A robot chassis suspension

Abstract

The utility model relates to the technical field of chassis suspension, especially to a robot chassis suspension structure, including the bottom plate, the bottom fixed mounting of bottom plate has the support, the bottom of support is equipped with the connector that projects downward, swing arm assembly is hinged on the connector, swing arm assembly includes the horizontal swing arm and vertical swing arm that fixedly connect together, the end of horizontal swing arm is connected with the drive wheel of robot, one side of vertical swing arm is equipped with the tension spring that places horizontally, one end of tension spring is connected with the end of vertical swing arm, and the other end is connected with the limit post, the limit post is along the horizontal direction displacement through the adjusting mechanism. The utility model drives the limit post horizontal displacement through the adjusting mechanism, can change the stretch of tension spring flexibly, and then adjusts the stress state of vertical swing arm and horizontal swing arm, realizes the accurate control of the drive wheel ground adhesion.

Description

Technical Field

[0001] This utility model relates to the field of chassis suspension technology, and in particular to a robot chassis suspension structure. Background Technology

[0002] As the application of robots in various fields continues to expand, their driving scenarios are becoming increasingly complex, placing increasingly stringent demands on the adaptability of the chassis suspension structure. When a robot travels on rough ground, the grip force needs to be reduced to minimize excessive friction and wear on the wheels and to reduce driving resistance, ensuring smooth movement. On smooth ground, the grip force needs to be increased to enhance wheel-ground friction and prevent wheel slippage, thus avoiding deviation or loss of control. Simultaneously, changes in load also place different demands on grip force. When carrying heavy objects, the increased weight of the robot alters the ground pressure, requiring adjustments to grip force to prevent wheel spin. In an unloaded state, adjusting grip force can mitigate the impact of uneven ground and reduce wheel wear. Currently, most robot chassis suspension structures lack the ability to adjust traction. In existing technologies, the drive wheel traction remains constant regardless of changes in road conditions and load, failing to adapt to the dynamic demands of different scenarios. This not only leads to poor robot stability but also accelerates wheel wear, severely limiting the robot's operational efficiency and reliability in complex environments. Therefore, there is an urgent need for a robot chassis suspension structure that can flexibly adjust the drive wheel traction to solve these technical problems. Utility Model Content

[0003] The purpose of this invention is to provide a robot chassis suspension structure that can solve the above-mentioned technical problems.

[0004] This utility model provides a robot chassis suspension structure, including a base plate. A bracket is fixedly installed on the bottom of the base plate. A downwardly protruding connector is provided at the bottom of the bracket. A swing arm assembly is hinged to the connector. The swing arm assembly includes a horizontal swing arm and a vertical swing arm fixedly connected together. The end of the horizontal swing arm is connected to the robot's drive wheel. A horizontally placed tension spring is provided on one side of the vertical swing arm. One end of the tension spring is connected to the end of the vertical swing arm, and the other end is connected to a limit post. The limit post can be moved horizontally by an adjustment mechanism.

[0005] Furthermore, the connector is hinged to the swing arm assembly via a pin.

[0006] Furthermore, the end of the horizontal swing arm is rotatably connected to the shaft of the robot's drive wheel.

[0007] Furthermore, a hook groove is provided at the end of the vertical swing arm, and one end of the tension spring is located in the hook groove.

[0008] Furthermore, the horizontal swing arm and the vertical swing arm are perpendicular to each other.

[0009] Furthermore, the bracket has a U-shaped structure, with its two ends fixedly connected to the base plate.

[0010] Furthermore, the adjustment mechanism includes a slide groove, in which a slider is slidably connected, and the limiting post is fixedly connected to the top of the slider. The top of the limiting post is provided with an anti-detachment structure to prevent the tension spring from disengaging.

[0011] Furthermore, the anti-detachment structure includes an upper column and a lower column, wherein the diameter of the upper column is larger than that of the lower column.

