Independent suspension device of balance robot

Abstract

The utility model relates to the technical field of independent suspension of balance robots, and discloses an independent suspension device of a balance robot, which comprises a suspension bracket, a wheel module, a fixed module, two sliding block groups and two shock absorbers, the suspension bracket and the fixed module are assembled, and the fixed module is used for assembling the wheel module; the fixing module comprises a fixing plate and two guide rail pieces, the guide rail pieces are vertically arranged and installed on the fixing plate, the sliding block sets and the hanging frame are fixed, and the two sliding block sets and the two guide rail pieces are in one-to-one sliding butt joint; the two shock absorbers are correspondingly arranged on the two sides, the shock absorbers are vertically arranged, and the two ends of the shock absorbers are assembled with the fixing plate and the suspension frame respectively. The guide rail pieces play a role in restraining the wheel modules in the vertical direction, and in cooperation with the damping effect of the two dampers, vibration generated when the balance robot passes through a fluctuating road section can be reduced, the control performance is improved, and the mechanical structure is effectively protected. Meanwhile, the two shock absorbers and the two guide rail pieces enable the shock absorption performance of the suspension device to be more stable.

Description

TECHNICAL FIELD

[0001] The utility model discloses a balanced robot independent suspension technical field, and specifically relates to a balanced robot independent suspension device. BACKGROUND

[0002] With the rapid development of robot technology, people's demand for robots that can move flexibly in narrow spaces increases, and double-wheel robots are widely researched and used because of their small size and stable movement.

[0003] At present, the double-wheel robot includes a suspension device, which realizes the damping and buffering of the double-wheel robot. For example, the prior art with the authorization announcement number CN219055900U discloses a double-wheel balanced robot chassis, which comprises a main frame made of aluminum square tube, a connecting part on both sides and a supporting part in the middle, the connecting parts on both sides are symmetrically arranged with the supporting part as the center, and the supporting part is used for connecting with the robot; a double-wheel suspension mechanism is arranged in two parts and arranged on the connecting part of the main frame for walking and damping; an auxiliary wheel mechanism is arranged in two parts and symmetrically arranged on the front and rear parts of the main frame and below the supporting part.

[0004] In the prior art, the movement of the driving wheel in the vertical direction is not constrained, and effective damping in the vertical direction is also lacking, so the damping effect on the stress of the upper structure is not good, which affects the balance and driving damping of the balanced robot. UTILITY MODEL CONTENTS

[0005] The utility model discloses a balanced robot independent suspension device, which aims to solve the problem of lack of constraint on the movement of the driving wheel in the vertical direction in the prior art.

[0006] The utility model discloses a balanced robot independent suspension device, which comprises a suspension frame, a wheel module, a fixed module, two sliding block groups and two shock absorbers. The suspension frame and the fixed module are assembled and arranged, and the fixed module is used for assembling the wheel module. The fixed module comprises a fixed plate and two guide rail pieces, the guide rail pieces are vertically arranged, and the guide rail pieces are arranged on the fixed plate. The sliding block groups are fixed with the suspension frame, and the two sliding block groups are one-to-one slidingly connected with the two guide rail pieces. The two shock absorbers are arranged on both sides correspondingly, the shock absorbers are vertically arranged, and the two ends of the shock absorbers are assembled with the fixed plate and the suspension frame respectively.

[0007] Furthermore, the suspension frame includes two longitudinal columns, which are arranged at intervals and vertically, and are arranged in correspondence with the guide rail; the slider assembly includes at least one slider, which is mounted on the longitudinal column and is slidably connected to the guide rail.

[0008] Furthermore, the fixing plate has a fixing area, the wheel module is installed in the fixing area, and the two longitudinal frame columns, the two guide rails and the two shock absorbers are arranged symmetrically along the fixing area.

[0009] Furthermore, the suspension frame includes an inner frame plate, an outer frame plate, short fixed blocks, and long fixed blocks. The inner frame plate and the outer frame plate are arranged in a corresponding manner with a gap. The two longitudinal columns are simultaneously assembled with the inner frame plate in a stacked manner. The two ends of the bolt are respectively arranged to be mated with the inner frame plate and the outer frame plate, and the bolt simultaneously passes through the short fixed blocks and the long fixed blocks. The short fixed blocks and the long fixed blocks are used to fasten the upper part of the shock absorber.

