sliding sleeve 131 . The fixed sleeve 132 is vertically mounted on the bracket 30 . The sliding sleeve 131 is fixed in the fixed sleeve 132 and slidably sleeved on the guide portion 121 .

[0056] Specifically, the fixing sleeve 132 is installed on the bracket 30 of the robot and can be fixed on the bracket 30 by a threaded fastener 40. A sliding sleeve 131 is fixed inside the fixing sleeve 132. The sliding sleeve 131 is used to cover the guide portion 121 of the guide column 12. The guide portion 121 is in sliding contact with the sliding sleeve 131, so that the guide column 12 can slide in the vertical direction. The fixing of the sliding sleeve 131 can be fixed by snap-fitting or by locking screws. In a specific embodiment, the lower part of the inner side surface of the fixing sleeve 132 has a limiting protrusion, and the limiting protrusion is used to limit the downward movement of the sliding sleeve 131 relative to the fixing sleeve 132. At the same time, an installation bayonet is opened on the upper part of the inner side surface, and a retaining spring 50 is clamped at the installation bayonet to limit the upward movement of the sliding sleeve 131 relative to the fixing sleeve 132, so that the sliding sleeve 131 is fixed in the fixing sleeve 132. The sliding sleeve 131 is sleeved on the guide portion 121 . The guide portion 121 can slide relative to the sliding sleeve 131 , so that the guide portion 121 can slide in the vertical direction relative to the support assembly 13 .

[0057] In one embodiment, the sliding sleeve 131 is a self-lubricating graphite copper sleeve, which is formed by embedding graphite in brass and has a lower friction coefficient, so that the guide part 121 can slide more smoothly in the sliding sleeve 131 .

[0058] In an embodiment, the support assembly 13 further includes a sealing cover 15 , and the sealing cover 15 is used to cover the interior of the fixing sleeve 132 to prevent dust and the like from entering the fixing sleeve 132 .

[0059] In some embodiments, the support assembly 13 further includes a mounting plate 133 , which is mounted on an end of the guide column 12 away from the first connecting plate 11 , and a size of the mounting plate 133 is larger than an inner diameter of the fixing sleeve 132 .

[0060] Specifically, the mounting plate 133 is used to limit the sliding distance of the guide column 12. Specifically, a screw hole can be opened on the end face of the guide column 12 away from the movable wheel 20, and a through hole matching the screw hole is opened on the mounting plate 133. The mounting plate 133 is locked and fixed to the end face with a cup head screw. At the same time, the size of the mounting plate 133 is larger than the inner ring size of the fixing sleeve 132. In this way, when the guide column 12 moves downward, the fixing sleeve 132 can support the mounting plate 133, thereby limiting the sliding of the guide column 12.

[0061] Of course, there are other ways to limit the downward movement of the guide column 12. For example, a limiting protrusion can be set at one end of the guide portion 121 away from the connecting portion 122, so that when the guide column 12 moves downward, the limiting protrusion is supported by the fixing sleeve 132, thereby limiting the downward movement of the guide column 12.

[0062] See also Figure 6 , Figure 8 and Fig. 9In some embodiments, a stop protrusion 1321 is provided on the end surface of the fixing sleeve 132 away from the first connecting plate 11, and a notch 1331 adapted to the stop protrusion 1321 is opened on the edge of the mounting plate 133. The stop protrusion 1321 is located at the notch 1331, and the height of the stop protrusion 1321 is not less than the movable distance of the guide column 12.

[0063] Specifically, the height of the stop protrusion 1321 refers to the length of the stop protrusion 1321 in the vertical direction, and the movable distance of the guide column 12 refers to the distance that the guide column 12 can slide in the vertical direction. The stop protrusion 1321 is located in the notch 1331 and the height of the stop protrusion 1321 is not less than the movable distance of the guide column 12. In this way, in the process of the guide column 12 moving up and down, the stop protrusion 1321 limits the rotation of the guide column 12, thereby not affecting the rotation of the movable wheel itself.

[0064] In some embodiments, the mounting plate 133 includes a bottom plate 1332 and a vertical plate 1333 perpendicular to the bottom plate 1332 . The bottom plate 1332 is mounted on the end surface of the guide column 12 away from the first connecting plate 11 , and a magnetic member 14 is mounted on the vertical plate 1333 .

[0065] Specifically, the bottom plate 1332 is used to connect with the guide column 12, and the vertical plate 1333 is used to fix the magnetic member 14. The magnetic member 14 can be fixed on the vertical plate 1333 by bonding, clamping or bolting. In one embodiment, the magnetic member 14 is an annular magnetic member 14, and a through hole is provided on the vertical plate 1333, and the annular magnetic member 14 is set on the vertical plate 1333 by bolts. The magnetic member 14 can be used to be sensed by a position sensor, so that the controller of the robot can detect whether the movable wheel 20 is in a suspended state, so as to control the action of the robot in a preset manner.

