Driving wheel multi-degree-of-freedom suspension structure and robot comprising same

Abstract

The utility model discloses a driving wheel multi-degree-of-freedom suspension structure and a robot comprising the driving wheel multi-degree-of-freedom suspension structure. The first mounting plate is positioned on one side of the driving wheel; the second mounting plate is located on one side of the driving wheel and parallel to the first mounting plate, and the second mounting plate is located below the first mounting plate and connected with the driving wheel; the first spring group is positioned between the first mounting plate and the second mounting plate; the second spring set is located between the first mounting plate and the second mounting plate, and the second spring set is located on the outer side of the first spring set. According to the utility model, two groups of spring structures are adopted, so that the two springs are mutually damped, and when the driving wheel is bumpy during movement, periodic oscillation can be greatly reduced; the forward and backward movement of the driving wheels can be damped with the same amplitude, so that the periodic vibration or rigid vibration of the robot during walking is reduced; the mounting plates are in complete floating connection, small-amplitude multi-degree-of-freedom swinging is achieved, and it is guaranteed that the driving wheel adapts to various conditions.

Description

Technical Field

[0001] The utility model belongs to the field of robots, and in particular relates to a driving wheel multi-degree-of-freedom suspension structure and a robot comprising the same. Background Art

[0002] In the field of robots for monitoring and collecting air in clean rooms, wheeled robots are the most commonly used. However, there are height requirements for collection and monitoring, so the robots are made relatively high. Slight ups and downs during driving will cause strong vibrations of the robot body, which will accelerate the damage of the robot and cause immeasurable losses to people or objects around it.

[0003] In the traditional structure, the driving wheel has no suspension structure, and the rigid vibration of the robot body on the bumpy road is very large. Rigid vibration refers to the impact on the object without springs or other shock absorbing devices in the system. For the driving wheel with a suspension structure, the spring is mostly difficult to control, which leads to elastic vibration of the robot body, resulting in the problem of spring periodic oscillation. Therefore, a driving wheel multi-degree-of-freedom suspension structure and a robot containing it are designed to solve the above problems.

[0004] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the utility model and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because these solutions are described in the background technology section of the utility model. Utility Model Content

[0005] In order to overcome the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide a driving wheel multi-degree-of-freedom suspension structure.

[0006] In order to achieve the above purpose and other related purposes, the technical solution provided by the utility model is: a driving wheel multi-degree-of-freedom suspension structure, comprising:

[0007] Drive wheels;

[0008] a first mounting plate, the first mounting plate being located at one side of the driving wheel;

[0009] a second mounting plate, the second mounting plate being located at one side of the driving wheel and arranged parallel to the first mounting plate, the second mounting plate being located below the first mounting plate and connected to the driving wheel;

[0010] a first spring group, the first spring group being located between the first mounting plate and the second mounting plate;

[0011] A second spring group, wherein the second spring group is located between the first mounting plate and the second mounting plate, and the second spring group is located outside the first spring group.

[0012] In this solution, the first mounting plate is a bracket for fixing, and the second mounting plate is set to float up and down. When the driving wheel encounters bumps during movement, the first spring group and the second spring group damp each other, which can greatly reduce periodic oscillation. Since the first mounting plate and the second mounting plate are completely floatingly connected, a small amplitude multi-degree-of-freedom swing can be achieved, ensuring that the driving wheel can adapt to various conditions and preventing the instrument installed on it from oscillation.

[0013] Furthermore, the first spring group includes at least four compression springs, and the lower end of the first mounting plate and the upper end of the second mounting plate are both provided with a plurality of mounting columns that correspond to each other and meet the installation conditions of the compression springs, and each of the compression springs is arranged vertically on the first mounting plate and the second mounting plate through the corresponding mounting columns. In this solution, the springs of the first spring group are each installed between the first mounting plate and the second mounting plate through the mounting columns, and the installation structure is stable and has good anti-seismic effect. The compression spring mainly bears axial pressure. When it is not subjected to external load, there is a certain gap between the coils of the compression spring. When subjected to external load, the spring contracts and deforms, storing structural deformation energy.

