CN108382146B - Combined vehicle body suspension device of all-terrain mobile robot - Google Patents
Combined vehicle body suspension device of all-terrain mobile robot Download PDFInfo
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- CN108382146B CN108382146B CN201810217620.9A CN201810217620A CN108382146B CN 108382146 B CN108382146 B CN 108382146B CN 201810217620 A CN201810217620 A CN 201810217620A CN 108382146 B CN108382146 B CN 108382146B
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- vehicle body
- damping device
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- chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- 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
- B60G11/08—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only arranged substantially transverse to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/11—Leaf spring
- B60G2202/114—Leaf spring transversally arranged
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a combined type vehicle body suspension device of an all-terrain mobile robot, which comprises a chassis, wheel driving devices arranged on the left side and the right side of the chassis, and a combined type vehicle body damping device arranged on the chassis; the combined type vehicle body damping device comprises an XZ-direction damping device module, a YZ-direction damping device module and a vehicle body mounting frame module which are sequentially connected from bottom to top; the XZ-direction damping device module comprises a fixed support frame, an XZ-direction support frame, a first damper and an XZ-direction connecting rod; the YZ-direction damping device module comprises a YZ-direction supporting frame, a third damper and a plurality of YZ-direction connecting rods; the vehicle body mounting frame module comprises a vehicle body mounting plate, a vehicle body plate connecting rod and a plate spring. The invention is convenient to mount and dismount, can effectively slow down the vibration of the vehicle body from a plurality of directions X, Y, Z, improves the stability of the movement of the robot, and inhibits the turning inertia brought to the vehicle body when the mobile robot turns.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a combined vehicle body suspension device of an all-terrain mobile robot.
Background
In wheeled all terrain mobile robot drives, the drive wheels and chassis are typically rigidly connected. When the robot walks on the outdoor complex ground, the vibration of the robot is caused by the uneven ground. The vehicle body suspension device or the wheel suspension device is adopted to slow down the robot body and slow down the vibration of the robot.
As disclosed in patent number 201610103764.2, the invention discloses an omnidirectional wheel suspension device of a ground mobile robot, which comprises a driving mechanism, a transmission shaft, an omnidirectional wheel, a suspension matrix and two suspension rocker arms which are equal in connection length and are arranged in parallel, wherein both ends of the suspension rocker arms are connected with the suspension matrix and the driving mechanism in a hinged connection mode; an elastic supporting component is arranged between the chassis main body and one hinge point of the driving mechanism. The elastic supporting component in the suspension device can only realize the shock absorption in a single direction, has obvious shock absorption effect and cannot use complex terrains.
As disclosed in chinese patent No. 201610021805.3, a wheeled mobile robot suspension device includes: the chassis, it is used for passing the first through-hole of wheel to open in the middle part of the chassis, first through-hole front end fixedly is provided with the spring guide arm fixing base on the chassis, first through-hole rear end fixedly is provided with the supporting seat on the chassis. When the suspension device is used for damping, the spring and the guide rod are matched for use, so that the suspension device can only play a role in weakening acting force in the vertical direction, and has poor damping effect and single damping mode.
In summary, it can be seen that the vehicle body suspension device or the wheel damper device cannot effectively slow down the vehicle body vibration from the X, Y, Z direction at the same time due to the robot body being mounted on the frame, and cannot effectively suppress turning inertia caused to the vehicle body when the mobile robot turns. At present, there is an urgent need for a vehicle body suspension device capable of achieving shock absorption of a mobile robot from multiple directions.
Disclosure of Invention
In order to avoid and solve the technical problems, the invention provides a combined vehicle body suspension device of an all-terrain mobile robot.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
a combined type vehicle body suspension device of an all-terrain mobile robot comprises a chassis, wheel driving devices arranged on the left side and the right side of the chassis, and a combined type vehicle body damping device arranged on the chassis.
As a further improvement of the invention, the chassis comprises two symmetrically distributed L-shaped wheel fixing plates, two cross beams which are respectively connected with the L-shaped wheel fixing plates and form a rectangular frame, and a bottom plate arranged in the rectangular frame. Two L-shaped wheel fixing plates are distributed on the left side and the right side, two ends of any beam are respectively connected with the two L-shaped wheel fixing plates, and the combined type vehicle body damping device is placed in the formed rectangular frame.
As a further improvement of the present invention, the wheel driving device is four and is installed at four positions of the left front, the left rear, the right front and the right rear of the chassis, and the wheel driving device comprises a servo motor installed at the inner side of the L-shaped wheel fixing plate and wheels connected with the servo motor.
Four wheel driving devices are arranged on the two L-shaped wheel fixing plates through positioning holes and bolts.
As a further improvement of the invention, the combined type vehicle body damping device comprises an XZ-direction damping device module, a YZ-direction damping device module and a vehicle body installation frame module which are sequentially connected from bottom to top.
As a further improvement of the invention, the XZ-direction damping device module comprises two symmetrically distributed fixed support frames, two XZ-direction support frames positioned between the two fixed support frames, a first damper and a plurality of XZ-direction connecting rods, wherein two ends of the first damper are respectively hinged to the fixed support frames and the XZ-direction support frames, and two second dampers, two ends of each second damper are respectively hinged to the three-point positions on the adjacent XZ-direction support frames.
As a further improvement of the invention, the number of the first shock absorbers on the fixed supporting frame is two, and the first shock absorbers are connected at the three points of the fixed supporting frame and the XZ direction support.
As a further improvement of the invention, the XZ-direction connecting rods are arranged at the front end and the rear end of the fixed support frame and the XZ-direction support frame, and the XZ-direction connecting rods at any end are vertically distributed and obliquely upwards arranged.
As a further improvement of the invention, the YZ-direction damping device module comprises two YZ-direction supporting frames, a third damper with two ends respectively hinged on the YZ-direction supporting frames and the XZ-direction supporting frames and a plurality of YZ-direction connecting rods.
As a further improvement of the invention, the third shock absorber is connected at the midpoint of the YZ-direction support frame and the XZ-direction support frame.
As a further improvement of the invention, the YZ-direction connecting rods are arranged on the same side of the YZ-direction supporting frame and the same side of the XZ-direction supporting frame, and the YZ-direction connecting rods on the same side are two which are distributed front and back and are obliquely arranged above and front.
As a further improvement of the invention, the vehicle body mounting frame module comprises a vehicle body mounting plate, a vehicle body plate connecting rod and a fourth shock absorber which are symmetrically distributed on the vehicle body mounting plate in a left-right mode and are respectively hinged to the vehicle body mounting plate and the YZ-direction supporting frame at two ends, and a plate spring of which the two ends are respectively hinged to the left-side vehicle body plate connecting rod and the right-side vehicle body plate connecting rod.
As a further improvement of the invention, the vehicle body panel connecting rods are arranged in two groups which are distributed back and forth, and each group is two.
The beneficial effects of the invention are as follows:
the invention has reasonable structural design and simple operation, adopts the modularized combined type vehicle body damping device, is convenient to mount and dismount, enables the all-terrain mobile robot to be suitable for walking in indoor and outdoor environments, can effectively slow down vehicle body vibration from a plurality of directions X, Y, Z through the XZ-direction damping device module and the YZ-direction damping device module, improves the stability of robot movement, and can effectively inhibit turning inertia brought to the vehicle body when the mobile robot turns.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a combined body damping device according to the present invention;
FIG. 3 is a front view of the combined body damping device of the present invention;
FIG. 4 is a right side view of the combined body vibration damping device of the present invention;
fig. 5 is a plan view of the combined type vehicle body vibration damping device according to the present invention.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 5, an all-terrain mobile robot combined type vehicle body suspension device comprises a chassis 1, wheel driving devices 2 arranged on the left side and the right side of the chassis 1, and a combined type vehicle body damping device 3 arranged on the chassis 1.
The chassis 1 comprises two symmetrically distributed L-shaped wheel fixing plates 11, two cross beams 12 which are respectively connected with the L-shaped wheel fixing plates 11 and form a rectangular frame, and a bottom plate 13 arranged in the rectangular frame. When in use, the two L-shaped wheel fixing plates are distributed on the left side and the right side, two ends of any beam 12 are respectively connected with the two L-shaped wheel fixing plates 11, and the combined type vehicle body damping device 3 is placed in the formed rectangular frame.
