Self-adjusting suspension system and robot

Abstract

The utility model relates to robot technical field provides a kind of self-regulating suspension system and robot, self-regulating suspension system includes: fixed rack, suspension bridge and hinged structure.Fixed rack is configured to be connected with fuselage;Suspension bridge extends along the width direction of fuselage, and and fixed rack along vertical direction arrangement;Two ends of suspension bridge are used to be connected with runner;Hinged structure is rotatably arranged along the advancing direction of fuselage, between the middle part of suspension bridge and fixed rack.The self-regulating suspension system of the utility model, by connecting the middle part of hinged structure and suspension bridge, make suspension bridge can swing left and right along the advancing direction of fuselage relative to fixed rack, when runner on single side of suspension bridge exists overhanging tendency when fuselage walks to uneven area, suspension bridge can swing relative to fixed rack under the action of gravity, so that the runner at both ends always keeps on ground, avoid runner overhanging and cause influence to the stability and power of robot movement.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a self-adjusting suspension system and a robot. Background Technology

[0002] In related technologies, home companion robots mainly adopt a wheeled walking mechanism, that is, multiple wheels are installed on the robot's chassis, and the wheels are driven by a drive mechanism to rotate so that the robot can walk on the ground. When walking on uneven ground (such as slopes or ground with potholes or uneven surfaces), some of the robot's wheels are prone to dangling in the air, affecting the robot's stability and obstacle-crossing ability. Utility Model Content

[0003] This invention provides a self-adjusting suspension system and a robot to solve the problem in the prior art where some of the robot's wheels tend to suspend in the air when walking on uneven ground, affecting the robot's stability and obstacle-crossing ability.

[0004] In a first aspect, this utility model provides a self-adjusting suspension system, comprising: The mounting bracket is configured to connect to the fuselage; The suspension bridge extends along the width of the fuselage and is arranged vertically with the fixed frame; both ends of the suspension bridge are used to connect to the wheel. The hinged structure is rotatably configured along the forward direction of the fuselage and is located between the middle of the suspension bridge and the fixed frame.

[0005] The self-adjusting suspension system according to this utility model further includes: Multiple elastic elements are disposed between the fixed frame and the suspension bridge; the multiple elastic elements are distributed on both sides of the hinge structure along the width direction of the fuselage.

[0006] According to the self-adjusting suspension system of this utility model, a plurality of elastic elements are arranged in an axisymmetric manner with respect to the hinge structure.

[0007] The self-adjusting suspension system according to this utility model further includes: The guide post is provided in multiple ways, and the multiple guide posts and multiple elastic elements are arranged in a one-to-one correspondence. The elastic element is a spring, and the spring is sleeved on the outside of the guide post. The guide post is located on the side of the fixing frame facing the suspension bridge.

[0008] According to the self-adjusting suspension system of this utility model, the fixing frame includes: A fixing plate is disposed below the suspension bridge, and the hinge structure is disposed between the fixing plate and the suspension bridge; The liner, a portion of which is located between the fixed plate and the suspension bridge and connected to the top of the fixed plate, is configured to connect with the fuselage.

[0009] According to the self-adjusting suspension system of this utility model, the guide post is formed on the top of the inner liner, a first connecting hole is formed in the guide post, and the fixing plate is provided with a second connecting hole corresponding to the position of the first connecting hole; The fixing frame also includes fasteners that pass through the first connecting hole and the second connecting hole to fix the fixing plate and the inner liner.

[0010] According to the self-adjusting suspension system of this utility model, the suspension bridge is provided with a limiting groove on the side facing the fixed frame, the first end of the spring is inserted into the limiting groove, and the second end of the spring is sleeved on the peripheral wall of the guide column.

[0011] According to the self-adjusting suspension system of this utility model, the articulated structure includes: The first hinge part is provided with a first hinge hole and is disposed in the fixing frame; The second hinge part is provided with a second hinge hole corresponding to the position of the first hinge hole, and is disposed on the suspension bridge; A hinge shaft passes through the first hinge hole and the second hinge hole.

[0012] According to the self-adjusting suspension system of this utility model, the hinge shaft includes: The shaft includes a plug-in portion and a first limiting portion formed at a first end of the plug-in portion; the plug-in portion passes through the first hinge hole and the second hinge hole, and the first limiting portion protrudes from the outer peripheral wall of the plug-in portion; A limiting member is detachably connected to the second end of the insertion portion, and the limiting member has a second limiting portion that protrudes outward relative to the outer peripheral wall of the insertion portion; the first hinge portion and the second hinge portion are located between the first limiting portion and the second limiting portion.

