CN-224210861-U - Active rigid-flexible switching suspension system

Abstract

The utility model relates to the technical field of suspension systems of mobile robots, in particular to an active rigid-flexible switching suspension system which comprises a suspension mechanism, an adjusting damping component, a brake connected to one side of a fixed end of the suspension mechanism, a brake disc connected to one side of a movable end of the suspension mechanism and a wheel body assembly connected to the movable end of the suspension mechanism. The movable end lifting motion of the suspension mechanism is restrained by utilizing the cooperation of the brake and the brake disc in the process of stopping moving and operating the movable end lifting motion of the suspension mechanism, namely the movable end lifting motion can be switched from the flexibility of the adjusting and damping component to the whole suspension mechanism to keep larger rigidity, the vibration amplitude of the movable robot is effectively reduced, the shaking of the movable robot in operation is reduced, and the operation precision of the movable robot is improved.

Inventors

• HE XI
• YUAN MING

Assignees

• 广东爱吉尔机器人科技有限公司

Dates

Publication Date

20260508

Application Date

20250627

Claims (7)

1. 1. The active rigid-flexible switching suspension system is characterized by comprising a suspension mechanism, an adjusting damping component connected between a fixed end of the suspension mechanism and a movable end of the suspension mechanism, a brake connected to one side of the fixed end of the suspension mechanism, a brake disc connected to one side of the movable end of the suspension mechanism, and a wheel body assembly connected to the movable end of the suspension mechanism, wherein the brake and the brake disc are matched to prevent the movable end of the suspension mechanism from lifting.
2. 2. The suspension system of claim 1, wherein the suspension mechanism comprises a mounting fixed seat, a linear motion guide assembly and a connecting movable seat, the fixed end of the linear motion guide assembly is fixedly connected with the mounting fixed seat, the movable end of the linear motion guide assembly is fixedly connected with the connecting movable seat, the adjusting damping assembly is connected between the mounting fixed seat and the connecting movable seat, the brake is fixedly connected to one side of the mounting fixed seat, and the brake disc is fixedly connected to one side of the connecting movable seat.
3. 3. The suspension system of claim 2, wherein the linear motion guide assembly comprises a linear bearing and a guide shaft penetrating the linear bearing and in sliding fit with the linear bearing, the linear bearing is fixedly connected to the installation fixing seat, the guide shaft is fixedly connected to the connection movable seat, or the linear bearing is fixedly connected to the connection movable seat, and the guide shaft is fixedly connected to the installation fixing seat.
4. 4. The suspension system of active rigid-flexible switching as set forth in claim 2 wherein the adjusting damping assembly comprises a bolt, an adjusting nut, and a compression spring sandwiched between the mounting anchor and the connecting anchor, the bolt passing sequentially through the connecting anchor, the compression spring, and the mounting anchor and being in threaded engagement with the adjusting nut, or the bolt passing sequentially through the connecting anchor and the compression spring and being in threaded engagement with the adjusting nut.
5. 5. The suspension system of claim 1 wherein the brake is a pneumatic disc brake or a hydraulic disc brake.
6. 6. The system of claim 1, wherein the wheel assembly is a universal wheel assembly connected to the bottom of the free end of the suspension mechanism.
7. 7. The system of claim 1, wherein the wheel assembly is a motor drive wheel assembly, and the motor drive wheel assembly is connected to a side of the movable end of the suspension mechanism.

Description

Active rigid-flexible switching suspension system Technical Field The utility model relates to the technical field of suspension systems of mobile robots, in particular to an active rigid-flexible switching suspension system. Background The mobile robot suspension system is a core component for connecting the vehicle body and the travelling mechanism, and the design of the mobile robot suspension system directly influences the trafficability, stability and precision of carrying equipment of the robot. The impact of the road surface is absorbed by the spring, so that the interference of vibration to the robot body and the precision sensor (such as a laser radar and a camera) is reduced. The vibration amplitude of the vehicle body is reduced when the mobile robot runs on the concave-convex ground. However, the larger the stiffness coefficient k of a spring of a chassis suspension system of the traditional mobile robot is, the more difficult the spring is to deform, the higher the rigidity is, the energy cannot be effectively absorbed when the traditional mobile robot is impacted, the mobile robot is unfavorable for crossing a ridge and a slope, the smaller the stiffness coefficient is, the easier the spring is to deform, the higher the flexibility is, the large vibration amplitude of a robot body is easy to shake, the operation precision of the mobile robot is affected, and the mobile robot is difficult to consider only by the spring. Disclosure of Invention In order to overcome the defects and shortcomings in the prior art, the utility model aims to provide an active rigid-flexible switching suspension system. The active rigid-flexible switching suspension system comprises a suspension mechanism, an adjusting damping component connected between a fixed end of the suspension mechanism and a movable end of the suspension mechanism, a brake connected to one side of the fixed end of the suspension mechanism, a brake disc connected to one side of the movable end of the suspension mechanism, and a wheel body assembly connected to the movable end of the suspension mechanism, wherein the brake and the brake disc are matched to prevent lifting movement of the movable end of the suspension mechanism. Preferably, the suspension mechanism comprises a mounting fixing seat, a linear motion guide assembly and a connecting movable seat, wherein the fixed end of the linear motion guide assembly is fixedly connected with the mounting fixing seat, the movable end of the linear motion guide assembly is fixedly connected with the connecting movable seat, the adjusting damping assembly is connected between the mounting fixing seat and the connecting movable seat, the brake is fixedly connected to one side of the mounting fixing seat, and the brake disc is fixedly connected to one side of the connecting movable seat. Preferably, the linear motion guide assembly comprises a linear bearing and a guide shaft penetrating through the linear bearing and in sliding fit with the linear bearing, wherein the linear bearing is fixedly connected with the installation fixing seat, the guide shaft is fixedly connected with the connection movable seat, or the linear bearing is fixedly connected with the connection movable seat, and the guide shaft is fixedly connected with the installation fixing seat. Preferably, the adjusting damping component comprises a bolt, an adjusting nut and a compression spring clamped between the installation fixing seat and the connection movable seat, wherein the bolt sequentially penetrates through the connection movable seat, the compression spring and the installation fixing seat and is in threaded fit with the adjusting nut, or the bolt sequentially penetrates through the connection movable seat and the compression spring and is in threaded fit with the adjusting nut. Preferably, the brake is a pneumatic disc brake or a hydraulic disc brake. Preferably, the wheel body assembly is a universal wheel assembly, and the universal wheel assembly is connected to the bottom of the movable end of the suspension mechanism. Preferably, the wheel body assembly is a motor driving wheel assembly, and the motor driving wheel assembly is connected to the side face of the movable end of the suspension mechanism. The active rigid-flexible switching suspension system has the beneficial effects that the active rigid-flexible switching suspension system adopts the suspension mechanism, the adjusting damping component connected between the fixed end of the suspension mechanism and the movable end of the suspension mechanism, the brake connected to one side of the fixed end of the suspension mechanism, the brake disc connected to one side of the movable end of the suspension mechanism and the wheel body assembly connected to the movable end of the suspension mechanism, and the brake disc are matched to prevent the movable end of the suspension mechanism from lifting. The movable end lifting motion of the suspension mechanism is restra