A chain drive suspension system for a load carrying robot and a load carrying robot

Abstract

The utility model relates to a chain type drive suspension system and bearing robot for bearing robot belongs to the automobile initiative safety technical field, including suspension support structure and drive structure, suspension support structure includes motor support, swing arm, triangular connecting block, cylinder front support, cylinder, cylinder rear support, swing arm first head's rotary support axle is hinged with two motor supports respectively, the tail support point of swing arm is hinged with two ends of triangular connecting block first side edge respectively, and the piston rod of two cylinders is hinged with two ends of second side edge respectively, triangular connecting block third side edge middle part is hinged and is installed on cylinder front support, drive structure includes swing arm and wheel, two wheels are installed on tail support axle symmetry, and wheel is up and down swing when cylinder promotes triangular connecting block rotation with. The utility model solves the industry pain point that synchronous belt drive is easy to break in the use process, and the replacement is time -consuming and labor -intensive, improves chain type drive suspension system use's reliability and maintainability and test efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automotive active safety technology, specifically to a chain-driven suspension system for carrying a robot and the robot itself. Background Technology

[0002] Currently, when constructing complex test scenarios for intelligent driving testing, intelligent carrier robots have become essential key equipment. They have high-precision and high-speed motion control functions and can achieve the realism of field testing through customized trajectory movement.

[0003] However, the diversity of driving roads increases the difficulty of simulating the realism of intelligent load-bearing robots in field testing. One of the key core technologies and challenges is how to build a highly stable and high-strength transmission suspension system in a limited space to simulate the high-speed movement characteristics of vehicles on actual roads, while also having high motion accuracy and stability to improve the realism of the test scenario and the repeatability of the test.

[0004] Currently, the suspension transmission systems of related products in this field both domestically and internationally all use synchronous belt drives. However, synchronous belts are prone to breakage during intelligent driving tests, and replacement is extremely time-consuming and labor-intensive. These problems severely restrict testing efficiency and equipment stability, and it is urgent to break through the bottleneck through technological innovation. Utility Model Content

[0005] To address the shortcomings of the existing technologies, this invention provides a chain-driven suspension system for carrying robots and a carrying robot. It integrates suspension and drive functions in a flat space. The suspension allows the drive structure to retract into the body when subjected to crushing, preventing damage to the chain-driven suspension system. It also enhances the road adaptability of the carrying robot, thereby meeting the testing requirements of actual road conditions in China. Furthermore, it has low manufacturing costs, which helps reduce testing costs.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A chain-driven suspension system for carrying a robot, the chain-driven suspension system comprising a suspension support structure and a drive structure;

[0008] The suspension support structure includes a motor support, a swing arm, a triangular connecting block, a front cylinder support, a cylinder, and a rear cylinder support.

[0009] The rotating support shaft at the head of the swing arm is hinged to the two motor supports respectively; the triangular connecting block is arranged on the outer side of the tail of the swing arm, the two ends of the first side edge of the triangular connecting block are hinged to the tail fulcrum of the tail of the swing arm respectively, the two ends of the second side edge of the triangular connecting block are hinged to the piston rods of the two cylinders respectively; the middle part of the third side edge of the triangular connecting block is hinged to the front support of the cylinder; the tail of the cylinder is hinged to the rear support of the cylinder.

[0010] The drive structure includes a swing arm and wheels; the tail of the swing arm is supported by a tail support shaft via a bearing, and the two wheels are symmetrically mounted on the tail support shaft, and the wheels swing up and down when the cylinder pushes the triangular connecting block to rotate.

[0011] Furthermore, the drive structure also includes a drive motor and a chain drive assembly;

[0012] The two drive motors are symmetrically arranged on the left and right sides of the head of the swing arm and are respectively mounted on the motor supports;

[0013] Two sets of chain drive assemblies are symmetrically mounted on the swing arm. One end of each chain drive assembly is coaxially connected to the output shaft of the drive motor, and the other end is connected to the tail support shaft of the swing arm. The drive motor drives the wheel on the tail support shaft to rotate by driving the chain drive assembly.

