Suspension device for a wheeled robot and wheeled robot

Abstract

The utility model discloses a kind of suspension device and wheeled robot for wheeled robot, suspension device includes motor mounting seat, main bearing frame and two connecting rod damping components;Motor mounting seat is fixedly connected with motor, motor mounting seat and motor are located between two connecting rod damping components;Main bearing frame is equipped with a plurality of main bearing frame mounting holes for detachably connecting the chassis of wheeled robot on it;Each connecting rod damping component includes connecting rod installation side plate, shock absorber and two connecting rods;The first end of shock absorber is rotatably connected with main bearing frame, and the second end is rotatably connected with motor mounting seat;Connecting rod installation side plate is fixedly connected with main bearing frame on one side;The first end of each connecting rod is rotatably connected with connecting rod installation side plate, and the second end is rotatably connected with motor mounting seat.In the suspension device, structure outside main bearing frame and main bearing frame can be realized four-point connection, and, suspension device whole is through main bearing frame and the chassis of wheeled robot and realizes detachable connection of multiple connection points.

Description

Technical Field

[0001] This utility model relates to the field of unmanned driving, and in particular to a suspension device for a wheeled robot and a wheeled robot. Background Technology

[0002] With technological advancements, wheeled robots are becoming increasingly common. Wheeled robots typically employ a four-wheel structure. When moving on uneven ground, one wheel may fail to make effective contact with the ground, resulting in the robot being suspended in mid-air and affecting its stability. To ensure that all four wheels of a wheeled robot make effective contact with the ground on uneven surfaces, a suspension-type shock-absorbing structure, such as a linkage-based suspension shock-absorbing device, is generally required.

[0003] Chinese patent number 202420436001.X discloses an omnidirectional wheel suspension device based on a double-link structure. In this patent, the shock absorber is inclined to the horizontal plane, and the shock absorber, link, and mounting bracket form a triangle. This arrangement results in the entire suspension shock absorber and the wheeled robot chassis relying on only two-point connection for suspension mounting, which is not stable enough. In addition, the inclined arrangement of the shock absorber also occupies the space above the motor. Summary of the Invention

[0004] The purpose of this invention is to provide a suspension device for wheeled robots and a wheeled robot in order to solve the problem of insufficient stability in the connection between existing linkage suspension devices and wheeled robot chassis.

[0005] To achieve this objective, the present invention adopts the following technical solution: A suspension device for a wheeled robot includes a motor mounting base, a main support frame, and two linkage damping assemblies; a motor is fixedly connected to the motor mounting base, and the motor mounting base and the motor are disposed between the two linkage damping assemblies; the main support frame has multiple main support frame mounting holes for detachably connecting the chassis of the wheeled robot; Each of the connecting rod damping assemblies includes a connecting rod mounting side plate, a damper, and two connecting rods. The first end of the damper is rotatably connected to the main support frame, and the second end is rotatably connected to the motor mounting base. One side of the connecting rod mounting side plate is fixedly connected to the main support frame. The first end of each connecting rod is rotatably connected to the connecting rod mounting side plate, and the second end is rotatably connected to the motor mounting base.

[0006] Optionally, a radiator is fixedly connected to the side of the motor facing the main support frame, a cooling fan is fixedly connected to the side of the radiator facing the main support frame, and thermally conductive silicone is fixedly provided between the radiator and the motor.

[0007] Optionally, the heat sink includes a heat sink base for contacting the motor, and the thermally conductive silicone is disposed between the heat sink base and the motor; a plurality of heat sink fins arranged at equal intervals are fixedly connected to the side of the heat sink base away from the motor, and a fin gap is left between two adjacent heat sink fins. The heat sink base is also fixedly connected to two heat sink mounting plates, and multiple heat sink fins are located between the two heat sink mounting plates; each heat sink mounting plate has at least one heat sink mounting plate hole, and the heat sink fan has a heat sink fan hole corresponding to the heat sink mounting plate hole, and a heat sink connecting post is fixedly connected between the corresponding heat sink mounting plate hole and the heat sink fan hole. The radiator and the motor are secured together by cable ties.

