CN100999235A - Light crawler motor platform vibration suspension device - Google Patents
Light crawler motor platform vibration suspension device Download PDFInfo
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- CN100999235A CN100999235A CN 200710062785 CN200710062785A CN100999235A CN 100999235 A CN100999235 A CN 100999235A CN 200710062785 CN200710062785 CN 200710062785 CN 200710062785 A CN200710062785 A CN 200710062785A CN 100999235 A CN100999235 A CN 100999235A
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- vibration
- suspension device
- permanent seat
- suspension
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Abstract
The present invention relates to a vibration-damping suspension device for light caterpillar motor-platform. It is composed of spring vibration-damping component and swinging component. Said swinging component is positioned in the lower portion and is used for mounting loading wheel, and is hinged with spring vibration-damping component; the spring vibration-damping component is fixedly connected with motor-platform body by means of fixed seat. Said vibration-damping suspension device ensure reliable engagement of platform loading wheel and caterpillar.
Description
Technical field
The present invention relates to a kind of various light crawler motor platforms that are applicable to, especially the vibration suspension device of caterpillar mobile robot, this device is used to connect light crawler motor platform bearing wheed and car body, can play the effect that improves the platform maneuvering performance and regulate the crawler tensioning degree.
Background technology
At present, common tracklaying vehicle generally adopts suspension gears such as hydraulic pressure, air pressure, torsion bar spring, and above-mentioned suspension gear is bulky because of existing, complex structure, shortcoming such as with high costs are unfavorable for being grafted directly on the light crawler motor platform.Existing light crawler motor platform suspension often adopts and directly is rigidly connected or easy vibration suspension device, though it is simple in structure, with low cost, but damping effect is relatively poor, can not adapt to the cross-country power operated actual needs of light crawler motor platform high speed.In addition, existing light crawler motor platform suspension gear function singleness, the regulating power of shortage redundancy and crawler tensioning, these have all restricted the performance of light track motor platform and caterpillar mobile robot maneuvering performance.
Summary of the invention
The present invention relates to a kind of adjustable vibration suspension device that adapts to the cross-country motor-driven requirement of light crawler motor platform high speed, overcome the shortcoming on existing suspension gear structure, volume, function and the cost, the function of expansion shockproof suspension system, vibrations and impact when the minimizing light crawler motor platform travels improve its maneuverability.
The present invention is achieved by the following technical solutions: this vibration suspension device comprises ball bushing, coil spring, BOGEY WHEEL, load-bearing wheel shaft, bearing pin, rubber pad, BOGEY WHEEL connecting rod, T shape swinging mounting, guiding shifting axle, suspension gear permanent seat, stop nut and adjusting disk, wherein be inserted with the load-bearing wheel shaft in the through hole at BOGEY WHEEL connecting rod two ends, BOGEY WHEEL is installed at load-bearing wheel shaft two ends; T shape swinging mounting lower end constitutes wobble component by point articulated in bearing pin and the BOGEY WHEEL connecting rod, makes the BOGEY WHEEL connecting rod to swing among a small circle around bearing pin; The both upper ends thereof of swinging mounting is vertically inserted two guiding shifting axles that run through the coil spring line of centers, and the suspension gear permanent seat is passed in the upper end of guiding shifting axle, and on the top spacing setting nut is housed; Coil spring is limited between described T shape swinging mounting and the suspension gear permanent seat, constitutes spring vibration-damping component.When motor platform passed through rugged road surface, guiding shifting axle and permanent seat produced relative displacement, and the spring deformation in compression receives energy, realized damping, and described BOGEY WHEEL connecting rod rotates around bearing pin simultaneously, makes the two ends BOGEY WHEEL receive buffering effect according to topographic inequality; Described vibration suspension device is connected with car body by permanent seat and is fixing.
In said structure, described BOGEY WHEEL pipe link both upper ends thereof is embedded with rubber pad, and when pipe link and swinging mounting two ends came in contact, described rubber pad played balance, buffering and noise reduction effect.
In said structure, between described coil spring and the swinging mounting and between spacing setting nut and the suspension gear permanent seat some adjusting disks are housed, by the quantity and the thickness of increase and decrease packing ring, can regulate suspension rigidity and crawler tensioning degree.
In said structure, between described guiding shifting axle and the suspension gear permanent seat ball bushing is housed, this bearing has guaranteed the relative radial accuracy of guiding shifting axle with the suspension gear permanent seat, does not influence motion to axial between the two simultaneously.
In the said structure, described suspension gear permanent seat and motor platform chassis are bolted to connection.
Advantageous effect of the present invention: when (1) passed through rugged road surface at light crawler motor platform, suspension gear was realized dual damping by deflection of spring and swinging mounting swing, has improved the obstacle climbing ability and the riding stability of light crawler motor platform greatly; (2) this suspension gear also has good regulatory function, can adjust the rigidity of suspension and the tensioning degree of crawler belt as required, and easy to operate, maneuverability; (3) use ball bushing, when guaranteeing axial relative motion precision, reduced the frictional loss of part; (4) connection mode of suspension gear and motor platform is simple, firm, has realized the modular design of suspension, can be widely used in various light crawler motor platforms and caterpillar mobile robot.
Description of drawings
Accompanying drawing 1 is a vibration suspension device integral structure scheme drawing;
Accompanying drawing 2 is vibration suspension device upper springs dampening assembly decomposition texture scheme drawings;
In the accompanying drawing, 1-ball bushing, 2-coil spring, 3-BOGEY WHEEL, 4-bearing pin, 5-rubber pad, 6-load-bearing wheel shaft, 7-BOGEY WHEEL connecting rod, 8-T shape swinging mounting, 9-guiding shifting axle, 10-suspension gear permanent seat, 11-stop nut, 12-adjusting disk.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
In accompanying drawing 1, two load-bearing wheel shafts 6 pass the through hole at BOGEY WHEEL connecting rod 7 two ends, BOGEY WHEEL 3 symmetries are installed in the two ends of load-bearing wheel shaft 6, BOGEY WHEEL connecting rod 7 is point articulated in connecting rod by bearing pin 4 with T shape swinging mounting 8, make the BOGEY WHEEL assembly of vertically arranging by rugged road surface the time, can deflect, thereby uniform distribution ground is in the face of the impact of suspension according to topographic inequality; May be embedded with rubber pad 5 with the position that T shape swinging mounting 8 bumps at BOGEY WHEEL connecting rod 7, can play the effect of balance, buffering and noise reduction; Two guiding shifting axles 9 are installed in the both upper ends thereof of T shape swinging mounting 8, are used to limit the radial position of coil spring 2 to keep certain stability; Suspension gear permanent seat 10 inserts in two guiding shifting axles 9, inserts ball bushing 1 therebetween and reduces between the two cliding friction; Suspension gear permanent seat 10 and T shape swinging mounting 8 have limited the axial location of coil spring 2 jointly, constituted the spring shock absorption mechanism of suspension, when motor platform passes through rugged road surface, guiding shifting axle 9 produces relative displacement with suspension gear permanent seat 10, coil spring 2 deformation in compressions, receive energy, realize damping; Stop nut 11 is equipped with at top at guiding shifting axle 9, is used to limit the down stroke of suspension; Suspension gear permanent seat 10 is bolted on the motor platform chassis side wall by 4, has realized the modular arrangements of suspension gear, be convenient to whole loading and unloading, and firm position is reliable.
In accompanying drawing 2, the quantity of adjusting disk 12 and thickness can increase and decrease as required, cooperate spacing setting nut 11, can change the rigidity of suspension and the tensioning degree of crawler belt under the situation of not changing coil spring 12.
Claims (5)
1, a kind of vibration suspension device that is used for the light track motor platform, it is characterized in that: whole device is made up of spring vibration-damping component and wobble component, and spring vibration-damping component comprises T shape swinging mounting 8, guiding shifting axle 9, coil spring 2, adjusting disk 12, suspension gear permanent seat 10 and stop nut 11; Wobble component comprises BOGEY WHEEL connecting rod 7, load-bearing wheel shaft 6 and bearing pin 4; Described suspension gear permanent seat 10 is affixed with tracked machine moving platform chassis, together moves with car body; Described T shape swinging mounting 8 lower ends are hinged in the connecting rod midpoint by bearing pin 4 and BOGEY WHEEL connecting rod 7, and two guiding of the vertical insertion of its both upper ends thereof shifting axles 9, thereby spring vibration-damping component is connected together with wobble component; Described coil spring 2 is sleeved on two guiding shifting axles 9; Described suspension gear permanent seat 10 inserts guiding shifting axle 9 from the upper end, restriction coil spring 2 axial motions; Stop nut 11 is equipped with on described guiding shifting axle 9 tops.
2, vibration suspension device as claimed in claim 1 is characterized in that: described guiding shifting axle 9 inserts in the shock absorption device permanent seat 10, is with ball bushing 1 therebetween.
3, vibration suspension device as claimed in claim 1 or 2 is characterized in that: the position that described BOGEY WHEEL connecting rod 7 tops and T shape swinging mounting 8 may bump is embedded with damping wear resistant rubber pad 5.
4, vibration suspension device as claimed in claim 1 is characterized in that: described coil spring 2 top and bottom all are added with adjusting disk 12, and the quantity of packing ring and thickness can increase and decrease as required.
5, vibration suspension device as claimed in claim 1 is characterized in that: suspension gear permanent seat 10 is secured on the tracked machine moving platform chassis by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710062785 CN100999235A (en) | 2007-01-17 | 2007-01-17 | Light crawler motor platform vibration suspension device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710062785 CN100999235A (en) | 2007-01-17 | 2007-01-17 | Light crawler motor platform vibration suspension device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN100999235A true CN100999235A (en) | 2007-07-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710062785 Pending CN100999235A (en) | 2007-01-17 | 2007-01-17 | Light crawler motor platform vibration suspension device |
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| CN (1) | CN100999235A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390447A (en) * | 2011-10-10 | 2012-03-28 | 江苏柳工机械有限公司 | Low-mounted crawler track walking system with suspended shock-absorbing device |
| CN102556188A (en) * | 2012-02-17 | 2012-07-11 | 湖南农业大学 | Traveling device for profiling crawler belt chassis |
| CN102616293A (en) * | 2012-04-25 | 2012-08-01 | 厦门大学 | Triangular crawler traveling device |
| CN102700640A (en) * | 2012-06-25 | 2012-10-03 | 北京理工大学 | Bearing and damping device for crawler-type locomotive platform |
| CN104512491A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Damping mechanism of crawler robot |
| CN104648503A (en) * | 2015-01-14 | 2015-05-27 | 中国农业大学 | Spraying chassis truck with vibration damping function |
| CN104670352A (en) * | 2015-02-26 | 2015-06-03 | 梁树新 | Track type transportation vehicle with timing function |
| CN105253212A (en) * | 2015-11-24 | 2016-01-20 | 冯林 | Mountainous area multi-road-condition walking deck based on tracks |
| CN105292287A (en) * | 2015-11-24 | 2016-02-03 | 冯林 | Crawler-based transportation vehicle chassis applicable to complex terrain |
| CN105313998A (en) * | 2015-10-03 | 2016-02-10 | 上海大学 | A rigidity-self-adapting crawler-type mobile robot suspension system |
| CN105329329A (en) * | 2015-11-24 | 2016-02-17 | 冯林 | Crawler transmission mechanism suitable for highly fluctuated pavement |
| CN106828632A (en) * | 2017-01-13 | 2017-06-13 | 上海交通大学 | One kind is for complicated sea-floor relief automatic leveling job engineering car |
| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN107933715A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Vehicle-mounted mechanical hand creeper truck |
| CN107985431A (en) * | 2017-12-19 | 2018-05-04 | 甘肃建投新能源科技股份有限公司 | The limit-type chassis attachment device of Three Degree Of Freedom |
| CN108994809A (en) * | 2018-07-24 | 2018-12-14 | 昆山市工业技术研究院有限责任公司 | A kind of robot |
| CN109603119A (en) * | 2018-12-18 | 2019-04-12 | 江汉大学 | A kind of receipts pick equipment |
| CN111531520A (en) * | 2020-05-09 | 2020-08-14 | 机器时代(北京)科技有限公司 | Robot module structure |