[0013] According to the self-adjusting suspension system of this utility model, the second hinge portion includes: The first part and the second part are arranged opposite to each other along the forward direction of the fuselage, and both the first part and the second part are provided with the second hinge hole; the first hinge part is sandwiched between the first part and the second part; The first limiting part abuts against the first portion, and the second limiting part abuts against the second portion.

[0014] Secondly, this utility model also provides a robot, comprising: The self-adjusting suspension system described in any of the above items; The fuselage is connected to the mounting bracket; Two rotating wheels are respectively located at both ends of the suspension bridge.

[0015] This invention relates to a self-adjusting suspension system. A fixed frame is fixedly connected to the robot body. The fixed frame is connected to a suspension bridge via a hinged structure. Both ends of the suspension bridge are connected to wheels on both sides of the robot body. This allows the wheels to provide support for the robot body through the suspension bridge, hinged structure, and fixed frame, and to drive the robot body's movement when the wheels rotate. Simultaneously, by connecting the hinged structure to the middle of the suspension bridge, the suspension bridge can swing left and right relative to the fixed frame along the robot's forward direction. When the robot travels to uneven areas and one side of the suspension bridge tends to suspend, the suspension bridge can swing relative to the fixed frame under gravity, ensuring that both ends of the wheels remain on the ground. This prevents the wheels from suspending and affecting the robot's stability and power. This effectively solves the problem in existing technologies where some of the robot's wheels easily suspend when walking on uneven ground, affecting the robot's stability and obstacle-crossing ability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the self-adjusting suspension system and the rotating wheel provided in this embodiment of the utility model.

[0018] Figure 2 This is a schematic diagram of the self-adjusting suspension system and wheels for walking on uneven ground, provided in an embodiment of this utility model.

[0019] Figure 3 This is an exploded view of the self-adjusting suspension system and the rotating wheel provided in this embodiment of the utility model.

[0020] Figure 4 This is a schematic diagram of the working process of the self-adjusting suspension system provided in this embodiment of the utility model.

[0021] Figure 5 This is a schematic diagram showing the connection and fit of the fixing frame, suspension bridge and elastic element provided in the embodiment of this utility model.

[0022] Figure 6 This is a schematic diagram showing the connection and fit of the fixed frame, suspension bridge and hinge structure provided in the embodiment of this utility model.

[0023] Figure 7This is a schematic diagram of the robot provided in an embodiment of the present utility model.

[0024] Figure label: 1. Self-adjusting suspension system; 11. Fixing bracket; 111. Fixing plate; 1111. Second connecting hole; 112. Lining; 113. Fastener; 12. Suspension bridge; 121. Limiting groove; 13. Hinged structure; 131. First hinge part; 1311. First hinge hole; 132. Second hinge part; 1321. Second hinge hole; 1322. First part; 1323. Second part; 133. Hinged shaft; 1331. Shaft body; 13311. Insertion part; 13312. First limiting part; 1332. Limiting member; 13321. Second limiting part; 14. Elastic element; 15. Guide post; 151. First connecting hole; 2. Fuselage; 21. Main body; 22. Arm; 3. Rotary wheel. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] The following is combined with Figures 1-6 This invention describes the self-adjusting suspension system.

[0027] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this utility model provides a self-adjusting suspension system 1, including: a fixed frame 11, a suspension bridge 12, and a hinge structure 13. The fixed frame 11 is configured to be connected to the fuselage 2; the suspension bridge 12 extends along the width direction of the fuselage 2 and is arranged vertically with the fixed frame 11; both ends of the suspension bridge 12 are used to connect to the rotating wheel 3; the hinge structure 13 is rotatably arranged along the forward direction of the fuselage 2 and is located between the middle of the suspension bridge 12 and the fixed frame 11.

[0028] The self-adjusting suspension system 1 of this embodiment can be applied to any wheeled walking device, such as robots, vehicles, etc. Taking a robot as an example, the fixing frame 11 of this embodiment is used to fix it to the robot's body 2 (such as the shell, internal support structure, etc.) so that the fixing frame 11 remains fixed relative to the body 2.