[0008] Optionally, each of the connecting rod damping assemblies further includes four bearing modules, and each connecting rod and the connecting rod mounting side plate, as well as each connecting rod and the motor mounting base, are rotatably connected through one of the bearing modules; Each of the bearing modules includes a first flange bearing, a second flange bearing, a connecting shaft, a connecting rod through hole, and a connecting shaft through hole; the bearing body of the first flange bearing is embedded in the connecting rod through hole from the first side, and its flange is blocked outside the first side of the connecting rod through hole; the bearing body of the second flange bearing is embedded in the connecting rod through hole from the second side, and its flange is blocked outside the second side of the connecting rod through hole; The head of the connecting shaft is blocked outside the hole of the first flange bearing, and the tail of the connecting shaft passes through the first flange bearing, the second flange bearing and the connecting shaft through hole in sequence, and is threaded with a lock nut, which is blocked outside the connecting shaft through hole; the connecting shaft and the first flange bearing are interference-fitted, and the connecting shaft and the second flange bearing are interference-fitted. A washer is also fitted on the connecting shaft. The washer is located between the inner ring of the second flange bearing and the through hole of the connecting shaft. The washer is blocked outside the hole of the second flange bearing and outside the through hole of the connecting shaft. In the same connecting rod damping assembly, each connecting rod has a connecting rod through hole at its first end and second end, two connecting shaft through holes are opened on the connecting rod mounting side plate, and two connecting shaft through holes are opened on the surface of the motor mounting base facing the connecting rod. Each of the connecting rod mounting side plates is also provided with a nut receiving hole corresponding to the connecting shaft through hole. The diameter of the nut receiving hole is larger than the diameter of the connecting shaft through hole. The first end of the connecting shaft through hole passes through the side of the connecting rod mounting side plate facing the motor, and the second end of the connecting shaft through hole passes through the first end of the corresponding nut receiving hole. The second end of the nut receiving hole passes through the side of the connecting rod mounting side plate away from the motor. The locking nut installed on the connecting rod mounting side plate is located in the nut receiving hole.

[0009] Optionally, in each of the connecting rod damping assemblies, the two connecting rods are parallel and of equal length; the line connecting the two connecting shaft through holes on the connecting rod mounting side plate and the line connecting the two connecting shaft through holes on the motor mounting base are parallel and of equal length; the line connecting the two connecting shaft through holes on the connecting rod mounting side plate and the line connecting the two connecting shaft through holes on the motor mounting base are both perpendicular to the main support frame; When the wheeled robot is on a flat surface, the shock absorber is set perpendicular to the main support frame; in each of the link shock absorber assemblies, the distance from the connection point of the shock absorber and the motor mounting base to the link mounting side plate is greater than the distance from the connection point of the link and the motor mounting base to the link mounting side plate.

[0010] Optionally, the first end of each shock absorber includes a first shock-absorbing connecting piece, and the first shock-absorbing connecting piece has a first shock-absorbing connecting hole; the second end of each shock absorber includes a second shock-absorbing connecting piece, and the second shock-absorbing connecting piece has a second shock-absorbing connecting hole. Each of the aforementioned connecting rod damping components includes a damping first mounting component, which includes a damping first mounting base. The damping first mounting base is detachably connected to the main support frame facing the motor via screws. Two damping first mounting tabs are fixedly provided on the side of the damping first mounting base away from the main support frame, and a damping first mounting gap is provided between the two damping first mounting tabs. The damping first mounting tabs are embedded in the damping first mounting gap. A damping first mounting hole is formed on the damping first mounting tab, and a damping first rotating shaft is detachably connected between the two damping first mounting holes. The damping first connecting hole is rotatably connected to the damping first rotating shaft. Each of the aforementioned connecting rod damping components includes a second damping mounting member, which includes a second damping mounting base. The second damping mounting base is detachably connected to the motor mounting base via screws. The second damping mounting base is fixedly provided with two second damping mounting protrusions, and a second damping mounting gap is left between the two second damping mounting protrusions. The second damping mounting protrusions are embedded in the second damping mounting gap. The second damping mounting protrusions are provided with second damping mounting holes, and a second damping rotating shaft is detachably connected between the two second damping mounting holes. The second damping connecting hole is rotatably connected to the second damping rotating shaft.

[0011] Optionally, the main support frame is U-shaped and includes a first support rod and two second support rods that are respectively fixedly connected to both ends of the first support rod, and each second support rod is provided with at least two mounting holes for the main support frame; Each of the two connecting rod damping components corresponds one-to-one with the two second bearing rods, and each connecting rod damping component is fixedly connected to its corresponding second bearing rod; the damper is fixedly connected to the junction of the first bearing rod and the second bearing rod, and the connecting rod mounting side plate is fixedly connected to the part of the second bearing rod away from the first bearing rod; the connecting rod mounting side plate has at least two side plate mounting holes for detachably connecting the second bearing rod, and the second bearing rod has bearing rod connection holes corresponding to the side plate mounting holes; A third support rod is fixedly connected between the two second support rods, and the third support rod is parallel to the first support rod.

