CN106042805A - Omnidirectional mobile chassis walking wheel suspension system - Google Patents
Omnidirectional mobile chassis walking wheel suspension system Download PDFInfo
- Publication number
- CN106042805A CN106042805A CN201610547270.3A CN201610547270A CN106042805A CN 106042805 A CN106042805 A CN 106042805A CN 201610547270 A CN201610547270 A CN 201610547270A CN 106042805 A CN106042805 A CN 106042805A
- Authority
- CN
- China
- Prior art keywords
- driving
- follow
- mobile chassis
- mounting seat
- wheel
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/006—Attaching arms to sprung or unsprung part of vehicle, characterised by comprising attachment means controlled by an external actuator, e.g. a fluid or electrical motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/124—Mounting of coil springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
Abstract
The invention relates to an omnidirectional mobile chassis walking wheel suspension system. The omnidirectional mobile chassis walking wheel suspension system comprises a chassis frame, suspension driving modules and follow-up positioning modules. The three suspension driving modules are uniformly arranged on the chassis frame at intervals, and the follow-up positioning modules are arranged on the chassis frame, between two adjacent suspension driving modules. Each suspension driving module comprises a bearing support, a driving wheel mounting seat, a driving wheel, a driving motor, a guide rail, sliding blocks, damping springs, a connecting plate and spring mounting columns, each follow-up positioning module comprises a connecting seat, a follow-up wheel mounting seat, a swinging arm, a follow-up motor and follow-up wheels. The omnidirectional mobile chassis walking wheel suspension system is simple in structure, and convenient and flexible to move, a workpiece is capable of moving in any direction in the transfer process, and thus the workpiece is convenient to switch over.
Description
Technical field
The invention belongs to material quick conveyance system technical field, present invention relates especially to a kind of all-around mobile chassis
Travelling wheel suspension.
Background technology
All-around mobile chassis is widely used as the carrier of workpiece, and workpiece needs to arbitrarily during transfer
Direction is moved, and omni-directional wheel can synthesize the motion of any direction, with any direction as front, and thus can be in starting point minimum
Turn to and go to impact point along optimal path.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of simple in construction, conveniently moving, flexibly
All-around mobile chassis travelling wheel suspension.
The technical scheme provided according to the present invention, described all-around mobile chassis travelling wheel suspension, it includes chassis frame
Frame, suspension drive module and servo-actuated locating module；Carrier frame is provided with in uniform intervals three and hangs driving module,
On adjacent two carrier frames hung between driving module, servo-actuated locating module is installed.
Described hang drive module include carry bearing, driving wheel mounting seat, driving wheel, driving motor, guide rail, slide block,
Damping spring, connecting plate and spring mounting post；Carrying bearing is fixed with guide rail, driving wheel mounting seat is fixed with driving
Motor, connecting plate and spring mounting post, be fixed with driving wheel on the output shaft driving motor, be fixed with cunning on connecting plate
Block, slide block coordinates with guide rail, and the other end of described spring mounting post is through carrying bearing, in carrying bearing and driving wheel mounting seat
Between spring mounting post be provided with damping spring.
Described driving wheel is Mecanum wheel.
Described servo-actuated locating module includes connecting seat, supporting roller mounting seat, swing arm, follow-up motor and supporting roller；Servo-actuated
It is fixed with follow-up motor in wheel mounting seat, the output shaft of follow-up motor is provided with supporting roller, supporting roller mounting seat is cut with scissors
Being connected to upper and lower two swing arms being set in parallel, the other end of swing arm is hinged on connection seat.
Described supporting roller is Mecanum wheel.
Present configuration is simple, conveniently moving, flexibly, and workpiece can move to any direction during transfer, side
The switching of workpiece.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the front view hanging in the present invention and driving module.
Fig. 3 is the left view hanging in the present invention and driving module.
Fig. 4 is the front view of servo-actuated locating module in the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described.
