CN106114101B - 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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- CN106114101B CN106114101B CN201610597288.4A CN201610597288A CN106114101B CN 106114101 B CN106114101 B CN 106114101B CN 201610597288 A CN201610597288 A CN 201610597288A CN 106114101 B CN106114101 B CN 106114101B
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- countershaft
- bracket
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- robot chassis
- wheel
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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 the suspension dampening assembly for connecting robot chassis and be connected to suspension dampening assembly bottom moving parts, wherein：The suspension dampening assembly includes bracket, motive spindle and movement countershaft, there is elasticity between bracket both ends, motive spindle and movement countershaft are arranged respectively at bracket both ends, the top of motive spindle and movement countershaft is connect with robot chassis, motive spindle and bottom end and the cradle top surface holding Elastic Contact for moving countershaft；The moving parts include motor, motor cabinet and the wheel being linked in sequence, and motor, motor cabinet are connected to the bottom surface of bracket, and motor is fixed below movement countershaft, and motor cabinet is fixed below motive spindle；Motive spindle is for bearing the impact that wheel is generated through road excitation；Countershaft is moved for impact suffered by kicking motion main shaft.The present invention increases the obstacle climbing ability of robot, reduces the movement abrasion of motor output shaft, walking is made to tend to optimize.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of wheeled mobile robot chassis straight line hangs damping dress
It sets.
Background technique
At present there are many kinds of robots, for move mode, wheeled, crawler type, leg formula, snakelike formula, jump can be divided into
Formula.Due to wheeled mobile robot large carrying capacity, the speed of travel is fast, driving and the advantages that control relatively convenient, is answered extensively
For every field.Its chassis of wheeled mobile robot has the advantages that noise is small, stationarity is good, the speed of travel is fast, especially makes
With Mecanum wheel, omni-directional wheel by control driving motor, it can be achieved that the omnibearing movables such as translate, rotate in place, directly walk, but this
Class Mecanum wheel, omni-directional wheel, tubeless rubber wheel are all without inflatable inner tube, and wheel itself lacks elasticity, rough
Road surface is easy to produce the road clearance, causes wheel that cannot operate with grabbing.
In view of the above problems, existing part wheeled mobile robot chassis is mounted with swing arm suspension arrangement, road surface can be improved
Phenomenon that wheel caused by injustice is liftoff.But wheeled mobile robot motor output shaft and wheel are fastened by flange, motor output shaft
The quality that robot is carried while wheel rotation is directly driven, wheel caused by uneven road surface excitation meeting is swung, and generates folder
Angle, and motor output shaft is therefore made to be in angle work status for a long time, accelerate the fatigue damage of 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 enhance the stability of platform and flexibility, are placed on and drive diarthrodial sensing
Flexible element on device, which can be perceived and be controlled, drives diarthrodial torque, improves robot in the motility of uneven ground.But the electricity
Flowing mode control is complicated, with high costs.
Summary of the invention
The present invention provides that a kind of structure is simple, does not need control module to overcome above-mentioned prior art shortcoming
Wheeled mobile robot chassis straight line suspended shock damper, specific technical solution is as follows.
Wheeled mobile robot chassis straight line suspended shock damper, including the suspension damping group for connecting robot chassis
Part and the moving parts for being connected to suspension dampening assembly bottom, wherein：
The suspension dampening assembly includes bracket, motive spindle and movement countershaft, has elasticity, movement between bracket both ends
Main shaft and movement countershaft are arranged respectively at bracket both ends, and the top of motive spindle and movement countershaft is connect with robot chassis, fortune
Dynamic main shaft and bottom end and the cradle top surface holding Elastic Contact for moving countershaft；
The moving parts include motor, motor cabinet and the wheel being linked in sequence, and motor, motor cabinet are connected to the bottom of bracket
Face, motor are fixed below movement countershaft, and motor cabinet is fixed below motive spindle；
Motive spindle is for bearing the impact that wheel is generated through road excitation；
Countershaft is moved for impact suffered by kicking motion main shaft.