[0029] In this embodiment, the suspension bridge 12 extends along the width direction of the fuselage 2, so that both ends of the suspension bridge 12 can be connected to the rotating wheels 3 on the opposite side of the fuselage 2 respectively. The suspension bridge 12 is also connected to the fixed frame 11 through the hinge structure 13, so that when the rotating wheel 3 rotates, it can drive the fuselage 2 to move through the suspension bridge 12 and the fixed frame 11.

[0030] It is understood that the suspension bridge 12 in this embodiment can be set above or below the fixed frame 11. The middle part of the suspension bridge 12 is rotatably set along the forward direction of the body 2 through the hinge structure 13 and the fixed frame 11, so that the suspension bridge 12 can swing relative to the fixed frame 11 along the forward direction of the body 2. When the wheel 3 connected to the suspension bridge 12 travels to an uneven ground, and the body 2 is supported by other structures in contact with the ground (such as other wheels 3 or brackets), causing the wheel 3 connected to the suspension bridge 12 to have a tendency to be suspended, the suspension bridge 12 can swing relative to the fixed frame 11 under the action of gravity, so that the wheels 3 at both ends always remain on the ground, thereby improving the stability of the robot's movement and obstacle crossing ability.

[0031] It is understood that the suspension bridge 12 in this embodiment can be connected to either the driving wheel of the fuselage 2 or the driven wheel of the fuselage 2. Preferably, it is connected to the driving wheel that provides power to the fuselage 2, so that the driving wheel of the fuselage 2 can always keep on the ground and maintain the consistency of the grip of the driving wheels on both sides of the fuselage 2. This avoids some driving wheels from spinning in the air, which would waste power and affect the movement direction and stability of the fuselage 2.

[0032] The self-adjusting suspension system 1 of this utility model is constructed by fixing a fixed frame 11 to the body 2. The fixed frame 11 is connected to a suspension bridge 12 via a hinge structure 13. The two ends of the suspension bridge 12 are connected to the wheels 3 on both sides of the body 2, so that the wheels 3 can provide support for the body 2 through the suspension bridge 12, the hinge structure 13, and the fixed frame 11, and the rotation of the wheels 3 can drive the body 2 to move. At the same time, by connecting the middle of the hinge structure 13 and the suspension bridge 12, the suspension bridge 12 can swing left and right relative to the fixed frame 11 along the forward direction of the body 2. When the body 2 travels to an uneven area, and one side of the wheel 3 of the suspension bridge 12 tends to be suspended, the suspension bridge 12 can swing relative to the fixed frame 11 under the action of gravity, so that the wheels 3 at both ends always keep on the ground, avoiding the wheels 3 being suspended and affecting the stability and power of the robot's movement. This effectively solves the problem in the prior art where some of the robot's wheels are easily suspended when walking on uneven ground, affecting the stability and obstacle-crossing ability of the robot's movement.

[0033] Furthermore, it is understood that part of the structure of the fixed frame 11 can extend along the width direction of the fuselage 2 and be arranged parallel to the suspension bridge 12 so as to stop and limit the suspension bridge 12 when it swings, thereby limiting the swing angle of the suspension bridge 12.

[0034] In some embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown, the self-adjusting suspension system 1 also includes: multiple elastic elements 14; multiple elastic elements 14 are disposed between the fixed frame 11 and the suspension bridge 12; multiple elastic elements 14 are distributed on both sides of the hinge structure 13 along the width direction of the fuselage 2.

[0035] In this embodiment, by providing elastic elements 14 on both sides of the hinge structure 13, the multiple elastic elements 14 can cooperate with the hinge structure 13 to provide support and stability between the fixed frame 11 and the suspension bridge 12.

[0036] Specifically, such as Figure 1 , Figure 2 and Figure 4 As shown, when the robot walks on a flat ground, multiple elastic elements 14 are distributed on both sides of the hinge structure 13. The multiple elastic elements 14 are compressed by the fixed frame 11 and the suspension bridge 12. The elastic elements 14 generate elastic force on the fixed frame 11, so as to cooperate with the hinge structure 13 to support the fixed frame 11 and the body 2. This makes the force points of the fixed frame 11 and the suspension bridge 12 dispersed along the width direction of the body 2, so that the suspension bridge 12 provides better support for the fixed frame 11 and the body 2, and the movement of the body 2 is more stable.