[0010] Furthermore, the upper and lower parts of the shock absorber are respectively formed into an upper shock absorber head and a lower shock absorber head, and the lower shock absorber head is stacked and fixedly arranged with the fixed plate; the fixed plate has a plate-fixed surface that abuts against the lower shock absorber head, and the short fixed block has a block-fixed surface that abuts against the upper shock absorber head, and the plate-fixed surface and the block-fixed surface are arranged flush with each other in the top-to-bottom direction.

[0011] Furthermore, the suspension frame includes multiple reinforcing columns, which are arranged laterally, and both ends of the reinforcing columns are respectively fixedly connected to the inner frame plate and the outer frame plate.

[0012] Furthermore, the wheel module includes a servo motor, a tire, a conversion plate, and a wheel plate. The conversion plate is assembled with the servo motor and the tire, respectively. The wheel plate is assembled with the tire and is used to support the tire. The servo motor is assembled with the fixing plate.

[0013] Furthermore, the wheel module includes an electronic control housing and a wheel control plate. The wheel control plate is installed inside the electronic control housing. The electronic control housing and the servo motor are stacked and assembled together, and the wheel control plate and the servo motor are arranged in signal communication.

[0014] Furthermore, the electronic control housing penetrates the fixed plate, and the wheel control plate is located between the two longitudinal columns.

[0015] Furthermore, the shock absorber is a hydraulic shock absorber.

[0016] Compared with the prior art, the independent suspension device of the balancing robot provided by this utility model, under the action of the guide rail, constrains the wheel module in the vertical direction, preventing the wheel module from shifting in the vertical direction. Combined with the shock absorption effect of the two shock absorbers, it can reduce the vibration of the balancing robot when passing through undulating road sections, increase the handling performance, effectively protect the mechanical structure, and improve the service life of the balancing robot. At the same time, the independent cooperation between the two shock absorbers and the two guide rails makes the shock absorption performance of the suspension device more stable, improving the driving stability of the balancing robot. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the independent suspension device of the balancing robot provided by this utility model;

[0018] Figure 2 This is an exploded view of the independent suspension device of the balancing robot provided by this utility model;

[0019] Figure 3 This is a top view schematic diagram of the independent suspension device of the balancing robot provided by this utility model;

[0020] Figure 4 This is an assembly diagram of the shock absorber of the independent suspension device of the balancing robot provided by this utility model;

[0021] Figure 5 This is an exploded view of the wheel module of the independent suspension device of the balancing robot provided by this utility model. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] The implementation of this utility model will be described in detail below with reference to specific embodiments.

[0024] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] Reference Figures 1-5 The image shown is a preferred embodiment of the present invention.

[0026] The independent suspension device of the balancing robot includes a suspension frame 1, a wheel module 2, a fixed module 3, two slider groups 5, and two shock absorbers 4. The suspension frame 1 and the fixed module 3 are assembled together, and the fixed module 3 is used for assembling the wheel module 2. The fixed module 3 includes a fixed plate 31 and two guide rails 32. The guide rails 32 are arranged vertically and are mounted on the fixed plate 31. The slider groups 5 are fixed to the suspension frame 1, and the two slider groups 5 are slidably connected to the two guide rails 32 one by one. The two shock absorbers 4 are arranged on both sides, are arranged vertically, and are assembled with the fixed plate 31 and the suspension frame 1 at both ends respectively.

[0027] The independent suspension device of the aforementioned balancing robot, under the action of the guide rail 32, constrains the wheel module 2 in the vertical direction, preventing the wheel module 2 from shifting in the vertical direction. Combined with the shock absorption effect of the two shock absorbers 4, it can reduce the vibration of the balancing robot when passing through undulating road sections, increase the handling performance, effectively protect the mechanical structure, and improve the service life of the balancing robot. At the same time, the independent cooperation between the two shock absorbers 4 and the two guide rails 32 makes the shock absorption performance of the suspension device more stable, improving the driving stability of the balancing robot.

[0028] Shock absorber 4 is a hydraulic shock absorber 4, which facilitates the application of shock absorption effect.

