CN106114101A - Wheeled mobile robot chassis straight line suspended shock damper - Google Patents
Wheeled mobile robot chassis straight line suspended shock damper Download PDFInfo
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- CN106114101A CN106114101A CN201610597288.4A CN201610597288A CN106114101A CN 106114101 A CN106114101 A CN 106114101A CN 201610597288 A CN201610597288 A CN 201610597288A CN 106114101 A CN106114101 A CN 106114101A
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- motion
- countershaft
- support
- robot chassis
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/01—Resilient suspensions for a single wheel the wheel being mounted for sliding movement, e.g. in or on a vertical guide
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
Wheeled mobile robot chassis straight line suspended shock damper, including for connecting hanging dampening assembly and being connected to hang the moving parts bottom dampening assembly of robot chassis, wherein: described suspension dampening assembly includes support, motive spindle and motion countershaft, support has elasticity between two ends, motive spindle and motion countershaft are arranged respectively at support two ends, the top of motive spindle and motion countershaft is connected with robot chassis, and the bottom of motive spindle and motion countershaft keeps Elastic Contact with cradle top surface；Described moving parts includes motor, motor cabinet and the wheel being linked in sequence, and motor, motor cabinet are connected to the bottom surface of support, and motor is fixed on below motion countershaft, and motor cabinet is fixed on below motive spindle；Motive spindle is for bearing the impact that wheel produces through road excitation；Motion countershaft is for the impact suffered by kicking motion main shaft.The present invention increases the obstacle climbing ability of robot, reduces the motion abrasion of motor output shaft, makes walking tend to optimizing.
Description
Technical field
The present invention relates to robotics, specifically a kind of wheeled mobile robot chassis straight line hangs damping dress
Put.
Background technology
At present robot has a variety of, for move mode, can be divided into wheeled, crawler type, lower limb formula, snakelike formula, jump
Formula.Owing to wheeled mobile robot bearing capacity is big, the speed of travel is fast, drive and control the relative advantage such as facilitate, and extensively should
For every field.Its chassis of wheeled mobile robot has the advantage that noise is little, stationarity good, the speed of travel is fast, especially makes
Drive motor with Mecanum wheel, omni-directional wheel by controlling, can realize translating, rotate in place, the omnibearing movable such as directly walk, but this
Class Mecanum wheel, omni-directional wheel, tubeless rubber wheel all do not have inflatable inner tube, and wheel disappearance elasticity itself, rough
Road surface easily produces the road clearance, causes wheel not operate with grabbing.
For problem above, existing part wheeled mobile robot chassis is mounted with swing arm suspension arrangement, can improve road surface
The liftoff phenomenon of wheel that injustice causes.But wheeled mobile robot motor output shaft and wheel are fastened by flange, motor output shaft
Carrying the quality of robot while directly driving wheel turns, the wheel that uneven road surface excitation can cause swings, and produces folder
Angle, and therefore make motor output shaft be in angle operation for a long time, add the fatigue damage of speed motor.
The AZIMUT-3 mobile platform that Canadian Univ Sherbrooke develops, by installing one in the joint of AZIMUT
Electric vertical draft hitch and flexible drive make the stability of platform and motility be strengthened, and are placed on and drive diarthrodial sensing
Flexible element on device can perception control to drive diarthrodial moment, improve the robot mobility at uneven ground.But this electricity
Flowing mode controls complexity, with high costs.
Summary of the invention
The present invention is in order to overcome above-mentioned prior art weak point, it is provided that a kind of simple in construction, need not control module
Wheeled mobile robot chassis straight line suspended shock damper, concrete technical scheme is as follows.
Wheeled mobile robot chassis straight line suspended shock damper, including the suspension damping group for connecting robot chassis
Part and be connected to hang the moving parts bottom dampening assembly, wherein:
Described suspension dampening assembly includes support, motive spindle and motion countershaft, has elasticity between support two ends, motion
Main shaft and motion countershaft are arranged respectively at support two ends, and the top of motive spindle and motion countershaft is connected with robot chassis, fortune
The bottom of dynamic main shaft and motion countershaft keeps Elastic Contact with cradle top surface；
Described moving parts includes motor, motor cabinet and the wheel being linked in sequence, and motor, motor cabinet are connected to the end of support
Face, motor is fixed on below motion countershaft, and motor cabinet is fixed on below motive spindle；
Motive spindle is for bearing the impact that wheel produces through road excitation；
Motion countershaft is for the impact suffered by kicking motion main shaft.