[0037] When the robot walks on uneven ground and one of the wheels 3 on one side of the suspension bridge 12 tends to be suspended in the air, the suspension bridge 12 rotates around the hinge structure 13. The elastic element 14 on the corresponding side of the hinge structure 13 extends, while the elastic element 14 on the other side of the hinge structure 13 is further compressed. This ensures that the wheels 3 on both sides are stably grounded while the elastic element 14 still provides a certain supporting force for the fixed frame 11, thereby reducing the impact on the fixed frame 11 and the body 2 and maintaining the balance and stability of the fixed frame 11 and the body 2. In addition, it can be understood that the cooperation between the fixed frame 11 and the elastic element 14 can also limit the swing angle of the suspension bridge 12.

[0038] In some implementations, such as Figure 1 and Figure 2As shown, multiple elastic elements 14 are arranged axially symmetrically with respect to the hinge structure 13. In this embodiment, by arranging the elastic elements 14 axially symmetrically with respect to the hinge structure 13, the force-bearing points of the fixed frame 11 and the suspension bridge 12 are also arranged axially symmetrically with respect to the hinge structure 13. This makes the force-bearing points of the fixed frame 11 and the suspension bridge 12 on both sides of the hinge structure 13 more evenly distributed, and improves the support effect of the suspension bridge 12 and the elastic elements 14 on the fixed frame 11 and the fuselage 2, which is beneficial to improving the stability of the fuselage 2 during movement.

[0039] In some embodiments, the suspension bridge 12 can also be configured as an axisymmetric structure, such that the center of gravity of the suspension bridge 12 and the hinge structure 13 are arranged in the vertical direction. That is, depending on the relative position of the hinge structure 13 and the suspension bridge 12, the center of gravity of the suspension bridge 12 is located above or below the hinge structure 13. The contact force points of the suspension bridge 12 and the multiple elastic elements 14 are symmetrically distributed on both sides of the center of gravity of the suspension bridge 12. When the robot walks on a flat ground, the force distribution on both sides of the center of gravity of the suspension bridge 12 is more uniform, and the movement is more stable.

[0040] Specifically, in some embodiments, such as Figure 3 and Figure 5 As shown, the self-adjusting suspension system 1 also includes: guide posts 15. Multiple guide posts 15 are provided, and multiple guide posts 15 and multiple elastic elements 14 are arranged in a one-to-one correspondence. The elastic elements 14 are springs, and the springs are sleeved on the outside of the guide posts 15. The guide posts 15 are located on the side of the fixing frame 11 facing the suspension bridge 12.

[0041] In this embodiment, by setting a guide post 15 on the side of the fixed frame 11 facing the suspension bridge 12, and sleeve a spring on the outside of the guide post 15 as an elastic element 14, the guide post 15 can restrict the extension and retraction direction of the spring, preventing the spring from tilting or deviating during the swing of the suspension bridge 12 relative to the fixed frame 11, thereby enhancing the reliability of the elastic element 14.

[0042] It is understood that one end of the spring in this embodiment can abut or be fixedly connected to the fixed frame 11, and the other end can abut or be fixedly connected to the suspension bridge 12. The spring force can be designed according to the weight and center of gravity distribution of the body 2.

[0043] In some embodiments, such as Figure 3 and Figure 5 As shown, the mounting frame 11 includes a mounting plate 111 and an inner liner 112. The mounting plate 111 is disposed below the suspension bridge 12, and the hinge structure 13 is disposed between the mounting plate 111 and the suspension bridge 12. A portion of the inner liner 112 is located between the mounting plate 111 and the suspension bridge 12 and is connected to the top of the mounting plate 111. The inner liner 112 is configured to be connected to the fuselage 2.

[0044] In this embodiment, the fixed plate 111 is connected to the suspension bridge 12 via the hinge structure 13, allowing the suspension bridge 12 to swing relative to the fixed plate 111. Simultaneously, at least a portion of the inner liner 112 extends between the fixed plate 111 and the suspension bridge 12 for connection and fixation to the top of the fixed plate 111. The inner liner 112 is connected to the fuselage 2, allowing the fixed plate 111 to support both the inner liner 112 and the fuselage 2 as a whole, preventing stress concentration at the connection point. For example, the fixed plate 111 and the inner liner 112 can be connected by multiple bolts. In this embodiment, by placing the connection structure between the inner liner 112 and the fixed plate 111 at the top of the fixed plate 111, the fixed plate 111 can support the inner liner 112 as a whole, preventing the weight of the inner liner 112 from concentrating at the bolt positions, thus avoiding excessive tensile force on the bolts and impacting their reliability and service life. It is understood that the guide post 15 can be disposed on either the inner liner 112 or the fixed plate 111.

