Suspension device and wheeled robot

Abstract

The utility model provides a kind of suspension device and wheeled robot, wherein suspension device includes: the chassis for carrying the main body of wheeled robot, walking wheel installed to chassis, with walking wheel shaft connection and for driving walking wheel rotation around shaft driving element, with the one end sliding connection of driving element swing suspension, with the other end fixed connection of driving element spring support and with spring support connection spring;Wherein, the one end of driving element with spring support is connected with chassis shaft and can rotate around shaft;The one end of swing suspension, which is away from driving element, is connected with chassis shaft and can rotate around shaft;The both ends of spring are respectively connected chassis and spring support.This wheeled robot suspension device is through the collaborative work of multiple modules such as basic bearing, power drive, swing adjustment and buffer damping, realizes the effective support of robot, drive, and good adaptation and shock absorption and buffering to complex road conditions, improves the comprehensive performance of robot.

Description

Technical Field

[0001] This utility model relates to the technical field of wheeled robots, and more specifically, to a suspension device and a wheeled robot. Background Technology

[0002] In existing wheeled robots, there are various ways to arrange the motors, but all of them have some shortcomings. Although traditional wheel hub motors integrate the motor into the wheel hub, achieving a certain degree of integration, the motor is directly subjected to ground impacts, which easily generates significant vibration and noise, reducing the lifespan of the equipment.

[0003] Furthermore, in certain specialized applications, wheeled robots need to cope with complex road conditions. Existing motor arrangements cannot effectively isolate shocks from bumpy and vibrating surfaces, easily leading to motor damage and affecting the normal operation of the wheeled robot. Therefore, it is necessary to design a motor arrangement that can better handle complex road conditions and improve motor stability and robot performance. Utility Model Content

[0004] The purpose of this utility model is to provide a suspension device and a wheeled robot to solve the technical problems of poor stability and susceptibility to impact damage in the motor arrangement of existing wheeled robots when dealing with complex road conditions.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] In a first aspect, a suspension device is provided, comprising:

[0007] The system comprises a chassis for supporting the main body of a wheeled robot, wheels mounted on the chassis, a drive unit connected to the axle of the wheels and used to drive the wheels to rotate around the axle, a swing suspension slidably connected to one end of the drive unit, a spring bracket fixedly connected to the other end of the drive unit, and a spring connected to the spring bracket; wherein, the end of the drive unit with the spring bracket is connected to the chassis axle and is capable of rotating around the axle; the end of the swing suspension opposite to the drive unit is connected to the chassis axle and is capable of rotating around the axle; and the two ends of the spring are respectively connected to the chassis and the spring bracket.

[0008] By adopting the above technical solution, the wheeled robot suspension device achieves effective support and drive for the robot, as well as good adaptability and shock absorption to complex road conditions, through the coordinated work of multiple modules such as basic bearing, power drive, swing adjustment and buffering, thereby improving the robot's overall performance.

[0009] In one embodiment, the drive unit includes a drive body and a protective cover mounted on the drive body. The power output shaft of the drive body is connected to the axle of the walking wheel. Both ends of the protective cover are connected to the swing suspension and the chassis, respectively. The end of the protective cover connected to the chassis is provided with the spring bracket.

[0010] In one embodiment, the axis of the walking wheel is offset from the axis of the protective cover.

[0011] In one embodiment, a first mounting groove is provided on the side of the walking wheel near the chassis, the drive body is received in the first mounting groove, a second mounting groove is provided on the side of the chassis near the walking wheel, and the protective cover, the swing suspension, the spring bracket and the spring are received in the second mounting groove.

[0012] In one embodiment, the traveling wheel includes a hub, a tire, and a rim connected coaxially in sequence. The hub has a first mounting groove inside and multiple connecting holes are evenly distributed on the hub. The tire and the rim form a wheel body. The wheel body is fixedly connected to the drive unit through the connecting holes. The output shaft of the drive unit is coaxially arranged with the wheel body.

[0013] In one embodiment, the protective cover is provided with a first rotating shaft connected to the chassis, and the protective cover is provided with fasteners fixedly connected to the drive component.

[0014] In one embodiment, the end of the swing suspension near the protective cover is provided with a sliding groove, and the protective cover is provided with a second rotating shaft that slides in the sliding groove. The second rotating shaft can slide along the length direction of the sliding groove, and the length direction of the sliding groove is perpendicular to the second rotating shaft.

[0015] In one embodiment, the end of the swing suspension away from the protective cover is provided with a third rotating shaft, the third rotating shaft is connected to the chassis, and the swing suspension can rotate around the third rotating shaft.

