CN108394487A - Has the safety protection robot of shock-absorbing function - Google Patents
Has the safety protection robot of shock-absorbing function Download PDFInfo
- Publication number
- CN108394487A CN108394487A CN201810049319.1A CN201810049319A CN108394487A CN 108394487 A CN108394487 A CN 108394487A CN 201810049319 A CN201810049319 A CN 201810049319A CN 108394487 A CN108394487 A CN 108394487A
- Authority
- CN
- China
- Prior art keywords
- wheel
- shock
- safety protection
- absorbing function
- group
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- 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
- 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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- 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
- B60G2800/162—Reducing road induced vibrations
-
- 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
- B60G2800/20—Stationary vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A kind of safety protection robot of tool shock-absorbing function, its each wheel is suspended on by the swing type hanger bracket group being made of hinged parallelogram on sole, again shock-damping structure straight up is equipped at the middle part of hanger bracket group, wheel encounters the ground of protrusion when walking in this way, wheel can be to be located on rear connecting plate, that two articulated shafts at lower both ends are that the fulcrum swung generates the trend up swung, at this moment by the effect of shock-damping structure, vibrations when encountering uneven ground can be greatly reduced, to improve stationarity when robot patrol, therefore the more reasonable structure of the present invention, production cost is lower, and walking is more stable.
Description
Technical field
The present invention relates to a kind of safety protection robots.
Background technology
Currently, it is used for the wheel structure of safety protection robot, mainly there is the following two kinds：
It is respectively independent that one is four wheels, and drives a wheel to realize using a motor, the power ratio of this structure
Relatively sufficient, steering angle very little can simultaneously spin in situ, but of high cost and homonymy wheel can have nonsynchronous disadvantage；Moreover,
Wheel is difficult to shock-absorbing, causes robot to shake when walking bigger；
Another kind is the structure with the driving of bridge band, front-wheel steer using trailing wheel, as our the common automobile chassis methods of operation,
This structure is more complicated and is difficult to shock-absorbing；And be unable to original place and spin, turning when turning radius it is big, then compared with
Narrow place turns to difficulty, and the patrol range of safety protection robot is caused to be subject to certain restrictions.
In summary it can be seen, when current safety protection robot walking shake it is bigger, less steady and of high cost, for this purpose, this
Applicant has developed a kind of safety protection robots of each wheel subband independent suspension.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of more reasonable structure, cost is lower has
Respectively take turns the safety protection robot of independent shock-absorbing function.
In order to solve above-mentioned technical problem, the present invention uses following technical proposals：
A kind of safety protection robot of tool shock-absorbing function, including sole, four wheels and driving device, the wheel pass through suspension
Frame group is mounted on sole, and the hanger bracket group uses the swinging structure being made of hinged parallelogram comprising four
Suspension arm, the forward and backward connecting plate that parallelogram is arranged into after this four suspension arms are separated and four respectively will be right
The articulated shaft for answering suspension arm and connecting plate on position to be hinged together；The wheel shaft of the wheel is mounted in the preceding connecting plate；Institute
Rear connecting plate is stated to be fixedly installed on the sole；It is equipped with shock-damping structure at the middle part of the hanger bracket group.
In the improvement project to the safety protection robot of above-mentioned tool shock-absorbing function, the shock-damping structure includes shock absorber, with
And one end is respectively hinged at the upper and lower fixed seat of shock absorber upper and lower end, the lower fixed seat lower end is mounted on opposite two and hangs
Between hanger；Fixed seat upper end is fixed on the sole.
It, will be left front in the four wheels in the improvement project to the safety protection robot of above-mentioned tool shock-absorbing function
Wheel and left rear wheel form revolver group, and off-front wheel and off hind wheel are formed right wheel group, driving device is divided into and respectively drives left and right wheel
The left and right driving device that group moves forward or back；The left and right driving device includes driving motor, mounted in the driving motor
Drive sprocket on motor shaft, the driven sprocket being attached separately on the front and rear wheel wheel shaft of same wheel group, and it is wound on same wheel group
Drive sprocket 32 and driven sprocket on driving chain.