[0014] Furthermore, the compression springs of the first spring group are distributed in a circular array or a rectangular array. In this solution, it is ensured that the springs of the first spring group are evenly stressed, the stability of the structure is maintained, and the anti-seismic effect is ensured.

[0015] Furthermore, the second spring group includes at least four tension springs, and both ends of the first mounting plate and the second mounting plate are provided with a plurality of limit columns that correspond to each other and meet the hooking conditions of the tension springs, and each of the tension springs is arranged vertically to the first mounting plate and the second mounting plate through the corresponding limit columns. In this solution, the springs of the second spring group are each hooked to the limit columns between the first mounting plate and the second mounting plate, and the installation structure is stable and has good anti-seismic effect. The tension spring is a coil spring that bears axial tension. When it is not subjected to load gravity, the coils of the tension spring are tight and there is no gap.

[0016] Furthermore, the tension springs of the second spring group are distributed in a circular array or a rectangular array. In this solution, it is ensured that the springs of the second spring group are evenly stressed, the stability of the structure is maintained, and the anti-seismic effect is guaranteed.

[0017] Furthermore, the limit column is arranged horizontally and is detachably connected to the first mounting plate and the second mounting plate by threads. In this solution, the limit column can be rotated to adjust its position back and forth along its axial direction, thereby adjusting the installation position of the second spring group to meet different anti-seismic requirements.

[0018] Further, the outer end of the limiting column is provided with stripes, and the stripes are arranged around the circumference thereof. In this solution, the stripes are arranged on the outer end of the limiting column, which can play an anti-slip role during rotation and facilitate adjustment.

[0019] Furthermore, the driving wheel is connected to the upper end surface of the second mounting plate through a mounting block, and the mounting block is located in the middle of the first spring group. In this solution, the mounting block connected to the driving wheel is set in the middle of the first spring group, so that the overall structure is evenly stressed and can remain relatively stable during operation.

[0020] The utility model also discloses a robot, comprising the driving wheel multi-degree-of-freedom suspension structure described in any one of the above technical solutions.

[0021] Due to the application of the above technical solution, the utility model has the following beneficial effects compared with the prior art:

[0022] The multi-freedom suspension structure of the driving wheel designed by the utility model adopts two sets of spring structures, so that the two springs damp each other, which can have both spring shock absorption and damping shock absorption. When the driving wheel encounters bumps during movement, the periodic oscillation can be greatly reduced; the forward and backward movement of the driving wheel can both obtain the same amplitude of shock absorption, reducing the periodic oscillation or rigid vibration of the robot when walking; and the first mounting plate and the second mounting plate are completely floatingly connected, which can realize a small amplitude of multi-freedom swing, ensuring that the driving wheel can adapt to various conditions and preventing the instruments installed thereon from shock. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the driving wheel and its suspension structure of the utility model;

[0024] Figure 2 This is a schematic diagram of the suspension structure of the utility model;

[0025] Figure 3 This is a schematic diagram of the first mounting plate and the second mounting plate and related structures of the utility model;

[0026] In the above drawings, 1, driving wheel; 2, first mounting plate; 3, second mounting plate; 4, first spring group; 5, second spring group; 6, mounting column; 7, limiting column; 8, stripes; 9, mounting block. DETAILED DESCRIPTION

[0027] The following is a description of the implementation of the present invention by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0028] It should be noted that in the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. Terms such as "horizontal", "vertical", and "overhanging" do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0031] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0032] Embodiment 1: See attached Figure 1 and attached Figure 2 As shown, this embodiment provides a driving wheel multi-degree-of-freedom suspension structure, including:

[0033] Driving wheel 1;

[0034] A first mounting plate 2, the first mounting plate 2 is located at one side of the driving wheel 1;

[0035] A second mounting plate 3, the second mounting plate 3 is located at one side of the driving wheel 1 and is arranged parallel to the first mounting plate 2, the second mounting plate 3 is located below the first mounting plate 2 and is connected to the driving wheel 1;

[0036] A first spring group 4, the first spring group 4 is located between the first mounting plate 2 and the second mounting plate 3;

[0037] The second spring group 5 is located between the first mounting plate 2 and the second mounting plate 3 , and the second spring group 5 is located outside the first spring group 4 .

[0038] In this embodiment, the first mounting plate 2 is a bracket for fixing, and the second mounting plate 3 is arranged to float up and down. When the driving wheel 1 encounters bumps during movement, the first spring group 4 and the second spring group 5 damp each other, which can greatly reduce periodic oscillation. Since the first mounting plate 2 and the second mounting plate 3 are completely floatingly connected, a small-amplitude multi-degree-of-freedom swing can be achieved, ensuring that the driving wheel 1 can adapt to various conditions, so that the instrument installed thereon is free from oscillation.

[0039] Embodiment 2: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is as follows: the first spring group 4 includes at least four compression springs, and the lower end of the first mounting plate 2 and the upper end of the second mounting plate 3 are both provided with a plurality of mounting columns 6 corresponding to each other and meeting the compression spring installation conditions, and each compression spring is arranged vertically to the first mounting plate 2 and the second mounting plate 3 through the corresponding mounting column 6. In this embodiment, the springs of the first spring group 4 are each installed between the first mounting plate 2 and the second mounting plate 3 through the mounting column 6, and the installation structure is stable and has good anti-seismic effect. The compression spring mainly bears axial pressure. When it is not subjected to external load, there is a certain gap between the coils of the compression spring. When subjected to external load, the spring contracts and deforms, and the deformation energy of the storage structure is stored.

[0040] Embodiment 3: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the second embodiment, and its specific method is: the compression springs of the first spring group 4 are distributed in a ring array or a rectangular array. In this embodiment, it is ensured that the springs of the first spring group 4 are uniformly stressed, the stability of the structure is maintained, and the anti-seismic effect is guaranteed.

[0041] Embodiment 4: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is as follows: the second spring group 5 includes at least four tension springs, and both ends of the first mounting plate 2 and the second mounting plate 3 are provided with a plurality of upper and lower corresponding limit columns 7 that meet the tension spring hooking conditions, and each tension spring is arranged vertically to the first mounting plate 2 and the second mounting plate 3 through the corresponding limit columns 7. In this embodiment, the springs of the second spring group 5 are each hooked to the limit columns 7 between the first mounting plate 2 and the second mounting plate 3, and the installation structure is stable and has good anti-seismic effect. The tension spring is a helical spring that bears axial tension. When it is not subjected to load gravity, the coils of the tension spring are tight and there is no gap between them.

[0042] Embodiment 5: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the fourth embodiment, and its specific method is: the tension springs of the second spring group 5 are distributed in a ring array or a rectangular array. In this embodiment, it is ensured that the springs of the second spring group 5 are uniformly stressed, the stability of the structure is maintained, and the anti-seismic effect is guaranteed.

[0043] Embodiment 6: See attached Figure 3 As shown, this embodiment is a further improvement on the basis of the fourth embodiment, and its specific method is: the limit column 7 is horizontally arranged and is detachably connected to the first mounting plate 2 and the second mounting plate 3 by threads. In this embodiment, the limit column 7 can be rotated to adjust its position back and forth along its axial direction, and then the installation position of the second spring group 5 can be adjusted to meet different anti-seismic requirements.

[0044] Embodiment 7: See attached Figure 3 As shown, this embodiment is a further improvement on the basis of the sixth embodiment, and its specific method is: the outer end of the limiting column 7 is provided with a stripe 8, and the stripe 8 is arranged around the circumference thereof. In this embodiment, the stripe 8 is arranged on the outer end of the limiting column 7, which can play an anti-slip role during rotation and facilitate adjustment.