| CN111776094A (en) * | 2020-06-10 | 2020-10-16 | 安徽霍山龙鑫金属科技有限公司 | Track transport vehicle for casting production |
| CN112455561A (en) * | 2020-11-30 | 2021-03-09 | 山西华遇科技开发有限公司 | Novel easily adjust formula robot crawler-type and remove chassis |
| CN112849256A (en) * | 2020-12-31 | 2021-05-28 | 宿州学院 | Steering mechanism of small agricultural crawler tractor |
-
2007
- 2007-01-17 CN CN 200710062785 patent/CN100999235A/en active Pending
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390447A (en) * | 2011-10-10 | 2012-03-28 | 江苏柳工机械有限公司 | Low-mounted crawler track walking system with suspended shock-absorbing device |
| CN102556188A (en) * | 2012-02-17 | 2012-07-11 | 湖南农业大学 | Traveling device for profiling crawler belt chassis |
| CN102616293A (en) * | 2012-04-25 | 2012-08-01 | 厦门大学 | Triangular crawler traveling device |
| CN102616293B (en) * | 2012-04-25 | 2014-08-06 | 厦门大学 | Triangular crawler traveling device |
| CN102700640A (en) * | 2012-06-25 | 2012-10-03 | 北京理工大学 | Bearing and damping device for crawler-type locomotive platform |
| CN104512491A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Damping mechanism of crawler robot |
| CN104648503B (en) * | 2015-01-14 | 2016-09-14 | 中国农业大学 | A kind of spraying chassis with shock-absorbing function |
| CN104648503A (en) * | 2015-01-14 | 2015-05-27 | 中国农业大学 | Spraying chassis truck with vibration damping function |
| CN104670352A (en) * | 2015-02-26 | 2015-06-03 | 梁树新 | Track type transportation vehicle with timing function |
| CN105313998A (en) * | 2015-10-03 | 2016-02-10 | 上海大学 | A rigidity-self-adapting crawler-type mobile robot suspension system |
| CN105253212A (en) * | 2015-11-24 | 2016-01-20 | 冯林 | Mountainous area multi-road-condition walking deck based on tracks |
| CN105292287A (en) * | 2015-11-24 | 2016-02-03 | 冯林 | Crawler-based transportation vehicle chassis applicable to complex terrain |
| CN105329329A (en) * | 2015-11-24 | 2016-02-17 | 冯林 | Crawler transmission mechanism suitable for highly fluctuated pavement |
| CN106828632A (en) * | 2017-01-13 | 2017-06-13 | 上海交通大学 | One kind is for complicated sea-floor relief automatic leveling job engineering car |
| CN106828632B (en) * | 2017-01-13 | 2022-11-04 | 上海交通大学 | Automatic leveling operation engineering vehicle for complex submarine topography |
| CN107875549B (en) * | 2017-11-07 | 2021-05-25 | 山东国兴智能科技股份有限公司 | Explosion-proof fire-fighting reconnaissance fire-extinguishing robot and working method |
| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN107933715A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Vehicle-mounted mechanical hand creeper truck |
| CN107985431A (en) * | 2017-12-19 | 2018-05-04 | 甘肃建投新能源科技股份有限公司 | The limit-type chassis attachment device of Three Degree Of Freedom |
| CN107985431B (en) * | 2017-12-19 | 2024-01-05 | 甘肃建投新能源科技股份有限公司 | Three-degree-of-freedom limiting type chassis connecting device |
| CN108994809A (en) * | 2018-07-24 | 2018-12-14 | 昆山市工业技术研究院有限责任公司 | A kind of robot |
| CN109603119A (en) * | 2018-12-18 | 2019-04-12 | 江汉大学 | A kind of receipts pick equipment |
| CN111531520A (en) * | 2020-05-09 | 2020-08-14 | 机器时代(北京)科技有限公司 | Robot module structure |
| CN111531520B (en) * | 2020-05-09 | 2022-10-14 | 机器时代(北京)科技有限公司 | Robot module structure |
| CN111776094A (en) * | 2020-06-10 | 2020-10-16 | 安徽霍山龙鑫金属科技有限公司 | Track transport vehicle for casting production |
| CN112455561A (en) * | 2020-11-30 | 2021-03-09 | 山西华遇科技开发有限公司 | Novel easily adjust formula robot crawler-type and remove chassis |
| CN112849256A (en) * | 2020-12-31 | 2021-05-28 | 宿州学院 | Steering mechanism of small agricultural crawler tractor |
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