Self-adaptive suspension system based on omnidirectional gear train

Abstract

The utility model provides a self-adaptive suspension system based on an omnidirectional wheel train. The self-adaptive suspension system is used for solving the problem that an existing suspension system is insufficient in road condition adaptability. A self-adaptive suspension of an omni-directional wheel train comprises a motor mounting part, a mounting hole is formed in the motor mounting part in a penetrating mode, a motor is fixed in the mounting hole, an omni-directional wheel is fixed to an output shaft of the motor, the top end of the motor mounting part is hinged to a shock absorption assembly through a hinge rod, and an upper connecting rod and a lower connecting rod are hinged to the side wall of the motor mounting part. The upper connecting rod and the lower connecting rod are parallel to each other, the shock absorption assembly, the upper connecting rod and the lower connecting rod are all hinged to the suspension connecting plate, a supporting plate is fixed to one side of the lower connecting rod, the side wall of the top end of the supporting plate is connected with the lower connecting rod through a limiting rod, the side wall of the limiting rod can abut against the upper connecting rod, and a frame connecting plate is fixed to the suspension connecting plate. The utility model can be applied to various types of robots, and has wide application prospects in the fields of industrial automation, logistics transportation, medical treatment and public health and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of small robot, especially point to a kind of adaptive suspension system based on omni-directional wheel system. BACKGROUND

[0002] In the field of small robot, the traditional suspension mode has simple elastic material (such as rubber, etc.) as buffer. For example, the wheels at the bottom of some small cleaning robots are wrapped with a layer of elastic rubber around the axle, and when the robot passes through a small obstacle or uneven ground, the elastic deformation of the rubber can play a certain buffering role, although there is a buffering role, but it is very small and the material requirement is high and easy to damage. At the same time, omni-directional wheels are also widely used in small robots, such as some logistics sorting robots, which can realize flexible translation and rotation of the robot in the plane, facilitating the rapid movement of the robot in a small space. Some small robots also try to combine simple suspension and omni-directional wheels, for example, small springs or elastic elements are arranged between the mounting bracket of the omni-directional wheel and the robot chassis, which can absorb the impact of the ground to a certain extent when the robot is running, but such omni-directional wheels have poor road adaptability, large design footprint, low space utilization, and complicated disassembly and assembly steps, which is not conducive to replacement. SUMMARY

[0003] The utility model provides a kind of adaptive suspension system based on omni-directional wheel system, solve the problem of insufficient road adaptability of suspension in prior art.

[0004] The technical scheme of the utility model is as follows:

[0005] An adaptive suspension system based on omni-directional wheel system, comprising a motor mounting member, an installation hole is provided on the motor mounting member, a motor is fixed in the installation hole, an omni-directional wheel is fixed to the output shaft of the motor, a shock absorption assembly is hinged to the top end of the motor mounting member through a hinge rod, an upper connecting rod and a lower connecting rod are hinged to the side wall of the motor mounting member, the upper connecting rod and the lower connecting rod are parallel to each other, the shock absorption assembly, the upper connecting rod and the lower connecting rod are hinged to a suspension connecting plate at the end away from the omni-directional wheel, a support plate is fixed to the side of the lower connecting rod close to the upper connecting rod, the top end of the support plate can abut against the upper connecting rod, the side wall of the top end of the support plate is connected to the lower connecting rod through a limiting rod, the side wall of the limiting rod can abut against the upper connecting rod, a parallelogram structure is formed by the suspension connecting plate, the upper connecting rod, the lower connecting rod and the motor mounting member, and a vehicle frame connecting plate is fixed to the suspension connecting plate.

[0006] Further, the shock absorption assembly is two parallel shock absorbing springs. The design of double shock absorbing springs enables the suspension system to better adapt to various road conditions, including rough and uneven roads, slopes, and bumpy terrain.

[0007] Further, the omnidirectional wheel comprises a fixed inner plate and a pin, the two sides of the fixed inner plate are fixed with single-piece wheels, the single-piece wheels each comprise a middle plate, a plurality of middle grooves are arranged in the circumferential direction of the middle plate, grooves are arranged on the two side walls of the middle grooves, the two ends of the pin are arranged in the grooves, the two sides of the middle plate are provided with outer plates, the outer plates can close one side of the grooves, limit grooves are arranged on the outer plates and correspond to the middle grooves in one-to-one correspondence, the pin is provided with a rubber wheel, the rubber wheels on the two single-piece wheels are staggered, and the fixed inner plate is connected with the output shaft through an expansion sleeve. Through the quick installation of the outer plate and the middle plate and the cooperation of the expansion sleeve and the output shaft, the installation and disassembly process of the omnidirectional wheel becomes simple and fast, and the installation and maintenance time is saved.