[0016] In one embodiment, the suspension system further includes a balance adjustment device connecting the chassis and the wheels.

[0017] Secondly, a wheeled robot is provided, comprising a main body of the wheeled robot and the aforementioned suspension device, wherein the suspension device is disposed on the main body.

[0018] By adopting the above technical solutions, the stability of the motor during operation is improved, the risk of motor failure caused by external vibration and impact is reduced, and the service life of the motor is extended. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is the three-dimensional structure of the suspension device provided in this embodiment of the utility model. Figure 1 .

[0021] Figure 2 This is the three-dimensional structure of the suspension device provided in this embodiment of the utility model. Figure 2 .

[0022] Figure 3 This is an exploded view of the suspension device provided in an embodiment of this utility model.

[0023] Figure 4 This is a three-dimensional structural diagram of the chassis provided in an embodiment of this utility model.

[0024] The labels for the attached figures are as follows:

[0025] 100. Suspension system;

[0026] 1. Chassis; 2. Wheels; 3. Drive components; 4. Swing suspension; 5. Spring bracket; 6. Spring;

[0027] 11. Second mounting slot; 21. First mounting slot; 22. Wheel hub; 23. Tire; 24. Wheel rim; 31. Drive unit; 32. Protective cover; 41. Sliding groove;

[0028] 10. First rotating shaft; 20. Second rotating shaft; 30. Third rotating shaft;

[0029] 221. Connecting hole. Detailed Implementation

[0030] To make the technical problems, technical solutions, and beneficial effects 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.

[0031] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0032] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0034] like Figure 1 and Figure 2 As shown in the figure, this utility model provides a suspension device 100 for mounting on a wheeled robot, including intelligent lawnmower robots, etc. The suspension device 100 provided in this embodiment has high stability and is not easily damaged by impact when dealing with complex road conditions. The following is a detailed description of the specific implementation method:

[0035] The suspension device 100 in this embodiment includes:

[0036] The system comprises a chassis 1 for supporting the main body of the wheeled robot, a walking wheel 2 mounted on the chassis 1, a drive unit 3 connected to the shaft of the walking wheel 2 and used to drive the walking wheel 2 to rotate around the shaft, a swing suspension 4 slidably connected to one end of the drive unit 3, a spring bracket 5 fixedly connected to the other end of the drive unit 3, and a spring 6 connected to the spring bracket 5; wherein, the end of the drive unit 3 with the spring bracket 5 is connected to the shaft of the chassis 1 and can rotate around the shaft; the end of the swing suspension 4 away from the drive unit 3 is connected to the shaft of the chassis 1 and can rotate around the shaft; and the two ends of the spring 6 are respectively connected to the chassis 1 and the spring bracket 5.

[0037] Specifically, the chassis 1, as the basic load-bearing component of the entire suspension system 100, functions to support the main body of the wheeled robot. It provides a platform for the installation of other components, serves as the basic structure to ensure the normal operation and stable travel of the wheeled robot, and integrates the various parts of the robot together, playing a key role in support and connection.

[0038] The walking wheels 2 are mounted on the chassis 1 and are the direct actuators that enable the wheeled robot to move. Through contact with the ground and rolling, the robot can move on different surfaces.

[0039] The drive unit 3 is connected to the shaft of the walking wheel 2 and is the power source that drives the walking wheel 2 to rotate around the shaft. It transmits power to the walking wheel 2, providing power for the robot's movement. At the same time, one end of the drive unit 3 (the end with the spring bracket 5) is connected to the shaft of the chassis 1 and can rotate around the shaft. This not only ensures the transmission of power but also allows the drive unit 3 to move within a certain range, which helps to adapt to different driving conditions.

[0040] The swing suspension 4 is slidably connected to one end of the drive component 3, while the end facing away from the drive component 3 is connected to the chassis 1 shaft and can rotate around the shaft. This connection method gives the swing suspension 4 the ability to swing. During robot movement, the swing suspension 4 can adjust its swing according to changes in terrain, allowing the walking wheels 2 to better contact the ground, enhancing the robot's ability to pass through complex terrain, improving its stability and balance, and ensuring that the robot can move smoothly under various road conditions.

[0041] The spring bracket 5 is fixedly connected to the other end of the drive component 3 and serves as one of the mounting carriers for the spring 6. It connects the drive component 3 and the spring 6, and securely combines the spring 6 and the drive component 3 together.

