CN105216893B - A kind of adjustable caterpillar mobile robot suspension of rigidity - Google Patents
A kind of adjustable caterpillar mobile robot suspension of rigidity Download PDFInfo
- Publication number
- CN105216893B CN105216893B CN201510637015.3A CN201510637015A CN105216893B CN 105216893 B CN105216893 B CN 105216893B CN 201510637015 A CN201510637015 A CN 201510637015A CN 105216893 B CN105216893 B CN 105216893B
- Authority
- CN
- China
- Prior art keywords
- spring
- rigidity
- suspension
- bracing ring
- location
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Springs (AREA)
Abstract
The present invention relates to a kind of adjustable caterpillar mobile robot suspension of rigidity, including suspension, support wheel, location-plate and crawler belt；The location-plate is arranged on the side of crawler belt, and some support wheels are arranged on the top on the inside of crawler belt, and some suspensions are arranged on the inner side of crawler belt.Suspension rigidity of the present invention is adjustable, can carry out stiffness tuning according to different ground, improve the exercise performance of robot；As long as suspension is by adjusting bracing ring position on each variation rigidity cluster spring, you can changes system stiffness, installation and adjustment are simple and convenient, workable.
Description
Technical field
The invention belongs to ground mobile robot technical field, and in particular to a kind of adjustable crawler-type mobile machine of rigidity
People's suspension.
Background technology
The rigidity of its crawler belt of caterpillar type robot can produce certain influence to the exercise performance of robot, and in rigid body machine
Under body, crawler belt once selecting its rigidity can not change, that is, is difficult to recycle to change this factor of rigidity to improve the fortune of robot
Dynamic performance；In addition, fuselage for rigid body robot motion when, particularly when being moved in non-structural landform, barycenter trajectory meeting
There is obvious fluctuation, have obvious vibration when reflecting robot motion, and robot is when the task of execution, often
Many equipment can be carried, long-term vibration can cause the parts of robot abnormal, as loosened screw, camera image are unstable
Deng.
The use of suspension is the design of the usual way, such as tank, automobile that improve exercise performance in Car design, and
Also begin to use suspension in existing caterpillar type robot research.Suspension can influence the tension force of crawler belt, so as to influence
The exercise performance of caterpillar robot on the ground；More prominent, suspension can improve the stability of robotic mechanical system.
The characteristic of suspension is mainly reflected in rigidity, and requirement of the different task landform to suspension rigidity is not yet
Equally, rigidity can not be too small on soft ground, and rigidity can not be excessive on hardstand, and suitable suspension rigidity can greatly improve
The exercise performance of robot.Therefore, it is necessary to the rigidity of suspension is adjusted according to the landform of the task of execution, so that machine
Device people obtains good exercise performance.
The content of the invention
The purpose of the present invention is to propose to a kind of adjustable caterpillar mobile robot suspension of rigidity, according to crawler type machine
Device people specifies the landform that perform task, and suspension rigidity is adjusted manually, makes caterpillar type robot in task landform
It is upper to obtain good exercise performance.
In order to achieve the above object, idea of the invention is that：Using a kind of variation rigidity cluster spring to the firm of suspension
Degree is adjusted, and spring body includes the spring of three sections of different-stiffness.By adjusting bracing ring, spacer is stuck in spring body
Diverse location, the spring at spacer both ends is divided into two kinds of different springs of rigidity, the fundamental formular that spring rate calculates：
1/K=1/K1+1/K2+ ...+1/Ki, wherein K are the overall rigidity of variation rigidity cluster spring, and Ki is each spring in cluster spring
Rigidity.
According to above-mentioned design, the present invention adopts the following technical scheme that：
A kind of adjustable caterpillar mobile robot suspension of rigidity, including suspension, support wheel, location-plate and crawler belt；
The location-plate is arranged on the side of crawler belt, and some support wheels are arranged on the top on the inside of crawler belt, and some suspensions are arranged on crawler belt
Inner side.The suspension includes variation rigidity cluster spring, guiding mechanism and bogie wheel；The guiding mechanism is that two straight-bars are hinged
Form, and hinged place is fixed on location-plate, the other end connection bogie wheel of a straight-bar, on the inside of the bogie wheel connecting band track
Bottom, the other end of another straight-bar is connected with one end of variation rigidity cluster spring, and connects with the slide on location-plate
Connect, the other end of the variation rigidity cluster spring is arranged on location-plate.