In the improvement project to the safety protection robot of above-mentioned tool shock-absorbing function, divide on the left and right side of the sole
It She You not be used for the hold-down mechanism of the driving chain tensioning of left and right driving device.
In the improvement project to the safety protection robot of above-mentioned tool shock-absorbing function, the hold-down mechanism uses contact roller.
In the improvement project to the safety protection robot of above-mentioned tool shock-absorbing function, the hold-down mechanism is by contact roller and incites somebody to action
Make the tensioning impeller composition that contact roller is pressed on always on the driving chain.
Compared with prior art, beneficial effects of the present invention：Since each wheel passes through by hinged parallelogram structure
At swing type hanger bracket group be suspended on sole, then be equipped with shock-damping structure straight up at the middle part of hanger bracket group,
Wheel encounters the ground of protrusion when walking in this way, and wheel can be with that two articulated shafts positioned at rear connecting plate upper/lower terminal
The fulcrum of swing generates the trend up swung, at this moment by the effect of shock-damping structure, so that it may encounter bumps not to greatly reduce
Vibrations when plane earth, to improve stationarity when robot patrol, therefore the more reasonable structure of the present invention, production cost
It is lower, and it is more stable to walk.
The present invention is described in further detail with specific implementation mode below in conjunction with the accompanying drawings：
【Description of the drawings】
Fig. 1 is the stereoscopic schematic diagram of the embodiment of the present invention；
Fig. 2 is the wheel portion stereoscopic schematic diagram of the present invention；
Fig. 3 is the section components decomposition diagram one of Fig. 2；
Fig. 4 is the assembling schematic diagram of the hanger bracket group and wheel of the present invention；
Fig. 5 is the dismounting schematic diagram of the hanger bracket group part of the present invention；
【Specific implementation mode】
The present invention is a kind of safety protection robot of tool shock-absorbing function, as shown in Fig. 1 to 5, including sole 1, four wheels 2, drive
Dynamic device 3 and battery 7, here, the wheel 2 is mounted on by hanger bracket group 4 on sole 1, the hanger bracket group 4 using by
The swinging structure that hinged parallelogram is constituted comprising four suspension arms 41 are put after separating this four suspension arms 41
Arrange into parallelogram forward and backward connecting plate 42,43 and four respectively by corresponding position suspension arm 41 and connecting plate cut with scissors
Pick up the articulated shaft 44 come；The wheel shaft 21 of the wheel 2（Here, passing through bearing）It is vertically mounted in the preceding connecting plate 42；Institute
It states rear connecting plate 43 to be fixedly installed on the sole 1, wheel can be thus suspended on sole 1；In the suspension
The middle part of frame group 4 is equipped with shock-damping structure 5, and when such wheel 2 encounters the ground of protrusion when walking, wheel 2 can be to connect after being located at
That two articulated shafts 44 of 43 upper/lower terminal of fishplate bar are that the fulcrum swung generates the trend up swung, at this moment by damping knot
The effect of structure 5, so that it may vibrations when uneven ground are encountered to greatly reduce, it is steady when robot is gone on patrol to improve
Property.
In the present embodiment, as shown in figure 5, the shock-damping structure 5 is mounted in hanger bracket group 4 using by pressure type damping
Above, at this moment shock-damping structure 5 includes upper and lower fixed seat that shock absorber 51 and one end are respectively hinged at 51 upper and lower end of shock absorber
52,53,53 lower end of the lower fixed seat is mounted between two opposite suspension arms 41；52 upper end of fixed seat is fixed to
On the sole 1.Here, shock absorber 51 is spring shock absorber.Certainly, shock-damping structure 5 can also use tensile force type damping（Such as
Tension spring）, at this point, it is located at the lower part of hanger bracket group 4, the other end is connected to positioned at hanger bracket group chassis rack position below
On.