[0042] Spring 6: Connected to the chassis 1 and spring bracket 5 at both ends, it plays an important role in buffering and shock absorption in the entire suspension device 100. When the robot encounters bumps, uneven roads, or impacts, spring 6 can compress or extend to absorb and release energy, reducing the impact of vibration on the chassis 1 and the robot body, thereby protecting the internal equipment and structural components of the robot, while improving the comfort and reliability of the robot's movement.

[0043] The working principle of the suspension device 100 provided in this embodiment is as follows:

[0044] The drive unit 3 is connected to the shaft of the walking wheel 2. After the power source (such as a motor) inside the drive unit 3 is started, the power output shaft of the drive body begins to rotate, transmitting power to the walking wheel 2, which in turn drives the walking wheel 2 to rotate around its own axis. This enables the wheeled robot to move by the rolling of the walking wheel 2.

[0045] The swing suspension 4 is slidably connected to one end of the drive component 3, and the end of the swing suspension 4 facing away from the drive component 3 is connected to the chassis 1 shaft and can rotate around the shaft; simultaneously, the end of the drive component 3 with the spring bracket 5 is also connected to the chassis 1 shaft and can rotate around the shaft. When the robot travels on different terrains, such as encountering bumps, depressions, or slopes, the walking wheels 2 will be subjected to forces of different directions and magnitudes from the ground. At this time, the position of the walking wheels 2 will change, and this change will be transmitted to the swing suspension 4 through the drive component 3. Due to its rotatable connection with the chassis 1 shaft, the swing suspension 4 can swing within a certain range to adapt to the change in the position of the walking wheels 2. Similarly, the drive component 3 will also rotate around the connection point with the chassis 1 shaft. The two work together to allow the walking wheels 2 to better contact the ground and maintain effective contact with the ground, thereby ensuring the robot's driving stability and passability in complex terrain.

[0046] Spring 6 is connected to chassis 1 and spring bracket 5 at both ends, and spring bracket 5 is fixedly connected to drive component 3. When the robot encounters bumps, vibrations, or impacts during its movement, such as when traversing a gravel road or experiencing sudden deceleration or acceleration, the impact force on the walking wheels 2 is transmitted to spring bracket 5 through drive component 3. Spring bracket 5 causes spring 6 to undergo compression or stretching deformation, during which spring 6 absorbs the impact force and vibration energy from the ground. Through the elastic deformation of spring 6, mechanical energy is converted into elastic potential energy and stored, and then released at an appropriate time to restore spring 6 to its original shape. This effectively reduces the degree to which vibration and impact forces are transmitted to chassis 1 and the robot body, protecting the robot's internal electronic equipment and structural components, while also improving the robot's driving comfort and stability.

[0047] Throughout the entire journey, chassis 1 serves as the basic load-bearing component, providing a support platform for the installation of other components. The power transmission, sway adjustment, and shock absorption modules work together in coordination. Drive unit 3 provides power to rotate the wheels 2, enabling movement; sway suspension 4 adjusts the position of the wheels 2 according to changes in terrain; and springs 6 buffer and absorb vibrations and impacts, collectively ensuring that the wheeled robot can operate stably and reliably under various road conditions.

[0048] By adopting the above technical solution, the wheeled robot suspension device 100 achieves effective support and drive for the robot, as well as good adaptation to complex road conditions and shock absorption through the coordinated work of multiple modules such as basic bearing, power drive, swing adjustment and buffering, thereby improving the robot's overall performance.

[0049] Please refer to the following: Figure 3In one embodiment, the drive unit 3 includes a drive body 31 and a protective cover 32 mounted on the drive body 31. The power output shaft of the drive body 31 is connected to the shaft of the walking wheel 2. The two ends of the protective cover 32 are respectively connected to the swing suspension 4 and the chassis 1. A spring bracket 5 is provided at the end of the protective cover 32 connected to the chassis 1.

[0050] Specifically, the drive component 3 includes a drive body 31 and a protective cover 32 mounted on the drive body 31. The drive body 31 is the core part that generates power and includes, but is not limited to, a motor, while the protective cover 32 is a component mounted on the outside of the drive body 31, which provides certain protection for the drive body 31 and connects other components.

[0051] The power output shaft of the drive unit 31 is connected to the shaft of the walking wheel 2, indicating that the power generated by the drive unit 31 is transmitted to the walking wheel 2 through the power output shaft, thereby driving the walking wheel 2 to rotate and realize the walking function of the wheeled robot. This is the key connection point for power transmission in the entire drive system, ensuring that power can be effectively transmitted from the drive unit 31 to the walking wheel 2.