[0012] Furthermore, a motor is provided at one end of the slide groove, and a screw is fixedly connected to the output shaft of the motor. The screw passes through the side wall of the slide groove and is located inside the slide groove. Its end is rotatably connected to the other side wall of the slide groove through a bearing. The slider is threadedly connected to the screw. A guide rod is also provided in the slide groove, which is symmetrically arranged along the screw. The guide rod passes through the slider and is slidably connected to it.

[0013] Furthermore, the slide is fixedly connected to the side of the bracket.

[0014] Beneficial effects: This invention uses an adjusting mechanism to drive the horizontal displacement of the limiting column, flexibly changing the tension of the spring and thus adjusting the force state of the vertical and horizontal swing arms, achieving precise control of the drive wheel's grip. It adapts to the needs of reducing grip and friction on rough surfaces and increasing grip to prevent slippage on smooth surfaces, while also meeting the dynamic adaptation of grip under varying loads, solving the problem of constant grip in existing structures. By optimizing grip in real time for different road conditions and loads, it effectively avoids wheel spin, slippage, and loss of control, significantly improving the robot's driving stability in complex environments. It also reduces unnecessary wheel wear, extends component lifespan, and enhances the robot's operational reliability. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific 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.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the adjustment mechanism in this utility model.

[0017] Explanation of reference numerals in the attached drawings: 1-base plate, 2-bracket, 3-connector, 401-horizontal swing arm, 402-vertical swing arm, 5-drive wheel, 6-tension spring, 7-limiting post, 8-pin, 9-hook groove, 10-slide groove, 11-slider, 1201-upper column, 1202-lower column, 13-servo motor, 14-screw, 15-guide rod. Detailed Implementation

[0018] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. 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 protection scope of this utility model.