[0045] Embodiment 8: See attached Figure 2 As shown, this embodiment is a further improvement on the basis of the first embodiment, and its specific method is: the driving wheel 1 is connected to the upper end surface of the second mounting plate 3 through the mounting block 9, and the mounting block 9 is located in the middle of the first spring group 4. In this embodiment, the mounting block 9 connected to the driving wheel 1 is arranged in the middle of the first spring group 4, so that the overall structure is evenly stressed and can remain relatively stable during operation.

[0046] The utility model also discloses a robot, comprising any one of the driving wheel multi-degree-of-freedom suspension structures in the above embodiments 1 to 8.

[0047] The multi-freedom suspension structure of the driving wheel designed by the utility model adopts two sets of spring structures, so that the two springs damp each other, which can have both spring shock absorption and damping shock absorption. When the driving wheel encounters bumps during movement, the periodic oscillation can be greatly reduced; the forward and backward movement of the driving wheel can both obtain the same amplitude of shock absorption, reducing the periodic oscillation or rigid vibration of the robot when walking; and the first mounting plate and the second mounting plate are completely floatingly connected, which can realize a small amplitude of multi-freedom swing, ensuring that the driving wheel can adapt to various conditions and preventing the instruments installed thereon from shock.

[0048] The above implementation modes are only for illustrating the technical concept and features of the utility model, and their purpose is to allow people familiar with this technology to understand the content of the utility model and implement it. It cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A driving wheel multi-degree-of-freedom suspension structure, characterized in that: include: Driving wheel (1); A first mounting plate (2), the first mounting plate (2) being located on one side of the driving wheel (1); a second mounting plate (3), the second mounting plate (3) being located on one side of the driving wheel (1) and arranged parallel to the first mounting plate (2), the second mounting plate (3) being located below the first mounting plate (2) and connected to the driving wheel (1); A first spring group (4), the first spring group (4) being located between the first mounting plate (2) and the second mounting plate (3); A second spring group (5), the second spring group (5) is located between the first mounting plate (2) and the second mounting plate (3), and the second spring group (5) is located outside the first spring group (4).

2. The driving wheel multi-degree-of-freedom suspension structure according to claim 1, characterized in that: The first spring group (4) comprises at least four compression springs, and the lower end of the first mounting plate (2) and the upper end of the second mounting plate (3) are both provided with a plurality of mounting posts (6) which correspond to each other and meet the installation conditions of the compression springs, and each of the compression springs is arranged perpendicularly to the first mounting plate (2) and the second mounting plate (3) through the corresponding mounting post (6).

3. The driving wheel multi-degree-of-freedom suspension structure according to claim 2, characterized in that: The compression springs of the first spring group (4) are distributed in an annular array or a rectangular array.

4. The driving wheel multi-degree-of-freedom suspension structure according to claim 1, characterized in that: The second spring group (5) comprises at least four tension springs, and both ends of the first mounting plate (2) and the second mounting plate (3) are provided with a plurality of upper and lower corresponding limit posts (7) that meet the hooking conditions of the tension springs, and each of the tension springs is arranged perpendicular to the first mounting plate (2) and the second mounting plate (3) through the corresponding limit posts (7).

5. The driving wheel multi-degree-of-freedom suspension structure according to claim 4, characterized in that: The tension springs of the second spring group (5) are distributed in an annular array or a rectangular array.

6. The driving wheel multi-degree-of-freedom suspension structure according to claim 4, characterized in that: The limiting column (7) is arranged horizontally and is detachably connected to the first mounting plate (2) and the second mounting plate (3) via threads.

7. The driving wheel multi-degree-of-freedom suspension structure according to claim 6, characterized in that: The outer end of the limiting column (7) is provided with a stripe (8), and the stripe (8) is arranged around the circumference thereof.

8. The driving wheel multi-degree-of-freedom suspension structure according to claim 1, characterized in that: The driving wheel (1) is connected to the upper end surface of the second mounting plate (3) via a mounting block (9), and the mounting block (9) is located in the middle of the first spring group (4).

9. A robot, characterized in that: The invention comprises a driving wheel multi-degree-of-freedom suspension structure as described in any one of claims 1 to 8.

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