[0052] The protective cover 32 is connected to the swing suspension 4 and the chassis 1 at both ends. This connection method allows the protective cover 32 to act as a bridge and support in the entire suspension device 100, connecting the swing suspension 4 and the chassis 1 together to form a relatively stable structural system. Through this connection, the protective cover 32 can participate in the movement of the suspension device 100 and work in coordination with the swing suspension 4 and the chassis 1.

[0053] A spring bracket 5 is provided at the end of the protective cover 32 that connects to the chassis 1. The placement of the spring bracket 5 in this position further illustrates the close connection between the spring bracket 5, the protective cover 32, and the chassis 1. Since the spring bracket 5 is a crucial component connecting the spring 6, and the spring 6 plays a role in cushioning and shock absorption, this arrangement signifies that the protective cover 32 also plays an important role in the entire cushioning and shock absorption system. It provides the mounting position for the spring bracket 5, allowing the spring 6 to effectively connect the chassis 1 and other components, thus achieving the function of cushioning and shock absorption.

[0054] By adopting the above technical solution, the drive component 3 outputs power through the drive body 31 and is connected to the swing suspension 4, chassis 1 and spring bracket 5 through the protective cover 32, forming a comprehensive component that can realize power transmission, participate in buffering and shock absorption and structural support, which plays a key role in the normal operation and performance improvement of the wheeled robot.

[0055] In one embodiment, the axis of the walking wheel 2 is offset from the axis of the protective cover 32.

[0056] Specifically, the chassis 1 of the wheeled robot has limited space and requires the installation of multiple components. Setting the axis of the walking wheel 2 to be offset from the axis of the protective cover 32 may free up more installation space for other key components (such as the drive component 3, spring 6, etc.), avoid mutual interference between components, and make the structure of the entire suspension device 100 more compact.

[0057] When a robot encounters complex terrain, the non-coaxial layout can cause changes in the contact and force distribution between the walking wheels 2 and the ground during rotation and oscillation, thereby enhancing the robot's grip, stability, and mobility. For example, when climbing slopes or crossing obstacles, the walking wheels 2 can contact the ground at a more advantageous angle and posture, improving the robot's movement capabilities.

[0058] For the protective cover 32, the offset axis setting may help it better protect the internal drive components. Due to the offset axis of the walking wheel 2, the shape and position of the protective cover 32 can be designed according to actual needs, more effectively blocking the impact and wear of external dust, stones and other foreign objects on key components such as the drive body 31, and extending the service life of the components.

[0059] Please refer to the following: Figure 4 In one embodiment, a first mounting groove 21 is provided on the side of the walking wheel 2 near the chassis 1, and the motor is housed in the first mounting groove 21. A second mounting groove 11 is provided on the side of the chassis 1 near the walking wheel 2, and the protective cover 32, the swing suspension 4, the spring bracket 5 and the spring 6 are housed in the second mounting groove 11.

[0060] Specifically, by providing a first mounting groove 21 on the walking wheel 2, a dedicated mounting position is provided for the drive body 31. Concealing the drive body 31 within the first mounting groove 21 makes the connection between the drive body 31 and the walking wheel 2 more compact and direct. This design helps shorten the power transmission path, reduce power loss during transmission, and improve power transmission efficiency. Simultaneously, mounting the drive body 31 on the side of the walking wheel 2 also facilitates the more direct transmission of power generated by the drive body 31 to the walking wheel 2, enabling the walking wheel 2 to rotate more effectively and drive the wheeled robot forward.

[0061] The first mounting slot 21 can also prevent external dust, water, stones and other foreign objects from directly impacting and corroding the drive body 31 to a certain extent, thus extending the service life of the drive body 31. Furthermore, building the motor into the side of the walking wheel 2, compared to installing the drive body 31 in other locations, may be more conducive to the overall spatial layout of the robot, making the robot's structure more compact and reasonable.

[0062] A second mounting slot 11 is provided on the side of the chassis 1 near the walking wheels 2. This mounting slot serves to accommodate components such as the protective cover 32, the swing suspension 4, the spring bracket 5, and the spring 6. This design allows these important components related to the suspension system to be concentrated in a specific area of ​​the chassis 1. On the one hand, it makes the connection between the various components of the suspension system tighter and more orderly, facilitating the coordinated work between the components. For example, after the spring bracket 5 is connected to the spring 6 and installed in the second mounting slot 11, it can better utilize the buffering and shock absorption function of the spring 6, and cooperate with components such as the swing suspension 4 and the protective cover 32 to jointly realize the support and shock absorption functions of the suspension device 100 for the robot.