When above-mentioned technical proposal is used for wheeled mobile robot, motive spindle is elastic relative to bracket under the effect of gravity
Compression, forces wheel to grab ground in opposite direction.When wheeled mobile robot walking is at uneven road surface, inevitably because of road
Face excitation causes motive spindle to generate angle offset, causes motor output shaft by rigid shock power, at this time by bracket itself
Elasticity and the elastic telescopic of movement countershaft share road excitation and pass to the rigid shock power of motor output shaft, thus to the greatest extent may be used
The vertical load for increasing wheel of energy, plays the grip performance of wheel more fully, increases the obstacle climbing ability of robot,
The movement abrasion for reducing motor output shaft, makes ride comfort when walking tend to optimize.
Compared with prior art, the positive effect of the present invention is：
(1) damping is hung using straight line, simply cost is relatively low for structure.
(2) vertical load for increasing wheel plays the grip performance of wheel more fully, make up Mecanum wheel,
The drawback of omni-directional wheel, tubeless rubber wheel missing elasticity, improves obstacle climbing ability.
(3) reduce the angle for causing motor output shaft and wheel to generate because of road excitation, make motor power output as far as possible by
Axle center is transmitted to wheel, reduces the movement abrasion of motor output shaft, reduces the vibration generated by road excitation, smooth when making to walk
Property tends to optimize.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is structural decomposition diagram of the invention.
Fig. 3 is the wheeled mobile robot using wheeled mobile robot chassis straight line suspended shock damper of the invention
The structural schematic diagram on chassis.
Specific embodiment
As shown in Figure 1, wheeled mobile robot chassis straight line suspended shock damper, including for connecting robot chassis
Suspension dampening assembly and the moving parts for being connected to suspension dampening assembly bottom, wherein：
The suspension dampening assembly includes bracket 10, motive spindle 20 and movement countershaft 30, has bullet between bracket both ends
Property, motive spindle 20 and movement countershaft 30 be arranged respectively at 10 both ends of bracket, the top of motive spindle 20 and movement countershaft 30 and
The connection of robot chassis (not shown), motive spindle 20 and bottom end and 10 top surface of the bracket holding elastic connecting for moving countershaft 30
Touching；
The moving parts include 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 bracket 10, motor 40 is fixed on 30 lower section of movement countershaft, and motor cabinet 50 is fixed on 20 lower section of motive spindle；
Motive spindle 20 is for bearing the impact that wheel 60 is generated through road excitation；
Countershaft 30 is moved for impact suffered by kicking motion main shaft 10.
As shown in Fig. 2, in preferable embodiment, the motive spindle 20 include linear bearing 21, optical axis guide rail 22,
Main spring 23, linear bearing 21 is fixed over the mount 10, and 22 top of optical axis guide rail is connect 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 is limited in sliding in linear bearing 21 and does not fall out.
As shown in Fig. 2, the movement countershaft 30 includes linear guide 32, auxiliary spring 33, directly in preferable embodiment
32 top of line guide rail is connect with robot chassis (not shown), and linear guide 32 is passed down through bracket 10, and at its end
Anti-releasing nut 34 is installed.Specifically, the through-hole 31 that an appearance linear guide 32 passes through, i.e. 22 quilt of optical axis guide rail can be set in bracket 10
It is limited in activity in through-hole 31 and does not fall out.
As shown in figure 3, being the wheel for the wheeled mobile robot chassis straight line suspended shock damper enumerated using the present invention
Formula mobile robot chassis, including chassis supporting plate 1, chassis supporting plate 1 are equipped with control circuit 2, are equipped with battery below chassis supporting plate 1
Bracket 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.
Using above-mentioned chassis in the robot, the wheel in bobbin movement component uses omni-directional wheel, four motorized wheels,
Centre distance 420mm carries out mobile test on different operating condition road surfaces, and Data Representation is：
Operating condition 1：Ideal level land (flatness≤1mm), path 4m
Stable when robot linear movement, pivot turn, 45 ° of oblique movements, 90 ° of lateral shiftings, noise is lower than 45dB,
Without obvious vibration sense.The turning of 360 ° of original place is without obvious displacement (≤1mm).
Operating condition 2：Coarse level land (roughness≤2mm), path 4m
Stable when robot linear movement, pivot turn, 45 ° of oblique movements, 90 ° of lateral shiftings, noise is lower than 55dB,
Without obvious vibration sense.The turning of 360 ° of original place is without obvious displacement (≤2mm).
Operating condition 3：5 ° of smooth slope surfaces, length of grade 4m
By directly to, 45 degree oblique, 90 degree lateral climbings, running smoothly, noise is lower than 55dB for robot, without obviously shaking
Sense.The turning of 360 ° of original place has displacement (≤30mm).
