Robot double-wishbone suspension power assembly module

Abstract

The utility model discloses a robot double-fork-arm suspension power assembly module which comprises a steering mechanism, a damping mechanism and a hub mechanism, and the damping mechanism comprises a steering support, a connecting rod, fork arms, a damper and a wheel support; the wheel hub mechanism comprises a walking wheel and a wheel hub motor, and is characterized in that the steering support comprises a first steering support body, a second steering support body and a third steering support body, and the steering support bodies are connected through a plurality of connecting rods; the two ends of the fork arms which are horizontally arranged in parallel are rotationally connected with the second steering support and the third steering support correspondingly, and the fork arms are further connected with the wheel supports. And the wheel bracket is connected to the hub motor. By adopting the double-fork-arm structure, the problem that a traditional single-side swing arm type suspension frame is prone to clamping stagnation when encountering an uneven road surface is effectively solved, and the performance of the hub motor is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of robot suspensions, and particularly to a robot double-wishbone suspension power assembly module. Background Art

[0002] The rapid development of robot technology has promoted the wide realization of various automation applications. In robot design, the chassis power assembly module, as a key component, directly affects the motion performance and stability of the robot. In the prior art, the common robot chassis power assembly module adopts a swing-arm suspension scheme. For example, a robot chassis power assembly module disclosed in the Chinese utility model patent publication No. CN221138267U. In the steering assembly of this chassis power module, a steering motor and an encoder are arranged above the reducer. This integrated arrangement reduces the occupied space and improves the utilization efficiency. By connecting the two ends of the shock absorber to the steering bracket and the swing-arm bracket respectively, the mass under the shock absorber is reduced, and the shock absorption effect is improved.

[0003] However, this swing-arm suspension scheme has some technical problems:

[0004] For example, due to the use of a single-output shaft hub motor, during the suspension jounce process, the two swing arms may be non-parallel under the action of lateral force, resulting in suspension jamming and affecting the motion performance and stability of the robot. Or during the manufacturing process, it is difficult to accurately match the axial clearance of the swing arms, which may lead to two undesirable results: either the swing arms cannot rotate normally, or there is a large virtual position axially, and these problems will affect the motion accuracy and reliability of the robot.

[0005] Therefore, there is an urgent need for an improved robot chassis power assembly module to solve the above technical problems and improve the motion performance, stability and reliability of the robot. Summary of the Utility Model

[0006] The technical problem to be solved by the utility model is: to solve the above-mentioned existing technical problems and provide a robot double-wishbone suspension power assembly module that can improve the motion stability, passing performance and steering accuracy of the robot.

[0007] The technical solution adopted by the utility model to solve its technical problems is:

[0008] A robot double-wishbone suspension powertrain module includes a steering mechanism, a shock-absorbing mechanism, and a wheel hub mechanism. The shock-absorbing mechanism includes a steering bracket, a connecting rod, a wishbone, a shock absorber, and a wheel bracket. The wheel hub mechanism includes a driving wheel and a hub motor. The steering bracket includes a first steering bracket, a second steering bracket, and a third steering bracket. The steering brackets are connected by a plurality of connecting rods. The two ends of the horizontally and parallelly arranged wishbone are respectively rotatably connected to the second steering bracket and the third steering bracket, and the wishbone is also connected to the wheel bracket. The wheel bracket is connected to the hub motor.

[0009] Preferably, the tops of the second steering bracket and the third steering bracket are connected to the first steering bracket by connecting rods, and the plurality of connecting rods are horizontally and parallelly arranged.

[0010] Preferably, the wishbone is rotatably connected to the second steering bracket and the third steering bracket through a pin shaft and bearings, and is also connected to the wheel bracket through a pin shaft and bearings.

[0011] Preferably, the second steering bracket and the third steering bracket are vertically and parallelly arranged, and the first steering bracket is obliquely arranged between the steering support and the second steering bracket and the third steering bracket.

[0012] Preferably, the steering mechanism includes a steering motor, an encoder, a reducer, a steering shaft, and a steering support. The encoder is connected to the steering motor for real-time monitoring of the steering angle.

[0013] Preferably, the reducer is fixedly connected to the steering motor and the encoder by bolts.

[0014] Preferably, the steering shaft is fixedly connected to the output end of the reducer.

[0015] Preferably, the steering support is fixedly connected to the mounting hole of the steering motor by bolts. The steering support is provided with mounting holes on both sides for fixedly connecting to the robot body.

[0016] Preferably, the steering mechanism is connected to the shock-absorbing mechanism by connecting the steering shaft to the first steering bracket.

[0017] Preferably, the shock absorbers are arranged on both sides of the wheel bracket, with one end connected to the first steering bracket and the other end connected to the wheel bracket.

[0018] The beneficial effects of the present utility model are as follows:

[0019] By adopting a double-wishbone structure, that is, two horizontally and parallelly arranged wishbones are respectively rotatably connected to the second steering bracket, the third steering bracket, and the wheel bracket through a pin shaft and bearings, and the hub motor is connected through the wheel bracket, the present utility model ensures that the hub motor can move up and down when passing through an uneven road surface, thereby ensuring the passing performance.