[0019] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] Example 1 This embodiment discloses a robot chassis suspension structure, which is applicable to various mobile robots operating in complex road conditions, such as warehouse handling robots and outdoor inspection robots. Its specific structure is detailed below. The robot chassis suspension structure in this embodiment includes a base plate 1, which is made of high-strength aluminum alloy. This ensures structural strength to support the main robot components while reducing overall weight and energy consumption during robot operation. A bracket 2 is bolted to the bottom of the base plate 1. The bracket 2 is a U-shaped structure, formed by stamping stainless steel, and its two ends are welded to the lower surface of the base plate 1. A downwardly protruding connector 3 is integrally formed at the bottom of the bracket 2. The connector 3 is a block structure with a through-hole hinge. The connector 3 is hinged to the swing arm assembly via a pin 8, allowing for flexible rotation of the swing arm assembly. The swing arm assembly includes a horizontal swing arm 401 and a vertical swing arm 402. The horizontal and vertical swing arms are integrally forged and are perpendicular to each other, forming an L-shaped structure. This integrated design effectively improves the structural strength of the swing arm assembly, preventing breakage or deformation under stress. The end of the horizontal swing arm 401 is rotatably connected to the drive wheel 5 of the robot. A horizontally placed tension spring 6 is located on the side of the vertical swing arm 402 away from the horizontal swing arm 401. A hook groove 9 is formed at the end of the vertical swing arm 402, and one end of the tension spring 6 is engaged within the hook groove 9. The inner wall of the hook groove 9 is provided with an anti-slip rubber pad to prevent the tension spring 6 from falling out of the hook groove 9 during stretching and rebound. The tension spring 6 is made of high-strength alloy spring, possessing excellent elastic recovery performance and fatigue strength, and can withstand repeated stretching for a long time without easily failing. The other end of the tension spring 6 is connected to a limiting post 7, which can be moved horizontally via an adjustment mechanism. The adjustment mechanism includes a slide groove 10, which is a cuboid structure. The slide groove 10 is fixedly connected to the side of the bracket 2 by bolts, and the connection position is precisely aligned with the setting direction of the vertical swing arm 402 to ensure that the tension spring 6 is always in a horizontally stretched state. A slider 11 is slidably connected within the slide groove 10. A limiting post 7 is welded and fixed to the top of the slider 11. The top of the limiting post 7 is provided with an anti-detachment structure to prevent the tension spring 6 from detaching. This anti-detachment structure includes an upper post 1201 and a lower post 1202, which are integrally formed. The diameter of the upper post 1201 is larger than that of the lower post 1202. The end of the tension spring 6 away from the vertical swing arm 402 is sleeved on the lower post 1202. The upper post 1201 can effectively prevent the tension spring 6 from slipping off the limiting post 7 during the stretching process, ensuring the stability of the structure during operation. A servo motor 13 is fixedly mounted on one end of the slide groove 10 via a motor mount. The servo motor 13 has precise speed and displacement control capabilities, and its output shaft is fixedly connected to a screw 14 via a coupling. The screw 14 passes through the side wall of the slide groove 10 and is located inside the slide groove 10. Its end is rotatably connected to the other side wall of the slide groove 10 via a deep groove ball bearing. The deep groove ball bearing reduces the frictional resistance when the screw 14 rotates, improving the smoothness of rotation. The slider 11 is threadedly connected to the screw 14. Two guide rods 15 are also provided in the slide groove 10, symmetrically arranged along the screw 14. The two ends of the guide rods 15 are fixedly connected to the two side walls of the slide groove 10, respectively. The guide rods 15 pass through the slider 11 and are slidably connected to it. The guide rods 15 can effectively limit the rotation of the slider 11, ensuring that the slider 11 moves only in a straight line in the horizontal direction under the drive of the screw 14. Working principle The robot chassis suspension structure of this utility model adjusts the displacement of the limit column by the adjustment mechanism, changes the tension of the tension spring, and thus adjusts the force state of the swing arm assembly, ultimately achieving precise adjustment of the drive wheel's grip. Its specific working principle is as follows: (a) The power transmission process of the regulating mechanism When the robot needs to adjust its grip based on road conditions or load, the servo motor 13 receives instructions from the control system and starts operating (the operation of the servo motor is determined by the control system's programmed settings or manual adjustment, which will not be elaborated here). The output shaft of the servo motor 13 drives the screw 14 to rotate forward or backward. Since the slider 11 is threadedly connected to the screw 14, and the slider 11 cannot rotate with the screw 14 due to the limiting effect of the two symmetrically arranged guide rods 15, the rotational motion of the screw 14 is converted into the horizontal linear motion of the slider 11 along the axis of the screw 14. The limiting post 7, which is fixedly connected to the slider 11, moves horizontally synchronously with the slider 11, thereby adjusting the position of the connection end of the tension spring 6. During this process, the deep groove ball bearing ensures the stability of the screw 14's rotation, while the guide rods 15 ensure the accuracy of the slider 11's displacement, preventing any deviation. (II) The dynamic adjustment process of grip One end of the tension spring 6 is fixed in the hook groove 9 of the vertical swing arm 402, and the other end is sleeved on the lower column 1202 of the limiting post 7. When the limiting post 7 moves horizontally, the tension of the tension spring 6 changes accordingly. The tension generated by the tension spring 6 is transmitted through the vertical swing arm 402 to the hinge point of the swing arm assembly (i.e., the connection between the connecting piece 3 and the pin 8), and then from the vertical swing arm 402 to the horizontal swing arm 401 perpendicular to it. The end of the lateral swing arm 401 is connected to the shaft of the drive wheel 5. The force state of the lateral swing arm 401 directly determines the pressure of the drive wheel 5 on the ground, which is the core factor affecting grip. When the tension of the tension spring 6 increases, its tension on the vertical swing arm 402 increases. This tension is transmitted through the swing arm assembly, increasing the downward pressure exerted by the lateral swing arm 401 on the drive wheel 5, thereby increasing the friction between the drive wheel 5 and the ground and improving grip. Conversely, when the tension of the tension spring 6 decreases, its tension on the vertical swing arm 402 weakens, the downward pressure of the lateral swing arm 401 on the drive wheel 5 decreases, the friction between the drive wheel 5 and the ground decreases, and grip decreases. (III) Adaptation and Adjustment in Different Scenarios Rough ground driving scenario: When the robot travels on rough ground, it needs to reduce grip to reduce driving resistance and wheel wear. At this time, the servo motor 13 drives the screw 14 to reverse, causing the slider 11 to move closer to the vertical swing arm 402. The limit post 7 simultaneously moves closer to the vertical swing arm 402, reducing the tension of the tension spring 6 and weakening the pulling force. The downward pressure of the horizontal swing arm 401 on the drive wheel 5 decreases, reducing the friction between the drive wheel 5 and the ground, thus reducing grip and effectively reducing excessive friction and wear of the drive wheel 5 on rough ground, ensuring smooth robot movement. Smooth Surface Driving Scenario: When the robot travels on a smooth surface, increased grip is necessary to prevent wheel slippage, deviation, or loss of control. Servo motor 13 drives screw 14 to rotate forward, and slider 11 moves limit post 7 away from vertical swing arm 402, further stretching tension spring 6 and increasing its pulling force. This pulling force is transmitted through the swing arm assembly, increasing the downward pressure of horizontal swing arm 401 on drive wheel 5, thus increasing the friction between drive wheel 5 and the ground and preventing wheel slippage on smooth surfaces. Load variation scenario: When the robot is carrying a heavy load, the increased weight causes changes in ground pressure, which can easily lead to wheel spin. In this case, the control system controls the adjustment mechanism to increase the tension of spring 6, thereby improving grip and enhancing wheel-ground friction to prevent wheel spin. When the robot is unloaded, the adjustment mechanism decreases the tension of spring 6, reducing grip. This reduces the impact of uneven ground on the robot's movement and also reduces unnecessary wear on the wheels.

