CN106114103A - A kind of multi link suspension for wheeled mobile robot - Google Patents
A kind of multi link suspension for wheeled mobile robot Download PDFInfo
- Publication number
- CN106114103A CN106114103A CN201610571236.XA CN201610571236A CN106114103A CN 106114103 A CN106114103 A CN 106114103A CN 201610571236 A CN201610571236 A CN 201610571236A CN 106114103 A CN106114103 A CN 106114103A
- Authority
- CN
- China
- Prior art keywords
- hole
- driving wheel
- mobile robot
- reductor
- wheeled mobile
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
Abstract
The invention discloses a kind of multi link suspension for wheeled mobile robot, including two driving wheels (4) being positioned at front end, the inner side of driving wheel described in two (4) is provided with the reductor support (5) of riser type, described reductor support (5) is provided centrally with for through the output shaft of reductor (3) and first through hole coaxial with described driving wheel (4), and described in two, reductor support (5) is connected with parallelogram connection-rod swing mechanism respectively.A kind of multi link suspension for wheeled mobile robot that the present invention provides, ensure that driving wheel lands all the time, the ground improving robot chassis adapts to ability, prevent driving wheel from being maked somebody a mere figurehead by driven pulley, driving wheel idle running or the phenomenon skidded occur, affect robot motion's performance, and reduce driving wheel abrasion, improve its kinetic stability and reliability.
Description
Technical field
The present invention relates to a kind of multi link suspension for wheeled mobile robot, belong to wheeled mobile robot skill
Art field.
Background technology
Wheeled mobile robot is because of simple in construction, and the advantages such as motion is flexible, easy to control are widely used in food delivery, lead
Purchasing, accompany and attend to, the field such as security, the mechanical performance of robot is also had higher requirement by the requirement of trackless simultaneously.Existing
Wheeled mobile robot on driving use drivewheel two-wheel differentials to drive more, driven pulley auxiliary supports, in order to prevent recessed
During the ground motion of convex injustice, driving wheel is maked somebody a mere figurehead by driven pulley, affects the properly functioning of robot, generally uses single pendulum arm-type outstanding
Hang, also make single swing arm type hang, this simple in construction, easy to use, but this structure is in swing process, and wheel can lateral tilting
Tiltedly, and take turns spacing change relatively greatly, the abrasion of driving wheel can be aggravated, affect robot motion's performance, it is impossible to meet wheel type mobile
The use requirement of robot trackless.
Summary of the invention
The technical problem to be solved is to provide one and ensure that driving wheel lands all the time, improves robot
The ground on chassis adapts to ability, prevents driving wheel from being maked somebody a mere figurehead by driven pulley, driving wheel idle running or the phenomenon skidded occurs, affects machine
Human kinetic energy, and reduce driving wheel abrasion, improve its kinetic stability and reliability for wheeled mobile robot
Multi link suspension.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of multi link suspension for wheeled mobile robot, including being positioned at two driving wheels of front end, drives described in two
The inner side of wheel is provided with the reductor support of riser type, and it is defeated that described reductor carriage center is provided with for through reductor
Shaft and first through hole coaxial with described driving wheel, reductor support described in two respectively with parallelogram connection-rod swing mechanism
Connect；Described parallelogram connection-rod swing mechanism includes being arranged at the most vertically stretching out of the corner of described reductor support
Flange, described flange is provided with the second through hole that the axis of axis and described driving wheel is perpendicular, subtracts described in two
The inner side of speed machine support is provided with suspension fixed support, and described suspension fixed support stands to symmetrically arranged before and after including two
Bar, described vertical rod is distributed two lugs, before and after described lug includes two with upward and downward on the opposite face of described reductor support
Third through-hole, the axis of described third through-hole and described driving wheel it is provided with on symmetrical thin plate, described thin plate
Axis is perpendicular, homonymy and identical level height movable between described second through hole and third through-hole is connected with connecting rod,
Described second through hole in lower end of homonymy and between the described third through-hole of upper end the movable spring guide that is connected with, institute
State and outside spring guide, be cased with spring.