[0014] Furthermore, the chain drive assembly includes a driving sprocket, a chain, and a driven sprocket;

[0015] The drive sprocket is fitted onto the rotating support shaft of the swing arm, and the output shaft of the drive motor passes through the motor support and is coaxially connected to the drive sprocket; the driven sprocket is fitted onto the tail support shaft of the swing arm; the chain is a ring chain, with both ends fitted onto the drive sprocket and the driven sprocket respectively.

[0016] Furthermore, the chain drive assembly also includes a tension sprocket; the tension sprocket is mounted on the swing arm between the driving sprocket and the driven sprocket; the lower side of the chain passes over the upper side of the tension sprocket.

[0017] Furthermore, the two drive motors drive the two drive sprockets to rotate synchronously under the control of the control module.

[0018] Furthermore, the triangular connecting block is a hollow triangular prism structure.

[0019] Furthermore, the first side edge of the triangular connecting block is hinged to the tail fulcrum of the swing arm via a first hinge, the second side edge of the triangular connecting block is hinged to the piston rod of the cylinder via a second hinge, the third side edge of the triangular connecting block is mounted on the front support of the cylinder via a third hinge, and the cylinder is mounted on the rear support of the cylinder via a fourth hinge.

[0020] Furthermore, the first hinge is a sliding hinge.

[0021] Furthermore, the two cylinders are arranged horizontally side by side.

[0022] This utility model also discloses a carrying robot, which includes the chain drive suspension system described in any one of the above descriptions. The chain drive suspension system is installed at the rear end of the chassis frame of the carrying robot, and the motor support, the front cylinder support, and the rear cylinder support are respectively fixedly connected to the chassis frame.

[0023] The beneficial effects of this utility model are:

[0024] This utility model discloses a chain-driven suspension system and a carrying robot for carrying a robot. It introduces chain-driven technology, integrating the suspension and drive within a flat space, reducing the required height. During normal operation, the wheels extend beyond the chassis through the suspension support structure. When the load exceeds a certain limit and a heavy object runs over the vehicle, the wheels retract into the chassis, greatly preventing damage to the suspension support and drive structures under overload conditions. This solves the industry pain points of synchronous belt drives being prone to breakage and time-consuming and labor-intensive replacement during use, improving the reliability, maintainability, and testing efficiency of the chain-driven suspension system. Furthermore, the ground clearance of the carrying robot can be adjusted by regulating the cylinder compression, enhancing its adaptability to road conditions and meeting the testing requirements of actual road conditions in China. This promotes a comprehensive improvement in the realism and repeatability of testing scenarios, and the low manufacturing cost helps reduce testing costs.

[0025] The drive structure of this utility model transmits power through a chain transmission assembly, which is highly reliable and easy to maintain. When replacement is needed, it is not necessary to completely remove the entire chain as with a synchronous belt. Simply open the buckle of the chain at the point of replacement and replace the chain, which greatly improves maintenance time.

[0026] This invention uses two cylinders to push and pull the two ends of the upper side edge of the triangular connecting block, which can ensure the stability of the wheel height. It can also adjust the height of the two wheels to adapt to the slope of the road surface when the road is uneven, so as to ensure the stability of the robot's movement. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall assembly state of the chain drive suspension system for supporting a robot according to this utility model;

[0028] Figure 2 This is a schematic diagram of the chain drive suspension system for supporting a robot according to this utility model;

[0029] Figure 3 This is a detailed view of the suspension arrangement structure of the chain-driven suspension system for supporting robots according to this utility model.

