CN105564177B - Wheeled mobile robot suspension arrangement - Google Patents
Wheeled mobile robot suspension arrangement Download PDFInfo
- Publication number
- CN105564177B CN105564177B CN201610021804.9A CN201610021804A CN105564177B CN 105564177 B CN105564177 B CN 105564177B CN 201610021804 A CN201610021804 A CN 201610021804A CN 105564177 B CN105564177 B CN 105564177B
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- CN
- China
- Prior art keywords
- wheel
- mobile robot
- suspension arrangement
- wheeled mobile
- chassis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/02—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only
- B60G11/10—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses wheeled mobile robot suspension arrangement, chassis（1）On be provided with for through two wheels（11）Two first through hole, the chassis between first through hole described in two（1）Middle part is fixedly installed two support bases（2）, support base described in two（2）Being oppositely arranged and being horizontally disposed with to have thereon is used for through rotary shaft（6）Two second through holes, rotary shaft described in two（6）Respectively with wheel stand（7）One end be fixedly connected, wheel stand described in two（7）The other end respectively with wheel described in two（11）It is connected, wheel stand described in two（7）Between be provided with gap, wheel stand described in two（7）Opposite end be provided with leaf spring（4）.The wheeled mobile robot suspension arrangement that the present invention is provided, robot caused by alleviation unsteadiness of wheels jolts, and improves the stationarity of robot ride, while height of the driving moment apart from ground can be adjusted, is always ensured that wheel lands.
Description
Technical field
The present invention relates to a kind of wheeled mobile robot suspension arrangement, belong to robotic technology field.
Background technology
In wheeled mobile robot drive device, driving wheel and chassis are typically rigidly connected, i.e., wheel is with slowing down
Device is fixed on wheel stand, and wheel stand is directly anchored on wheel chassis again.When motor via reducer deceleration, driving machine
When device people walks, being uneven for ground can cause unsteadiness of wheels, and be directly passed to robot chassis, cause robot to jolt
Especially severe.For wheeled mobile robot more than four-wheel or four-wheel, driven according to two-wheel differential, due to ground not
It is flat, then occur that driving wheel is maked somebody a mere figurehead by driven pulley, it is impossible to the phenomenon of driving.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of face robot influence with can effectively improve, alleviate
Robot jolts caused by unsteadiness of wheels, the stationarity of robot ride is improved, while driving moment can be adjusted apart from ground
Height, be always ensured that wheel lands, it is to avoid the phenomenon and simple in construction that driving wheel dallies or skidded, easy to control is wheeled
Mobile robot suspension arrangement；Further, the present invention provides a kind of wheeled mobile robot suspension arrangement of good damping effect.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
Wheeled mobile robot suspension arrangement, it is characterised in that including：Being provided with chassis, the chassis is used for through two
Two support bases are fixedly installed in the middle part of the chassis between two first through hole of individual wheel, first through hole described in two, it is described
Support base moves towards perpendicular setting with the wheel, and support base described in two, which is oppositely arranged and is horizontally disposed with to have thereon, to be used for through rotation
Two second through holes of rotating shaft, rotary shaft described in two is fixedly connected with one end of wheel stand respectively, wheel stand described in two it is another
One end is connected with wheel described in two respectively, and gap is provided between wheel stand described in two, the opposite end of wheel stand described in two
It is provided with leaf spring；The leaf spring bottom is fixed on the wheel stand upper surface, and leaf spring top is inconsistent described in two.
The wheel is connected with reductor, and the reductor is connected with brshless DC motor.
The lower surface on the chassis is all around symmetrically arranged with universal wheel.
The wheel stand is L-type flat board, and the L-type flat board includes the section vertically downward and horizontal segment of integrally connected, institute
The end and the rotary shaft for stating horizontal segment are bolted to connection, the lateral surface of the section vertically downward and the wheel phase
Even, the medial surface of the section vertically downward is fixed with the reductor and brshless DC motor.
The both wings of symmetrical expression level protrusion, the wing lower surface and the chassis upper surface are additionally provided with the horizontal segment
Between be provided with beam.
The material of the beam includes rubber.
The width in the gap is rotate shaft diameter 0.5 ~ 1 times.
The support base is square.
The leaf spring is the V-type that opening is obtuse angle, and one side of the V-type passes through the bolt and the wheel stand and rotation
Rotating shaft is connected, and the another side top of V-type described in two is inconsistent, and the number of the leaf spring is at least 1 pair..
In order to improve the stationarity and reliability of wheeled mobile robot traveling, the present invention is in wheeled mobile robot driving
The suspension arrangement with shock-absorbing is used to be operated in device.