[0045] It is understandable that the inner liner 112 can be connected to the outer shell or internal support of the fuselage 2, or the inner liner 112 can also form an integrated structure with the fuselage 2.

[0046] In some embodiments, such as Figure 5 As shown, a guide post 15 is formed on the top of the inner liner 112, and a first connecting hole 151 is formed in the guide post 15. The fixing plate 111 is provided with a second connecting hole 1111 at the position corresponding to the first connecting hole 151. The fixing bracket 11 also includes a fastener 113, which passes through the first connecting hole 151 and the second connecting hole 1111 to fix the fixing plate 111 and the inner liner 112.

[0047] In this embodiment, a guide post 15 is formed on the top of the inner liner 112, and a first connecting hole 151 is constructed in the guide post 15. A second connecting hole 1111 is constructed on the fixing plate 111 at the position corresponding to the first connecting hole 151 for docking with the first connecting hole 151, so that the fastener 113 can be inserted through the first connecting hole 151 and the second connecting hole 1111 to complete the installation and fixing of the fixing plate 111 and the inner liner 112. The structure is simple and easy to operate. At the same time, the internal space of the guide post 15 is fully utilized, so that the guide post 15 can serve as both a guide and limiting structure for the elastic element 14 and a connection structure between the inner liner 112 and the fixing plate 111, which helps to make the structure of the entire fixing frame 11 more compact.

[0048] It is understandable that fastener 113 can be a fastening bolt, and the second connecting hole 1111 is a bolt hole that is compatible with fastener 113.

[0049] In some embodiments, such as Figure 5As shown, the suspension bridge 12 has a limiting groove 121 on the side facing the fixed frame 11. The first end of the spring is inserted into the limiting groove 121, and the second end of the spring is sleeved on the periphery of the guide post 151.

[0050] In this embodiment, a limiting groove 121 is constructed on the side of the suspension bridge 12 facing the fixed frame 11. The first end of the spring is inserted into the limiting groove 121. The groove wall of the limiting groove 121 can limit the first end of the spring. For example, the groove wall of the limiting groove 121 can be located on the front and rear sides of the spring along the forward direction of the body 2, respectively. In conjunction with the guide post 15, the position of the spring is further restricted to prevent the spring from tilting or shifting relative to the suspension bridge 12 and the fixed frame 11.

[0051] In some embodiments, such as Figure 6 As shown, the hinge structure 13 includes: a first hinge part 131, a second hinge part 132, and a hinge shaft 133; the first hinge part 131 is provided with a first hinge hole 1311 and is disposed on the fixing frame 11; the second hinge part 132 is provided with a second hinge hole 1321 corresponding to the position of the first hinge hole 1311 and is disposed on the suspension bridge 12; the hinge shaft 133 passes through the first hinge hole 1311 and the second hinge hole 1321.

[0052] In this embodiment, the first hinge portion 131 and the second hinge portion 132 are respectively provided on the fixed frame 11 and the suspension bridge 12. The first hinge hole 1311 of the first hinge portion 131 and the second hinge hole 1321 of the second hinge portion 132 are connected to each other, so that the hinge shaft 133 passes through the first hinge hole 1311 and the second hinge hole 1321 to connect the first hinge portion 131 and the second hinge portion 132, and the first hinge portion 131 and the second hinge portion 132 can rotate relative to each other, thereby allowing the suspension bridge 12 and the fixed frame 11 to rotate relative to each other.

[0053] Specifically, in some implementations, such as Figure 6 As shown, the hinge shaft 133 includes a shaft body 1331 and a limiting member 1332. The shaft body 1331 includes a plug portion 13311 and a first limiting portion 13312 formed at a first end of the plug portion 13311; the plug portion 13311 passes through a first hinge hole 1311 and a second hinge hole 1321, and the first limiting portion 13312 protrudes from the outer peripheral wall of the plug portion 13311; the limiting member 1332 is detachably connected to the second end of the plug portion 13311, and the limiting member 1332 has a second limiting portion 13321 that protrudes outward relative to the outer peripheral wall of the plug portion 13311; the first hinge portion 131 and the second hinge portion 132 are limited between the first limiting portion 13312 and the second limiting portion 13321.