[0012] Optionally, a mounting base weight reduction hole is provided between the two connecting shaft through holes located on the same surface of the motor mounting base; A first weight-reducing hole is provided between the two connecting shaft through holes on each of the connecting rod mounting side plates; a second weight-reducing hole is provided on each of the connecting rod mounting side plates, and the second weight-reducing hole is located between the main support frame and the connecting shaft through hole closer to the main support frame.

[0013] Optionally, the motor shaft extends from the motor mounting base and is fixedly connected to a wheel.

[0014] A wheeled robot, including the suspension device as described above.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the suspension device of this invention, the shock absorber is fixedly connected to the main support frame, and the connecting rod mounting side plate is also fixedly connected to the main support frame. Therefore, four-point connections can be achieved between the structure other than the main support frame and the main support frame. Furthermore, the suspension device as a whole achieves a multi-point detachable connection through the main support frame and the chassis of the wheeled robot. Compared with the connection methods of existing technologies, the connection method of this invention is more stable, and it also allows the suspension device to be disassembled or installed as a module. This modular design makes the disassembly and assembly between the suspension device and the wheeled robot chassis more convenient and efficient. In addition, the structural design of the suspension device of this invention leaves the space above the motor unoccupied, making it easy to add corresponding accessories according to customer needs, such as a heat dissipation device for the motor. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0017] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0018] Figure 1 This is a schematic diagram of the overall structure of the suspension device provided in an embodiment of the present utility model; Figure 2 This is a partial structural schematic diagram of the suspension device provided in an embodiment of the present utility model; Figure 3 A cross-sectional view of the suspension device provided in an embodiment of this utility model; Figure 4 for Figure 3 Enlarged view of section A; Figure 5 A schematic diagram of the structure of the heat sink provided in the embodiment of this utility model; Figure 6 This is a schematic diagram of the structure of the radiator fan provided in an embodiment of the present utility model; Figure 7 This is a schematic diagram of the structure of the shock absorber provided in an embodiment of the present utility model; Figure 8A schematic diagram of the structure of the first shock-absorbing mounting component provided in an embodiment of this utility model; Figure 9 A schematic diagram of the structure of the second shock-absorbing mounting component provided in this embodiment of the utility model; Figure 10 This is a schematic diagram of the main support frame provided in an embodiment of the present utility model; Figure 11 This is a schematic diagram of the structure of the motor mounting base provided in an embodiment of the present utility model; Figure 12 A schematic diagram of the connecting rod mounting side plate provided in an embodiment of this utility model.

[0019] Illustrations: 1. Main support frame; 11. First support rod; 12. Second support rod; 13. Third support rod; 2. Motor mounting base; 21. Mounting base weight reduction hole; 3. Motor; 4. Connecting rod damping assembly; 41. Connecting rod mounting side plate; 411. Side plate first weight reduction hole; 412. Side plate second weight reduction hole; 413. Nut receiving hole; 42. Shock absorber; 421. Shock absorber first connecting piece; 4211. Shock absorber first connecting hole; 422. Shock absorber second connecting piece; 4221. Shock absorber second connecting hole; 43. Connecting rod; 44. Bearing module; 441. First flange bearing; 442. Second flange bearing; 44 3. Connecting shaft; 444. Connecting rod through hole; 445. Connecting shaft through hole; 446. Locking nut; 447. Washer; 45. First shock absorber mounting component; 451. First shock absorber mounting base; 452. First shock absorber mounting tab; 4521. First shock absorber mounting hole; 46. Second shock absorber mounting component; 461. Second shock absorber mounting base; 462. Second shock absorber mounting tab; 4621. Second shock absorber mounting hole; 51. Radiator; 511. Heat sink base; 512. Heat sink fins; 513. Heat sink mounting plate; 5131. Heat sink mounting plate hole; 52. Cooling fan; 521. Cooling fan hole; 53. Heat sink connecting column. Detailed Implementation

[0020] To make the utility model's objectives, features, and advantages more apparent and understandable, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0021] In the description of this utility model, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for 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, they should not be construed as limitations on this utility model. It should be noted that when a component is considered to be "connected / set" to another component, it can be connected / set to another component, or it may simultaneously have a component centrally positioned.

[0022] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] This utility model provides a solution that is significantly different from existing technologies, addressing the problem that existing technical solutions are too simplistic.