The four wheel driving devices 2 are arranged at four positions of the left front, the left rear, the right front and the right rear of the chassis 1, and the wheel driving device 2 comprises a servo motor 21 arranged on the inner side of the L-shaped wheel fixing plate 11 and wheels 22 connected with the servo motor 21. In use, the servo motor 21 is started to provide rotational speed to the wheels 22, and the off-road capability of the whole vehicle body suspension device is improved in a four-wheel drive mode.
Four wheel driving apparatuses 2 are mounted on two L-shaped wheel securing plates 11 through positioning holes and bolts.
The combined type vehicle body damping device 3 comprises an XZ-direction damping device module 31, a YZ-direction damping device module 32 and a vehicle body mounting frame module 33 which are sequentially connected from bottom to top.
The XZ-direction damping device module 31 includes two symmetrically distributed fixed support frames 311, two XZ-direction support frames 312 between the two fixed support frames 311, a first damper 313 with two ends respectively hinged to the fixed support frames 311 and the XZ-direction support frames 312, a plurality of XZ-direction connecting rods 314, and two second dampers 315 with two ends respectively hinged to the adjacent three-division points of the XZ-direction support frames 312. The XZ-direction supporting frame 312 is located above the fixed supporting frame 311 and is parallel to the fixed supporting frame 311. In use, the second shock absorber 315 can absorb forces between the XZ support brackets 312.
The number of the first shock absorbers 313 on the fixed support frame 311 is two, and the first shock absorbers are connected at the three points of the fixed support frame 311 and the XZ direction support 312. In use, the first damper 313 is placed in three parts, so that the XZ-direction support 312 can fully absorb vibration.
The XZ-direction connecting rods 314 are installed at the front end and the rear end of the fixed supporting frame 311 and the XZ-direction supporting frame 312, and the XZ-direction connecting rods 314 at any end are two arranged obliquely upwards and distributed vertically. In use, the XZ-direction connecting rod 314 is combined with the first damper 313, so that the ground force applied to the robot in the XZ direction can be reduced.
The YZ-direction damping device module 32 comprises two YZ-direction supporting frames 321, a third damper 322 with two ends respectively hinged on the YZ-direction supporting frames 321 and the XZ-direction supporting frames 312, and a plurality of YZ-direction connecting rods 323.
The third damper 322 is connected to the middle points of the YZ support 321 and the XZ support 312.
The YZ-direction connecting rod 323 is installed on the same side of the YZ-direction supporting frame 321 and the XZ-direction supporting frame 312, and the YZ-direction connecting rod 323 on the same side is two which are distributed front and back and are obliquely arranged above and front. When in use, the YZ-direction connecting rod 323 is combined with the third shock absorber 322, so that acting force of the robot in the YZ direction can be reduced.
The body mounting frame module 33 comprises a body mounting plate 331, a body plate connecting rod 332 and a fourth shock absorber 334 which are symmetrically distributed on the body mounting plate 331 and the two ends of which are respectively hinged on the body mounting plate 331 and the YZ supporting frame 321, and a plate spring 333 of which the two ends are respectively hinged on the left side and the right side of the body plate connecting rod 332. In use, the leaf spring 333 and the body panel connecting rod 332 cooperate to eliminate the urging force between the body mounting plate 331 and the chassis 1.
The body panel connecting rods 332 are arranged in two groups which are distributed back and forth, and each group is two.
The working principle of the invention is further described below:
when the robot works under the action of the wheel driving device 2, when the fluctuation of the ground is large and the condition is complex, the acting force from the ground is transmitted to the fixed support frame 311 through the chassis 1, and the direction of the acting force is changeable, the relative positions of the fixed support frame 311 and the XZ support frame 312 are changed through the first shock absorber 313 and the XZ connecting rod 314, and the acting force of the ground along the XZ direction is reduced; the acting force between the adjacent XZ direction support frames 312 can be further reduced through the action of the second shock absorber 315; the relative positions of the YZ support frame 321 and the XZ support frame 312 are changed through the third shock absorber 322 and the YZ connecting rod 323, and the ground acting force along the YZ direction is reduced; the ground force after the attenuation is further attenuated when passing through the plate spring 333 and the plate connecting rod 332, and the damping effect is realized in a multi-layer attenuation mode, so that the whole vehicle body suspension device is ensured to have high strength and matched deflection.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides an all-terrain mobile robot combination formula automobile body linkage which characterized in that: comprises a chassis (1), wheel driving devices (2) arranged on the left side and the right side of the chassis (1), and a combined vehicle body damping device (3) arranged on the chassis (1);
the combined type vehicle body damping device (3) comprises an XZ-direction damping device module (31), a YZ-direction damping device module (32) and a vehicle body mounting frame module (33) which are sequentially connected from bottom to top;
the XZ-direction damping device module (31) comprises two symmetrically distributed fixed support frames (311), two XZ-direction support frames (312) positioned between the two fixed support frames (311), a first damper (313) and a plurality of XZ-direction connecting rods (314) with two ends respectively hinged to the fixed support frames (311) and the XZ-direction support frames (312), and two second dampers (315) with two ends respectively hinged to the three-point positions of the adjacent XZ-direction support frames (312);
the two first shock absorbers (313) on the fixed support frame (311) are connected at the trisection points of the fixed support frame (311) and the XZ-direction support frame (312);
the YZ-direction damping device module (32) comprises two YZ-direction supporting frames (321), a third damper (322) with two ends respectively hinged on the YZ-direction supporting frames (321) and the XZ-direction supporting frames (312) and a plurality of YZ-direction connecting rods (323); the automobile body mounting frame module (33) comprises an automobile body mounting plate (331), automobile body plate connecting rods (332) and fourth shock absorbers (334) which are symmetrically distributed on the automobile body mounting plate (331) left and right and two ends of which are respectively hinged on the automobile body mounting plate (331) and the YZ supporting frame (321), and leaf springs (333) of which two ends are respectively hinged on the left and right automobile body plate connecting rods (332).
2. An all-terrain mobile robotic combined body suspension device as defined by claim 1, wherein: the XZ-direction connecting rods (314) are arranged at the front end and the rear end of the fixed supporting frame (311) and the XZ-direction supporting frame (312), and the XZ-direction connecting rods (314) at any end are vertically distributed and obliquely upwards arranged.
3. An all-terrain mobile robotic combined body suspension device as defined by claim 1, wherein: the third shock absorber (322) is connected to the midpoint of the YZ-direction supporting frame (321) and the XZ-direction supporting frame (312).
4. An all-terrain mobile robotic combined body suspension device as defined by claim 1, wherein: the YZ-direction connecting rods (323) on the same YZ-direction supporting frame (321) are two which are distributed front and back and are obliquely arranged above and front.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810217620.9A CN108382146B (en) | 2018-03-16 | 2018-03-16 | Combined vehicle body suspension device of all-terrain mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810217620.9A CN108382146B (en) | 2018-03-16 | 2018-03-16 | Combined vehicle body suspension device of all-terrain mobile robot |
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| CN108382146A CN108382146A (en) | 2018-08-10 |
| CN108382146B true CN108382146B (en) | 2023-06-16 |
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| CN110588265A (en) * | 2019-08-15 | 2019-12-20 | 大连理工江苏研究院有限公司 | Omnidirectional mobile robot chassis with suspension device |
| CN110605947B (en) * | 2019-09-23 | 2024-03-12 | 安徽工程大学 | All-terrain independent suspension mobile robot for farm based on ROS scheduling system |
| CN111891017B (en) * | 2020-07-29 | 2022-10-21 | 同济大学 | Shock-proof type welding type following transfer robot system |
| CN112373260B (en) * | 2020-11-26 | 2022-04-26 | 广东博智林机器人有限公司 | Damping chassis system and mobile device |
| CN114715309A (en) * | 2022-05-07 | 2022-07-08 | 常州工学院 | Heavy load AGV differential drive module that area hung |
| CN115320304B (en) * | 2022-08-11 | 2024-05-24 | 辽宁工程技术大学 | Hybrid multi-point-position automobile damping suspension device |
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