Described output shaft is connected by keying surely with described driving wheel after described first through hole；Described reductor and electricity
Machine is connected.
It is provided with graphite bushing in described second through hole.
Upper long pin be placed through from inside to outside upper end two described in graphite bushing and be positioned at upper end two described in connecting rod
Outer stomidium.
Upper long pin fix connect be positioned at upper end two described in graphite bushing and be positioned at upper end two described in the outer end of connecting rod
Hole.
Lower long pin from outside to inside through stomidium under spring guide described in two, be positioned at lower end two described in the outer stomidium of connecting rod
Be positioned at lower end two described in graphite bushing.
Lower long pin fix connect stomidium under spring guide described in two, be positioned at lower end two described in the outer stomidium of connecting rod and position
In lower end two described in graphite bushing.
The interior stomidium of described connecting rod it is provided with between described lug；The number of upper dump bolt be 2 and respectively be positioned at
That hold and with its homonymy described third through-hole is connected, and described upper dump bolt is provided with for the top through described spring guide
Holding and make the oblique hole that spring guide moves along the diagonal of parallelogram, described upper dump bolt is led through described spring
The oblique hole of bar, being positioned at the described third through-hole of upper end and be positioned at the stomidium of described connecting rod of upper end, described oblique hole is arranged
In being positioned at outside the described third through-hole of upper end.
The number of lower dump bolt is 2 and is connected with that be positioned at lower end and with its homonymy described third through-hole respectively；Institute
Limited by split pin after stating the stomidium of the described third through-hole that lower dump bolt is placed through lower end and the described connecting rod being positioned at lower end
Position.
The top of described spring guide is provided with caging bolt.
Driving wheel described in two between be provided with chassis, the top of described vertical rod passes behind described chassis fixing；The described end
The rear end lower surface of dish is provided with driven pulley.
Described reductor includes planet-gear speed reducer；Described motor includes brushless DC servomotor；Described driving wheel
Including rubber wheel.
When driving wheel moves to concave part, ground, under the effect of spring pressure, driving wheel moves downward, it is ensured that drive
Driving wheel lands all the time, to provide enough driving force.
When driving wheel moves to epirelief position, ground, spring is compressed, and driving wheel moves upward, thus buffers faced by ground
The impact of robot.
Meanwhile, because using parallelogram connection-rod swing mechanism, driving wheel is vertical all the time when moving up and down, and will not occur
The phenomenon that driving wheel tilts, reduces driving wheel abrasion, improves the robot life-span, and motion stabilization is reliable.
Compared with prior art, the invention has the beneficial effects as follows: the present invention is when ground injustice, and parallelogram connection-rod is put
Motivation structure can swing around hanging fixed support, compression spring simultaneously, and driving wheel assembly swings up and down, by adjusting wheel tracks
Height overhead, be always ensured that wheel lands, it is to avoid driving wheel idle running or the phenomenon skidded, it is also possible to absorb rushing of road surface
Hit energy, effectively reduce the vibration of wheeled mobile robot, utilize the character of parallelogram simultaneously, it is ensured that driving wheel is all the time only
Can vertically move up and down, the phenomenon that will not tilt, thus reduce driving wheel abrasion, improve the reliable of walking movement
Property and stability.
Figure of description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of linkage swing mechanism in the present invention；
Fig. 3 is the structural representation of reductor support in the present invention；
Fig. 4 is the axonometric chart of Fig. 3.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
As shown in Fig. 1 ~ Fig. 4, a kind of multi link suspension for wheeled mobile robot, including hanging fixed support
1, driving wheel assembly and two symmetrical parallelogram connection-rod swing mechanisms, driving wheel assembly passes through reductor support 5
It is connected with parallelogram connection-rod swing mechanism, can swing up and down along with linkage swing mechanism.Reductor support 5 connecting rod 6
Hang fixed support 1 connecting rod 6, form parallel-crank mechanism, parallelogram connection-rod swing mechanism swing time, diagonal
Distance changes, thus compression spring 7 realizes driving wheel 4 and lands all the time and the purpose of damping.Further, according to parallel four limits
The character of shape understands, and driving wheel 4 is when swinging up and down along with linkage swing mechanism, the most vertically, will not tilt
Phenomenon, thus reduce driving wheel 4 and wear and tear, improve stability and the reliability of chassis 16 motion.