[0020] By adopting a pin shaft and bearing structure at the connection of the fork arm with the steering bracket and the wheel bracket, precise clearance control and flexible rotation are achieved, effectively solving the problem that it is difficult to accurately fit the axial clearance of the swing arm during the manufacturing process. This not only ensures the normal rotation of the fork arm but also eliminates axial play, prevents radial movement, significantly improves the motion accuracy and reliability of the robot, and ensures the stability and straightness of walking. Brief Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of a robot double-fork arm suspension power assembly module in Embodiment 1;

[0022] Figure 2 It is a schematic diagram of the structure of the shock absorption mechanism in Embodiment 1;

[0023] Figure 3 It is a sectional structure diagram of the shock absorption structure in Embodiment 1.

[0024] Reference Numerals: 101, steering motor; 102, encoder; 103, reducer; 104, steering shaft; 105, steering support; 201, first steering bracket; 202, second steering bracket; 203, fork arm; 204, connecting rod; 205, third steering bracket; 206, wheel bracket; 207, shock absorber; 301, walking wheel. Detailed Embodiment

[0025] The following further describes the present utility model in conjunction with the drawings and embodiments, but these specific implementation schemes do not limit the protection scope of the present utility model in any way.

[0026] Embodiment 1

[0027] Refer to Figures 1-3 , a robot double-fork arm suspension power assembly module, which includes a steering mechanism for realizing steering, a shock absorption mechanism for shock absorption, and a wheel hub mechanism for walking. The steering mechanism includes a steering motor 101, an encoder 102, a reducer 103, a steering shaft 104, and a steering support 105. The steering motor 101 adopts a DC brushless motor and can accurately control the steering angle; the encoder 102 is connected to the steering motor 101 and is used to monitor the steering angle in real time and provide accurate position feedback; the reducer 103 is fixedly connected to the steering motor 101 and the encoder 102 through bolts and is used to reduce the output speed of the steering motor 101 and increase the output torque; the steering shaft 104 is fixedly connected to the output end of the reducer 103 and is used to transmit the steering force; the steering support 105 serves as the installation foundation of the entire steering mechanism and is fixedly connected to the installation holes of the steering motor 101 through bolts; installation holes are provided on both sides of the steering support 105 for connecting and fixing to the robot body to ensure the stability of the entire steering mechanism.

[0028] In this embodiment, the shock absorption mechanism includes a first steering bracket 201, a second steering bracket 202, a third steering bracket 205, a connecting rod 204, a fork arm 203, a shock absorber 207, and a wheel bracket 206. The first steering bracket 201, the second steering bracket 202, and the third steering bracket 205 form a complete steering bracket structure through three horizontally parallel connecting rods 204. Among them, the first steering bracket 201 is in a C-shaped structure, the second steering bracket 202 and the third steering bracket 205 are arranged vertically and parallelly, and the tops of the second steering bracket 202 and the third steering bracket 205 are fixedly connected to the bottom of the first steering bracket 201 through the connecting rod 204.

[0029] There are also two horizontally parallel fork arms 203 between the second steering bracket 202 and the third steering bracket 205. One end of the fork arm 203 is rotationally connected to the second steering bracket 202 and the third steering bracket 205 through a pin shaft and a bearing, and the other end is also connected to the wheel bracket 206 through a pin shaft and a bearing.

[0030] One end of the steering shaft 104 in the steering mechanism is connected to the output end of the reducer 103, and the other end of the steering shaft 104 is rotationally connected to the top of the first steering bracket 201. The first steering bracket 201 is part of the shock absorption mechanism. It is connected to the second steering bracket 202 and the third steering bracket 205 through the connecting rod 204 to form a complete steering bracket structure. In this way, the steering mechanism is connected to the shock absorption mechanism.

[0031] The shock absorber 207 is arranged on both sides of the wheel bracket 206, with one end connected to the first steering bracket 201 and the other end connected to the wheel bracket 206. Both ends of the fork arm 203 can rotate around the pin shaft, and the bearing is used to control the clearance, which can effectively prevent radial movement and eliminate play, thus ensuring the straightness when the robot walks.

[0032] The hub mechanism includes a driving wheel 301 and a hub motor. The hub motor is installed on the wheel bracket 206 to drive the rotation of the driving wheel 301. When the robot chassis passes over a bump / pit, the hub motor makes a vertical jumping movement under the rotation of the two fork arms 203 through the wheel bracket 206 to ensure the passing performance.

[0033] The working principle of the above-mentioned robot double-fork arm suspension power assembly module is as follows:

[0034] After the robot receives the motion instruction, the steering motor 101 drives the steering shaft 104 to rotate according to the instruction, reduces the rotational speed and increases the torque through the speed reducer 103 to achieve precise steering control. The encoder 102 monitors the steering angle in real time and feeds the data back to the control system of the robot to ensure the steering accuracy. When the robot starts to move, the hub motor starts, and the rotational speed and torque of the hub motor are adjusted in real time by the control system of the robot according to the current road conditions and task requirements.