[0024] Please refer to Figures 1-2 This embodiment provides a suspension device for a wheeled robot, characterized in that it includes a motor mounting base 2, a main support frame 1, and two linkage damping assemblies 4. A motor 3 is fixedly connected to the motor mounting base 2, and the motor mounting base 2 and the motor 3 are located between the two linkage damping assemblies 4. The main support frame 1 has multiple main support frame mounting holes for detachably connecting to the chassis of the wheeled robot.

[0025] Each linkage damping assembly 4 includes a linkage mounting side plate 41, a damper 42, and two linkages 43. The first end of the damper 42 is rotatably connected to the main support frame 1, and the second end is rotatably connected to the motor mounting base 2. One side of the linkage mounting side plate 41 is fixedly connected to the main support frame 1. The first end of each linkage 43 is rotatably connected to the linkage mounting side plate 41, and the second end is rotatably connected to the motor mounting base 2.

[0026] In this embodiment, the shock absorber 42 is fixedly connected to the main support frame 1, and the connecting rod mounting side plate 41 is also fixedly connected to the main support frame 1. Therefore, four-point connections can be achieved between the structure other than the main support frame 1 and the main support frame 1. Furthermore, the suspension device as a whole achieves a multi-point detachable connection through the main support frame 1 and the chassis of the wheeled robot. Compared with the connection method of the prior art, the connection method of this embodiment is more stable, and it also allows the suspension device as a whole to be disassembled or installed as a module. This modular design makes the disassembly and assembly between the suspension device and the chassis of the wheeled robot more convenient and efficient. In addition, the structural design of this embodiment leaves the space above the motor 3 unoccupied, making it easy to add corresponding accessories such as a heat dissipation device for the motor 3 according to customer needs.

[0027] Please refer to Figures 2-4A radiator 51 is fixedly connected to the side of the motor 3 facing the main support frame 1, and a cooling fan 52 is fixedly connected to the side of the radiator 51 facing the main support frame 1. Thermal conductive silicone is fixedly provided between the radiator 51 and the motor 3.

[0028] Specifically, the radiator 51 and the motor 3 are secured together by cable ties.

[0029] The heat sink 51 includes a heat sink base 511 for contacting the motor 3, and thermally conductive silicone is disposed between the heat sink base 511 and the motor 3. A plurality of heat sink fins 512 arranged at equal intervals are fixedly connected to the side of the heat sink base 511 facing away from the motor 3, and a fin gap is left between two adjacent heat sink fins 512.

[0030] The heat sink base 511 is also fixedly connected to two heat sink mounting plates 513, and multiple heat sink fins 512 are located between the two heat sink mounting plates 513. Each heat sink mounting plate 513 has at least one heat sink mounting plate hole 5131, and the cooling fan 52 has a cooling fan hole 521 corresponding to the heat sink mounting plate hole 5131. A heat sink connecting post 53 is fixedly connected between the corresponding heat sink mounting plate hole 5131 and the cooling fan hole 521.

[0031] In this embodiment, since the space above the motor 3 is not occupied, a radiator 51 and a cooling fan 52 can be installed above the motor 3 to enhance the heat dissipation capacity of the motor 3.

[0032] Please refer to Figures 2-4 Each link damping assembly 4 also includes four bearing modules 44. Each link 43 and the link mounting side plate 41 are rotatably connected through a bearing module 44, as are each link 43 and the motor mounting base 2.

[0033] Each bearing module 44 includes a first flange bearing 441, a second flange bearing 442, a connecting shaft 443, a connecting rod through hole 444, and a connecting shaft through hole 445.

[0034] In each bearing module 44, the bearing body of the first flange bearing 441 is inserted into the connecting rod through hole 444 from the first end, and its flange is blocked outside the first end of the connecting rod through hole 444. The bearing body of the second flange bearing 442 is inserted into the connecting rod through hole 444 from the second end, and its flange is blocked outside the second end of the connecting rod through hole 444. The first end of the connecting rod through hole 444 is the end facing away from the connecting shaft through hole 445, and the second end of the connecting rod through hole 444 is the end facing the connecting shaft through hole 445.

[0035] In each bearing module 44, the head of the connecting shaft 443 is blocked outside the hole of the first flange bearing 441. The tail of the connecting shaft 443 passes through the first flange bearing 441, the second flange bearing 442, and the connecting shaft through hole 445 in sequence, and is threaded with a lock nut 446, which is blocked outside the connecting shaft through hole 445. The connecting shaft 443 and the first flange bearing 441 are interference-fitted, and the connecting shaft 443 and the second flange bearing 442 are interference-fitted.