The present invention includes chassis, at least two leaf springs, connecting mechanism for rotating and wheel stand, and wheel stand is connected by rotating
Connection mechanism is rotatably connected with chassis；One end of each leaf spring is connected with wheel stand, and the other end is contacted with each other, and leaf spring must be into
To using.
Wheel, the reductor being connected with wheel and the brushless dc being connected with reductor are fixed with wheel stand
Machine.
Connecting mechanism for rotating includes rotary shaft, and wheel stand is bolted in rotary shaft, and wheel stand passes through rotation
Rotating shaft is rotatably connected with chassis.Connecting mechanism for rotating also includes the support base being fixed on chassis, and rotary shaft passes through support base,
So that wheel stand to be rotatably connected with chassis.
Rubber shock-absorbing pad is also equipped with chassis.
Two leaf spring one end are fixed on wheel stand, can be rotated with wheel stand and chassis, two leaf springs are by rotating
Extruding mutually, produces twisting resistance.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention between two connecting mechanism for rotating by setting
Leaf spring is put, when wheel is moved in uneven ground, under leaf spring effect, can be swung up, absorb around rotary shaft axial line
The impact energy on road surface, effectively slows down the vibration that wheeled robot wheel is transmitted to chassis in motion, while by adjusting wheel
Height apart from ground, be always ensured that wheel lands, it is to avoid driving wheel idle running or the phenomenon skidded, and improves robot motion
Reliability and stability；The setting of beam, further enhancing the damping effect of the present invention.
Figure of description
Fig. 1 is structural representation of the invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the structural representation of wheel stand in the present invention；
Fig. 4 is the structural representation of rotary shaft in the present invention.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Fig. 1 ~ Fig. 4, wheeled mobile robot suspension arrangement, it is characterised in that including：Chassis 1, the chassis 1
On be provided with for two first through hole through two wheels 11, the middle part of the chassis between first through hole described in two 1 is fixed
Be provided with two support bases 2, the support base 2 moves towards perpendicular setting with the wheel 11, support base 2 described in two be oppositely arranged and
Being horizontally disposed with thereon has for two second through holes through rotary shaft 6, the one end of rotary shaft 6 respectively with wheel stand 7 described in two
It is fixedly connected, the other end of wheel stand 7 described in two is connected with wheel described in two 11 respectively, is set between wheel stand 7 described in two
Gap is equipped with, the opposite end of wheel stand 7 is provided with leaf spring 4 described in two；The bottom of leaf spring 4 is fixed on the wheel stand
7 upper surfaces, the top of leaf spring 4 is inconsistent described in two.
The wheel 11 is connected with reductor 12, and the reductor 12 is connected with brshless DC motor 14.
The lower surface on the chassis 1 is all around symmetrically arranged with universal wheel 13.
The wheel stand 7 is L-type flat board, and the L-type flat board includes the section vertically downward and horizontal segment of integrally connected, institute
The end for stating horizontal segment is fixedly connected with the rotary shaft 6 by bolt 5, lateral surface and the wheel of the section vertically downward
11 are connected, and the medial surface of the section vertically downward is fixed with the reductor 12 and brshless DC motor 14.
The both wings of symmetrical expression level protrusion, the wing lower surface and the upper table of chassis 1 are additionally provided with the horizontal segment
Beam 8 is provided between face.
The material of the beam 8 includes rubber.
The width in the gap is 0.5 ~ 1 times of the diameter of rotary shaft 6.
The support base 2 is square.
The leaf spring 4 is the V-type that opening is obtuse angle, and one side of the V-type passes through the bolt 5 and the wheel stand 7
It is connected with rotary shaft 6, the another side top of V-type described in two is inconsistent, the number of the leaf spring 4 is 1 pair.
When wheel 11 runs into barrier, because wheel stand 7 is to swing, wheel 11 is elevated, and leaf spring 4 is compressed,
Therefore the impact that ground faces chassis 1 has been buffered, the impact energy on road surface has been effectively absorbed, has reduced wheeled mobile robot
Wheel, 1 is transmitted to the vibration on chassis 1 when road surface is moved, and improves wheeled mobile robot traveling comfort.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (9)
1. wheeled mobile robot suspension arrangement, it is characterised in that including：Chassis（1）, the chassis（1）On be provided with for wearing
Cross two wheels（11）Two first through hole, the chassis between first through hole described in two（1）Middle part is fixedly installed two
Support base（2）, the support base（2）With the wheel（11）Perpendicular setting is moved towards, support base described in two（2）Be oppositely arranged and
Being horizontally disposed with to have thereon is used for through rotary shaft（6）Two second through holes, rotary shaft described in two（6）Respectively with wheel stand（7）
One end be fixedly connected, wheel stand described in two（7）The other end respectively with wheel described in two（11）It is connected, wheel branch described in two
Frame（7）Between be provided with gap, wheel stand described in two（7）Opposite end be provided with leaf spring（4）；The leaf spring（4）Bottom
It is fixed on the wheel stand（7）Upper surface, leaf spring described in two（4）Top is inconsistent.
2. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that：The wheel（11）With deceleration
Machine（12）It is connected, the reductor（12）With brshless DC motor（14）It is connected.
3. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that：The chassis（1）Following table
All around often place is provided with a universal wheel in face（13）.
4. wheeled mobile robot suspension arrangement according to claim 2, it is characterised in that：The wheel stand（7）For L
Type flat board, the L-type flat board includes the section vertically downward and horizontal segment of integrally connected, the end of the horizontal segment and the rotation
Axle（6）Pass through bolt（5）It is fixedly connected, lateral surface and the wheel of the section vertically downward（11）Be connected, it is described it is vertical to
The medial surface of hypomere is fixed with the reductor（12）And brshless DC motor（14）.
5. wheeled mobile robot suspension arrangement according to claim 4, it is characterised in that：Also set up on the horizontal segment
There are the both wings that symmetrical expression level is protruded, the wing lower surface and the chassis（1）Beam is provided between upper surface（8）.
6. wheeled mobile robot suspension arrangement according to claim 5, it is characterised in that：The beam（8）Material
Matter includes rubber.
7. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that：The width in the gap is institute
State rotary shaft（6）0.5 ~ 1 times of diameter.
8. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that：The support base（2）For side
Block.
9. wheeled mobile robot suspension arrangement according to claim 4, it is characterised in that：The leaf spring（4）For opening
For the V-type at obtuse angle, one side of the V-type passes through the bolt（5）With the wheel stand（7）And rotary shaft（6）It is connected, two institutes
The another side top for stating V-type is inconsistent；The leaf spring（4）Number be at least 1 pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610021804.9A CN105564177B (en) | 2016-01-14 | 2016-01-14 | Wheeled mobile robot suspension arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610021804.9A CN105564177B (en) | 2016-01-14 | 2016-01-14 | Wheeled mobile robot suspension arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105564177A CN105564177A (en) | 2016-05-11 |
| CN105564177B true CN105564177B (en) | 2017-09-12 |
Family
ID=55875034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610021804.9A Active CN105564177B (en) | 2016-01-14 | 2016-01-14 | Wheeled mobile robot suspension arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105564177B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
| CN106426214B (en) * | 2016-11-22 | 2018-10-30 | 湖北文理学院 | Service robot hangs chassis |
| CN107914532A (en) * | 2017-12-06 | 2018-04-17 | 上海木爷机器人技术有限公司 | A kind of AGV and its suspension frame structure |
| CN108116501B (en) * | 2017-12-29 | 2023-08-29 | 浙江欣奕华智能科技有限公司 | Chassis structure for storage robot |
| CN108482517B (en) * | 2018-03-08 | 2024-03-08 | 纳恩博（北京）科技有限公司 | Self-adaptive chassis and robot |
| CN108502053A (en) * | 2018-06-13 | 2018-09-07 | 安徽新华学院 | A kind of wheeled robot platform accuracy control method |
| CN110936784B (en) * | 2019-12-04 | 2021-09-28 | 王亚 | Vehicle body roll control mechanism and active roll vehicle using same |
| EP3978279A1 (en) | 2020-10-01 | 2022-04-06 | Onomotion GmbH | Wagons for transporting people and/or goods |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005178653A (en) * | 2003-12-22 | 2005-07-07 | Nissan Motor Co Ltd | Rear wheel steering device for rear-wheel motor driving vehicle |
| CN203854456U (en) * | 2014-05-22 | 2014-10-01 | 湖南晟通天力汽车有限公司 | Car body balance supporting seat device |
| CN104908544A (en) * | 2015-07-07 | 2015-09-16 | 冯林 | Single-shaft four-wheel damping rear wheel driving bridge |
| CN205326731U (en) * | 2016-01-14 | 2016-06-22 | 浙江大学昆山创新中心 | Wheeled mobile robot linkage |
-
2016
- 2016-01-14 CN CN201610021804.9A patent/CN105564177B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005178653A (en) * | 2003-12-22 | 2005-07-07 | Nissan Motor Co Ltd | Rear wheel steering device for rear-wheel motor driving vehicle |
| CN203854456U (en) * | 2014-05-22 | 2014-10-01 | 湖南晟通天力汽车有限公司 | Car body balance supporting seat device |
| CN104908544A (en) * | 2015-07-07 | 2015-09-16 | 冯林 | Single-shaft four-wheel damping rear wheel driving bridge |
| CN205326731U (en) * | 2016-01-14 | 2016-06-22 | 浙江大学昆山创新中心 | Wheeled mobile robot linkage |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105564177A (en) | 2016-05-11 |
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