This all-around mobile chassis travelling wheel suspension, it includes carrier frame 1, hangs driving module 2 and servo-actuated location
Module 3；Carrier frame 1 is provided with in uniform intervals three and hangs driving module 2, hang at adjacent two and drive modules 2
Between carrier frame 1 on servo-actuated locating module 3 is installed.
Described suspension drives module 2 to include carrying bearing 2.1, driving wheel mounting seat 2.2, driving wheel 2.3, driving motor
2.4, guide rail 2.5, slide block 2.6, damping spring 2.7, connecting plate 2.8 and spring mounting post 2.9；Carrying bearing 2.1 is fixed
There is guide rail 2.5, driving wheel mounting seat 2.2 is fixed with driving motor 2.4, connecting plate 2.8 and spring mounting post 2.9, is driving
It is fixed with driving wheel 2.3 on the output shaft of galvanic electricity machine 2.4, connecting plate 2.8 is fixed with slide block 2.6, slide block 2.6 and guide rail
2.5 coordinate, and the other end of described spring mounting post 2.9 is through carrying bearing 2.1, in carrying bearing 2.1 and driving wheel mounting seat
Spring mounting post 2.9 between 2.2 is provided with damping spring 2.7.
Described driving wheel 2.3 is Mecanum wheel.
Described servo-actuated locating module 3 include connecting seat 3.1, supporting roller mounting seat 3.2, swing arm 3.3, follow-up motor 3.4 with
Supporting roller 3.5；Supporting roller mounting seat 3.2 is fixed with follow-up motor 3.4, the output shaft of follow-up motor 3.4 is provided with
Supporting roller 3.5, is hinged with upper and lower two swing arms being set in parallel 3.3 in supporting roller mounting seat 3.2, another of swing arm 3.3
End is hinged on connection seat 3.1.
Described supporting roller 3.5 is Mecanum wheel.
In the present invention, carrying bearing 2.1 be fixed on carrier frame 1, hang drive module 2 utilize damping spring 2.7 to
Lower compaction driving wheel 2.3, it is ensured that driving wheel 2.3 can be in close contact with ground all the time.
In the present invention, the connection seat 3.1 in servo-actuated locating module 3 is cut with scissors by swing arm 3.3 phase with supporting roller mounting seat 3.2
Connect, connect seat 3.1 and be fixed on carrier frame 1, it is ensured that three supporting rollers 3.5 can contact ground effectively.
Claims (5)
1. an all-around mobile chassis travelling wheel suspension, is characterized in that: it includes carrier frame (1), hangs driving module
(2) with servo-actuated locating module (3)；Carrier frame (1) is provided with in uniform intervals three and hangs driving module (2), in phase
On adjacent two carrier frames (1) hung between driving module (2), servo-actuated locating module (3) is installed.
2. all-around mobile chassis as claimed in claim 1 travelling wheel suspension, is characterized in that: described suspension drives module
(2) include carrying bearing (2.1), driving wheel mounting seat (2.2), driving wheel (2.3), driving motor (2.4), guide rail (2.5), sliding
Block (2.6), damping spring (2.7), connecting plate (2.8) and spring mounting post (2.9)；Carrying bearing (2.1) is fixed with and leads
Rail (2.5), is fixed with driving motor (2.4), connecting plate (2.8) and spring mounting post in driving wheel mounting seat (2.2)
(2.9), the output shaft driving motor (2.4) is fixed with driving wheel (2.3), connecting plate (2.8) is fixed with slide block
(2.6), slide block (2.6) coordinates with guide rail (2.5), and the other end of described spring mounting post (2.9) passes carrying bearing (2.1),
It is provided with damping spring (2.7) in spring mounting post (2.9) between carrying bearing (2.1) and driving wheel mounting seat (2.2).
3. all-around mobile chassis as claimed in claim 2 travelling wheel suspension, is characterized in that: described driving wheel (2.3) is
Mecanum wheel.
4. all-around mobile chassis as claimed in claim 1 travelling wheel suspension, is characterized in that: described servo-actuated locating module
(3) include connecting seat (3.1), supporting roller mounting seat (3.2), swing arm (3.3), follow-up motor (3.4) and supporting roller (3.5)；?
