CN103496407A - Two-step independent cantilever band suspension chassis system - Google Patents

Two-step independent cantilever band suspension chassis system Download PDF

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Publication number
CN103496407A
CN103496407A CN201310448375.XA CN201310448375A CN103496407A CN 103496407 A CN103496407 A CN 103496407A CN 201310448375 A CN201310448375 A CN 201310448375A CN 103496407 A CN103496407 A CN 103496407A
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CN
China
Prior art keywords
damping spring
lateral
subsystem
crawler belt
robot
Prior art date
Application number
CN201310448375.XA
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Chinese (zh)
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CN103496407B (en
Inventor
朱华
李雨潭
葛世荣
高志军
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中国矿业大学
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Priority to CN201310448375.XA priority Critical patent/CN103496407B/en
Publication of CN103496407A publication Critical patent/CN103496407A/en
Application granted granted Critical
Publication of CN103496407B publication Critical patent/CN103496407B/en

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Abstract

Provided is a two-step independent cantilever band suspension chassis system. Lateral wall main plates are arranged on the lateral side of a left cantilever band subsystem and the lateral side of a right cantilever band subsystem, first-step damping springs are arranged on the inner lateral sides of the lateral wall main plates, one end of each first-step damping spring is respectively connected with supporting wheels of the left cantilever band subsystem and supporting wheels of the right cantilever band subsystem through supporting wheel supports, the other end of each first-step damping spring is fixedly connected with the lateral wall main boards, the outer lateral sides of the lateral wall main boards are respectively and fixedly connected with the two ends of a concave axle frame, the other side of the axle frame is hinged to a support plate, the lower portion of the axle frame is fixedly connected with a motor, the upper portion of the axle frame is respectively and fixedly connected with one end of each second-step damping spring in a row of second-step damping springs, and the other end of each second-step damping spring is fixedly connected with the supporting plate. The two-step independent cantilever band suspension chassis system can effectively reduce vibration caused by road excitation to a robot, reduces part fatigue damage and precision transmission error caused by vibration, reduces internal precise instrument detection error, caused by vibration, to the robot to the maximum degree and enables the mobile robot to have better road adaptation.