3 generally use of driving device, one motor drives the mode of a wheel, but the production cost of this mode is higher,
For this purpose, in the present embodiment, in the four wheels 2, the near front wheel and left rear wheel are formed revolver group, by off-front wheel and the right side
Trailing wheel forms right wheel group, and driving device 3 is divided into and respectively drives the left and right driving device that left and right wheel group moves forward or back；It is described
Left and right driving device includes driving motor 31, and the drive sprocket 32 on the motor shaft of the driving motor 31 is attached separately to
Driven sprocket 33 on the front and rear wheel wheel shaft of same wheel group, and it is wound on the drive sprocket 32 and driven sprocket 33 of same wheel group
On driving chain 34, left driving device in this way drives the left front and rear wheel of revolver group to walk forward simultaneously, and right driving device drives
The right front and rear wheel of right wheel group is walked forward simultaneously, when left and right driving device is synchronized while forward, so that it may so that security machine
People walks forward, and when one in left and right driving device drives forwards, another back-drives and achieves that robot in original
Ground spins, and realizes or turn right so that robot can still turn to walking in relatively narrow place, such safety protection robot
More reasonable structure, security patrol range are wide；In addition, before being realized by the same driving device due to two wheels of the same side
Into, retreat, for this robot respectively independently driven compared with four-wheel, its production cost is lower.
Preferably, it is respectively equipped on the left and right side of the sole 1 for by the driving chain of left and right driving device
The hold-down mechanism 6 of tension, here, it uses contact roller.Due to after chain long-time use it is possible that loosen, for this purpose, excellent
Selection of land will bear against the contact roller on chain and be set as elastic adjustable mode, and at this moment hold-down mechanism by contact roller and will make contact roller
Always the tensioning impeller being pressed on the driving chain（It is not shown in figure）Composition, tensioning impeller can be spring, pneumatic
Spring etc..
It is aobvious for those skilled in the art by the disclosure although the present invention is described in detail with reference to above example
And be clear to, and in the case where not departing from the principle of the present invention and scope that the claim limits, it can be right
The present invention makes a variety of changes or changes.Therefore, the detailed description of the embodiment of the present disclosure is only used for explaining, rather than for limiting
The present invention, but it is defined by the subject-matter of the claims the range of protection.
Claims (6)
1. a kind of safety protection robot of tool shock-absorbing function, including sole（1）, four wheels（2）And driving device（3）, special
Sign is, the wheel（2）Pass through hanger bracket group（4）Mounted on sole（1）On, the hanger bracket group（4）Using by hinged
Parallelogram constitute swinging structure comprising four suspension arms（41）, by this four suspension arms（41）It is put after separating
Arrange into the forward and backward connecting plate of parallelogram（42、43）And four respectively by the suspension arm on corresponding position（41）And connection
The articulated shaft that plate is hinged together（44）；The wheel（2）Wheel shaft（21）Mounted on the preceding connecting plate（42）In；Connection after described
Plate（43）It is fixedly installed to the sole（1）On；In the hanger bracket group（4）Middle part be equipped with shock-damping structure（5）.
2. the safety protection robot of tool shock-absorbing function according to claim 1, which is characterized in that the shock-damping structure（5）Packet
Include shock absorber（51）And one end is respectively hinged at shock absorber（51）The upper and lower fixed seat of upper and lower end（52、53）, described lower solid
Reservation（53）Lower end is mounted on two opposite suspension arms（41）Between；Fixed seat（52）Upper end is fixed to the sole
（1）On.
3. the safety protection robot of tool shock-absorbing function according to claim 1 or 2, which is characterized in that in four wheels
Son（2）In, the near front wheel and left rear wheel are formed into revolver group, off-front wheel and off hind wheel are formed into right wheel group, by driving device（3）Point
The left and right driving device moved forward or back at left and right wheel group is respectively driven；The left and right driving device includes driving motor
（31）, it is mounted in the driving motor（31）Motor shaft on drive sprocket（32）, it is attached separately to the front and rear wheel wheel shaft of same wheel group
On driven sprocket（33）, and it is wound on the drive sprocket of same wheel group（32）And driven sprocket（33）On driving chain
（34）.
4. the safety protection robot of tool shock-absorbing function according to claim 3, which is characterized in that in the sole（1）'s
It is respectively equipped on left and right side for by the hold-down mechanism of the driving chain tensioning of left and right driving device（6）.