[0008] Further, the side wall of the suspension connecting plate is fixed with a limiting plate, when the limiting rod abuts against the upper connecting rod, the side wall of the limiting plate abuts against the side wall of the supporting plate. When the shock absorption assembly fails, the limiting plate further enhances the stability of the parallelogram structure, prevents structural deformation or damage caused by excessive rotation, and ensures the safety of operators and equipment.

[0009] Further, the suspension connecting plate comprises two fixed plates connected through a plurality of fixed shafts, square holes are fixed on the fixed plates, and the two sides of the frame connecting plate are fixed in the square holes through protrusions. When maintaining or replacing the suspension system components, the upper connecting plate assembly can be quickly disassembled, the suspension connecting plate can be inspected or repaired, and the convenience of maintenance is improved.

[0010] Further, the circumferential direction of the middle plate is circumferentially arranged with 14 middle grooves. The plurality of middle grooves make the wear of the rubber wheel more uniform, prolonging the service life of the tire.

[0011] The technical scheme can produce the beneficial effects: the suspension structure composed of the shock absorption assembly and the parallelogram structure cooperates with the omnidirectional wheel to change direction flexibly without a large turning radius in some space-limited environments (such as narrow warehouse passageways, compact production workshops, etc.), effectively improving the space utilization rate, reducing the limitation on the layout of the site, and automatically adjusting the suspension compression according to different road conditions and load conditions, ensuring that the equipment always maintains a stable operating state, effectively reducing vibration and impact, protecting the precision components inside the equipment, and prolonging the service life of the equipment. Can be applied to various types of robots, and has wide application prospects in the fields of industrial automation, logistics transportation, medical health, etc. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0013] Figure 1 Schematic diagram of the three-dimensional structure of the present application Figure 1 ;

[0014] Figure 2 Schematic diagram of the three-dimensional structure of the present application Figure 2 ;

[0015] Figure 3 Schematic diagram of the three-dimensional structure of the present application

[0016] Figure 4 Schematic diagram of the three-dimensional structure of the present application

[0017] Figure 5 Schematic diagram of the three-dimensional structure of the present application

[0018] Figure 6 Schematic diagram of the three-dimensional structure of the present application

[0019] Figure 7 Schematic diagram of the three-dimensional structure of the present application

[0020] Figure 8 Schematic diagram of the three-dimensional structure of the present application

[0021] Figure 9 Schematic diagram of the three-dimensional structure of the present application

[0022] Figure 10 Schematic diagram of the three-dimensional structure of the present application Figure 1 Schematic diagram of the three-dimensional structure of the present application

[0023] 1, motor mounting piece, 2, motor, 3, omnidirectional wheel, 4, shock absorbing assembly, 5, upper connecting rod, 6, lower connecting rod, 7, suspension connecting plate, 8, support plate, 9, limiting rod, 10, frame connecting plate, 11, fixed inner plate, 12, single piece wheel, 13, intermediate plate, 14, intermediate groove, 15, recess, 16, pin, 17, outer plate, 18, limiting groove, 19, rubber wheel, 20, expansion sleeve, 21, limiting plate, 22, fixed plate, 23, fixed shaft, 24, square hole, 25, protruding block. DETAILED DESCRIPTION

[0024] Clearly, the described embodiments are merely a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0025] As shown in Figures 1-3 The utility model provides a kind of adaptive suspension system based on omni-directional wheel system, including motor mounting piece 1, installation hole is equipped on motor mounting piece 1, motor 2 is fixed in installation hole, the output shaft of motor 2 is fixed with omni-directional wheel 3, the top of motor mounting piece 1 is hinged with shock-absorbing assembly 4 by hinged rod, the side wall of motor mounting piece 1 is hinged with upper connecting rod 5 and lower connecting rod 6, upper connecting rod 5 and lower connecting rod 6 are parallel to each other, the end of shock-absorbing assembly 4, upper connecting rod 5 and lower connecting rod 6 away from omni-directional wheel 3 are all hinged on suspension connecting plate 7, the side of lower connecting rod 6 close to upper connecting rod 5 is fixed with support plate 8, the top of support plate 8 can be abutted with upper connecting rod 5, the side wall of support plate 8 top is connected with lower connecting rod 6 by limiting rod 9, the side wall of limiting rod 9 can be abutted with upper connecting rod 5, the parallelogram structure formed by suspension connecting plate 7, upper connecting rod 5, lower connecting rod 6 and motor mounting piece 1, suspension connecting plate 7 is fixed with frame connecting plate 10.The hinged place of suspension connecting plate 7, upper connecting rod 5, lower connecting rod 6 and motor mounting piece 1 can be hinged by rotating bearing, the rotating bearing can reduce the friction of rotation, so that the process of automatically adjusting suspension is more smooth.The motor 2 and rotating bearing are all prior art.Frame connecting plate 10 connects suspension connecting plate 7 with frame.