[0036] In the same connecting rod damping assembly 4, each connecting rod 43 has a connecting rod through hole 44 at its first and second ends, and two connecting shaft through holes 445 are opened on the connecting rod mounting side plate 41. The two connecting shaft through holes 445 are opened on the surface of the motor mounting seat 2 facing the connecting rod 43.

[0037] Each bearing module 44 also includes a washer 447. The washer 447 is fitted onto the connecting shaft 443, located between the inner ring of the second flange bearing 442 and the connecting shaft through hole 445, specifically positioned outside the hole of the second flange bearing 442 and outside the connecting shaft through hole 445. That is, a washer 447 is provided between the connecting rod mounting side plate 441 and the inner ring of the corresponding second flange bearing 442, and a washer 447 is provided between the motor mounting base 2 and the inner ring of the corresponding second flange bearing 442.

[0038] By setting the bearing module 44, the connecting rod 43 can be ensured to rotate smoothly relative to the connecting rod mounting side plate 41 / motor mounting seat 2, thereby ensuring the stable realization of the suspension device function and improving the response sensitivity of the suspension device.

[0039] In each bearing module 44, the arrangement of the first flange bearing 441 and the second flange bearing 442 prevents relative slippage between the connecting rod through hole 44 and the bearing. Existing technologies generally employ a single bearing design, requiring the addition of a corresponding bearing cap and screws to secure the bearing in the hole. This design is more complex and difficult to install. In this embodiment, the first flange bearing 441 and the second flange bearing 442 use identical, symmetrically arranged parts. The use of common parts further simplifies installation and reduces costs.

[0040] In this embodiment, the structure consisting of the outer ring of the first flange bearing 441, the outer ring of the second flange bearing 442, and the connecting rod 43 rotates relative to the structure consisting of the inner ring of the first flange bearing 441, the inner ring of the second flange bearing 442, the connecting shaft 443, the locking nut 446, and the connecting rod mounting side plate 41 / motor mounting seat 2. If the outer ring of the second flange bearing 442 and the connecting rod mounting side plate 41 / motor mounting seat 2 are tightly fitted together, friction will be generated, hindering relative rotation and thus affecting the sensitivity of the suspension device. In this embodiment, a washer 447 is placed between the inner ring of the second flange bearing 442 and the connecting rod mounting side plate 41 / motor mounting seat 2, so that there is a gap between the outer ring of the second flange bearing 442 and the connecting rod mounting side plate 41 / motor mounting seat 2, allowing for smooth rotation and ensuring the sensitivity of the suspension device.

[0041] In this embodiment, each connecting rod mounting side plate 41 is also provided with a nut receiving hole 413 corresponding to the connecting shaft through hole 445. The diameter of the nut receiving hole 413 is larger than the diameter of the connecting shaft through hole 445. The first end of the connecting shaft through hole 445 passes through the side of the connecting rod mounting side plate 41 facing the motor 3, and the second end of the connecting shaft through hole 445 passes through the first end of its corresponding nut receiving hole 413. The second end of the nut receiving hole 413 passes through the side of the connecting rod mounting side plate 41 away from the motor 3. The locking nut 446, which is blocked outside the connecting shaft through hole 445 on the connecting rod mounting side plate 41, is located in the nut receiving hole 413 corresponding to the connecting shaft through hole 445. The setting of the nut receiving hole 413 can prevent the locking nut 446 from protruding outside the connecting rod mounting side plate 41, making the overall suspension device more aesthetically pleasing.

[0042] In each connecting rod damping assembly 4, the two connecting rods 43 are parallel and of equal length. The line connecting the two connecting shaft through holes 445 on the connecting rod mounting side plate 41 and the line connecting the two connecting shaft through holes 445 on the motor mounting base 2 are parallel and of equal length. Both the line connecting the two connecting shaft through holes 445 on the connecting rod mounting side plate 41 and the line connecting the two connecting shaft through holes 445 on the motor mounting base 2 are perpendicular to the main support frame 1.

[0043] When the wheeled robot is on a flat surface, the shock absorber 42 is set perpendicular to the main support frame 1. In the same link shock absorber assembly 4, the distance from the connection between the shock absorber 42 and the motor mounting base 2 to the link mounting side plate 41 is greater than the distance from the connection between the link 43 and the motor mounting base 2 to the link mounting side plate 41.