The variation rigidity cluster spring includes spring body and bracing ring, and the bracing ring is arranged on the outer of spring body
Side；The bracing ring is that a sheet metal punching press is curled into drum, in the same both sides diametrically in the both ends of bracing ring
Face is respectively symmetrically provided with two T-slots, forms the first spacer and the second spacer.
The spring body is in series by the spring of three sections of different-stiffness, i.e. the first spring, second spring and the 3rd bullet
Spring；The diameter of second spring is less than the diameter of the first spring and the 3rd spring, and the diameter of three springs is respectively less than the interior of bracing ring
The length of footpath, the first spring and the 3rd spring is identical, the first spring or the length sum of the 3rd spring and second spring and support
The length of circle is identical.
The present invention has following outstanding feature：
Suspension rigidity of the present invention is adjustable, and the landform that can perform task according to specifying carries out manual stiffness tuning, carries
The exercise performance of Gao Liao robots；As long as suspension is by adjusting bracing ring position on each variation rigidity cluster spring, you can
Change system stiffness, installation and adjustment are simple and convenient, workable.
Brief description of the drawings
Fig. 1 is the adjustable caterpillar mobile robot suspension structure schematic diagram of rigidity.
Fig. 2 is suspension frame structure schematic diagram.
Fig. 3 is variation rigidity cluster spring schematic diagram.
Fig. 4 is spring body schematic diagram.
Fig. 5 is bracing ring schematic diagram.
Fig. 6 is a kind of working state schematic representation of variation rigidity cluster spring.
Fig. 7 is another working state schematic representation of variation rigidity cluster spring.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the embodiment of invention is further described.
As shown in figure 1, a kind of adjustable caterpillar mobile robot suspension of rigidity, including it is suspension 1, support wheel 2, fixed
Position plate 3 and crawler belt 4；The location-plate 3 is arranged on the side of crawler belt 4, and some support wheels 2 are arranged on the top of the inner side of crawler belt 4, if
Dry suspension 1 is arranged on the inner side of crawler belt 4.As shown in Fig. 2 the suspension 1 includes variation rigidity cluster spring 11, the and of guiding mechanism 12
Bogie wheel 13；The guiding mechanism 12, which is that two straight-bars are be hinged, to be formed, and hinged place is fixed on location-plate 3, straight-bar
The other end connects bogie wheel 13, the bottom of the inner side of 13 connecting band track of bogie wheel 4, the other end and variation rigidity of another straight-bar
One end connection of cluster spring 11, and be connected with the slide on location-plate 3, the other end of the variation rigidity cluster spring 11
On location-plate 3.
As shown in Figure 3 and Figure 5, the variation rigidity cluster spring 11 includes spring body 111 and bracing ring 112, the branch
Support ring 112 is arranged on the outside of spring body 111；The bracing ring 112 is that a sheet metal punching press is curled into drum,
Respectively symmetrically be provided with two T-slots in the same two sides diametrically in the both ends of bracing ring 112, formed the first spacer 112a and
Second spacer 112b.
As shown in figure 4, the spring body 111 is in series by the spring of three sections of different-stiffness, i.e. the first spring 111a,
Second spring 111b and the 3rd spring 111c；Second spring 111b diameter is less than the first spring 111a's and the 3rd spring 111c
Diameter, the diameter of three springs are respectively less than the length phase of the internal diameter of bracing ring 112, the first spring 111a and the 3rd spring 111c
Together, the first spring 111a or the 3rd spring 111c are identical with the length of bracing ring 112 with second spring 111b length sum.