Driving wheel assembly includes that the reductor 3(driving wheel 4 that driving wheel 4 is connected with described driving wheel 4 is connected surely by keying
Being connected on the output shaft of reductor 3, reductor 3 rotates and drives driving wheel 4 to rotate) and the motor that is connected with described reductor 3
2, described reductor 3 is fixedly connected on reductor support 5 by ring flange.
Driving wheel assembly is rotatably installed on parallelogram connection-rod swing mechanism by described reductor support 5, has
Connected mode is as follows:
Above: upper long pin 10, the hole on one end of the connecting rod 6 of driving wheel assembly, through graphite bushing 13, pass
Reductor support 5 hole above, through graphite bushing 13, the hole on connecting rod 6 one end of the another side being then passed through driving wheel assembly；
Following: lower long pin 9, the hole on the spring guide 8 of driving wheel assembly, the hole on one end of connecting rod 6, pass
Graphite bushing 13, through reductor support 5 hole under, through graphite bushing 13, is then passed through the hole on connecting rod 6 one end, then wears
Overdrive wheel assembly another side spring guide 8 on hole；
The other end of connecting rod 6 above, by upper dump bolt 11, is rotatably connected on the hole hanging above fixed support 1, simultaneously
Spring guide 8, through spring 7, the hole on upper dump bolt 11, can slide in the hole on upper dump bolt 11, and by spacing spiral shell
Bolt 15 is spacing；
The other end of connecting rod 6 below, by lower dump bolt 12, is rotatably connected and is hanging in fixed support 1 hole under.And lead to
Cross split pin 14 spacing.
Described parallelogram connection-rod swing mechanism include being arranged at the corner of described reductor support 5 all vertically outwards
The flange extended, described flange is provided with the second through hole that axis is perpendicular with the axis of described driving wheel 4, two institutes
The inner side stating reductor support 5 is provided with suspension fixed support 1, and described suspension fixed support 1 sets to symmetry before and after including two
The vertical rod put, described vertical rod is distributed two lugs with upward and downward on the opposite face of described reductor support 5, and described lug includes
Being provided with third through-hole on symmetrical thin plate, described thin plate before and after two, the axis of described third through-hole is driven with described
The axis of driving wheel 4 is perpendicular, homonymy and identical level height movable company between described second through hole and third through-hole
There is connecting rod 6, described second through hole in lower end of homonymy and movable between the described third through-hole of upper end be connected with bullet
Spring guide rod 8, described spring guide 8 is outside is cased with spring 7.
It is provided with graphite bushing 13 in described second through hole.
Upper long pin 10 be placed through from inside to outside upper end two described in graphite bushing 13 and be positioned at upper end two described in connect
The outer stomidium of bar 6.
Lower long pin 9 from outside to inside through 8 times stomidiums of spring guide described in two, be positioned at lower end two described in outside connecting rod 6
Stomidium and be positioned at lower end two described in graphite bushing 13.
The interior stomidium of described connecting rod 6 it is provided with between described lug；The number of upper dump bolt 11 be 2 and respectively be positioned at
Upper end and described third through-hole with its homonymy be connected, described upper dump bolt 11 is provided with for through described spring guide
The top of 8 also makes the oblique hole that spring guide 8 moves along the diagonal of parallelogram, and described upper dump bolt 11 is through institute
The oblique hole stating spring guide 8, the described third through-hole being positioned at upper end and be positioned at the stomidium of described connecting rod 6 of upper end, described
Oblique hole is arranged at and is positioned at outside the described third through-hole of upper end.