Technique scheme is when wheeled mobile robot, and motive spindle is elastic relative to support under gravity
Compression, forces wheel to grab ground in opposite direction.When wheeled mobile robot walking is on uneven road surface, inevitably because of road
Face excitation cause motive spindle produce angle skew, cause motor output shaft by rigid shock power, now by support itself
Elasticity and the elastic telescopic of motion countershaft share road excitation pass to motor output shaft rigid shock power, thus to the greatest extent may be used
The vertical load adding wheel of energy, makes the earth-catching property of wheel play more fully, increases the obstacle climbing ability of robot,
Reducing the motion abrasion of motor output shaft, when making walking, ride comfort tends to optimizing.
Compared with prior art, the positive effect of the present invention is:
(1) using straight line to hang damping, simple in construction cost is relatively low.
(2) add the vertical load of wheel, make the earth-catching property of wheel play more fully, make up Mecanum wheel,
The drawback that omni-directional wheel, tubeless rubber wheel disappearance is elastic, improves obstacle climbing ability.
(3) reduce the angle causing motor output shaft and wheel to produce because of road excitation, make motor power output as far as possible by
Wheel is passed in axle center, reduces the motion abrasion of motor output shaft, reduces the vibration produced because of road excitation, makes to smooth out during walking
Property tend to optimize.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the STRUCTURE DECOMPOSITION schematic diagram of the present invention.
Fig. 3 is the wheeled mobile robot of the wheeled mobile robot chassis straight line suspended shock damper that have employed the present invention
The structural representation on chassis.
Detailed description of the invention
As it is shown in figure 1, wheeled mobile robot chassis straight line suspended shock damper, including for connecting robot chassis
Hang dampening assembly and be connected to hang the moving parts bottom dampening assembly, wherein:
Described suspension dampening assembly includes support 10, motive spindle 20 and motion countershaft 30, and support has bullet between two ends
Property, motive spindle 20 and motion countershaft 30 be arranged respectively at support 10 two ends, the top of motive spindle 10 and motion countershaft 20 with
Robot chassis (not shown) connects, and the bottom of motive spindle 10 and motion countershaft 20 keeps elastic connecting with support 10 end face
Touch；
Described moving parts includes motor 40, motor cabinet 50 and the wheel 60 being linked in sequence, and motor 40, motor cabinet 50 connect
In the bottom surface of support 10, motor 40 is fixed on below motion countershaft 30, and motor cabinet 50 is fixed on below motive spindle 20；
Motive spindle 20 is for bearing the impact that wheel 60 produces through road excitation；
Motion countershaft 30 is for the impact suffered by kicking motion main shaft 10.
As in figure 2 it is shown, in preferably embodiment, described motive spindle 20 include linear bearing 21, optical axis guide rail 22,
Main spring 23, linear bearing 21 is fixing over the mount 10, and optical axis guide rail 22 top is connected with robot chassis (not shown),
Optical axis guide rail 22 is passed down through main spring 23 and is slidably matched with linear bearing 21, and installs Anti-releasing nut 24, i.e. light at its end
Axis rail 22 slides in being limited in linear bearing 21 and does not falls out.
As in figure 2 it is shown, in preferably embodiment, described motion countershaft 30 includes line slideway 32, auxiliary spring 33, directly
Line guide rail 32 top is connected with robot chassis (not shown), and line slideway 32 is passed down through support 10, and at its end
Anti-releasing nut 34 is installed.Specifically, the through hole 31 that an appearance line slideway 32 passes, i.e. optical axis guide rail 22 quilt can be set at support 10
It is limited in through hole 31 movable and does not falls out.
As it is shown on figure 3, be the wheel that have employed the wheeled mobile robot chassis straight line suspended shock damper that the present invention enumerates
Formula moves robot chassis, and including chassis supporting plate 1, chassis supporting plate 1 is provided with control circuit 2, is provided with battery below chassis supporting plate 1
Support 3, takes four-wheel crossed-symmetrical to arrange the wheeled mobile robot chassis that four present invention enumerate below chassis supporting plate 1
Straight line suspended shock damper 4.
Above-mentioned chassis is used to be contained in robot, the wheel employing omni-directional wheel in bobbin movement assembly, four motorized wheels,
Centre distance 420mm, moves test on different operating mode road surfaces, and Data Representation is:
Operating mode 1: preferable level land (flatness≤1mm), path 4m
Robot rectilinear movement, pivot turn, 45 ° of oblique movements, 90 ° lateral stable when moving, noise is less than 45dB,
Without obvious vibration sense.Turn without obvious displacement (≤1mm) in 360 ° of original place.