[0044] In each linkage damping assembly 4, two linkages 43, two bearing modules 44 connected to the linkage mounting side plate 41, and two bearing modules 44 connected to the motor mounting base 2 form a parallelogram double linkage structure. When the wheeled robot passes through an uneven road surface, this structure allows the motor mounting base 2 to move up and down during the terrain change process, thereby causing the wheels to move up and down, so as to ensure that the wheels can also travel close to the ground on uneven roads.

[0045] Please refer to Figure 2 and Figures 5-7 Each shock absorber 42 has a first shock-absorbing first connecting piece 421 at its first end, and a shock-absorbing first connecting hole 4211 is provided on the shock-absorbing first connecting piece 4211. Each shock absorber 42 has a second shock-absorbing second connecting piece 422 at its second end, and a shock-absorbing second connecting hole 4221 is provided on the shock-absorbing second connecting piece 4221.

[0046] Each linkage damping assembly 4 includes a first damping mounting component 45, which includes a first damping mounting base 451. The first damping mounting base 451 is detachably connected to the main support frame 1 facing the motor 3 via screws. Two first damping mounting protrusions 452 are fixedly provided on the side of the first damping mounting base 451 facing away from the main support frame 1, with a first damping mounting gap between the two first damping mounting protrusions 452. The first damping mounting protrusions are embedded in the first damping mounting gap. First damping mounting holes 4521 are formed on the first damping mounting protrusions 452, and a first damping shaft is detachably connected between the two first damping mounting holes 4521. A first damping connecting hole 4211 rotatably connects to the first damping shaft.

[0047] Each linkage damping assembly 4 includes a second damping mounting component 46, which includes a second damping mounting base 461. The second damping mounting base 461 is detachably connected to the motor mounting base 2 via screws. The second damping mounting base 461 is fixedly provided with two second damping mounting protrusions 462, with a second damping mounting gap between the two protrusions. The second damping mounting pieces are embedded in the second damping mounting gap. The second damping mounting protrusions 462 have second damping mounting holes 4621, and a second damping shaft is detachably connected between the two second damping mounting holes 4621. The second damping connecting hole 4221 rotatably connects to the second damping shaft.

[0048] The shock absorber 42 can quickly absorb the energy generated by road bumps through elastic deformation when the wheeled robot travels over uneven surfaces, reducing the amplitude and frequency of vibrations, effectively suppressing vehicle sway, and maintaining the stable operation of the wheeled robot. When the motor mounting base 2 moves up and down, it also undergoes lateral displacement due to the parallelogram double-link structure. Therefore, the two ends of the shock absorber 42 are rotatably connected, allowing its angle relative to the main support frame 1 to change as needed. For example, when the wheeled robot travels over uneven surfaces, the up and down movement of the motor mounting base 2 will cause the shock absorber 42 to no longer be perpendicular to the main support frame 1.

[0049] Please refer to Figure 8 The main support frame 1 is U-shaped and includes a first support rod 11 and two second support rods 12 that are respectively fixedly connected to both ends of the first support rod 11. Each second support rod 12 is provided with at least two main support frame mounting holes. The hole in the middle of the main support frame 1 is used to reduce weight and avoid interference with the cooling fan 52 when installing it, making it easier to install the cooling fan 52.

[0050] Two connecting rod damping components 4 correspond one-to-one with two second bearing rods 12, and each connecting rod damping component 4 is fixedly connected to its corresponding second bearing rod 12. A damping first mounting base 451 is fixedly connected to the junction of the first bearing rod 11 and the second bearing rod 12. A connecting rod mounting side plate 41 is fixedly connected to the portion of the second bearing rod 12 away from the first bearing rod 11, and the connecting rod mounting side plate 41 has at least two side plate mounting holes for detachable connection of the second bearing rod 12. Correspondingly, the second bearing rod 12 has bearing rod connection holes corresponding to the side plate mounting holes.

[0051] A third support rod 13 is fixedly connected between the two second support rods 12, and the third support rod 13 is parallel to the first support rod 11. The third support rod 13 can enhance the structural strength of the main support frame 1.

[0052] Please refer to Figure 9 A mounting base weight reduction hole 21 is provided between the two connecting shaft through holes 445 on the same surface of the motor mounting base 2, that is, there are a total of two mounting base vibration reduction holes 21 on the motor mounting base 2. The mounting base weight reduction hole 21 can be used to reduce weight and facilitate the installation of the bearing module 44 on the motor mounting base 2.

[0053] A first weight-reducing hole 411 is provided between the two connecting shaft through holes 445 on the mounting side plate 41 of each connecting rod. A second weight-reducing hole 412 is also provided on the mounting side plate 41 of each connecting rod, and the second weight-reducing hole 412 is located between the main support frame 1 and the connecting shaft through hole 445 closer to the main support frame 1.