[0029] The shock absorber 4 adopts a dual-barrel negative pressure design. Each hydraulic shock absorber 4 has a spring stiffness coefficient of 4N / MM and a maximum compression of 20MM. The two shock absorbers 4 can provide a maximum force of 160N, which can easily meet the shock absorption needs of the balancing robot.

[0030] The suspension frame 1 includes two longitudinal columns 11, which are arranged at intervals and vertically, and are corresponding to the guide rail 32. The slider assembly 5 includes at least one slider, which is mounted on the longitudinal column 11 and is slidably connected to the guide rail 32. Under the action of the longitudinal column 11, the slider assembly 5 is assembled, and the slider is also slidably connected to the guide rail 32.

[0031] The longitudinal frame columns 11 are made of aluminum and are hollow; this makes the longitudinal frame columns 11 lighter, reducing their own weight and facilitating the robot's movement.

[0032] The fixed plate 31 has a fixed area, the wheel module 2 is installed in the fixed area, and the two longitudinal frame columns 11, the two guide rails 32 and the two shock absorbers 4 are arranged symmetrically along the fixed area. The advantage of this arrangement is that the force on the suspension device is more uniform and the stability of the suspension device is enhanced.

[0033] The suspension frame 1 includes an inner frame plate 12, an outer frame plate 13, a short fixed block 14, and a long fixed block 15. The inner frame plate 12 and the outer frame plate 13 are arranged in a corresponding manner at intervals. The two longitudinal columns 11 are simultaneously assembled with the inner frame plate 12 in a stacked arrangement. Under the action of the inner frame plate 12, the assembly of the longitudinal columns 11 is realized.

[0034] The inner frame plate 12 has multiple inner plate holes, which are arranged at intervals along the vertical direction. The screws extend through the longitudinal frame column 11 and are threadedly connected to each inner plate hole; thus, the vertical assembly of the longitudinal frame column 11 is achieved.

[0035] The two ends of the bolt are respectively arranged to mate with the inner frame plate 12 and the outer frame plate 13, and the bolt simultaneously passes through the short fixed block 14 and the long fixed block 15. The short fixed block 14 and the long fixed block 15 are used to fasten the upper part of the shock absorber 4. In this way, under the action of the short fixed block 14 and the long fixed block 15, the upper part of the shock absorber 4 is positioned and fastened, so as to satisfy the vertical assembly of the shock absorber 4.

[0036] The upper and lower parts of the shock absorber 4 form an upper shock absorber head and a lower shock absorber head, respectively. The lower shock absorber head is stacked and fixedly arranged with the fixing plate 31. The fixing plate 31 has a plate-fixed surface that abuts against the lower shock absorber head, and the short fixing block 14 has a block-fixed surface that abuts against the upper shock absorber head. Along the top-to-bottom direction, the plate-fixed surface and the block-fixed surface are arranged flush.

[0037] In this way, under the positioning effect of the plate-fixed surface and the block-fixed surface, the assembled shock absorber 4 is arranged vertically in a corresponding manner, ensuring the shock absorption effect of the shock absorber 4 in the vertical direction.

[0038] The suspension frame 1 includes multiple reinforcing columns, which are arranged laterally, and the two ends of the reinforcing columns are respectively fixedly connected to the inner frame plate 12 and the outer frame plate 13. Under the action of each reinforcing column, each reinforcing column, the inner frame plate 12 and the outer frame plate 13 form an integral whole, making the overall stability of the suspension frame 1 stronger, facilitating the stress on the suspension frame 1, and also ensuring the assembly of the wheel module 2.

[0039] The wheel module 2 includes a servo motor 21, a tire 22, a conversion plate 23, and a wheel plate 24. The conversion plate 23 is assembled with the servo motor 21 and the tire 22 respectively. The wheel plate 24 is assembled with the tire 22 and is used to support the tire 22. The servo motor 21 is assembled with the fixing plate 31.

[0040] The servo motor 21 is used to drive the tire 22 to rotate, and the rotation of the tire 22 enables the robot to move in a balanced manner. At the same time, the use of the servo motor 21 facilitates the control of the drive. Furthermore, under the action of the conversion plate 23, the servo motor 21 and the tire 22 are integrated into one piece. Under the action of the wheel plate 24, the load-bearing capacity of the tire 22 is enhanced, and the service life of the tire 22 is improved.