Operating mode 2: coarse level land (roughness≤2mm), path 4m
Robot rectilinear movement, pivot turn, 45 ° of oblique movements, 90 ° lateral stable when moving, noise is less than 55dB,
Without obvious vibration sense.Turn without obvious displacement (≤2mm) in 360 ° of original place.
Operating mode 3:5 ° is smooth domatic, length of grade 4m
Robot is by directly to, 45 degree oblique, 90 degree laterally climbings, operating steadily, and noise substantially shakes less than 55dB, nothing
Sense.The turning of 360 ° of original place has displacement (≤30mm).
Operating mode 4:5 ° is coarse domatic, length of grade 4m
Robot is by directly to, 45 degree oblique, 90 degree laterally climbings, operating steadily, and noise substantially shakes less than 60dB, nothing
Sense.The turning of 360 ° of original place has displacement (≤30mm), has slight vibration sense.
Operating mode 5:10 ° is smooth domatic, length of grade 4m
Robot by directly to, 45 degree oblique, 90 degree laterally climb, the most all beyond restriction scope, noise less than 60dB,
Slight vibration sense.The turning of 360 ° of original place has displacement (60mm).
Operating mode 6:10 ° is coarse domatic, length of grade 4m
Robot by directly to, 45 degree oblique, 90 degree lateral climb, the most all beyond restriction scope, noise range 60dB-
70dB, slight vibration sense.The turning of 360 ° of original place has displacement (60mm).
Operating mode 7:6mm obstacle detouring
Robot is by directly to, obstacle detouring oblique, lateral, and 4 jump without obvious stall phenomenon, wheel collisionless when taking turns contact step
Jump liftoff, noise range 60dB-70dB, body inclination when front-wheel is topped bar, vibrates inconspicuous under the action of the spring.
Operating mode 8:12mm obstacle detouring
Machine can people by directly to, obstacle detouring oblique, lateral, 4 have stall phenomenon when taking turns contact step, and wheel occurs that collision is jumped
Jumping liftoff, noise range 70dB, vibration is substantially.
And it is provided without the robot on above-mentioned chassis, when above working condition measurement, 6mm can not complete obstacle detouring the most.Compare
Installing the same machines people of swing arm hang, centrifugal apart from relatively large time turning in 360 ° of original place, vibration is obvious, during 12mm obstacle detouring
Need to repeatedly find impetus, longer by more Downtime.
For a person skilled in the art, other various phases can be obtained according to disclosed structure and principle
The change answered and deformation, and all these changes and deforms the protection category broadly falling into the present invention.
Claims (4)
1. wheeled mobile robot chassis straight line suspended shock damper, including the suspension damping group for connecting robot chassis
Part and be connected to hang the moving parts bottom dampening assembly, it is characterised in that:
Described suspension dampening assembly includes support, motive spindle and motion countershaft, has elasticity, motive spindle between support two ends
Being arranged respectively at support two ends with motion countershaft, the top of motive spindle and motion countershaft is connected with robot chassis, and motion is main
The bottom of axle and motion countershaft keeps Elastic Contact with cradle top surface；
Described moving parts includes motor, motor cabinet and the wheel being linked in sequence, and motor, motor cabinet are connected to the bottom surface of support,
Motor is fixed on below motion countershaft, and motor cabinet is fixed on below motive spindle；
Motive spindle is for bearing the impact that wheel produces through road excitation；
Motion countershaft is for the impact suffered by kicking motion main shaft.
2. wheeled mobile robot chassis as claimed in claim 1 straight line suspended shock damper, it is characterised in that: described motion
Main shaft includes linear bearing, optical axis guide rail, main spring, and linear bearing is fixed on support, at the bottom of optical axis guide rail top and robot
Dish connects, and optical axis guide rail is passed down through main spring and is slidably matched with linear bearing, and installs Anti-releasing nut at its end.
3. wheeled mobile robot chassis as claimed in claim 1 straight line suspended shock damper, it is characterised in that: described motion
Countershaft includes line slideway, auxiliary spring, and line slideway top is connected with robot chassis, and line slideway is passed down through support, and
At its end, Anti-releasing nut is installed.