The number of lower dump bolt 12 is 2 and is connected with that be positioned at lower end and with its homonymy described third through-hole respectively；
By opening after the stomidium of the described third through-hole that described lower dump bolt 12 is placed through lower end and the described connecting rod 6 that is positioned at lower end
Pin 14 is spacing.
The top of described spring guide 8 is provided with caging bolt 15.
Driving wheel 4 described in two between be provided with chassis 16, the top of described vertical rod passes behind described chassis 16 fixing；Institute
The rear end lower surface stating chassis 16 is provided with driven pulley 17.
Described reductor 3 includes planet-gear speed reducer；Described motor 2 includes brushless DC servomotor；Described driving
Wheel 4 includes rubber wheel.
The 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 Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. the multi link suspension for wheeled mobile robot, it is characterised in that include two drivings being positioned at front end
Wheel (4), the inner side of driving wheel described in two (4) is provided with the reductor support (5) of riser type, in described reductor support (5)
The heart is provided with for through the output shaft of reductor (3) and first through hole coaxial with described driving wheel (4), reductor described in two
Support (5) is connected with parallelogram connection-rod swing mechanism respectively；Described parallelogram connection-rod swing mechanism includes being arranged at
The most vertically outward extending flange of the corner of described reductor support (5), described flange is provided with axis with described
The second through hole that the axis of driving wheel (4) is perpendicular, the inner side of reductor support (5) described in two is provided with fixing of suspension
Frame (1), described suspension fixed support (1) includes two front and back to symmetrically arranged vertical rod, described vertical rod and described reductor support
(5) on opposite face, upward and downward is distributed two lugs, and described lug includes two front and back to symmetrical thin plate, described thin plate
On be provided with third through-hole, the axis of described third through-hole is perpendicular with the axis of described driving wheel (4), homonymy and phase
Movable between described second through hole and the third through-hole of same level height be connected with connecting rod (6), homonymy be positioned at the described of lower end
Second through hole and between the described third through-hole of upper end the movable spring guide (8) that is connected with, described spring guide (8) is outside
It is cased with spring (7).
A kind of multi link suspension for wheeled mobile robot the most according to claim 1, it is characterised in that: institute
State output shaft to be surely connected by keying with described driving wheel (4) after described first through hole；Described reductor (3) and motor
(2) it is connected.
A kind of multi link suspension for wheeled mobile robot the most according to claim 1, it is characterised in that: institute
Graphite bushing (13) it is provided with in stating the second through hole.
A kind of multi link suspension for wheeled mobile robot the most according to claim 3, it is characterised in that on:
Long pin (10) be placed through from inside to outside upper end two described in graphite bushing (13) and be positioned at upper end two described in connecting rod (6)
Outer stomidium.
A kind of multi link suspension for wheeled mobile robot the most according to claim 3, it is characterised in that under:
Long pin (9) from outside to inside through stomidium under spring guide (8) described in two, be positioned at lower end two described in the outer stomidium of connecting rod (6)
Be positioned at lower end two described in graphite bushing (13).
A kind of multi link suspension for wheeled mobile robot the most according to claim 1, it is characterised in that: institute
State the interior stomidium being provided with described connecting rod (6) between lug；The number of upper dump bolt (11) be 2 and respectively be positioned at upper end
And be connected with the described third through-hole of its homonymy, described upper dump bolt (11) is provided with for through described spring guide (8)
Top and make the oblique hole that spring guide (8) moves along the diagonal of parallelogram, described upper dump bolt (11) is worn
The oblique hole crossing described spring guide (8), the described third through-hole being positioned at upper end and be positioned at the inner of described connecting rod (6) of upper end
Hole, described oblique hole is arranged at and is positioned at outside the described third through-hole of upper end.