5. the safety protection robot of tool shock-absorbing function according to claim 4, which is characterized in that the hold-down mechanism（6）
Using contact roller.
6. the safety protection robot of tool shock-absorbing function according to claim 4, which is characterized in that the hold-down mechanism（6）
It is formed by contact roller and by the tensioning impeller for making contact roller be pressed on always on the driving chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049319.1A CN108394487A (en) | 2018-01-18 | 2018-01-18 | Has the safety protection robot of shock-absorbing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049319.1A CN108394487A (en) | 2018-01-18 | 2018-01-18 | Has the safety protection robot of shock-absorbing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108394487A true CN108394487A (en) | 2018-08-14 |
Family
ID=63094669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810049319.1A Withdrawn CN108394487A (en) | 2018-01-18 | 2018-01-18 | Has the safety protection robot of shock-absorbing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108394487A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109024402A (en) * | 2018-10-09 | 2018-12-18 | 徐州万信电子科技有限公司 | A kind of sweeper with elevating function |
| CN109199264A (en) * | 2018-11-08 | 2019-01-15 | 钟发财 | A kind of multifunctional wiping floor-washing robot device |
| CN110228548A (en) * | 2019-06-21 | 2019-09-13 | 上海灵至科技有限公司 | A kind of robot with doube bridge suspension |
| CN110626134A (en) * | 2019-10-11 | 2019-12-31 | 湖北工业大学 | Parallelogram suspension mechanism |
| CN112297742A (en) * | 2019-07-31 | 2021-02-02 | 上海微电子装备（集团）股份有限公司 | Suspension mechanism and AGV car |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR920703355A (en) * | 1989-09-29 | 1992-12-17 | 원본미기재 | Car suspension |
| CN101209653A (en) * | 2006-12-26 | 2008-07-02 | 陈晓音 | Electric vehicle for hunting |
| CN103438326A (en) * | 2013-08-29 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Tracked self-adaptation pipeline crawler |
| CN105857429A (en) * | 2016-04-20 | 2016-08-17 | 中北大学 | Stair climbing robot with planetary gear train |
| DE102015223932A1 (en) * | 2015-12-01 | 2017-06-01 | Zf Friedrichshafen Ag | Adjustable damper valve device with a damping valve |
| CN207773303U (en) * | 2018-01-18 | 2018-08-28 | 中山市百佳大谷电子科技有限公司 | Has the safety protection robot of shock-absorbing function |
-
2018
- 2018-01-18 CN CN201810049319.1A patent/CN108394487A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR920703355A (en) * | 1989-09-29 | 1992-12-17 | 원본미기재 | Car suspension |
| CN101209653A (en) * | 2006-12-26 | 2008-07-02 | 陈晓音 | Electric vehicle for hunting |
| CN103438326A (en) * | 2013-08-29 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Tracked self-adaptation pipeline crawler |
| DE102015223932A1 (en) * | 2015-12-01 | 2017-06-01 | Zf Friedrichshafen Ag | Adjustable damper valve device with a damping valve |
| CN105857429A (en) * | 2016-04-20 | 2016-08-17 | 中北大学 | Stair climbing robot with planetary gear train |
| CN207773303U (en) * | 2018-01-18 | 2018-08-28 | 中山市百佳大谷电子科技有限公司 | Has the safety protection robot of shock-absorbing function |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109024402A (en) * | 2018-10-09 | 2018-12-18 | 徐州万信电子科技有限公司 | A kind of sweeper with elevating function |
| CN109199264A (en) * | 2018-11-08 | 2019-01-15 | 钟发财 | A kind of multifunctional wiping floor-washing robot device |
| CN110228548A (en) * | 2019-06-21 | 2019-09-13 | 上海灵至科技有限公司 | A kind of robot with doube bridge suspension |
| CN112297742A (en) * | 2019-07-31 | 2021-02-02 | 上海微电子装备（集团）股份有限公司 | Suspension mechanism and AGV car |
| CN110626134A (en) * | 2019-10-11 | 2019-12-31 | 湖北工业大学 | Parallelogram suspension mechanism |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180814 |
|
| WW01 | Invention patent application withdrawn after publication |