4. wheeled mobile robot chassis as claimed in claim 1 straight line suspended shock damper, it is characterised in that: described wheel
It it is omni-directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597288.4A CN106114101B (en) | 2016-07-26 | 2016-07-26 | Wheeled mobile robot chassis straight line suspended shock damper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597288.4A CN106114101B (en) | 2016-07-26 | 2016-07-26 | Wheeled mobile robot chassis straight line suspended shock damper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114101A true CN106114101A (en) | 2016-11-16 |
| CN106114101B CN106114101B (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610597288.4A Active CN106114101B (en) | 2016-07-26 | 2016-07-26 | Wheeled mobile robot chassis straight line suspended shock damper |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088869A (en) * | 2017-04-20 | 2017-08-25 | 哈尔滨工业大学 | A kind of modularization all directionally movable robot for environment sensing |
| CN108099537A (en) * | 2017-12-12 | 2018-06-01 | 北京深醒科技有限公司 | Torsion beam damping chassis |
| 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 |
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | Automatic inspection robot |
| CN109911055A (en) * | 2019-03-27 | 2019-06-21 | 山河智能装备股份有限公司 | Unmanned barrier-exceeding vehicle |
| CN110978926A (en) * | 2019-12-31 | 2020-04-10 | 杭州极木科技有限公司 | Multistage dependent suspension system |
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| GB2344796A (en) * | 1998-12-19 | 2000-06-21 | Rover Group | Vehicle suspensions |
| US6170242B1 (en) * | 1997-07-22 | 2001-01-09 | Ferris Industries, Inc. | Lawn mower having independent drive wheel suspension |
| DE102005008842A1 (en) * | 2005-02-26 | 2006-08-31 | Daimlerchrysler Ag | Motor vehicle e.g. passenger car, axle for coupling suspension sub frame and damper`s bearing, has rod guides, damper unit and control points exerting force component transverse to vehicle longitudinal axis during movement of guiding device |
| DE102013008700A1 (en) * | 2013-05-22 | 2014-11-27 | Audi Ag | Wheel suspension for a wheel of a front axle of a motor vehicle |
| CN204955959U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | A compressed spring type suspension and vehicle and wheeled robot for drive wheel |
| CN205836411U (en) * | 2016-07-26 | 2016-12-28 | 河源市勇艺达科技股份有限公司 | Wheeled mobile robot chassis straight line suspended shock damper |
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Patent Citations (6)
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| US6170242B1 (en) * | 1997-07-22 | 2001-01-09 | Ferris Industries, Inc. | Lawn mower having independent drive wheel suspension |
| GB2344796A (en) * | 1998-12-19 | 2000-06-21 | Rover Group | Vehicle suspensions |
| DE102005008842A1 (en) * | 2005-02-26 | 2006-08-31 | Daimlerchrysler Ag | Motor vehicle e.g. passenger car, axle for coupling suspension sub frame and damper`s bearing, has rod guides, damper unit and control points exerting force component transverse to vehicle longitudinal axis during movement of guiding device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088869A (en) * | 2017-04-20 | 2017-08-25 | 哈尔滨工业大学 | A kind of modularization all directionally movable robot for environment sensing |
| CN107088869B (en) * | 2017-04-20 | 2019-10-25 | 哈尔滨工业大学 | A kind of modularization all directionally movable robot for environment sensing |
| CN108099537A (en) * | 2017-12-12 | 2018-06-01 | 北京深醒科技有限公司 | Torsion beam damping chassis |
| CN108099537B (en) * | 2017-12-12 | 2024-06-11 | 北京深醒科技有限公司 | Torsion beam damping chassis |
| 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 |
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | Automatic inspection robot |
| CN109911055A (en) * | 2019-03-27 | 2019-06-21 | 山河智能装备股份有限公司 | Unmanned barrier-exceeding vehicle |
| CN109911055B (en) * | 2019-03-27 | 2024-05-14 | 山河智能装备股份有限公司 | Unmanned obstacle surmounting vehicle |
| CN110978926A (en) * | 2019-12-31 | 2020-04-10 | 杭州极木科技有限公司 | Multistage dependent suspension system |
| CN110978926B (en) * | 2019-12-31 | 2024-02-23 | 杭州极木科技有限公司 | Multistage non-independent suspension system |
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| Publication number | Publication date |
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| CN106114101B (en) | 2018-11-23 |
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Address after: 517000, fifth A, R & D building, new hi-tech park, hi-tech three Rd, Heyuan high tech Development Zone, Guangdong. Applicant after: HEYUAN YYD TECHNOLOGY CO., LTD. Address before: 517000, fifth A, R & D building, new hi-tech park, hi-tech three Rd, Heyuan high tech Development Zone, Guangdong. Applicant before: HEYUAN YYD TECHNOLOGY CO., LTD. |
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