[0030] Among them: 1-carrying robot, 2-chain drive suspension system, 3-drive motor, 4-motor support, 5-swing arm, 6-chain drive assembly, 601-drive sprocket, 602-chain, 603-driven sprocket, 604-tension sprocket, 7-wheel, 8-triangular connecting block, 9-front support of cylinder, 10-cylinder, 11-rear support of cylinder. Detailed Implementation

[0031] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of this utility model.

[0032] The terms used in this application, such as top, bottom, left, right, inside, outside, front end, rear end, head, and tail, are based on the orientations or positional relationships shown in the accompanying drawings. Different drawings may result in different positional relationships, therefore they should not be construed as limiting the scope of protection.

[0033] In this utility model, the terms "installation," "connection," "interlocking," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a connection that allows communication, a direct connection, or an indirect connection through an intermediate medium. They can also refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0034] This embodiment describes a chain-driven suspension system for carrying a robot and the robot itself, such as... Figure 1 As shown, the chain drive suspension system 2 is installed at the rear end of the chassis frame of the robot 1 and has suspension and drive functions.

[0035] like Figure 2 and Figure 3As shown, the chain drive suspension system 2 includes a drive motor 3, a motor support 4, a swing arm 5, a chain drive assembly 6, a wheel 7, a triangular connecting block 8, a front cylinder support 9, a cylinder 10, and a rear cylinder support 11. The motor support 4, the front cylinder support 9, and the rear cylinder support 11 are fixedly connected to the chassis frame of the robot 1.

[0036] The motor support 4, swing arm 5, triangular connecting block 8, cylinder front support 9, two cylinders 10, and cylinder rear support 11 constitute the suspension support structure of the chain drive suspension system 2.

[0037] Two motor supports 4 are symmetrically arranged on the left and right sides of the head of the swing arm 5. The two ends of the rotating shaft at the head of the swing arm 5 are respectively hinged to the two motor supports 4. The swing arm 5 can rotate relative to the motor supports 4 through the rotating shaft.

[0038] The triangular connecting block 8 is arranged on the outer side of the tail of the swing arm 5 and is a hollow triangular prism structure. The cylinder 10 is located on the upper side of the tail fulcrum of the swing arm 5. The left and right ends of the first side edge of the triangular connecting block 8 (which are the two sides perpendicular to the axis of the swing arm 5) are respectively hinged to the tail fulcrum of the swing arm 5 through the first hinge, and the first hinge is a sliding hinge to avoid the arrangement of the triangular connecting block 8 and the cylinder 10 affecting the steering requirements of the carrying robot 1. The left and right ends of the second side edge of the triangular connecting block 8 are respectively hinged to the piston rods of the two cylinders 10 through the second hinge. The middle part of the third side edge of the triangular connecting block 8 is hinged to the front support 9 of the cylinder through the third hinge. In this embodiment, the three side edges of the triangular connecting block 8 are the first side edge, the second side edge, and the third side edge from bottom to top.

[0039] Two cylinders 10 are arranged horizontally side by side, with their tails hinged to the rear support 11 of the cylinders via a fourth hinge. The cylinders 10 act as elastic components in the entire suspension support structure. The robot 1 can control the piston rod of the cylinders 10 via a control module. The cylinders 10 push the hinge point connected to the triangular connecting block 8 to move elastically in a horizontal direction approximately parallel to the ground, causing the triangular connecting block 8 to rotate around the hinge point connected to the front support 9 of the cylinder. The triangular connecting block 8 drives the sliding hinge point connected to the tail support point of the swing arm 5 to move vertically in a direction perpendicular to the ground, thereby supporting the vertical swing of the tail of the swing arm 5. In this embodiment, the swing amplitude of the tail of the swing arm 5 can be adjusted by adjusting the air pressure inside the cylinders 10, thereby adjusting the height of the suspension support structure and thus adjusting the ground clearance of the robot 1.

[0040] The drive motor 3, swing arm 5, chain drive assembly 6, and wheel 7 constitute the drive structure of the chain drive suspension system 2, which is used to realize the movement of the robot 1. Among them, the swing arm 5 is a supporting structure of the chain drive assembly 6, and the swing arm 5 can drive the chain drive assembly 6 to swing together under the action of the suspension support structure.