It is fixed with follow-up motor (3.4) in supporting roller mounting seat (3.2), the output shaft of follow-up motor (3.4) is provided with supporting roller
(3.5), supporting roller mounting seat (3.2) is hinged with upper and lower two swing arms being set in parallel (3.3), swing arm (3.3) another
One end is hinged in connection seat (3.1).
5. all-around mobile chassis as claimed in claim 4 travelling wheel suspension, is characterized in that: described supporting roller (3.5) is
Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547270.3A CN106042805A (en) | 2016-07-12 | 2016-07-12 | Omnidirectional mobile chassis walking wheel suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547270.3A CN106042805A (en) | 2016-07-12 | 2016-07-12 | Omnidirectional mobile chassis walking wheel suspension system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106042805A true CN106042805A (en) | 2016-10-26 |
Family
ID=57186674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610547270.3A Pending CN106042805A (en) | 2016-07-12 | 2016-07-12 | Omnidirectional mobile chassis walking wheel suspension system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106042805A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107192296A (en) * | 2017-06-28 | 2017-09-22 | 华南理工大学 | It is a kind of can Auxiliary support positioning omni-directional wheel chassis |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4763920A (en) * | 1986-07-10 | 1988-08-16 | Louis Huidekoper | Suspension for a wheel |
| CN102616097A (en) * | 2012-04-13 | 2012-08-01 | 苏州市迅特液压升降机械有限公司 | Independent wheel carrier of omni-directional self-propelled scissor aerial work platform |
| CN102658841A (en) * | 2012-05-10 | 2012-09-12 | 复旦大学 | Six-wheel stepping robot omnidirectional moving platform |
| CN104111657A (en) * | 2014-08-13 | 2014-10-22 | 成都四威高科技产业园有限公司 | Automatic guided vehicle capable of driving in all directions |
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN104908546A (en) * | 2015-05-25 | 2015-09-16 | 浙江美科斯叉车有限公司 | All-directional mobile platform having all-directional wheel vibration reducing device |
| CN204955960U (en) * | 2015-09-25 | 2016-01-13 | 北京云迹科技有限公司 | A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel |
| CN105235464A (en) * | 2015-11-20 | 2016-01-13 | 北方工业大学 | Universal follow-up buffering vibration damper of wheeled mobile robot |
| CN205121340U (en) * | 2015-11-17 | 2016-03-30 | 杭州瓦瑞科技有限公司 | But omnidirectional movement's automation guides dolly |
-
2016
- 2016-07-12 CN CN201610547270.3A patent/CN106042805A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4763920A (en) * | 1986-07-10 | 1988-08-16 | Louis Huidekoper | Suspension for a wheel |
| CN102616097A (en) * | 2012-04-13 | 2012-08-01 | 苏州市迅特液压升降机械有限公司 | Independent wheel carrier of omni-directional self-propelled scissor aerial work platform |
| CN102658841A (en) * | 2012-05-10 | 2012-09-12 | 复旦大学 | Six-wheel stepping robot omnidirectional moving platform |
| CN104111657A (en) * | 2014-08-13 | 2014-10-22 | 成都四威高科技产业园有限公司 | Automatic guided vehicle capable of driving in all directions |
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN104908546A (en) * | 2015-05-25 | 2015-09-16 | 浙江美科斯叉车有限公司 | All-directional mobile platform having all-directional wheel vibration reducing device |
| CN204955960U (en) * | 2015-09-25 | 2016-01-13 | 北京云迹科技有限公司 | A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel |
| CN205121340U (en) * | 2015-11-17 | 2016-03-30 | 杭州瓦瑞科技有限公司 | But omnidirectional movement's automation guides dolly |
| CN105235464A (en) * | 2015-11-20 | 2016-01-13 | 北方工业大学 | Universal follow-up buffering vibration damper of wheeled mobile robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107192296A (en) * | 2017-06-28 | 2017-09-22 | 华南理工大学 | It is a kind of can Auxiliary support positioning omni-directional wheel chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |
|
| RJ01 | Rejection of invention patent application after publication |