[0022] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot chassis suspension structure, characterized in that, The system includes a base plate, on the bottom of which a bracket is fixedly mounted. The bottom of the bracket has a downwardly protruding connector, and a swing arm assembly is hinged to the connector. The swing arm assembly includes a horizontal swing arm and a vertical swing arm fixedly connected together. The end of the horizontal swing arm is connected to the robot's drive wheel. A horizontally placed tension spring is provided on one side of the vertical swing arm. One end of the tension spring is connected to the end of the vertical swing arm, and the other end is connected to a limit post. The limit post can be moved horizontally through an adjustment mechanism.

2. The robot chassis suspension structure according to claim 1, characterized in that, The connector is hinged to the swing arm assembly via a pin.

3. The robot chassis suspension structure according to claim 1, characterized in that, The end of the horizontal swing arm is rotatably connected to the drive wheel shaft of the robot.

4. The robot chassis suspension structure according to claim 1, characterized in that, The end of the vertical swing arm is provided with a hook groove, and one end of the tension spring is located in the hook groove.

5. The robot chassis suspension structure according to claim 1, characterized in that, The horizontal swing arm is perpendicular to the vertical swing arm.

6. The robot chassis suspension structure according to claim 1, characterized in that, The bracket has a U-shaped structure, and its two ends are fixedly connected to the base plate.

7. The robot chassis suspension structure according to claim 6, characterized in that, The adjustment mechanism includes a slide groove, in which a slider is slidably connected. The limiting post is fixedly connected to the top of the slider, and the top of the limiting post is provided with an anti-detachment structure to prevent the tension spring from disengaging.

8. The robot chassis suspension structure according to claim 7, characterized in that, The anti-detachment structure includes an upper column and a lower column, wherein the diameter of the upper column is larger than that of the lower column.

9. The robot chassis suspension structure according to claim 8, characterized in that, A motor is provided at one end of the slide groove, and a screw is fixedly connected to the output shaft of the motor. The screw passes through the side wall of the slide groove and is located inside the slide groove. Its end is rotatably connected to the other side wall of the slide groove through a bearing. The slider is threadedly connected to the screw. A guide rod is also provided in the slide groove, which is symmetrically arranged along the screw. The guide rod passes through the slider and is slidably connected to it.

10. The robot chassis suspension structure according to claim 9, characterized in that, The slide is fixedly connected to the side of the bracket.

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