[0063] On the other hand, housing these components in the second mounting slot 11 of the chassis 1 helps protect them. The second mounting slot 11 can provide some protection for these components, reducing the impact of external factors on them. At the same time, this centralized mounting method also facilitates the maintenance and repair of the suspension system. When it is necessary to inspect or replace a component, it can be done more conveniently within the second mounting slot 11.

[0064] By adopting the above technical solution, the solution achieves reasonable installation and layout of the motor and suspension system components through special design of the structure of the walking wheel 2 and chassis 1, and has obvious advantages in improving power transmission efficiency, protecting components, and optimizing space utilization.

[0065] In one embodiment, the walking wheel 2 includes a hub 22, a tire 23 and a rim 24 connected coaxially in sequence. The hub 22 has a first mounting groove 21 inside and a plurality of connecting holes 221 evenly distributed on the hub 22. The tire 23 and the rim 24 form a wheel body, which is fixedly connected to the wheel body through the connecting holes 221. The output shaft of the drive unit 3 is coaxially arranged with the wheel body.

[0066] Specifically, the hub 22 has a first mounting slot 21 inside, which provides mounting space for other components (such as the previously mentioned motor housing). By setting the mounting slot inside the hub 22, the internal space of the hub 22 can be fully utilized, making the structure of the wheel 2 more compact. It also facilitates the integration of related components onto the wheel 2, reducing the overall size and weight.

[0067] Multiple connecting holes 221 are evenly distributed on the hub 22. These connecting holes 221 are used to connect the wheel body, composed of the tire 23 and the rim 24, to other components. The evenly distributed connecting holes 221 make the connection between the wheel body and other components more secure and stable, ensuring that all parts can work together during the rotation of the walking wheel 2, and avoiding loosening or imbalance.

[0068] The output shaft of drive component 3 is coaxially aligned with the wheel, a crucial design feature ensuring effective power transmission. This coaxial alignment minimizes energy loss and angular deviation during power transmission, improving accuracy and stability, and ensuring the robot moves as intended.

[0069] By adopting the above technical solution, the function of the walking wheel 2 was realized, and the effectiveness and stability of power transmission were ensured, which is of great significance for the normal operation and performance improvement of the wheeled robot.

[0070] In one embodiment, the protective cover 32 is provided with a first rotating shaft 10 connected to the chassis 1, and the protective cover 32 is provided with fasteners fixedly connected to the drive component 3.

[0071] Specifically, the protective cover 32 is provided with a first rotating shaft 10 connected to the chassis 1, indicating that the protective cover 32 and the chassis 1 are rotatably connected through this shaft. The first rotating shaft 10 acts as a movable connecting component between the two, allowing the protective cover 32 to rotate relative to the chassis 1 around this shaft under certain conditions. This rotatable connection design may have multiple functions. On the one hand, during the movement of the wheeled robot, when encountering complex terrain that causes relative movement of the various parts of the suspension device 100, the protective cover 32 can rotate with the movement of the relevant components to adapt to this change and avoid interference or damage caused by rigid connection. For example, when the swing suspension 4 swings, the protective cover 32 can adjust its own position by rotating the first rotating shaft 10 to maintain reasonable coordination with other components.

[0072] On the other hand, this rotating connection method also facilitates easier installation and removal of the protective cover 32 during assembly and maintenance. During installation, the protective cover 32 can be quickly installed by engaging the first rotating shaft 10 with the corresponding connecting structure on the chassis 1; during maintenance, if it is necessary to inspect or replace the drive component 3 or other components inside the protective cover 32, it can also be done more easily by rotating or removing the first rotating shaft 10.

[0073] The protective cover 32 is equipped with fasteners that are fixedly connected to the drive component 3, meaning that a secure connection is achieved between the protective cover 32 and the drive component 3 through these fasteners. The fasteners (such as bolts and nuts) firmly secure the protective cover 32 to the drive component 3, making them a relatively stable whole. This fixed connection design ensures that the protective cover 32 can effectively protect the drive component 3, preventing external dust, water, foreign objects, etc., from entering the drive component 3 and causing damage.

[0074] Meanwhile, a robust fixed connection also helps the protective cover 32 to better follow the movement of the drive component 3 during driving and participate in the overall operation of the suspension device 100. For example, when the drive component 3 rotates or undergoes a certain displacement due to changes in terrain, the protective cover 32 can maintain synchronous movement with the drive component 3 through fasteners, thus maintaining its protective and connecting function to the drive component 3.