Description

Second order independence crawler belt suspension chassis system
Technical field
the present invention relates to a kind of mobile chassis, especially a kind of second order independence crawler belt suspension chassis system.
Background technology
along with scientific and technical progress, for the research of Robotics, more and more be subject to people's attention and pay close attention to.Robot can lasting stability move, and be unable to do without good mechanical system.For the mobile robot, its travelling performance directly has influence on robot performance's performance and Function.At present, the mobile robot can select wheel type mobile chassis, crawler-type mobile chassis and leg formula mobile chassis as its traveling gear.But these three kinds of mobile chassis respectively have its merits and faults.The wheel type mobile chassis speed of travel is fast, efficiency is high, but the landform comformability is bad; The crawler-type mobile chassis is good but damping performance is good not to the landform comformability; Legged mobile robot is damping and adaptation to the ground well, but controls complexity, the designer is required high.For coalmine rescue robot, sniffing robot etc., less demanding for rate travel, but require high robot, crawler-type mobile chassis for landform adaptation row, be best selection.But how further to improve the ground comformability on crawler-type mobile chassis, how to alleviate the vibrations that the road excitation degree brings mobile robot, the part fatigue damage that reduction is caused by vibrations and precision drive error, reduce to greatest extent because the robot interior precision instrument detection error that vibrations bring is very necessary.
Summary of the invention
in order to solve the weak point on existing crawler-type mobile chassis, the invention provides a kind of second order independence crawler belt suspension chassis system.This second order independence crawler belt suspension chassis system can alleviate the vibrations that the road excitation degree brings mobile robot effectively, the part fatigue damage that reduction is caused by vibrations and precision drive error, reduce because the robot interior precision instrument that vibrations bring detects error to greatest extent, make the mobile robot there is better road surface comformability.
the technical solution adopted for the present invention to solve the technical problems is: this second order independence crawler belt suspension chassis system comprises: left crawler belt subsystem, stay bearing plate, second-order damping spring, right-hand track chiain subsystem, sidewall mainboard, motor, car sedan-chair frame, support wheel bracing frame, the first rank damping spring; This second order independence crawler belt suspension chassis system is respectively equipped with the sidewall mainboard in the side of left crawler belt subsystem and right-hand track chiain subsystem, concordantly on the lateral surface of sidewall mainboard be provided with one and ranked first the rank damping spring, the first rank damping spring one end is connected with the support wheel of right-hand track chiain subsystem with left crawler belt subsystem respectively by the support wheel support, the first rank damping spring other end is fixedly connected with the sidewall mainboard, forms the first rank shock mitigation system; The medial surface of the sidewall mainboard of the right and left is fixedly connected with a side of a groove type car sedan-chair frame respectively, and car sedan-chair frame opposite side and stay bearing plate are hinged, form independently suspended structure; Independently car sedan-chair frame bottom is respectively at being fixedly connected with motor for the right and left, and car sedan-chair frame top is fixedly connected with an end that ranked second the rank damping spring respectively; The other end of second-order damping spring is fixedly connected with stay bearing plate, forms the second-order shock mitigation system.When mobile device starts while running into complicated road conditions, the damping spring by the first rank shock mitigation system and second-order shock mitigation system reaches damping effect, meets the requirement of machine for damping effect.
the invention has the beneficial effects as follows: this second order independence crawler belt suspension chassis system can alleviate the vibrations that the road excitation degree brings mobile robot effectively, the part fatigue damage that reduction is caused by vibrations and precision drive error, reduce because the robot interior precision instrument that vibrations bring detects error to greatest extent, make the mobile robot there is better road surface comformability.
The accompanying drawing explanation
below in conjunction with drawings and Examples, the present invention is further described.
the structural representation that Fig. 1 is second order independence crawler belt suspension chassis system.
the construction profile schematic diagram that Fig. 2 is second order independence crawler belt suspension chassis system.
in Fig. 1,1. left crawler belt subsystem, 2. stay bearing plate, 3. second-order damping spring, 4. right-hand track chiain subsystem, 5. sidewall mainboard, 6. motor, 7. car sedan-chair frame;
in Fig. 2,8. support wheel bracing frame, 9. the first rank shock mitigation system.
The specific embodiment
in Fig. 1, this second order independence crawler belt suspension chassis system comprises: left crawler belt subsystem 1, stay bearing plate 2, second-order damping spring 3, right-hand track chiain subsystem 4, sidewall mainboard 5, motor 6, car sedan-chair frame 7, support wheel bracing frame 8, the first rank damping spring 9; This second order independence crawler belt suspension chassis system is respectively equipped with sidewall mainboard 5 in the side of left crawler belt subsystem 1 and right-hand track chiain subsystem 4, concordantly on the lateral surface of sidewall mainboard 5 be provided with one and ranked first rank damping spring 9, the first rank damping spring 9 one ends are connected with the support wheel of right-hand track chiain subsystem 3 with left crawler belt subsystem 1 respectively by support wheel support 8, first rank damping spring 9 other ends are fixedly connected with sidewall mainboard 5, form the first rank shock mitigation system; The medial surface of the sidewall mainboard 5 of the right and left is fixedly connected with a side of a groove type car sedan-chair frame 7 respectively, and car sedan-chair frame 7 opposite sides and stay bearing plate 2 are hinged, form independently suspended structure; Independently car sedan-chair frame 7 bottoms are respectively at being fixedly connected with motor 6 for the right and left, and car sedan-chair frame 7 tops are fixedly connected with an end that ranked second rank damping spring 3 respectively; The other end of second-order damping spring 3 is fixedly connected with stay bearing plate 2, forms the second-order shock mitigation system.When mobile device starts while running into complicated road conditions, the damping spring by the first rank shock mitigation system and second-order shock mitigation system reaches damping effect, meets the requirement of robot for damping effect.