A kind of multi link suspension for wheeled mobile robot the most according to claim 1, it is characterised in that under:
The number of dump bolt (12) is 2 and is connected with that be positioned at lower end and with its homonymy described third through-hole respectively；Under described short
By split pin after the stomidium of the described third through-hole that pin (12) is placed through lower end and the described connecting rod (6) that is positioned at lower end
(14) spacing.
A kind of multi link suspension for wheeled mobile robot the most according to claim 1, it is characterised in that: institute
The top stating spring guide (8) is provided with caging bolt (15).
A kind of multi link suspension for wheeled mobile robot the most according to claim 1, it is characterised in that: two
Described driving wheel (4) between be provided with chassis (16), the top of described vertical rod passes described chassis (16) and fixes afterwards；The described end
The rear end lower surface of dish (16) is provided with driven pulley (17).
A kind of multi link suspension for wheeled mobile robot the most according to claim 2, it is characterised in that:
Described reductor (3) includes planet-gear speed reducer；Described motor (2) includes brushless DC servomotor；Described driving wheel (4)
Including rubber wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571236.XA CN106114103A (en) | 2016-07-20 | 2016-07-20 | A kind of multi link suspension for wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571236.XA CN106114103A (en) | 2016-07-20 | 2016-07-20 | A kind of multi link suspension for wheeled mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106114103A true CN106114103A (en) | 2016-11-16 |
Family
ID=57289065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610571236.XA Pending CN106114103A (en) | 2016-07-20 | 2016-07-20 | A kind of multi link suspension for wheeled mobile robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108544898A (en) * | 2018-06-07 | 2018-09-18 | 斯坦德机器人（深圳）有限公司 | A kind of suspension mechanism of mobile robot |
| CN108860362A (en) * | 2018-07-26 | 2018-11-23 | 天津中德应用技术大学 | A kind of Omnibearing wheel type mobile robot chassis |
| CN108891330A (en) * | 2018-07-04 | 2018-11-27 | 宁波余通电器有限公司 | A kind of plug-type car refrigerator |
| CN109305012A (en) * | 2018-09-21 | 2019-02-05 | 共享智能铸造产业创新中心有限公司 | Heavily loaded automatic navigation vehicle hangs driving wheel |
| CN109551498A (en) * | 2019-01-15 | 2019-04-02 | 北京史河科技有限公司 | A kind of crusing robot and its chassis |
| CN110065507A (en) * | 2019-05-13 | 2019-07-30 | 杭州傲拓迈科技有限公司 | Minisize track vehicle |
| CN110177737A (en) * | 2016-12-07 | 2019-08-27 | 比亚乔公司 | For the suspension assembly of motor vehicles, for the wheel set of motor vehicles, the front end of motor vehicles and its motor vehicles |
| CN110595265A (en) * | 2019-08-05 | 2019-12-20 | 南京理工大学 | Shock absorption and buffering mechanism for quadrilateral connecting rod firearms |
| CN113147296A (en) * | 2021-04-20 | 2021-07-23 | 上海高仙自动化科技发展有限公司 | Double-fork-arm suspension mechanism and cleaning robot |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110177737A (en) * | 2016-12-07 | 2019-08-27 | 比亚乔公司 | For the suspension assembly of motor vehicles, for the wheel set of motor vehicles, the front end of motor vehicles and its motor vehicles |
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| CN109551498A (en) * | 2019-01-15 | 2019-04-02 | 北京史河科技有限公司 | A kind of crusing robot and its chassis |
| CN110065507A (en) * | 2019-05-13 | 2019-07-30 | 杭州傲拓迈科技有限公司 | Minisize track vehicle |
| CN110595265A (en) * | 2019-08-05 | 2019-12-20 | 南京理工大学 | Shock absorption and buffering mechanism for quadrilateral connecting rod firearms |
| CN113147296A (en) * | 2021-04-20 | 2021-07-23 | 上海高仙自动化科技发展有限公司 | Double-fork-arm suspension mechanism and cleaning robot |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| CN113197515B (en) * | 2021-04-20 | 2023-02-24 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161116 |
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| RJ01 | Rejection of invention patent application after publication |