[0054] In this embodiment, the insertion part 13311 is a cylindrical mechanism for insertion into the first hinge hole 1311 and the second hinge hole 1321. The first end of the insertion part 13311 is provided with a first limiting part 13312, and the second end of the insertion part 13311 is connected to a limiting member 1332. The limiting member 1332 is formed with a second limiting part 13321, so that the first hinge part 131 and the second hinge part 132 are located between the second limiting part 13321 and the first limiting part 13312, and are clamped and limited by the second limiting part 13321 and the first limiting part 13312, preventing the first hinge part 131 and the second hinge part 132 from axially shifting, thereby preventing the suspension bridge 12 from shifting back and forth relative to the fixed frame 11. Meanwhile, the limiting member 1332 and the plug-in part 13311 are detachably connected to facilitate the installation and connection of the hinge structure 13. Specifically, when installing the hinge structure 13, the first hinge hole 1311 of the first hinge part 131 and the second hinge hole 1321 of the second hinge part 132 can be aligned with each other. Then, the plug-in part 13311 is inserted into the first hinge hole 1311 and the second hinge hole 1321, and the first limiting member 13312 is placed against one side of the overall structure of the first hinge part 131 and the second hinge part 132. Then, the limiting member 1332 is installed on the plug-in part 13311, and the second limiting member 13321 is placed against the other side of the overall structure of the first hinge part 131 and the second hinge part 132.

[0055] In one specific embodiment, the first limiting portion 13312 is a shoulder structure formed at the first end of the insertion portion 13311. The limiting member 1332 can be a fastening bolt, and the second end of the insertion portion 13311 is provided with a threaded hole adapted to the limiting member 1332. The outer diameter of the nut of the limiting member 1332 is larger than the outer diameter of the insertion portion 13311 to form the second limiting portion 13321. Specifically, considering the vibration resistance and anti-loosening requirements of the limiting member 1332, the limiting member 1332 can be a non-loosening screw.

[0056] It is understandable that a clearance fit can be used between the insertion part 13311 and the first hinge hole 1311 and the second hinge hole 1321.

[0057] In some embodiments, such as Figure 6 As shown, the second hinge portion 132 includes: a first portion 1322 and a second portion 1323, the first portion 1322 and the second portion 1323 are spaced apart along the forward direction of the fuselage 2, and both the first portion 1322 and the second portion 1323 are provided with a second hinge hole 1321; the first hinge portion 131 is sandwiched between the first portion 1322 and the second portion 1323; the first limiting portion 13312 abuts against the first portion 1322, and the second limiting portion 13321 abuts against the second portion 1323.

[0058] In this embodiment, the first part 1322 and the second part 1323 are spaced apart along the forward direction of the fuselage 2 so as to form an accommodating space between the first part 1322 and the second part 1323, so that part of the structure of the first hinge part 131 can be accommodated in the accommodating space and clamped and limited by the first part 1322 and the second part 1323. The first limiting part 13312 and the second limiting part 13321 respectively abut against the outer side of the first part 1322 and the outer side of the second part 1323, so as to clamp and limit the first hinge part 131 and the second hinge part 132, thereby making the force on the first hinge part 131 and the second hinge part 132 along the axial direction of the hinge shaft 133 (or along the forward direction of the fuselage 2) more balanced, and the whole structure is more stable and reliable.

[0059] On the other hand, such as Figure 1 and Figure 7 As shown, this utility model also provides a robot, including: a body 2, two rotating wheels 3, and a self-adjusting suspension system 1 provided in any of the above embodiments. By adopting the self-adjusting suspension system 1 in the above embodiments, the robot of this utility model also has the technical effects of the self-adjusting suspension system 1, which will not be described in detail here. The body 2 is connected to the fixed frame 11; the two rotating wheels 3 are respectively disposed at both ends of the suspension bridge 12.

[0060] Understandably, the shape and functional components of the body 2 can be set according to the actual functions of the robot. For example, functional components such as a display screen, speaker, and navigation system can be set on the body 2.