[0054] In this embodiment, the shaft of the motor 3 extends from the motor mounting base 2 and is fixedly connected to a wheel, which is a rubber wheel.

[0055] The suspension device for wheeled robots provided in this embodiment has the following main advantages: 1. The structure other than the main support frame 1 can be connected to the main support frame 1 at four points, and the entire suspension device can be detachably connected at multiple connection points through the main support frame 1 and the chassis of the wheeled robot. The connection method is stable and the entire suspension device can be disassembled or installed as a module. 2. The space above motor 3 is not occupied. Heat sink 51 and cooling fan 52 are installed here to enhance the heat dissipation capacity of motor 3; 3. The bearing module 4 has a simple structural design that is easy to install and effectively ensures the sensitivity of the suspension device.

[0056] This embodiment also provides a wheeled robot, including the suspension device as described above. Therefore, the beneficial effects of this wheeled robot are the same as those of the suspension device, and will not be repeated here.

[0057] In this invention, unless otherwise stated, the term "connection" can include various mechanical connection methods, such as welding, riveting, threaded connection, bonding, snap-fit ​​connection, locking connection, joining, etc.

[0058] In this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0059] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A suspension device for a wheeled robot, characterized in that, It includes a motor mounting base, a main support frame, and two connecting rod damping assemblies; the motor mounting base is fixedly connected to a motor, and the motor mounting base and the motor are located between the two connecting rod damping assemblies; the main support frame has multiple main support frame mounting holes for detachably connecting the chassis of the wheeled robot; Each of the connecting rod damping assemblies includes a connecting rod mounting side plate, a damper, and two connecting rods. The first end of the damper is rotatably connected to the main support frame, and the second end is rotatably connected to the motor mounting base. One side of the connecting rod mounting side plate is fixedly connected to the main support frame. The first end of each connecting rod is rotatably connected to the connecting rod mounting side plate, and the second end is rotatably connected to the motor mounting base.

2. The suspension device for a wheeled robot according to claim 1, characterized in that, A radiator is fixedly connected to the side of the motor facing the main support frame, and a cooling fan is fixedly connected to the side of the radiator facing the main support frame. Thermally conductive silicone is fixedly provided between the radiator and the motor.

3. The suspension device for a wheeled robot according to claim 2, characterized in that, The radiator includes a heat dissipation base plate for contacting the motor, and thermally conductive silicone is disposed between the heat dissipation base plate and the motor; a plurality of heat dissipation fins arranged at equal intervals are fixedly connected to the side of the heat dissipation base plate away from the motor, and a fin gap is left between two adjacent heat dissipation fins. The heat sink base is also fixedly connected to two heat sink mounting plates, and multiple heat sink fins are located between the two heat sink mounting plates; each heat sink mounting plate has at least one heat sink mounting plate hole, and the heat sink fan has a heat sink fan hole corresponding to the heat sink mounting plate hole, and a heat sink connecting post is fixedly connected between the corresponding heat sink mounting plate hole and the heat sink fan hole. The radiator and the motor are secured together by cable ties.

4. The suspension device for a wheeled robot according to claim 1, characterized in that, Each of the connecting rod damping assemblies further includes four bearing modules, and each connecting rod and the connecting rod mounting side plate, as well as each connecting rod and the motor mounting base, are rotatably connected through one of the bearing modules; Each of the bearing modules includes a first flange bearing, a second flange bearing, a connecting shaft, a connecting rod through hole, and a connecting shaft through hole; the bearing body of the first flange bearing is embedded in the connecting rod through hole from the first side, and its flange is blocked outside the first side of the connecting rod through hole; the bearing body of the second flange bearing is embedded in the connecting rod through hole from the second side, and its flange is blocked outside the second side of the connecting rod through hole; The head of the connecting shaft is blocked outside the hole of the first flange bearing, and the tail of the connecting shaft passes through the first flange bearing, the second flange bearing and the connecting shaft through hole in sequence, and is threaded with a lock nut, which is blocked outside the connecting shaft through hole; the connecting shaft and the first flange bearing are interference-fitted, and the connecting shaft and the second flange bearing are interference-fitted. A washer is also fitted on the connecting shaft. The washer is located between the inner ring of the second flange bearing and the through hole of the connecting shaft. The washer is blocked outside the hole of the second flange bearing and outside the through hole of the connecting shaft. In the same connecting rod damping assembly, each connecting rod has a connecting rod through hole at its first end and second end, two connecting shaft through holes are opened on the connecting rod mounting side plate, and two connecting shaft through holes are opened on the surface of the motor mounting base facing the connecting rod. Each of the connecting rod mounting side plates is also provided with a nut receiving hole corresponding to the connecting shaft through hole. The diameter of the nut receiving hole is larger than the diameter of the connecting shaft through hole. The first end of the connecting shaft through hole passes through the side of the connecting rod mounting side plate facing the motor, and the second end of the connecting shaft through hole passes through the first end of the corresponding nut receiving hole. The second end of the nut receiving hole passes through the side of the connecting rod mounting side plate away from the motor. The locking nut installed on the connecting rod mounting side plate is located in the nut receiving hole.