[0075] The protective cover 32 is connected to the chassis 1 and the drive component 3 via the first rotating shaft 10 and fasteners, respectively. This design allows the protective cover 32 to rotate flexibly relative to the chassis 1 within the suspension device 100 while remaining tightly fixed to the drive component 3. This protects the drive component 3 while accommodating the movement of all components of the suspension device 100, ensuring the normal operation of the entire suspension device 100 and the stable operation of the wheeled robot. Furthermore, this connection method also ensures ease of assembly and maintenance, improving the product's practicality and reliability.

[0076] In one embodiment, the end of the swing suspension 4 near the protective cover 32 is provided with a sliding groove 41, and the protective cover 32 is provided with a second rotating shaft 20 that slides in the sliding groove 41. The second rotating shaft 20 can slide along the groove length direction of the sliding groove 41, and the groove length direction X of the sliding groove 41 is perpendicular to the second rotating shaft 20.

[0077] Specifically, a sliding groove 41 is provided at the end of the swing suspension 4 near the protective cover 32, providing a track and space for subsequent component connection and movement. Simultaneously, a second rotating shaft 20 is provided on the protective cover 32, which slides within the sliding groove 41 of the swing suspension 4. This arrangement establishes a connection between the swing suspension 4 and the protective cover 32, enabling them to work together.

[0078] The cooperation between the second rotating shaft 20 and the sliding groove 41 allows for relative movement between the two while ensuring the stability of the connection. The second rotating shaft 20 has a certain range of motion within the sliding groove 41, which is the basis for the flexible movement of the suspension device 100.

[0079] When the wheeled robot travels on different terrains, the suspension device 100 is subjected to various forces from the ground, causing changes in the positional relationship between the components. At this time, by sliding the second rotating shaft 20 in the sliding groove 41, the swing suspension 4 and the protective cover 32 can adjust their relative positions according to the actual situation to adapt to the terrain changes, ensuring that the walking wheels 2 can better contact the ground and maintain the robot's stability and passability.

[0080] The length direction X of the sliding groove 41 is perpendicular to the second rotating shaft 20. This perpendicular relationship helps to disperse and transmit force. When the suspension device 100 is subjected to external force, the force can be transmitted to the sliding groove 41 through the second rotating shaft 20. The perpendicular length direction X of the groove allows the force to be distributed more effectively in the sliding groove 41, avoiding excessive local stress that could lead to damage.

[0081] This vertical relationship restricts the direction of movement, making the sliding motion more regular and controllable. The relative movement between the swing suspension 4 and the protective cover 32 is limited to the X-direction of the sliding groove 41, while the second rotating shaft 20 allows for a certain degree of rotation. This combination ensures both the flexibility and stability and accuracy of the movement, which is beneficial for the suspension device 100 to achieve its intended function.

[0082] By adopting the above technical solution, the connection between the swing suspension 4 and the protective cover 32 via the sliding groove 41 and the second rotating shaft 20, as well as the sliding and specific directional relationship of the second rotating shaft 20, together constitute a flexible and stable connection structure. This allows the suspension device 100 to adjust its posture through the relative movement between its components when facing complex road conditions, improving the robot's adaptability, while ensuring reliable connection and normal operation between its components, playing an important role in improving the performance of the wheeled robot.

[0083] In one embodiment, the end of the swing suspension 4 away from the protective cover 32 is provided with a third rotating shaft 30, which is connected to the chassis 1, and the swing suspension 4 can rotate around the third rotating shaft 30.

[0084] Specifically, the swing suspension 4 has a specific structural configuration, with a third rotating shaft 30 located at its end opposite the protective cover 32. This third rotating shaft 30 serves as a connecting component between the swing suspension 4 and the chassis 1. Through the third rotating shaft 30, the swing suspension 4 and the chassis 1 are mechanically connected, making the swing suspension 4 an important component of the entire suspension device 100 connected to the chassis 1.

[0085] Due to the presence of the third rotation axis 30, the swing suspension 4 gains the ability to rotate around the axis. That is, when the wheeled robot encounters different road conditions during its journey, such as uneven surfaces, depressions, or slopes, the wheels 2 will experience forces of varying directions and magnitudes from the ground, which are transmitted to the swing suspension 4. At this time, the swing suspension 4 can rotate around the third rotation axis 30. This rotation allows the swing suspension 4 to adjust its angle and position, thereby enabling the wheels 2 to better adapt to changes in terrain, ensuring good contact between the wheels 2 and the ground, and maintaining the robot's stability and balance.