[0026] In the movement of omni-directional wheel 3, shock-absorbing assembly 4 is supported by motor mounting piece 1, and provides thrust for suspension connecting plate 7, while support plate 8 provides support for upper connecting rod 5, to prevent the parallelogram structure formed by suspension connecting plate 7, upper connecting rod 5, lower connecting rod 6 and motor mounting piece 1 from excessive rotation. When omni-directional wheel 3 is subjected to bumps, shock-absorbing assembly 4 is compressed, at which time the parallelogram structure is deformed, while the top of support plate 8 is away from upper connecting rod 5, and finally the side wall of limiting rod 9 is abutted with connecting rod, to limit the parallelogram structure by limiting rod 9. Through the cooperation of shock-absorbing assembly 4 and the parallelogram structure, bumps and vibrations encountered by omni-directional wheel 3 in the movement process can be effectively absorbed and alleviated, to protect the precision components inside the equipment and prolong the service life of the equipment. Suspension compression can also be automatically adjusted according to different road conditions and load conditions, to ensure that the equipment always maintains a stable operating state. The omni-directional movement characteristics of omni-directional wheel 3 enable it to change direction flexibly without a large turning radius, effectively improving space utilization and reducing the limitation on site layout.

[0027] like Figure 2 As shown, the shock absorber assembly 4 consists of two parallel damping springs. Compared to a single spring, dual damping springs offer a wider range of elastic deformation and can more effectively absorb and disperse vibration energy caused by rough road surfaces, resulting in a smoother and more comfortable ride. Even if one spring is subjected to significant pressure or damage, the other spring can continue to function, ensuring the normal operation of the suspension system.

[0028] like Figures 1-10 As shown, the omnidirectional wheel 3 includes a fixed inner plate 11 and pins 16. Single-piece wheels 12 are fixed to both sides of the fixed inner plate 11. Each single-piece wheel 12 includes a middle plate 13. Multiple intermediate grooves 14 are arranged circumferentially on the middle plate 13. Grooves 15 are provided on both sides of the middle grooves 14. The two ends of the pins 16 are respectively located in the grooves 15 on the side walls of the middle grooves 14. Outer plates 17 are provided on both sides of the middle plate 13. The outer plates 17 can close one side of the grooves 15. Limiting grooves 18 are provided on the outer plates 17, corresponding one-to-one with the middle grooves 14. Rubber wheels 19 are sleeved on the pins 16. The rubber wheels 19 on the two single-piece wheels 12 are staggered. The fixed inner plate 11 is connected to the output shaft via a tension sleeve 20. The middle plate 13, outer plates 17, and fixed inner plate 11 are all fixedly connected by bolts. The tension sleeve 20 is existing technology, which makes the omnidirectional wheel 3 easy to install and remove.

[0029] During installation, an outer plate 17 is pre-installed with the middle plate 13. Then, the pin 16, along with the rubber wheel 19, is placed in the middle groove 14. The groove 15 limits the pin 16's position. The end of the pin 16 is connected to the groove 15 via a ball bearing, facilitating the rotation of the rubber wheel 19. Afterward, the outer plate 17 on the other side of the middle plate 13 is fixed to the middle plate 13 to complete the installation of the single-piece wheel 12. Subsequently, two single-piece wheels 12 are staggered and installed on both sides of the fixed inner plate 11 to complete the installation of the omnidirectional wheel 3. When replacing the rubber wheel 19, the groove 15 can be opened by removing the outer plate 17 on one side of the middle plate 13, allowing the pin 16 to be removed quickly. The staggered arrangement of the rubber wheels 19 ensures full contact with the ground, increasing stability and grip, while also helping to distribute pressure, reduce wear on individual rubber wheels 19, and extend their service life. All components of the omnidirectional wheel 3 are modularly designed, which not only facilitates production and maintenance but also allows for quick replacement of different parts to meet varying usage requirements, thus improving the equipment's flexibility and applicability. The omnidirectional wheel 3 enables the equipment to move flexibly in space-constrained environments, making it suitable for operation in various complex terrains and confined spaces.

[0030] like Figures 1-2As shown, a limiting plate 21 is fixed to the side wall of the suspension connecting plate 7. When the limiting rod 9 abuts against the upper connecting rod 5, the side wall of the limiting plate 21 abuts against the side wall of the support plate 8. When the support plate 8 moves away from the upper connecting plate due to external force, the limiting plate 21 will prevent it from rotating further, thereby protecting the various components of the suspension system from damage, enhancing the structural stability of the suspension system, ensuring that the equipment can still maintain a relatively stable operating state under bumpy or unstable road conditions, and effectively preventing the equipment from going out of control or overturning.