[0041] The wheel module 2 includes an electronic control housing and a wheel control board. The wheel control board is installed inside the electronic control housing. The electronic control housing and the servo motor 21 are stacked and assembled, and the wheel control board and the servo motor 21 are arranged in a signal communication manner. This facilitates the control of the servo motor 21, and the central arrangement helps to improve the rotational stability of the wheel module 2.

[0042] The electric control housing penetrates the fixing plate 31, and the wheel control plate is located between the two longitudinal columns 11; in this way, the wheel control plate is arranged internally, which protects the wheel control plate and prevents damage to the wheel control plate caused by external impact.

[0043] 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 and improvements 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 independent suspension device for a balancing robot, characterized in that, The device includes a suspension frame, a wheel module, a fixing module, two slider assemblies, and two shock absorbers. The suspension frame and the fixing module are assembled together, and the fixing module is used for assembling the wheel module. The fixing module includes a fixing plate and two guide rails. The guide rails are vertically arranged and mounted on the fixing plate. The slider assemblies are fixed to the suspension frame, and the two slider assemblies are slidably connected to the two guide rails. The two shock absorbers are arranged on opposite sides, vertically arranged, and their two ends are assembled with the fixing plate and the suspension frame, respectively.

2. The independent suspension device for the balancing robot as described in claim 1, characterized in that, The suspension frame includes two longitudinal columns, which are arranged at intervals and vertically, and are arranged in correspondence with the guide rail. The slider assembly includes at least one slider, which is mounted on the longitudinal column and is slidably connected to the guide rail.

3. The independent suspension device for the balancing robot as described in claim 2, characterized in that, The fixing plate has a fixing area, the wheel module is installed in the fixing area, and the two longitudinal columns, the two guide rails and the two shock absorbers are arranged symmetrically along the fixing area.

4. The independent suspension device for the balancing robot as described in claim 2, characterized in that, The suspension frame includes an inner frame plate, an outer frame plate, short fixed blocks, and long fixed blocks. The inner frame plate and the outer frame plate are arranged at intervals. The two longitudinal columns are simultaneously assembled with the inner frame plate. The two ends of the bolts are respectively arranged to be mated with the inner frame plate and the outer frame plate, and the bolts simultaneously pass through the short fixed blocks and the long fixed blocks. The short fixed blocks and the long fixed blocks are used to fasten the upper part of the shock absorber.

5. The independent suspension device for the balancing robot as described in claim 4, characterized in that, The upper and lower parts of the shock absorber form an upper shock absorber head and a lower shock absorber head, respectively. The lower shock absorber head is stacked and fixedly arranged with the fixed plate. The fixed plate has a plate-fixed surface that abuts against the lower shock absorber head, and the short fixed block has a block-fixed surface that abuts against the upper shock absorber head. Along the top-to-bottom direction, the plate-fixed surface and the block-fixed surface are arranged flush.

6. The independent suspension device for the balancing robot as described in claim 4, characterized in that, The suspension frame includes multiple reinforcing columns, which are arranged laterally, and both ends of the reinforcing columns are fixedly connected to the inner frame plate and the outer frame plate, respectively.

7. The independent suspension device for a balancing robot as described in any one of claims 2-6, characterized in that, The wheel module includes a servo motor, a tire, a conversion plate, and a wheel plate. The conversion plate is assembled with the servo motor and the tire, respectively. The wheel plate is assembled with the tire and is used to support the tire. The servo motor is assembled with the fixing plate.

8. The independent suspension device for the balancing robot as described in claim 7, characterized in that, The wheel module includes an electronic control housing and a wheel control plate. The wheel control plate is installed inside the electronic control housing. The electronic control housing and the servo motor are stacked and assembled together, and the wheel control plate and the servo motor are arranged in signal communication.

9. The independent suspension device for the balancing robot as described in claim 8, characterized in that, The electronic control housing penetrates the fixed plate, and the wheel control plate is located between the two longitudinal columns.

10. The independent suspension device for a balancing robot as described in any one of claims 1-6, characterized in that, The shock absorber is a hydraulic shock absorber.

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