Operating condition 4：5 ° of coarse slope surfaces, length of grade 4m
By directly to, 45 degree oblique, 90 degree lateral climbings, running smoothly, noise is lower than 60dB for robot, without obviously shaking
Sense.The turning of 360 ° of original place has displacement (≤30mm), there is slight vibration sense.
Operating condition 5：10 ° of smooth slope surfaces, length of grade 4m
Robot is time-consuming beyond restriction range by directly to, 45 degree oblique, 90 degree lateral climbings, noise lower than 60dB,
Slight vibration sense.The turning of 360 ° of original place has displacement (≤60mm).
Operating condition 6：10 ° of coarse slope surfaces, length of grade 4m
Robot is time-consuming to exceed restriction range, noise range 60dB- by directly to, 45 degree oblique, 90 degree lateral climbings
70dB, slight vibration sense.The turning of 360 ° of original place has displacement (≤60mm).
Operating condition 7：6mm obstacle detouring
Robot is by directly to, oblique, lateral obstacle detouring, and without obvious blocking phenomenon when 4 wheel contact step, wheel collisionless is jumped
It jumps liftoff, noise range 60dB-70dB, body inclination when front-wheel top bar vibrates unobvious under the action of the spring.
Operating condition 8：12mm obstacle detouring
Machine can people by directly to, oblique, lateral obstacle detouring, there is blocking phenomenon in when 4 wheel contact step, and wheel collision occurs and jumps
It jumps liftoff, noise range 70dB, vibration is obviously.
And the robot on above-mentioned chassis is not used, in the above working condition measurement, 6mm height cannot complete obstacle detouring.It compares
The same machines people for installing swing arm hang, when the 360 ° of turnings in original place centrifugation apart from relatively large, vibration obviously, when 12mm obstacle detouring
Impetus need to be found repeatedly, it is longer by getting over Downtime.
For those skilled in the art, revealed structure and principle various other phases can be obtained according to the present invention
The change and deformation answered, and all these change and deformation belongs to protection category of the invention.
Claims (2)
1. wheeled mobile robot chassis straight line suspended shock damper, including the suspension damping group for connecting robot chassis
Part and the moving parts for being connected to suspension dampening assembly bottom, it is characterised in that：
The suspension dampening assembly includes bracket, motive spindle and movement countershaft, has elasticity, motive spindle between bracket both ends
Bracket both ends are arranged respectively at movement countershaft, and the top of motive spindle and movement countershaft is connect with robot chassis, is moved and is led
Axis and bottom end and the cradle top surface holding Elastic Contact for moving countershaft；
The moving parts include motor, motor cabinet and the wheel being linked in sequence, and motor, motor cabinet are connected to the bottom surface of bracket,
Motor is fixed below movement countershaft, and motor cabinet is fixed below motive spindle；
The motive spindle includes linear bearing, optical axis guide rail, main spring, and linear bearing is fixed on bracket, optical axis guide rail top
Portion is connect with robot chassis, and optical axis guide rail is passed down through main spring and is slidably matched with linear bearing, and installation is anti-at its end
De- nut, the impact generated for bearing wheel through road excitation；
The movement countershaft includes linear guide, auxiliary spring, and linear guide top is connect with robot chassis, and linear guide is downward
Across bracket, and Anti-releasing nut is installed at its end, for impact suffered by kicking motion main shaft.
2. wheeled mobile robot chassis straight line suspended shock damper as described in claim 1, it is characterised in that：The wheel
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 CN106114101A (en) | 2016-11-16 |
| CN106114101B true 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN109911055B (en) * | 2019-03-27 | 2024-05-14 | 山河智能装备股份有限公司 | Unmanned obstacle surmounting vehicle |
| CN110978926B (en) * | 2019-12-31 | 2024-02-23 | 杭州极木科技有限公司 | Multistage non-independent suspension system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6170242B1 (en) * | 1997-07-22 | 2001-01-09 | Ferris Industries, Inc. | Lawn mower having independent drive wheel suspension |
| GB2344796B (en) * | 1998-12-19 | 2002-06-26 | Rover Group | Vehicle 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 |
| DE102013008700B4 (en) * | 2013-05-22 | 2018-05-17 | 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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- 2016-07-26 CN CN201610597288.4A patent/CN106114101B/en active Active
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| CN106114101A (en) | 2016-11-16 |
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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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