[0041] Two drive motors 3 are symmetrically arranged on the left and right sides of the head of the swing arm 5 and are fixed on motor supports 4 respectively. The axis of the drive motor 3 is perpendicular to the length direction of the swing arm 5, and the output shaft of the drive motor 3 is coaxial with the rotation support shaft of the swing arm 5. The tail of the swing arm 5 is equipped with a tail support shaft through bearings. Two wheels 7 are symmetrically and coaxially mounted on the tail support shaft on the left and right sides of the tail of the swing arm 5. The wheels 7 can be fixed to the tail support shaft with fixing screws for easy replacement of the wheels 7.

[0042] Two sets of chain drive components 6 are symmetrically arranged on the swing arm 5. The chain drive component 6 consists of a drive sprocket 601, a chain 602, a driven sprocket 603, and a tension sprocket 604.

[0043] The drive sprocket 601 is mounted on the rotating support shaft of the swing arm 5. The output shaft of the drive motor 3 passes through the motor support 4 and is coaxially connected to the drive sprocket 601. The driven sprocket 603 is mounted on the tail support shaft of the swing arm 5. The mounting method can be keyed connection, interference fit, etc. The chain 602 is a ring chain, with its two ends mounted on the drive sprocket 601 and the driven sprocket 603 respectively. The drive motor 3 drives the drive sprocket 601 to rotate through its output shaft, and the two drive motors 3 are driven synchronously under the control of the control module, causing the two drive sprockets 601 to rotate synchronously. The drive sprocket 601 drives the driven sprocket 603 to rotate through the chain 602. The driven sprocket 603 transmits power to the wheel 7 through the tail support shaft, thereby driving the carrying robot 1 to move.

[0044] The tension sprocket 604 is mounted on the rocker arm 5 between the drive sprocket 601 and the driven sprocket 603. The lower side of the chain 602 passes over the upper side of the tension sprocket 604. The tension sprocket 604 serves to tension the chain 602 during transmission and also facilitates the installation of the chain 602.

[0045] In addition, the drive structure of this embodiment can also be equipped with brakes on the wheels 7 to achieve braking when the robot 1 is moving.

[0046] In this embodiment, the suspension support structure of the chain-driven suspension system 2 is integrated with the drive structure of the swing arm 5. When the drive structure is needed to move the carrier robot 1, the suspension support structure drives the tail of the swing arm 5 downward through the cylinder 10 until the wheel 7 extends out of the chassis frame of the carrier robot 1. During the movement, if the carrier robot 1 exceeds its rated load and the wheel 7 is run over, the suspension support structure can drive the wheel 7 back into the chassis frame of the carrier robot 1 to avoid damage to the suspension support structure. When the carrier robot 1 does not need to move, the suspension support structure drives the tail of the swing arm 5 upward through the cylinder 10, causing the wheel 7 to retract into the chassis frame of the carrier robot 1. This effectively reduces the height of the carrier robot 1, meets the product's low radar reflection characteristics requirement, and improves integration density and internal space utilization.

[0047] Although the principles of this utility model have been described in detail above with reference to preferred embodiments, those skilled in the art should understand that the above embodiments are merely illustrative explanations of the implementation of this utility model and are not intended to limit the scope of this utility model. The details in the embodiments do not constitute a limitation on the scope of this utility model. Any obvious changes, such as equivalent transformations or simple substitutions, based on the technical solution of this utility model without departing from its spirit and scope fall within the protection scope of this utility model.