[0035] During the movement of the robot, when encountering an uneven road surface or an obstacle, the shock absorption mechanism comes into play. When the walking wheel 301 encounters a protrusion or a depression, the double-wishbone structure allows the hub motor to move up and down driven by the wheel bracket 206. Specifically, when the walking wheel 301 encounters a protrusion, the fork arm 203 rotates upward at the pin shaft between the second steering bracket 202 and the third steering bracket 205, driving the wheel bracket 206 to rise; when encountering a depression, the fork arm 203 rotates downward, causing the wheel bracket 206 to descend. This movement is buffered by the shock absorber 207, effectively absorbing the impact force and reducing the vibration transmitted to the robot body.

[0036] Under the structural action of the double-wishbone 203, even under the action of lateral force, the two fork arms 203 can still maintain a parallel state, effectively preventing the occurrence of suspension jamming and ensuring the smooth movement of the hub mechanism. At the same time, the fork arm 203 is connected to the second steering bracket 202, the third steering bracket 205 and the wheel bracket 206 by pin shafts and bearings. Its precise clearance control ensures the flexible rotation of the fork arm 203, eliminates the axial play at the same time, effectively prevents the radial crosstalk, and thus ensures the stability and straightness of the robot's walking.

[0037] Throughout the process, the hub motor is always fixed on the wheel bracket 206, maintaining a fixed relative position with the walking wheel 301. Whether the wheel bracket 206 rises or falls, the hub motor can continuously provide power for the walking wheel 301, ensuring the continuous traveling ability of the robot. This design enables the hub mechanism to move up and down independently when the robot encounters uneven terrain without affecting the stability of the entire chassis, greatly improving the passing performance and motion stability of the robot in complex terrains.

[0038] Through the above working principle, the double-wishbone suspension power assembly module of this robot can effectively improve the motion performance, stability and reliability of the robot. The double-wishbone design solves the jamming problem existing during the jumping of the single-sided swing-arm type suspension, and the precise bearing fit solves the problem that it is difficult to fit the axial clearance of the swing arm during the manufacturing process. It not only improves the passing performance of the robot, but also ensures the stability and straightness of walking, enabling the robot to better adapt to various complex working environments.

[0039] The above are only the preferred embodiments of the present invention, and do not limit the protection scope of the present invention. Any innovative improvement or replacement based on the present invention should fall within the scope of the claims of the present invention. At the same time, the various parameters, materials, and processes mentioned in the above embodiments are not unique either. Without departing from the technical essence of the present invention, those of ordinary skill in the art can make various alternative choices, and these alternative solutions should also be regarded as falling within the protection scope of the present invention.

Claims

1. A robot double-wishbone suspension powertrain module, comprising a steering mechanism, a shock-absorbing mechanism and a wheel hub mechanism. The shock-absorbing mechanism includes a steering bracket, a connecting rod, a wishbone, a shock absorber and a wheel bracket; the wheel hub mechanism includes a driving wheel and a hub motor, characterized in that, The steering bracket includes a first steering bracket, a second steering bracket and a third steering bracket, and the steering brackets are connected by a plurality of connecting rods; both ends of the horizontally parallel fork arms are rotatably connected to the second steering bracket and the third steering bracket respectively, and the fork arms are also connected to the wheel bracket; the wheel bracket is connected to the hub motor.

2. The robot double-wishbone suspension power assembly module according to claim 1, wherein The tops of the second steering bracket and the third steering bracket are connected to the first steering bracket by connecting rods, and the plurality of connecting rods are horizontally parallel.

3. The robot double-wishbone suspension power assembly module according to claim 1, characterized in that, The fork arms are rotatably connected to the second steering bracket and the third steering bracket through pins and bearings, and are also connected to the wheel bracket through pins and bearings.

4. The robot double-fork arm suspension power assembly module according to claim 1, characterized in that, The second steering bracket and the third steering bracket are arranged vertically and parallel, and the first steering bracket is inclined and arranged between the steering support and the second steering bracket and the third steering bracket.

5. The robot double-wishbone suspension power assembly module according to claim 1, wherein, The steering mechanism includes a steering motor, an encoder, a reducer, a steering shaft and a steering support; the encoder is connected to the steering motor for real-time monitoring of the steering angle.

6. The robot double-fork arm suspension power assembly module according to claim 5, wherein, The reducer is fixedly connected to the steering motor and the encoder by bolts.

7. The robot double-fork arm suspension power assembly module according to claim 5, characterized in that, The steering shaft is fixedly connected to the output end of the reducer.

8. The robot double-wishbone suspension power assembly module according to claim 5, characterized in that, The steering support is fixedly connected to the mounting hole of the steering motor by bolts, and mounting holes are provided on both sides of the steering support for fixedly connecting to the robot body.

9. The robot double-fork arm suspension power assembly module according to claim 5, characterized in that The steering mechanism is connected to the shock absorption mechanism through the steering shaft connected to the first steering bracket.

10. The robot double-fork arm suspension power assembly module according to any one of claims 1-9, characterized in that, The shock absorbers are arranged on both sides of the wheel bracket, with one end connected to the first steering bracket and the other end connected to the wheel bracket.

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