5. The suspension device for a wheeled robot according to claim 4, characterized in that, In each of the connecting rod damping assemblies, the two connecting rods are parallel and of equal length; the line connecting the two connecting shaft through holes on the connecting rod mounting side plate and the line connecting the two connecting shaft through holes on the motor mounting base are parallel and of equal length; the line connecting the two connecting shaft through holes on the connecting rod mounting side plate and the line connecting the two connecting shaft through holes on the motor mounting base are both perpendicular to the main support frame; When the wheeled robot is on a flat surface, the shock absorber is set perpendicular to the main support frame; in each of the link shock absorber assemblies, the distance from the connection point of the shock absorber and the motor mounting base to the link mounting side plate is greater than the distance from the connection point of the link and the motor mounting base to the link mounting side plate.

6. The suspension device for a wheeled robot according to claim 1, characterized in that, Each shock absorber has a first end including a first shock-absorbing connecting piece, and the first shock-absorbing connecting piece has a first shock-absorbing connecting hole; each shock absorber has a second shock-absorbing connecting piece, and the second shock-absorbing connecting piece has a second shock-absorbing connecting hole. Each of the aforementioned connecting rod damping components includes a damping first mounting component, which includes a damping first mounting base. The damping first mounting base is detachably connected to the main support frame facing the motor via screws. Two damping first mounting tabs are fixedly provided on the side of the damping first mounting base away from the main support frame, and a damping first mounting gap is provided between the two damping first mounting tabs. The damping first mounting tabs are embedded in the damping first mounting gap. A damping first mounting hole is formed on the damping first mounting tab, and a damping first rotating shaft is detachably connected between the two damping first mounting holes. The damping first connecting hole is rotatably connected to the damping first rotating shaft. Each of the aforementioned connecting rod damping components includes a second damping mounting member, which includes a second damping mounting base. The second damping mounting base is detachably connected to the motor mounting base via screws. The second damping mounting base is fixedly provided with two second damping mounting protrusions, and a second damping mounting gap is left between the two second damping mounting protrusions. The second damping mounting protrusions are embedded in the second damping mounting gap. The second damping mounting protrusions are provided with second damping mounting holes, and a second damping rotating shaft is detachably connected between the two second damping mounting holes. The second damping connecting hole is rotatably connected to the second damping rotating shaft.

7. The suspension device for a wheeled robot according to claim 1, characterized in that, The main support frame is U-shaped and includes a first support rod and two second support rods that are respectively fixedly connected to both ends of the first support rod. Each second support rod is provided with at least two mounting holes for the main support frame. Each of the two connecting rod damping components corresponds one-to-one with the two second bearing rods, and each connecting rod damping component is fixedly connected to its corresponding second bearing rod; the damper is fixedly connected to the junction of the first bearing rod and the second bearing rod, and the connecting rod mounting side plate is fixedly connected to the part of the second bearing rod away from the first bearing rod; the connecting rod mounting side plate has at least two side plate mounting holes for detachably connecting the second bearing rod, and the second bearing rod has bearing rod connection holes corresponding to the side plate mounting holes; A third support rod is fixedly connected between the two second support rods, and the third support rod is parallel to the first support rod.

8. The suspension device for a wheeled robot according to claim 4, characterized in that, A mounting base weight reduction hole is provided between the two connecting shaft through holes located on the same side of the motor mounting base; A first weight-reducing hole is provided between the two connecting shaft through holes on each of the connecting rod mounting side plates; a second weight-reducing hole is provided on each of the connecting rod mounting side plates, and the second weight-reducing hole is located between the main support frame and the connecting shaft through hole closer to the main support frame.

9. The suspension device for a wheeled robot according to claim 1, characterized in that, The motor shaft extends from the motor mounting base and is fixedly connected to a wheel.

10. A wheeled robot, characterized in that, Includes the suspension device as described in any one of claims 1-9.

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