[0061] The two rotating wheels 3 can be driving wheels, including a hub and a hub motor located inside the hub. The stator of the hub motor is mounted on the suspension bridge 12, and the rotor of the hub motor is rigidly connected to the hub. The hub and the connecting disc at the end of the suspension bridge 12 are rotatably connected. When the stator of the hub motor is energized, under the action of the electromagnetic field, it drives the rotor and the hub to rotate to drive the body 2 to move.

[0062] In one specific embodiment, such as Figure 7 As shown, the fuselage 2 includes a main body 21 and two arms 22. The two arms 22 are respectively located on both sides of the main body 21 along the width direction of the fuselage 2. The self-adjusting suspension system 1 is located inside the main body 21. Each arm 22 is provided with a driving wheel and a driven wheel. The self-adjusting suspension system 1 is located at the rear of the arm 22, and the two ends of the self-adjusting suspension system 1 are respectively connected to the rotating wheels 3.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not 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. Such 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 self-adjusting suspension system, characterized in that, include: The mounting bracket is configured to connect to the fuselage; The suspension bridge extends along the width of the fuselage and is arranged vertically with the fixed frame; both ends of the suspension bridge are used to connect to the wheel. The hinged structure is rotatably configured along the forward direction of the fuselage and is located between the middle of the suspension bridge and the fixed frame.

2. The self-adjusting suspension system according to claim 1, characterized in that, Also includes: Multiple elastic elements are disposed between the fixed frame and the suspension bridge; the multiple elastic elements are distributed on both sides of the hinge structure along the width direction of the fuselage.

3. The self-adjusting suspension system according to claim 2, characterized in that, The plurality of elastic elements are arranged axially symmetrically with respect to the hinge structure.

4. The self-adjusting suspension system according to claim 2, characterized in that, Also includes: The guide post is provided in multiple ways, and the multiple guide posts and multiple elastic elements are arranged in a one-to-one correspondence. The elastic element is a spring, and the spring is sleeved on the outside of the guide post. The guide post is located on the side of the fixing frame facing the suspension bridge.

5. The self-adjusting suspension system according to claim 4, characterized in that, The fixing frame includes: A fixing plate is disposed below the suspension bridge, and the hinge structure is disposed between the fixing plate and the suspension bridge; The liner, a portion of which is located between the fixed plate and the suspension bridge and connected to the top of the fixed plate, is configured to connect with the fuselage.

6. The self-adjusting suspension system according to claim 5, characterized in that, The guide post is formed on the top of the liner, and a first connecting hole is formed in the guide post. The fixing plate is provided with a second connecting hole corresponding to the position of the first connecting hole. The fixing frame also includes fasteners that pass through the first connecting hole and the second connecting hole to fix the fixing plate and the inner liner.

7. The self-adjusting suspension system according to claim 4, characterized in that, The suspension bridge has a limiting groove on the side facing the fixed frame. The first end of the spring is inserted into the limiting groove, and the second end of the spring is sleeved on the peripheral wall of the guide column.

8. The self-adjusting suspension system according to claim 1, characterized in that, The hinge structure includes: The first hinge part is provided with a first hinge hole and is disposed in the fixing frame; The second hinge part is provided with a second hinge hole corresponding to the position of the first hinge hole, and is disposed on the suspension bridge; A hinge shaft passes through the first hinge hole and the second hinge hole.

9. The self-adjusting suspension system according to claim 8, characterized in that, The hinge shaft includes: The shaft includes a plug-in portion and a first limiting portion formed at a first end of the plug-in portion; the plug-in portion passes through the first hinge hole and the second hinge hole, and the first limiting portion protrudes from the outer peripheral wall of the plug-in portion; A limiting member is detachably connected to the second end of the insertion portion, and the limiting member has a second limiting portion that protrudes outward relative to the outer peripheral wall of the insertion portion; the first hinge portion and the second hinge portion are located between the first limiting portion and the second limiting portion.

10. The self-adjusting suspension system according to claim 9, characterized in that, The second hinge portion includes: The first part and the second part are arranged opposite to each other along the forward direction of the fuselage, and both the first part and the second part are provided with the second hinge hole; the first hinge part is sandwiched between the first part and the second part; The first limiting part abuts against the first portion, and the second limiting part abuts against the second portion.

11. A robot, characterized in that, include: The self-adjusting suspension system as described in any one of claims 1-10; The fuselage is connected to the mounting bracket; Two rotating wheels are respectively located at both ends of the suspension bridge.

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