Claims

1. A chain-driven suspension system for supporting a robot, characterized in that, The chain drive suspension system (2) includes a suspension support structure and a drive structure; The suspension support structure includes a motor support (4), a swing arm (5), a triangular connecting block (8), a cylinder front support (9), a cylinder (10), and a cylinder rear support (11). The rotating support shaft at the head of the swing arm (5) is hinged to the two motor supports (4) respectively; the triangular connecting block (8) is arranged on the outer side of the tail of the swing arm (5), the two ends of the first side edge of the triangular connecting block (8) are hinged to the tail fulcrum of the tail of the swing arm (5) respectively, the two ends of the second side edge of the triangular connecting block (8) are hinged to the piston rods of the two cylinders (10) respectively; the middle part of the third side edge of the triangular connecting block (8) is hinged to the front support (9) of the cylinder; the tail of the cylinder (10) is hinged to the rear support (11) of the cylinder. The drive structure includes a swing arm (5) and wheels (7); the tail of the swing arm (5) is supported by a tail support shaft through a bearing, and the two wheels (7) are symmetrically mounted on the tail support shaft, and the wheels (7) swing up and down when the cylinder (10) pushes the triangular connecting block (8) to rotate.

2. The chain-driven suspension system for supporting a robot according to claim 1, characterized in that, The drive structure also includes a drive motor (3) and a chain drive assembly (6); The two drive motors (3) are symmetrically arranged on the left and right sides of the head of the swing arm (5) and are respectively mounted on the motor support (4); Two sets of chain drive components (6) are symmetrically mounted on the swing arm (5). One end of the chain drive component (6) is coaxially connected to the output shaft of the drive motor (3), and the other end is connected to the tail support shaft of the swing arm (5). The drive motor (3) drives the wheel (7) on the tail support shaft to rotate by driving the chain drive component (6).

3. The chain-driven suspension system for carrying a robot according to claim 2, characterized in that, The chain drive assembly (6) includes a driving sprocket (601), a chain (602), and a driven sprocket (603); The drive sprocket (601) is sleeved on the rotating support shaft of the swing arm (5), and the output shaft of the drive motor (3) passes through the motor support (4) and is coaxially connected to the drive sprocket (601); the driven sprocket (603) is sleeved on the tail support shaft of the swing arm (5); the chain (602) is a ring chain, with both ends sleeved on the drive sprocket (601) and the driven sprocket (603) respectively.

4. The chain-driven suspension system for carrying a robot according to claim 3, characterized in that, The chain drive assembly (6) further includes a tension sprocket (604); the tension sprocket (604) is mounted on the swing arm (5) between the driving sprocket (601) and the driven sprocket (603); the lower side of the chain (602) is bypassed by the upper side of the tension sprocket (604).

5. The chain-driven suspension system for carrying a robot according to claim 2, characterized in that, The two drive motors (3) drive the two drive sprockets (601) to rotate synchronously under the control of the control module.

6. The chain-driven suspension system for carrying a robot according to claim 1, characterized in that, The triangular connecting block (8) is a hollow triangular prism structure.

7. The chain-driven suspension system for carrying a robot according to claim 1, characterized in that, The first side edge of the triangular connecting block (8) is hinged to the tail fulcrum of the swing arm (5) via a first hinge, and the second side edge of the triangular connecting block (8) is hinged to the piston rod of the cylinder (10) via a second hinge; the third side edge of the triangular connecting block (8) is mounted on the front support (9) of the cylinder via a third hinge; the cylinder (10) is mounted on the rear support (11) of the cylinder via a fourth hinge.

8. The chain-driven suspension system for carrying a robot according to claim 7, characterized in that, The first hinge is a sliding hinge.

9. The chain-driven suspension system for carrying a robot according to claim 1, characterized in that, The two cylinders (10) are arranged horizontally side by side.

10. A carrying robot, characterized in that, The carrying robot (1) includes a chain drive suspension system (2) as described in any one of claims 1 to 9. The chain drive suspension system (2) is installed at the rear end of the chassis frame of the carrying robot (1), and the motor support (4), the cylinder front support (9), and the cylinder rear support (11) are respectively fixedly connected to the chassis frame.

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