The use process of the present invention is as follows：
As shown in Figure 6 and Figure 7, when an end face of bracing ring 112 overlaps with the first spring 111a end face, second is fixed
Bit slice 112b end faces are just against the 3rd spring 111c end face, when the other end of bracing ring 112 is with the 3rd spring 111c's
When end face overlaps, the first spacer 112a end face is just against the first spring 111a end face.Two spacers can be free
It is pressed into the center of bracing ring 112, spacer is stuck in the diverse location of spring body, the positioning of circle 112 is supported, by spacer
The spring at both ends is divided into two kinds of different springs of rigidity, to change the rigidity of variation rigidity cluster spring 11.
Claims (2)
- A kind of 1. adjustable caterpillar mobile robot suspension of rigidity, it is characterised in that：Including suspension (1), support wheel (2), location-plate (3) and crawler belt (4)；The location-plate (3) is arranged on the side of crawler belt (4), and some support wheels (2), which are arranged on, carries out Top on the inside of band (4), some suspensions (1) are arranged on the inner side of crawler belt (4)；The suspension (1) includes variation rigidity cluster spring (11), guiding mechanism (12) and bogie wheel (13)；The guiding mechanism (12), which is that two straight-bars are be hinged, to be formed, and hinged place is fixed On location-plate (3), the other end connection bogie wheel (13) of straight-bar, on the inside of bogie wheel (13) connecting band track (4) Bottom, the other end of another straight-bar are connected with one end of variation rigidity cluster spring (11), and are slided with the chute on location-plate (3) Dynamic connection, the other end of the variation rigidity cluster spring (11) are arranged on location-plate (3)；The variation rigidity cluster spring (11) Including spring body (111) and bracing ring (112), the spring body (111) is in series by the spring of three sections of different-stiffness, That is the first spring (111a), second spring (111b) and the 3rd spring (111c)；The diameter of second spring (111b) is less than first The diameter of spring (111a) and the 3rd spring (111c), the diameter of three springs are respectively less than the internal diameter of bracing ring (112), the first bullet Spring (111a) is identical with the length of the 3rd spring (111c), the first spring (111a) or the 3rd spring (111c) and second spring The length sum of (111b) is identical with the length of bracing ring (112)；An end face and the first spring when bracing ring (112) When the end face of (111a) overlaps, the second spacer (112b) end face is just against the end face of the 3rd spring (111c), works as bracing ring (112) when other end overlaps with the end face of the 3rd spring (111c), the end face of the first spacer (112a) is just against The end face of one spring (111a)；Two spacers freely can be pressed into bracing ring (112) center, and spacer is stuck in spring body Diverse location, be supported the positioning of circle (112), the spring at spacer both ends be divided into two kinds of different springs of rigidity, To change the rigidity of variation rigidity cluster spring (11).
- 2. the adjustable caterpillar mobile robot suspension of rigidity according to claim 1, it is characterised in that：The branch Support ring (112) is arranged on the outside of spring body (111)；The bracing ring (112) is that a sheet metal punching press is curled into circle Barrel shape, two T-slots are respectively symmetrically provided with the same two sides diametrically in both ends of bracing ring (112), it is fixed to form first Bit slice (112a) and the second spacer (112b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510637015.3A CN105216893B (en) | 2015-10-03 | 2015-10-03 | A kind of adjustable caterpillar mobile robot suspension of rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510637015.3A CN105216893B (en) | 2015-10-03 | 2015-10-03 | A kind of adjustable caterpillar mobile robot suspension of rigidity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105216893A CN105216893A (en) | 2016-01-06 |
| CN105216893B true CN105216893B (en) | 2018-03-06 |
Family
ID=54986278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510637015.3A Active CN105216893B (en) | 2015-10-03 | 2015-10-03 | A kind of adjustable caterpillar mobile robot suspension of rigidity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105216893B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104843101A (en) * | 2015-05-08 | 2015-08-19 | 东北大学 | Advanced suspension mechanism of crawler-type mobile robot |