[0086] This connection and rotation method is a key component of the suspension system 100 in achieving its functions of buffering, shock absorption, and adapting to complex terrain. The rotation of the swing suspension 4 around the third rotation axis 30 coordinates with the movement of other components (such as the drive unit 3, spring 6, etc.). For example, when the walking wheel 2 encounters a bump, the spring 6 will compress or extend to absorb the vibration energy. At the same time, the rotation of the swing suspension 4 can further adjust the posture of the walking wheel 2, making the entire suspension system 100 more effective in dealing with vibrations and impacts. Moreover, this rotation function can also disperse the force from the ground to a certain extent, reduce the load on the chassis 1 and other components, and protect the robot's structure and internal equipment.

[0087] The design of the swing suspension 4 rotating around the third rotation axis 30 significantly improves the wheeled robot's mobility and stability. In complex terrain, the robot can more flexibly adjust the position of the walking wheels 2, avoiding getting stuck or losing balance due to terrain obstacles. This is of great significance for improving the robot's working ability and adaptability in various environments, enabling the robot to operate normally in more different scenarios and complete its predetermined tasks.

[0088] By adopting the above technical solution, the solution provides a third rotating shaft 30 connected to the chassis 1 at one end of the swing suspension 4 away from the protective cover 32, and gives the swing suspension 4 the ability to rotate around the shaft, thereby improving the structure and function of the suspension device 100 and playing a crucial role in improving the performance of the wheeled robot.

[0089] In one embodiment, the suspension device 100 further includes a balance adjustment device connecting the chassis 1 and the wheels 2.

[0090] Specifically, the balance adjustment device is located between the robot chassis 1 and the wheels 2, playing a crucial adjustment role in the entire robot suspension system. Its main function is to cope with various complex situations encountered by the robot during movement, that is, to adjust the height and balance of the wheels 2 according to different road conditions (such as flat roads, rugged mountain roads, muddy roads, slopes, etc.) and the different loads carried by the robot (empty, lightly loaded, heavily loaded, etc.). Through this adjustment, it ensures that the robot maintains good driving performance and balance under all driving conditions.

[0091] When the robot travels on different road conditions, factors such as road undulations and slope changes will cause the walking wheels 2 to experience different forces and displacements. The balance adjustment device can sense these changes in road conditions in real time, for example, by detecting information such as the smoothness and tilt angle of the road surface through built-in sensors. Then, based on the detected road condition data, the adjustment device will drive the corresponding mechanism (such as a hydraulic system, electric push rod, etc.) to change the height of the walking wheels 2. For example, when encountering a raised obstacle, the height of the walking wheels 2 is raised to pass over it smoothly; when traveling on a slope, the height of different walking wheels 2 is adjusted to keep the robot chassis 1 level, thereby improving the robot's passability and stability.

[0092] Changes in the robot's load also affect its driving performance and balance. When the robot's load increases, the robot body lowers, and the force on the wheels 2 changes. The balance adjustment device can monitor changes in the robot's load and compensate for changes in the robot's posture caused by increased load by adjusting the height and balance of the wheels 2. For example, under heavy load, the height of the wheels 2 can be appropriately raised to restore the robot to a suitable driving height and redistribute the force on each wheel 2 to ensure the robot's balance. This can prevent the robot's maneuverability and driving safety from being affected by uneven load or the robot body being too low.

[0093] By adjusting the height and balance of the walking wheels 2 according to road conditions and load, the balance adjustment device can significantly improve the robot's driving performance. It can reduce the bumps and vibrations during the robot's movement, improving ride comfort; enhance the robot's ability to pass through complex road conditions, enabling the robot to travel on more types of roads; at the same time, maintaining the robot's balance helps improve the robot's handling stability, reduces the risk of accidents such as rollovers caused by loss of balance, and ensures the safety of the robot and passengers.

[0094] To achieve the aforementioned functions of the balance adjustment device, advanced sensor technology is required to accurately perceive road conditions and robot load information, sophisticated control algorithms are needed to process sensor data and make reasonable adjustment decisions, and reliable actuators are needed to precisely adjust the height and balance of the walking wheels 2. Furthermore, the balance adjustment device also needs to work effectively in coordination with other robot systems (such as the suspension system and power system) to ensure the stability and reliability of the entire robot during the adjustment process.

[0095] By adopting the above technical solution, the balance adjustment device is set between the robot chassis 1 and the walking wheels 2, which provides important balance and performance guarantee for the robot under different road conditions and load conditions, reflecting the technological progress and optimization of robot design in dealing with complex driving environments.

[0096] Secondly, a wheeled robot is provided, including a main body of the wheeled robot and the aforementioned suspension device 100, wherein the suspension device 100 is disposed on the main body.

[0097] Specifically, wheeled robots include, but are not limited to, lawnmower robots.

[0098] By adopting the above technical solution, in addition to the advantages of the suspension device 100 of the above embodiment, the wheeled robot of this embodiment also has the following advantages:

[0099] By adopting an independent suspension method, the motor is elastically connected to the robot chassis 1, which effectively isolates the direct impact of road bumps and impacts on the motor, thereby significantly improving the stability of the motor during operation, reducing the risk of motor failure caused by external vibration and impact, and extending the service life of the motor.

[0100] Embedding the motor inside the wheel innovatively solves the motor layout problem, greatly reducing the layout space required for the motor. This makes the overall robot design more compact and flexible, providing more possibilities for the arrangement of other robot components and improving the robot's space utilization and overall structural rationality.

[0101] This design incorporates the functionality of a 22-wheel hub motor while offering a cost advantage, achieving higher performance-to-price ratio compared to traditional 22-wheel hub motors. This means that without compromising or even improving robot performance, optimized design reduces production costs, enhancing the product's market competitiveness and making it economically attractive to both robot manufacturers and consumers.

[0102] The application of independent suspension enables robots to better cope with various complex road conditions, such as rugged mountain roads and potholed surfaces. Under these harsh conditions, independent suspension can effectively adjust the robot's posture and the force on the walking wheels, enhancing the robot's overall adaptability and reliability, ensuring stable movement under complex working conditions, and improving the robot's passability and driving safety.

[0103] 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. A suspension device, characterized in that, include: The system comprises a chassis for supporting the main body of a wheeled robot, wheels mounted on the chassis, a drive unit connected to the axle of the wheels and used to drive the wheels to rotate around the axle, a swing suspension slidably connected to one end of the drive unit, a spring bracket fixedly connected to the other end of the drive unit, and a spring connected to the spring bracket; wherein, the end of the drive unit with the spring bracket is connected to the chassis axle and is capable of rotating around the axle; the end of the swing suspension opposite to the drive unit is connected to the chassis axle and is capable of rotating around the axle; and the two ends of the spring are respectively connected to the chassis and the spring bracket.

2. The suspension device as described in claim 1, characterized in that, The drive unit includes a drive body and a protective cover mounted on the drive body. The power output shaft of the drive body is connected to the axle of the walking wheel. Both ends of the protective cover are connected to the swing suspension and the chassis, respectively. The end of the protective cover connected to the chassis is provided with the spring bracket.

3. The suspension device as described in claim 2, characterized in that, The axis of the walking wheel is offset from the axis of the protective cover.

4. The suspension device as described in claim 2, characterized in that, The side of the walking wheel near the chassis has a first mounting groove, and the drive body is housed in the first mounting groove. The side of the chassis near the walking wheel has a second mounting groove, and the protective cover, the swing suspension, the spring bracket, and the spring are housed in the second mounting groove.

5. The suspension device as described in claim 4, characterized in that, The traveling wheel includes a hub, a tire, and a rim connected coaxially in sequence. The hub has a first mounting groove inside and multiple connecting holes are evenly distributed on the hub. The tire and the rim form a wheel body. The wheel body is fixedly connected to the drive unit through the connecting holes. The output shaft of the drive unit is coaxially arranged with the wheel body.

6. The suspension device as described in claim 2, characterized in that, The protective cover is provided with a first rotating shaft connected to the chassis, and the protective cover is provided with fasteners fixedly connected to the drive component.

7. The suspension device as described in claim 2, characterized in that, The end of the swing suspension near the protective cover is provided with a sliding groove, and the protective cover is provided with a second rotating shaft that slides in the sliding groove. The second rotating shaft can slide along the length direction of the sliding groove, and the length direction of the sliding groove is perpendicular to the second rotating shaft.

8. The suspension device as described in claim 7, characterized in that, The swing suspension has a third rotating shaft at the end opposite to the protective cover. The third rotating shaft is connected to the chassis, and the swing suspension can rotate around the third rotating shaft.

9. The suspension device according to any one of claims 1 to 8, characterized in that, The suspension system also includes a balance adjustment device that connects the chassis and the wheels.

10. A wheeled robot, characterized in that, The invention comprises a body of a wheeled robot and a suspension device as described in any one of claims 1 to 9, the suspension device being disposed on the body.

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