[0066] In a second aspect, the utility model further provides a robot, comprising a bracket 30 and a suspension assembly 10 of any one of the above-mentioned embodiments mounted on the bracket 30 .

[0067] In one embodiment, if Fig.10 As shown, the robot also includes a magnetic sensor 60 and a controller. The magnetic sensor 60 is installed on the bracket 30 and is used to sense the position of the magnetic part 14. The controller is connected to the sensor and is used to control the robot to stop running when the magnetic sensor 60 senses that the magnetic part 14 has dropped to the lowest position.

[0068] The robot in this embodiment is a split robot, which includes a self-propelled self-moving device and a mowing device connected to the self-moving device. The bracket is located in the mowing device. During the operation of the mowing device, its blade rotates at high speed. When the running mowing device needs to be lifted manually, if the blade is still running, it is easy to accidentally injure others, resulting in poor safety in the use of the mowing device. In this embodiment, when the universal wheel is on the ground, the magnetic part 14 is located at the highest position within the limited position range. When the universal wheel is suspended, generally speaking, the universal wheel is suspended because the user lifts the mowing device. Due to the gravity of the universal wheel, the suspension component 10 drives the magnetic part 14 to slide down to the lowest position. At this time, the magnetic sensor 60 senses the change in the position of the magnetic part 14 and generates a signal and sends it to the controller. After receiving the signal, the controller controls the blade of the automatic mowing device to stop running, thereby preventing the user from being accidentally injured by the blade.

[0069] The above implementation modes are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned implementation modes, a person skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various implementation modes of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A suspension assembly for connecting a movable wheel to a robot, characterized in that: include: A first connecting plate, wherein a first surface of the first connecting plate is provided with a groove, a bottom surface of the groove is provided with a through hole, and the first surface of the first connecting plate is connected to the movable wheel; A guide column, the guide column comprising a guide portion and a connecting portion connected to the guide portion, the cross section of the connecting portion being adapted to the through hole, a flange being provided at one end of the connecting portion away from the guide portion, the connecting portion being provided at the through hole, the flange being located in the groove and in contact with the first connecting plate; A support assembly is installed on the support of the robot, and the guide column can move in the vertical direction relative to the support assembly.

2. The suspension assembly according to claim 1, characterized in that: The second connecting plate of the movable wheel is connected to the first surface; the flange is sandwiched between the first connecting plate and the second connecting plate, and the thickness of the flange is greater than the depth of the groove.

3. The suspension assembly according to claim 2, characterized in that: The thickness of the flange differs from the depth of the groove by 0.5-1.5 mm; and / or, The side of the flange facing the bottom surface of the groove contacts the bottom surface of the groove to form an annular contact surface, and the width of the annular contact surface is 1-1.5 times the thickness of the flange.

4. The suspension assembly according to claim 1, characterized in that: The shape and size of the cross section of the guide portion are the same as those of the connecting portion, and the guide column is connected to the first connecting plate by welding.

5. The suspension assembly according to claim 4, characterized in that: There is a processing width between the flange and the side of the groove, and / or the angle between the bottom of the groove and the side of the groove is an obtuse angle.

6. The suspension assembly according to claim 1, characterized in that The cross-sectional dimension of the guide portion is greater than the cross-sectional dimension of the connecting portion, and the guide column is connected to the first connecting plate by cold heading.

7. The suspension assembly according to any one of claims 1 to 6, characterized in that: The support assembly comprises a sliding sleeve and a fixed sleeve, wherein the fixed sleeve is vertically mounted on the bracket, and the sliding sleeve is fixed in the fixed sleeve and slidably sleeved on the guide portion.

8. The suspension assembly according to claim 7, characterized in that The support assembly further comprises a mounting plate, which is mounted on an end of the guide column away from the first connecting plate, and a size of the mounting plate is larger than an inner diameter of the fixing sleeve.

9. The suspension assembly according to claim 8, characterized in that A stop protrusion is provided on the end face of the fixing sleeve away from the first connecting plate, and a notch adapted to the stop protrusion is opened at the edge of the mounting plate. The stop protrusion is located at the notch, and the height of the stop protrusion is not less than the movable distance of the guide column.

10. The suspension assembly according to claim 8, characterized in that The mounting plate includes a bottom plate and a vertical plate perpendicular to the bottom plate. The bottom plate is mounted on the end surface of the guide column away from the first connecting plate, and a magnetic member is mounted on the vertical plate.

11. A robot, characterized in that: include: A bracket and a suspension assembly as described in any one of claims 1 to 10 mounted on the bracket.

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