Claims (1)

1. second order independence crawler belt suspension chassis system comprises: left crawler belt subsystem (1), stay bearing plate (2), second-order damping spring (3), right-hand track chiain subsystem (4), sidewall mainboard (5), motor (6), car sedan-chair frame (7), support wheel bracing frame (8), the first rank damping spring (9); It is characterized in that: this second order independence crawler belt suspension chassis system is respectively equipped with sidewall mainboard (5) in the side of left crawler belt subsystem (1) and right-hand track chiain subsystem (4), concordantly on the lateral surface of sidewall mainboard (5) be provided with one and ranked first rank damping spring (9), the first rank damping spring (9) one ends are connected with the support wheel of right-hand track chiain subsystem (3) with left crawler belt subsystem (1) respectively by support wheel support (8), and first rank damping spring (9) other end is fixedly connected with sidewall mainboard (5); The medial surface of the sidewall mainboard (5) of the right and left is fixedly connected with a side of a groove type car sedan-chair frame (7) respectively, and car sedan-chair frame (7) opposite side and stay bearing plate (2) are hinged; Independently car sedan-chair frame (7) bottom is respectively at being fixedly connected with motor (6) for the right and left, and car sedan-chair frame (7) top is fixedly connected with an end that ranked second rank damping spring (3) respectively; The other end of second-order damping spring (3) is fixedly connected with stay bearing plate (2).
CN201310448375.XA 2013-09-27 2013-09-27 Two-step independent cantilever band suspension chassis system CN103496407B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310448375.XA CN103496407B (en) 2013-09-27 2013-09-27 Two-step independent cantilever band suspension chassis system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310448375.XA CN103496407B (en) 2013-09-27 2013-09-27 Two-step independent cantilever band suspension chassis system

Publications (2)

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CN103496407A true CN103496407A (en) 2014-01-08
CN103496407B CN103496407B (en) 2016-01-13

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104527826A (en) * 2014-12-25 2015-04-22 浙江亿森机械有限公司 Upper-and-lower-frame damping structure suitable for light caterpillar tractor
CN104843101A (en) * 2015-05-08 2015-08-19 东北大学 Advanced suspension mechanism of crawler-type mobile robot
CN106426214A (en) * 2016-11-22 2017-02-22 湖北文理学院 Suspended chassis for service robot
CN109367635A (en) * 2018-09-30 2019-02-22 湖南农夫机电有限公司 A kind of crawler tractor damping
WO2020088117A1 (en) * 2018-11-01 2020-05-07 苏州赛亚智能技术有限公司 Damping mechanism for exploration robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5944654A (en) * 1982-09-07 1984-03-13 Kubota Ltd Running device of pipe inside face inspecting device
US6394204B1 (en) * 1998-12-15 2002-05-28 Macmoter S.P.A. Crawler or tracked vehicle having pivotable tracks
CN201961402U (en) * 2010-12-30 2011-09-07 王志臣 Crawler type snow vehicle chassis
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5944654A (en) * 1982-09-07 1984-03-13 Kubota Ltd Running device of pipe inside face inspecting device
US6394204B1 (en) * 1998-12-15 2002-05-28 Macmoter S.P.A. Crawler or tracked vehicle having pivotable tracks
CN201961402U (en) * 2010-12-30 2011-09-07 王志臣 Crawler type snow vehicle chassis
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

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104527826A (en) * 2014-12-25 2015-04-22 浙江亿森机械有限公司 Upper-and-lower-frame damping structure suitable for light caterpillar tractor
CN104843101A (en) * 2015-05-08 2015-08-19 东北大学 Advanced suspension mechanism of crawler-type mobile robot
CN106426214A (en) * 2016-11-22 2017-02-22 湖北文理学院 Suspended chassis for service robot
CN106426214B (en) * 2016-11-22 2018-10-30 湖北文理学院 Service robot hangs chassis
CN109367635A (en) * 2018-09-30 2019-02-22 湖南农夫机电有限公司 A kind of crawler tractor damping
CN109367635B (en) * 2018-09-30 2020-07-14 湖南农夫机电有限公司 Crawler tractor damper
WO2020088117A1 (en) * 2018-11-01 2020-05-07 苏州赛亚智能技术有限公司 Damping mechanism for exploration robot

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Granted publication date: 20160113

Termination date: 20160927