[0031] like Figures 1-2 As shown, the suspension connecting plate 7 includes two fixing plates 22, which are connected by multiple fixing shafts 23. Each fixing plate 22 has a square hole 24 fixed to it. The two sides of the frame connecting plate 10 are fixed within the square holes 24 by protrusions 25. The fixing shafts 23 increase the overall rigidity of the suspension connecting plate 7 and improve its torsional and bending resistance, enabling the suspension system to maintain a stable shape when subjected to external forces. Through the cooperation of the protrusions 25 and the square holes 24, the upper connecting plate assembly and the suspension connecting plate 7 can be quickly installed and fixed without a complex adjustment process. This also reduces the need for additional fasteners or tools during installation, further reducing installation costs.

[0032] like Figures 3-9 As shown, the intermediate plate 13 has 14 intermediate grooves 14 arranged in a circumferential array. By setting multiple intermediate grooves 14, the rubber wheel 19 can contact the ground sequentially, increasing the contact area between the tire and the ground, thereby improving the anti-slip performance of the omnidirectional wheel 3. The 14 intermediate grooves 14 allow the rubber wheel 19 to distribute pressure more evenly during rotation, reducing tire deformation or slippage caused by excessive force at a single point.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive suspension system based on an omnidirectional wheel system, characterized in that: The system includes a motor mounting component (1), which has a mounting hole through which a motor (2) is fixed. An omnidirectional wheel (3) is fixed to the output shaft of the motor (2). A shock absorber assembly (4) is hinged to the top of the motor mounting component (1) via a hinge rod. An upper connecting rod (5) and a lower connecting rod (6) are hinged to the side wall of the motor mounting component (1). The upper connecting rod (5) and the lower connecting rod (6) are parallel to each other. The ends of the shock absorber assembly (4), the upper connecting rod (5), and the lower connecting rod (6) away from the omnidirectional wheel (3) are all hinged to the suspension. On the connecting plate (7), a support plate (8) is fixed on the side of the lower connecting rod (6) near the upper connecting rod (5). The top of the support plate (8) can abut against the upper connecting rod (5). The side wall of the top of the support plate (8) is connected to the lower connecting rod (6) through the limiting rod (9). The side wall of the limiting rod (9) can abut against the upper connecting rod (5). The suspension connecting plate (7), the upper connecting rod (5), the lower connecting rod (6) and the motor mounting part (1) are combined to form a parallelogram structure. The frame connecting plate (10) is fixed on the suspension connecting plate (7).

2. The adaptive suspension system based on an omnidirectional wheel system according to claim 1, characterized in that: The omnidirectional wheel (3) includes a fixed inner plate (11) and a pin (16). The fixed inner plate (11) has single-piece wheels (12) fixed on both sides. Each single-piece wheel (12) includes a middle plate (13). The middle plate (13) has multiple middle grooves (14) arranged in a circumferential array. The two side walls of the middle grooves (14) are provided with grooves (15). The two ends of the pin (16) are respectively located in the grooves (15). The middle plate (13) has outer plates (17) on both sides. The outer plates (17) can close one side of the grooves (15). The outer plates (17) are provided with limiting grooves (18). The limiting grooves (18) correspond one-to-one with the middle grooves (14). The pin (16) is covered with a rubber wheel (19). The rubber wheels (19) on the two single-piece wheels (12) are interleaved. The fixed inner plate (11) is connected to the output shaft through a tightening sleeve (20).

3. The adaptive suspension system based on an omnidirectional wheel system according to claim 1, characterized in that: The shock absorption assembly (4) consists of two parallel shock-absorbing springs.

4. The adaptive suspension system based on an omnidirectional wheel system according to claim 1, characterized in that: The side wall of the suspension connecting plate (7) is fixed with a limiting plate (21). When the limiting rod (9) abuts against the upper connecting rod (5), the side wall of the limiting plate (21) abuts against the side wall of the support plate (8).

5. An adaptive suspension system based on an omnidirectional wheel system according to claim 1, characterized in that: The suspension connecting plate (7) includes two fixing plates (22), which are connected by multiple fixing shafts (23). Each fixing plate (22) has a square hole (24) fixed on it. The two sides of the frame connecting plate (10) are fixed in the square hole (24) by protrusions (25).

6. An adaptive suspension system based on an omnidirectional wheel system according to claim 2, characterized in that: The intermediate plate (13) has 14 intermediate slots (14) arranged in a circumferential array.

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