Suspension system, and chassis and robot with the same

The present disclosure provides a suspension system, and a chassis with the same. The system includes: a fixing frame having an opening; a suspension frame disposed at the opening; and a driving wheel rotationally coupled to the suspension frame. In which, two ends of the suspension frame are respectively disposed on two ends of the fixing frame at the two sides of the opening to be selectively moved up and down along a height direction of the fixing frame, and two elastic members are respectively disposed between each of the two ends of the suspension frame and the corresponding end of the fixing frame at the two sides of the opening. In the present disclosure, the fixing frame and the suspension frame can move with respect to each other in a vertical direction, and the resetting adjustment is realized through the elastic member.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 201810537402.3, filed May 30, 2018, which is hereby incorporated by reference herein as if set forth in its entirety.

BACKGROUND

1. Technical Field

The present disclosure relates to suspension system technology, and particularly to a suspension system and a chassis as well as a robot with the same.

2. Description of Related Art

In the past years, robot technology has developed rapidly, and the service robots with mobile capability have gradually put into commercial practice. Most of these service robots are wheeled robots, which are for receiving and guiding customers. Since they are mostly used on flat grounds in room, a few of them have obstacle-crossing capability. In actual applications, even when they are used in indoor places such as hotels and airports, it is difficult to avoid rough terrain and can not work normally. In order to solve this problem, some service robots are provided with a suspension system to have certain obstacle-crossing capability. However, the existing suspension systems are mostly designed with reference to vehicle suspension systems, which is complicated in structure, high in cost, and unable to adapt to the robots with high gravity center.

DETAILED DESCRIPTION

In the following descriptions, for purposes of explanation instead of limitation, specific details such as particular system architecture and technique are set forth in order to provide a thorough understanding of embodiments of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be implemented in other embodiments that are less specific of these details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

The embodiments of the present disclosure are described in detail below, and the examples of the embodiments are illustrated in the drawings, in which the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the present disclosure and should not be comprehended as limitations to the present disclosure.

In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the terms “length”, “width”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, and the like are the orientation or positional relationship shown based on the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or component referred to must have a particular orientation or constructed as well as operated in a particular orientation, therefore should not to be comprehended as limitations.

Moreover, the terms “first” and “second” are used for descriptive purposes only and should not to be comprehended as indicating or implying a relative importance or implying the amount of the indicated technical features. Thus, features defined with “first” and “second” may include one or more of the features either explicitly or implicitly. In the description of the present disclosure, the meaning of “a plurality” is two or more unless specifically defined otherwise.

In the present disclosure, the terms “installed”, “connected”, “coupled”, “fixed” and the like shall be comprehended broadly, for example, may be fixedly connected, a detachably connected, or integrated; may be mechanically connected or electrically connected; may be directly connected or be indirectly connected through an intermediate medium; may be the internal communication of two elements or be the interaction of two elements. For those skilled in the art, the specific meanings of the above-mentioned terms can be comprehended on a case-by-case basis.

FIG. 1is a schematic diagram of the structure of a suspension system according to an embodiment of the present disclosure;FIG. 2is a first exploded view of the suspension system ofFIG. 1; andFIG. 3is a second exploded view of the suspension system ofFIG. 1. In this embodiment, the suspension system is applied to a robot60, as shown inFIG. 6. As shown inFIG. 1-FIG. 3, in this embodiment, a suspension system S includes a fixing frame10, a suspension frame20, and a driving wheel30. In which, the fixing frame10is a three-dimensional frame which has a U-shaped cross section, the suspension frame20is disposed at an opening of the U-shaped fixing frame10, and the driving wheel30is rotationally coupled to the suspension frame20. Two ends of the suspension frame20are respectively disposed on two ends of the fixing frame10at two sides of the opening, which can be selectively moved up and down along a height direction of the fixing frame10. In this embodiment, each of the two ends of the U-shaped fixing frame10at the two sides of the opening is formed with a sliding groove11. The sliding groove11is formed along a height direction of the U-shaped fixing frame10, that is, the sliding groove11is formed vertically, and the two ends of the suspension frame20are disposed in the two sliding grooves11in a slidable manner. In other embodiments, it is possible not to form the sliding grooves11and dispose a sliding structure between the two ends of the suspension frame20and the two ends of the fixing frame10. Two elastic members12are respectively disposed between each of the two ends of the suspension frame20and the corresponding end of the fixing frame10at the two sides of the opening

In this embodiment, the adjustment of the relative position between the fixing frame10and the suspension frame20in a vertical direction is realized through the sliding groove11and the elastic member12. This structure is simple and low in cost. When applied to a chassis of a robot, it makes the robot to move more stable and to be capable of overcoming obstacles so as to adapt to different ground conditions, so that the robot can adapt to more work scenarios.

FIG. 4is a schematic diagram of the structure of a suspension frame of the suspension system ofFIG. 1. As shown inFIG. 4, the suspension frame20includes a suspension body21and two mounting blocks22. The two mounting blocks22are respectively vertically disposed at two ends of the suspension body21, and the two mounting blocks22and the suspension body21are enclosed to form a U-shaped structure. Referring toFIG. 4andFIG. 2, inside each of the two sliding grooves11, a sliding rail13is disposed. Each sliding rail13is disposed with a slider14, where the slider14can be selectively slid along the sliding rail13. Each of the mounting blocks22is fixedly connected with each slider14. Thus, when the slider14is moved up and down along the sliding rail13, the mounting block22is driven to move up and down, thereby driving the suspension frame20and the driving wheel30to move up and down.

Furthermore, referring toFIG. 4andFIG. 3, the mounting block22is formed with a mounting hole23. The slider14is fixedly connected to the mounting block22through a fastener mounted in the mounting hole23. In this embodiment, the fastener is a screw. Two limit stops24for limiting the slider14are respectively disposed above and below the mounting hole23. Thus, when the slider14is moved along the sliding rail13together with the mounting block22, the slider14is limited to move within a predetermined route by the contact of the limit stops24with the top and bottom of the sliding rail13.

Referring toFIG. 4, a middle portion of the suspension body21has a mounting portion25. The mounting portion25has a disk shape, which is for fixing the driving wheel30. In this embodiment, the driving wheel30is a hub motor, the mounting portion25is formed with a lead hole26, and a wire of the driving wheel30passes through the lead hole26. By using the hub motor as the driving wheel30, a power device, a transmission device, and a brake device are integrated into a hub, so that the structure of a driving portion of the driving wheel30is greatly simplified.

Referring toFIG. 4andFIG. 3, two ends of the mounting portion25of the suspension body21extend outwardly in a plate shape, and a surface of each of the two plate-shaped ends which faces the fixing frame10is disposed with four reinforcing ribs27. The four reinforcing ribs27are disposed to be diverging from two sides of the mounting portion25, that is, the four reinforcing ribs27are disposed on two sides of the mounting portion25in a radial manner with the mounting portion25as the center, where the reinforcing rib27on one of the two sides has the corresponding reinforcing rib27on the other of the two sides which is in a straight line with each other. The four reinforcing ribs27have a certain height and are inclined at a predetermined angle with respect to the mounting portion25. Such a structural design ensures the strength of the suspension body21while reducing the mass, and provides a guarantee for the stable support of the driving wheel30.

Referring toFIG. 2andFIG. 3, in this embodiment, the U-shaped fixing frame10includes a top plate15, a bottom plate16, and a plurality of connecting posts17. The top plate15is horizontally disposed, which has a U-shaped cross section. The bottom plate16is also horizontally disposed, which also has a U-shaped cross section. The plurality of connecting posts17are vertically disposed with an interval therebetween to support between the top plate15and the bottom plate16. Each of two ends of the top plate15is connected to one of two ends of the bottom plate16through a connecting block18which is vertically disposed, and the two sliding grooves11are respectively formed at inner sides of the two connecting blocks18.

Furthermore, an inner wall of the top plate15and an inner wall of the bottom plate16at the two ends of the fixing frame10are respectively disposed with cushions19. The two cushions19provide anti-collision protection between the slider14and the top plate15as well as the bottom plate16to avoid the damage of the slider14caused by direct collision.

In this embodiment, an end surface of each of the mounting blocks22which faces the fixing frame10is disposed with a first mounting post28, and a rear surface of each of the connecting blocks18which is away from the suspension frame20is disposed with a second mounting post181. The elastic member12is disposed obliquely with respect to the fixing frame10and the suspension frame20, and one end of the elastic member12is fixed on the first mounting post28, while the other end of the elastic member12is fixed on the second mounting post181.

In this embodiment, the amount of the first mounting posts28is two, and the two first mounting posts28are disposed to have an interval between the upper first mounting posts28and the lower first mounting posts28; the amount of the second mounting posts181is also two, and the two second mounting posts181are disposed to have an interval between the upper second mounting posts181and the lower second mounting posts181. Referring toFIG. 1, one end of the elastic member12is connected to the upper first mounting post28on the suspension frame20, and the other end of the elastic member12is connected to the lower second mounting post181on the fixing frame10, due to the gravity of the robot60on which the suspension system S is disposed, the elastic member12is in a stretched state, in this case, the elastic member12can be a tension spring. Conversely, if one end of the elastic member12is connected to the lower first mounting post28on the suspension frame20, and the other end of the elastic member12is connected to the upper second mounting post181on the fixing frame10, due to the gravity of the robot60on which the suspension system S is disposed, the elastic member12is in a compressed state. In this case, the elastic member12can be a compressed spring.

FIG. 5is a schematic diagram of the structure of a chassis C according to an embodiment of the present disclosure. As shown inFIG. 5, a chassis C includes a chassis bracket40, and a left side and a right side of the chassis bracket40are respectively disposed with the above-mentioned suspension system S. In this embodiment, the fixing frame10of the suspension system S is fixed with the chassis bracket40. Under the chassis bracket40is disposed with a universal wheel41. The driving wheel30in the suspension system S is only movable in a vertical direction with respect to the chassis bracket40.

FIG. 6is a schematic diagram of the structure of the robot60according to an embodiment of the present disclosure. As shown inFIG. 6, the robot60is provided. The robot60is disposed with the above-mentioned the chassis C with the above-mentioned suspension system S. When the chassis C is applied to the robot60, the weight of the robot60causes a pressure on the chassis bracket40, and the chassis bracket40drives the fixing frame10to move downward with respect to the suspension frame20under the effect of gravity. In this case, the elastic member12is stretched. Through the elastic adjustment effect and oblique disposing of the elastic member12, the chassis bracket40can operate equivalent to the ordinary four-wheel chassis when the robot60walks on a flat ground, and the suspension frame20and the driving wheel30are driven to move up with a slope or move down with a pit through the elastic adjustment effect of the elastic member12so that the driving wheel30can always be attached to the ground without hanging and slipping when the robot encounters a rough road. Moreover, the application of the suspension system S makes the robot walk more smoothly and can withstand a certain rapid deceleration, which adapts to the need for the walking of the robots with high gravity center and is free from robot dumping accidents. In other embodiments, the robot can also dispose with the above-mentioned suspension system S through other structures. In this case, the above-mentioned effect can also be achieved.

The forgoing is only the embodiments of the present disclosure, and is not intended to limit the present disclosure. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure should be within the protection scope of the present disclosure.