| CN106671086B (en) * | 2017-01-24 | 2018-01-02 | 中国人民解放军火箭军工程大学 | A kind of crawler type Radiation monitoring robot and its application method |
| CN107697174B (en) * | 2017-08-21 | 2023-05-26 | 南京启晨玉华智能科技有限公司 | Multi-link suspension wheel and single-section crawler-type running mechanism of robot |
| 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 |
| CN108327809B (en) * | 2018-02-13 | 2023-08-01 | 洛阳理工学院 | Double-track robot moving platform |
| CN113518695B (en) * | 2019-01-30 | 2024-03-22 | 青岛澳西智能科技有限公司 | Crawler-type fire-fighting robot and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1498785A (en) * | 2002-11-06 | 2004-05-26 | 上海伉俪车辆配件有限公司 | Vibration reduction facilities of vehicle in two segmentations type energy absorption |
| JP2004345516A (en) * | 2003-05-22 | 2004-12-09 | Nissan Motor Co Ltd | Vehicle height adjusting device |
| CN201258935Y (en) * | 2008-08-06 | 2009-06-17 | 程永辉 | Dual spring shock-absorber |
| CN103291792A (en) * | 2013-04-22 | 2013-09-11 | 杭州富春弹簧有限公司 | Variable stiffness combined spring |
| CN103496408A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step dependent caterpillar band suspension chassis system |
| CN103879466A (en) * | 2014-04-16 | 2014-06-25 | 中国农业大学 | Crawler belt variable-rigidness independent suspension power chassis |
-
2015
- 2015-10-03 CN CN201510637015.3A patent/CN105216893B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1498785A (en) * | 2002-11-06 | 2004-05-26 | 上海伉俪车辆配件有限公司 | Vibration reduction facilities of vehicle in two segmentations type energy absorption |
| JP2004345516A (en) * | 2003-05-22 | 2004-12-09 | Nissan Motor Co Ltd | Vehicle height adjusting device |
| CN201258935Y (en) * | 2008-08-06 | 2009-06-17 | 程永辉 | Dual spring shock-absorber |
| CN103291792A (en) * | 2013-04-22 | 2013-09-11 | 杭州富春弹簧有限公司 | Variable stiffness combined spring |
| CN103496408A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step dependent caterpillar band suspension chassis system |
| CN103879466A (en) * | 2014-04-16 | 2014-06-25 | 中国农业大学 | Crawler belt variable-rigidness independent suspension power chassis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105216893A (en) | 2016-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105216893B (en) | A kind of adjustable caterpillar mobile robot suspension of rigidity | |
| CN108000224A (en) | A kind of numerically-controlled machine tool damping device | |
| CN104058022A (en) | Terrain-adaptive transformable mobile robot | |
| CN106256568B (en) | A kind of reckoning positioning robot chassis for applying vertical damping device | |
| CN103496408A (en) | Two-step dependent caterpillar band suspension chassis system | |
| CN203920969U (en) | A kind of transformable mobile robot of terrain self-adaptive | |
| CN204194181U (en) | A kind of compartment paint line | |
| CN102085618B (en) | Sleeve machining center frame with dual regulating functions | |
| CN210363253U (en) | Shock absorption suspension with adjustable shock absorption hardness of automobile | |
| CN103331334B (en) | A kind of device and automobile production streamline correcting vehicle frame | |
| CN207860305U (en) | A kind of new type of passive formula suspension | |
| JP2015083312A (en) | Flange processing device and processing method | |
| CN201080211Y (en) | Household intelligence moving platform device | |
| CN105364403A (en) | Welding angle self-adjustment device of crane beam body welding bench | |
| CN203566609U (en) | Forming device for completing platform of bogie of passenger car | |
| KR101814518B1 (en) | Lifting apparatus | |
| CN105313998B (en) | A kind of caterpillar mobile robot suspension of rigidity adaptive | |
| CN204775805U (en) | bicycle front derailleur | |
| CN103331335A (en) | Vehicle frame correcting device and automobile production line | |
| CN105216891B (en) | A kind of electronic adjustable caterpillar mobile robot suspension of rigidity | |
| CN208036394U (en) | Steering column and automobile | |
| CN207607435U (en) | A kind of sun-proof mobile phone support | |
| CN104833200A (en) | Lubricant powder drying device support | |
| CN110077185A (en) | A kind of mating Mecanum wheel movement transmission lever type single longitudenal arm independent suspension | |
| CN217918194U (en) | Movable temporary stacking device for plates for building construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |