CN108945148A - A kind of independent suspension device and omni-directional mobile robots - Google Patents
A kind of independent suspension device and omni-directional mobile robots Download PDFInfo
- Publication number
- CN108945148A CN108945148A CN201710948715.3A CN201710948715A CN108945148A CN 108945148 A CN108945148 A CN 108945148A CN 201710948715 A CN201710948715 A CN 201710948715A CN 108945148 A CN108945148 A CN 108945148A
- Authority
- CN
- China
- Prior art keywords
- omni
- ontology
- shock absorber
- suspension device
- independent suspension
- 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
Links
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
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/08—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/10—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type pneumatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- 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
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/50—Electric vehicles; Hybrid vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, provide a kind of independent suspension device and omni-directional mobile robots, independent suspension device includes the suspension arms being flexibly connected for the ontology with omni-directional mobile robots, the drive system being arranged in suspension arms and omni-directional wheel, drive system includes the driving motor being used to provide power and the transmission mechanism for changing power output direction, omni-directional wheel is connect with transmission mechanism, and transmission mechanism is connect with driving motor.Since suspension arms is flexibly connected with the ontology of omni-directional mobile robots so that omni-directional wheel always can with ground face contact, so that omni-directional mobile robots be driven to advance according to default route；Since the transmission mechanism and driving motor of drive system can be arranged in suspension arms, the side of suspension arms is arranged in omni-directional wheel, not only makes independent suspension device compact-sized, is convenient for modularized design, and is convenient for installation, maintenance and replacement.
Description
Technical field
The invention belongs to robotic technology fields, are to be related to a kind of independent suspension device and Omni-mobile more specifically
Robot.
Background technique
Automobile chassis inspection is a necessary inspection item such as great meeting, border critical point, is to prevent automobile bottom from pressing from both sides
With violated and dangerous goods important measures.Automobile chassis inspection at present is mainly the following mode: first way is logical
It crosses and manually checks that mirror is checked that this mode checks inefficient, examination scope very little using vehicle bottom, and be difficult to pass through view
The process of the mode record check of frequency file；Fixed vehicle bottom inspection equipment is installed on an outpost of the tax office's critical point equipotential by the second way
It sets, and the automobile that checks of needs is observed by video camera, the shortcomings that this mode is that installation site is fixed, so as to cause
It is inflexible for use；The third mode is to be checked using the automobile chassis inspection machine people being easily carried automobile chassis,
And vehicle chassis can be checked by remote controllers real-time control machine people, this mode is more advanced at present
Mode.
Automobile chassis inspection machine people is the flat small-sized Detecting Robot of a kind of compact, shape, is mainly used for vehicle
The Inspection at bottom, the inferior narrow short space of table can substitute traditional side that mirror progress vehicle bottom inspection is checked using vehicle bottom
Formula.The use of automobile chassis inspection machine people can not only save human cost, improve and check efficiency, can also retain inspection
Videograph.
At present automobile chassis inspection machine people on the road surface of uneven surface when driving, due to the unique texture of omni-directional wheel,
It needs four wheels while contacting ground, if having pit on ground or having handstone, a wheel of robot will be made to connect
Touching declines even zero less than ground, so as to cause the frictional force of the wheel, and robot can not be moved by fixed route, the direction of motion
Offset is generated, steering capability decline seriously affects using effect.
The above deficiency, has much room for improvement.
Summary of the invention
The purpose of the present invention is to provide a kind of independent suspension devices, to solve automobile chassis machine existing in the prior art
Device people on the road surface of uneven surface by fixed route the technical issues of can not be moved.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of independent suspension device is provided, including for
The suspension arms of the ontology flexible connection of omni-directional mobile robots, the drive system being arranged in the suspension arms and omnidirectional
Wheel, the drive system includes the transmission mechanism of the driving motor being used to provide power and change power output direction, described complete
It is connect to wheel with the transmission mechanism, the transmission mechanism is connect with the driving motor.
Further, the ontology of the suspension arms and the omni-directional mobile robots is hinged.
Further, the transmission axis connection of the transmission mechanism and the driving motor, the transmission mechanism include being arranged
First gear on the transmission shaft with the first gear is in the second gear and rotary shaft that predetermined angle engages, institute
One end that second gear is set in the rotary shaft is stated, the other end of the rotary shaft is connect with the omni-directional wheel.
Further, the second gear is bevel gear.
Further, suspension arms position corresponding with the second gear offers swing arm through-hole, the pendulum
Arm through hole is equipped with first bearing end cap, and the first bearing end cap offers first bearing end cap through-hole, and the rotary shaft is worn
It crosses the first bearing end cap through-hole to connect with the second gear, first bearing, and described is arranged in the rotary shaft
One bearing is set in the first bearing end cap through-hole.
Further, the independent suspension device further includes shock absorber, one end of the shock absorber and the Omni-mobile
The ontology of robot connects, and the other end of the shock absorber is connect with the suspension arms.
Further, one end that the suspension arms is not connect with the ontology is equipped with suspension arms end cap, the suspension
Swing arm end cap is equipped with the mounting rack for connecting with the shock absorber.
Further, the shock absorber is damp type shock absorber, and the damp type shock absorber includes damper and is set in
Compressed spring on the damper, one end of the damper are connect with the ontology of the robot of omnidirectional, the damper
The other end connect with the mounting rack；
Or the shock absorber is nitrogen gas spring shock absorber；
Or the shock absorber is oleo-gear.
A kind of beneficial effect of independent suspension device provided by the invention is: due to suspension arms and Omni-mobile machine
The ontology of people is flexibly connected so that omni-directional wheel always can with ground face contact, to drive omni-directional mobile robots according to pre-
If route is advanced；Since drive system includes the transmission mechanism in changeable power output direction, transmission mechanism and driving motor are equal
It can be arranged in suspension arms, while omni-directional wheel being arranged in the side of suspension arms, not only make independent suspension device structure
It is compact, it is convenient for modularized design, and the ontology of independent suspension device and omni-directional mobile robots is mounted and dismounted
It is convenient, it is convenient for installation, maintenance and replacement.
The object of the invention is also to provide a kind of omni-directional mobile robots, including ontology and above-mentioned independent suspension device,
Multiple independent suspension devices are flexibly connected with the ontology.
Further, the ontology is additionally provided with driving camera, for providing the battery pack of energy for the drive system
With the inspection camera for being checked, the top for checking camera and being set to the ontology.
A kind of beneficial effect of omni-directional mobile robots provided by the invention is: since omni-directional mobile robots are equipped with more
A independent suspension device, thus when omni-directional mobile robots pass through a degree of potted road surface when, due to suspension arms with
Ontology be flexibly connected so that multiple omni-directional wheels always can with ground face contact, to drive omni-directional mobile robots according to pre-
If route is advanced；Since independent suspension device is compact-sized, so that independent suspension device the space occupied is very small, in turn
The volume of omni-directional mobile robots is reduced, movement and execution task are more convenient；Independent suspension device uses modularized design,
And it is convenient with the installation and removal of ontology, it is convenient for installation, maintenance and replacement；Shock absorber can be absorbed to be conducted through from omni-directional wheel
The most power come, so that omni-directional mobile robots are more steady in moving process, so that Omni-mobile machine
The video image that device people passes back is also more steady clear.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of independent suspension device provided in an embodiment of the present invention；
Fig. 2 is the configuration schematic diagram of independent suspension device provided in an embodiment of the present invention；
Fig. 3 is the configuration schematic diagram of the drive system of independent suspension device provided in an embodiment of the present invention；
Fig. 4 is the configuration schematic diagram of the suspension arms of independent suspension device provided in an embodiment of the present invention；
Fig. 5 is the shock absorber operation principle schematic diagram of independent suspension device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of omni-directional mobile robots provided in an embodiment of the present invention；
Fig. 7 is the configuration schematic diagram of omni-directional mobile robots provided in an embodiment of the present invention.
Wherein, each appended drawing reference in figure:
1- independent suspension device；11- suspension arms；12- drive system；
13- omni-directional wheel；14- shock absorber；15- pin；
111- swing arm connecting pin；112- swing arm end cap；113- swing arm through-hole；
114- first bearing end cap；1141- first bearing end cap through-hole；
115- support；121- driving motor；1211- transmission shaft；
122- transmission mechanism；1221- first gear；1222- second gear；
1223- rotary shaft；1224- first bearing；1225- second bearing；
2- ontology；201- first side；203- third side；
The 4th side 204-；At the top of 205-；21- driving camera；
22- battery pack；23- checks camera；24- white light.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or indirectly on another element.When an element is known as " being connected to " another element, it, which can be, directly connects
It is connected to another element or is indirectly connected on another element.In addition, term " first ", " second " are only used for description mesh
, it is not understood to indicate or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.It limits as a result,
There is the feature of " first ", " second " to can explicitly or implicitly include one or more of the features surely.Of the invention
In description, the meaning of " plurality " is two or more, unless otherwise specifically defined.
It please refers to Fig.1 to Fig.3, a kind of independent suspension device 1, including connecting for the ontology activity with omni-directional mobile robots
The suspension arms 11 that connects, the drive system 12 being arranged in suspension arms 11 and omni-directional wheel 13, drive system 12 include being used for
The driving motor 121 of power is provided and changes the transmission mechanism 122 in power output direction, omni-directional wheel 13 and transmission mechanism 122 connect
It connects, transmission mechanism 122 is connect with driving motor 121.
The working principle of independent suspension device 1 provided in this embodiment is as follows: when omni-directional mobile robots are to a certain degree
Potted road surface when advancing, due to independent suspension device 1 can relatively directional mobile robot ontology rotation, omni-directional wheel 13
It always can be with ground face contact, so that omni-directional mobile robots be driven to advance according to preset route.
The beneficial effect being arranged in this way is: since suspension arms 11 is flexibly connected with the ontology of omni-directional mobile robots,
So that omni-directional wheel 13 always can with ground face contact, so that omni-directional mobile robots be driven to advance according to default route；Due to
Drive system 12 includes the transmission mechanism 122 in changeable power output direction, and transmission mechanism 122 and driving motor 121 can be set
It sets in suspension arms 11, while omni-directional wheel 13 being arranged in the side of suspension arms 11, not only make 1 knot of independent suspension device
Structure is compact, is convenient for modularized design, and the ontology of independent suspension device 1 and omni-directional mobile robots carries out peace installation and dismantling
It unloads conveniently, is convenient for installation, maintenance and replacement.
Preferably, suspension arms 11 and the ontology of omni-directional mobile robots are hinged.
In the present embodiment, universal wheel 13 is preferably Mecanum wheel, is received by multiple Mikes of omni-directional mobile robots
The combination in nurse wheel different rotary direction, so as to realize the movement of front, rear, left and right and all directions such as oblique.Other
In embodiment, universal wheel 13 can also be other types of universal wheel.
Further, suspension arms 11 is made of thermally conductive good metal material, so that being arranged in suspension arms 11
The heat that internal driving motor 121 generates when working can be transmitted to rapidly the external world by suspension arms 11, realize good
Heat dissipation effect prevents driving motor 121 to be burned because of overheat, to play the role of protecting driving motor 121.
Referring to Fig. 3, further, transmission mechanism 122 includes the be set on the transmission shaft 1211 of driving motor 121
One gear 1221, the second gear 1222 and rotary shaft 1223 engaged with first gear 1221 in predetermined angle, second gear
1222 are set in one end of rotary shaft 1223, and the other end of rotary shaft 1223 is connect with omni-directional wheel 13.Specifically, first gear
1221 are equipped with the interconnecting piece for connecting with transmission shaft 1211, it is preferable that the length phase of the length of interconnecting piece and transmission shaft 1211
It adapts to, so that the interconnecting piece of first gear 1221 is more firm when connecting with transmission shaft 1211, it is ensured that transmission shaft 1211 can be more
First gear 1221 is driven to rotate well.First gear 1221 and 1222 Vertical Meshing of second gear, so that power output
Direction and the transmission direction of driving motor 121 are perpendicular.Second gear 1222 is equipped with through-hole, and one end of rotary shaft 1223 is set to the
In the through-hole of two gears 1222, rotary shaft 1223 is driven to rotate when second gear 1222 rotates；The other end of rotary shaft 1223 with
Omni-directional wheel 13 connects, so that driving omni-directional wheel 13 to rotate when rotary shaft 1223 rotates.Due to driving motor 121 and driver
First gear 1221, the second gear 1222 of structure 122 are each provided in suspension arms 11, and omni-directional wheel 13 is set to the one of suspension arms 11
Side, second gear 1222 are connect by rotary shaft 1223 with omni-directional wheel 13, and the compact layout of independent suspension device 1 is not only made,
Space is saved, and makes independent suspension device 1 be easier to carry out sealing, be easier that seal request can be reached, prevents dust
Deng enter suspension arms 11 in transmission system 12 in the operation of transmission system 12 is had an impact.
Preferably, second gear 1222 is bevel gear, and two vertical axis of rotation (first gears not only may be implemented in bevel gear
The rotation axis of 1221 rotation axis and second gear 1222) transmission, and bevel gear has high load capacity bearing capacity and lubricity
Good characteristic, so as to be preferably driven；It is light-weight due to bevel gear, the weight of transmission system 122 can be mitigated
Amount；Due to bevel gear have noise reduction and damping characteristic, run in transmission process it is quieter and steady so that
Omni-directional mobile robots are quieter and steady during traveling.
Fig. 3 and Fig. 4 are please referred to, further, position corresponding with second gear 1222 offers on suspension arms 11
Swing arm through-hole 113, first bearing end cap 114 is equipped at swing arm through-hole 113, and first bearing end cap 114 offers first axle socket end
Lid through-hole 1141, rotary shaft 1223 pass through first bearing end cap through-hole 1141 and connect with second gear 1222.Preferably, first axle
Socket end lid 114 and swing arm through-hole 113 are tightly connected, and second gear 1222 and end cap through-hole 1141 are tightly connected, to guarantee
11 good seal of suspension arms, and then guarantee 12 operational excellence of transmission system.
Further, first bearing 1224 is arranged in rotary shaft 1223, and first bearing 1224 is set to first axle socket end
In lid through-hole 1141.Preferably, rotary shaft 1223 and first bearing 1224 are interference fitted, so that first bearing 1224 and rotation
Shaft 1223 is completely embedded；First bearing 1224 and 1141 junction good seal of first bearing end cap through-hole, to guarantee outstanding
11 good seal of swing arm is hung, and then guarantees 12 operational excellence of transmission system.
Further, second bearing 1225 is also arranged in rotary shaft 1223, and second bearing 1225 is set to suspension arms
The position opposite with swing arm through-hole 113 on 11 side walls.Preferably, rotary shaft 1223 and second bearing 1225 are interference fitted, thus
So that second bearing 1225 is completely embedded with rotary shaft 1223；The side wall junction of second bearing 1225 and suspension arms 11 seals
Well, to guarantee 11 good seal of suspension arms, and then guarantee 12 operational excellence of transmission system.
Further, independent suspension device 1 further includes shock absorber 14, one end of shock absorber 14 and omni-directional mobile robots
Ontology connection, and the other end of shock absorber 14 is connect with suspension arms 11.Shock absorber 14 has the function of that shock-absorbing damping, setting are kept away
Shake device 14 can be absorbed most of omni-directional wheel 13 and be conducted through the power come, so that omni-directional mobile robots are more flat when moving
Surely.
Further, one end of suspension arms 11 is equipped with the swing arm connecting pin hinged with the ontology of omni-directional mobile robots
111, suspension arms 11 is equipped with suspension arms end cap 112 close to one end of swing arm through-hole 113, and suspension arms end cap 112 is equipped with
Mounting rack 115 for being connect with shock absorber 14.Preferably, shock absorber 14 is connect with mounting rack 115 by pin 15, shock absorber
14 can rotate relative to mounting rack 115, can not only guarantee that shock absorber 14 is connected firmly with mounting rack 115, but also be convenient for shock absorber
14 installation, disassembly, maintenance and replacement etc..
In the present embodiment, shock absorber 14 is damp type shock absorber, and damp type shock absorber includes damper and is set in resistance
One end of compressed spring on Buddhist nun's device, damper is connect with the ontology of robot of omnidirectional, and the other end and mounting rack of damper
115 connections.
Referring to Fig. 5, the shock-absorbing principle of shock absorber 14 is as follows: the suspension arms 11 of independent suspension device 1 is hingedly fixed in
The A point of the ontology of omni-directional mobile robots, omni-directional wheel 13 are mounted on the B point of suspension arms 11, suspension arms 11 and shock absorber 14
It is hingedly fixed in C point, shock absorber 14 is hingedly fixed in the D point of the ontology of omni-directional mobile robots.As 13 stress F, i.e. B of omni-directional wheel
When point stress F, a part of power F is transmitted to C point by suspension arms 11, then is transmitted to D point through shock absorber 14, to finally pass
It is directed at the ontology of omni-directional mobile robots.Since shock absorber 14 adds compression spring set at the effect with shock-absorbing damping by damper
Fruit, therefore power F is during being transmitted to D point through shock absorber 14, shock absorber 14 absorb passed over from omni-directional wheel 13 it is big
Part power F and amplitude, so that omni-directional mobile robots are more steady in moving process, so that Omni-mobile machine
The video image that people passes back is also more steady clear.
In other embodiments, shock absorber 14 is nitrogen gas spring shock absorber or oleo-gear, shock-absorbing principle and shock-absorbing
Effect is as described above.
Fig. 6 and Fig. 7 are please referred to, the object of the invention is also to provide a kind of omni-directional mobile robots, including it is multiple above-mentioned
Independent suspension device 1 and ontology 2, multiple independent suspension devices 1 are flexibly connected with ontology 2.Preferably, independent suspension device 1
Quantity be four, four independent suspension devices 1 and ontology 2 are hinged, and two of them independent suspension device 1 is respectively provided at ontology 2
First side 201 both ends, other two independent suspension device 1 is respectively provided at the both ends of the third side 203 of ontology 2,
One side 201 and third side 203 are opposite, so that omni-directional wheel 13 there are four omni-directional mobile robots tools, and each omnidirectional
Wheel 13 has an independent driving motor 11 and transmission system 12, therefore can be with the movement shape of each omni-directional wheel 13 of independent control
Formula.By controlling the combination in four 3 different rotary directions of omni-directional wheel, so as to realize front, rear, left and right and it is oblique it is equal respectively
The movement in a direction, motion mode is flexible, adapts to the demand of Different Exercise Mode.
Since omni-directional mobile robots are equipped with multiple independent suspension devices 1, when omni-directional mobile robots are passing through one
When determining the potted road surface of degree, since suspension arms 11 is flexibly connected with ontology 2, so that multiple omni-directional wheels 13 always can be with
Ground face contact, so that omni-directional mobile robots be driven to advance according to default route；Since independent suspension device 1 is compact-sized, from
And make 1 the space occupied of independent suspension device very small, and then reduce the volume of omni-directional mobile robots, movement and execution
Task is more convenient；Independent suspension device 1 uses modularized design, and convenient with the installation and removal of ontology 2, is convenient for pacifying
Dress, maintenance and replacement；Shock absorber 14, which can be absorbed from omni-directional wheel 13, is conducted through the most power come, so that Omni-mobile
Robot is more steady in moving process, so that the video image that omni-directional mobile robots are passed back is also more steady clear
It is clear.
Further, ontology 2 is additionally provided with driving camera 21, for providing for the drive system 12 of independent suspension device 1
The battery pack 22 of energy and inspection camera 23 for being checked check that camera 23 is set to the top 205 of ontology 2.
In the present embodiment, camera 21 of driving a vehicle is set to the middle part of the 4th side 204 of ontology 2 and can be around axial-rotation
(lower in the vertical direction can rotate), so as to provide the view in front of advancing in omni-directional mobile robots traveling process
Frequency image information, convenient for omni-directional mobile robots position and direction of travel judge.
In the present embodiment, the quantity of battery pack 22 is preferably two, and two battery packs 22 are separately positioned on the of ontology 2
The middle part of one side 201 and the middle part of third side 203, the battery pack 22 positioned at first side 201 are to be arranged in first side
201 two independent suspension devices 1 power supply, the battery pack 22 positioned at third side 203 is two that third side 203 is arranged in
Independent suspension device 1 is powered, so that four omni-directional wheels 13 be driven to rotate, and then drives omni-directional mobile robots mobile.It should manage
Solution, the quantity of battery pack 22, which can according to need, to be set, the power supply mode of battery pack 22 also can according to need into
Row setting, is not limited in above-mentioned quantity and power supply mode.
In the present embodiment, check that camera 23 is set to the top 205 of ontology 2, thus when omni-directional mobile robots move
To bottom of car need check position when, can record vehicle bottom video image information.Preferably, check that camera 23 is zoom
High-definition camera, so that the video image information of record is more clear, so that testing result is more clear reliably；Inspection is taken the photograph
As being additionally provided with white light 24 around first 23, when insufficient light, white light can play the role of light filling, so that video
Image is more clear；Infrared lamp can also be arranged around camera 23 by checking, so as to meet more demands on examination.It answers
When understanding, omni-directional mobile robots can also include other sensors, so as to meet more demands on examination, and
It is not limited only to above-mentioned type.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of independent suspension device, it is characterised in that: outstanding including being flexibly connected for the ontology with omni-directional mobile robots
Swing arm, the drive system being arranged in the suspension arms and omni-directional wheel are hung, the drive system includes being used to provide power
Driving motor and change the transmission mechanism in power output direction, the omni-directional wheel connect with the transmission mechanism, the transmission
Mechanism is connect with the driving motor.
2. independent suspension device as described in claim 1, it is characterised in that: the suspension arms and the Omni-mobile machine
The ontology of people is hinged.
3. independent suspension device as described in claim 1, it is characterised in that: the biography of the transmission mechanism and the driving motor
Moving axis connection, the transmission mechanism include the first gear being set on the transmission shaft and the first gear in preset angle
Spend the second gear and rotary shaft of engagement, the second gear is set in one end of the rotary shaft, the rotary shaft it is another
One end is connect with the omni-directional wheel.
4. independent suspension device as claimed in claim 2, it is characterised in that: the second gear is bevel gear.
5. independent suspension device as claimed in claim 2, it is characterised in that: the suspension arms is opposite with the second gear
The position answered offers swing arm through-hole, and the swing arm through hole is equipped with first bearing end cap, and the first bearing end cap offers
First bearing end cap through-hole, the rotary shaft pass through the first bearing end cap through-hole and connect with the second gear, the rotation
First bearing is arranged in shaft, and the first bearing is set in the first bearing end cap through-hole.
6. independent suspension device as claimed in any one of claims 1 to 5, it is characterised in that: the independent suspension device also wraps
Shock absorber is included, one end of the shock absorber is connect with the ontology of the omni-directional mobile robots, and the other end of the shock absorber
It is connect with the suspension arms.
7. independent suspension device as claimed in claim 6, it is characterised in that: what the suspension arms was not connect with the ontology
One end is equipped with suspension arms end cap, and the suspension arms end cap is equipped with the mounting rack for connecting with the shock absorber.
8. independent suspension device as claimed in claim 7, it is characterised in that: the shock absorber is damp type shock absorber, described
Damp type shock absorber includes damper and the compressed spring that is set on the damper, one end of the damper and described complete
It is connected to the ontology of robot, the other end of the damper is connect with the mounting rack；
Or the shock absorber is nitrogen gas spring shock absorber；
Or the shock absorber is oleo-gear.
9. a kind of omni-directional mobile robots, it is characterised in that: including ontology and it is multiple it is according to any one of claims 1 to 8 solely
Vertical suspension arrangement, multiple independent suspension devices are flexibly connected with the ontology.
10. omni-directional mobile robots as claimed in claim 9, it is characterised in that: the ontology is additionally provided with driving camera, uses
In the battery pack for providing energy for the drive system and inspection camera for being checked, the inspection camera is set to
The top of the ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710948715.3A CN108945148A (en) | 2017-10-12 | 2017-10-12 | A kind of independent suspension device and omni-directional mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710948715.3A CN108945148A (en) | 2017-10-12 | 2017-10-12 | A kind of independent suspension device and omni-directional mobile robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108945148A true CN108945148A (en) | 2018-12-07 |
Family
ID=64495141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710948715.3A Pending CN108945148A (en) | 2017-10-12 | 2017-10-12 | A kind of independent suspension device and omni-directional mobile robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945148A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110896A (en) * | 2020-03-31 | 2020-05-08 | 华南智能机器人创新研究院 | Intelligent disinfection epidemic prevention robot |
| CN113276123A (en) * | 2020-08-07 | 2021-08-20 | 山东光大线路器材有限公司 | Self-moving transfer robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005033484A1 (en) * | 2005-07-01 | 2007-01-04 | Hans-Joachim Baader | Battery/electric motor powered, preferably four-wheeled service trolley, with chassis with integrated driver safety seat consisting of tubular frame manufactured as light construction |
| CN202911836U (en) * | 2012-10-24 | 2013-05-01 | 武汉汉迪机器人科技有限公司 | Omni-directional moving platform |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN205872236U (en) * | 2016-08-19 | 2017-01-11 | 广州今甲智能科技有限公司 | Travel mechanism |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN207579991U (en) * | 2017-10-12 | 2018-07-06 | 深圳市安泽智能工程有限公司 | A kind of independent suspension device and omni-directional mobile robots |
-
2017
- 2017-10-12 CN CN201710948715.3A patent/CN108945148A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005033484A1 (en) * | 2005-07-01 | 2007-01-04 | Hans-Joachim Baader | Battery/electric motor powered, preferably four-wheeled service trolley, with chassis with integrated driver safety seat consisting of tubular frame manufactured as light construction |
| CN202911836U (en) * | 2012-10-24 | 2013-05-01 | 武汉汉迪机器人科技有限公司 | Omni-directional moving platform |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN205872236U (en) * | 2016-08-19 | 2017-01-11 | 广州今甲智能科技有限公司 | Travel mechanism |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN207579991U (en) * | 2017-10-12 | 2018-07-06 | 深圳市安泽智能工程有限公司 | A kind of independent suspension device and omni-directional mobile robots |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110896A (en) * | 2020-03-31 | 2020-05-08 | 华南智能机器人创新研究院 | Intelligent disinfection epidemic prevention robot |
| CN113276123A (en) * | 2020-08-07 | 2021-08-20 | 山东光大线路器材有限公司 | Self-moving transfer robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108275215A (en) | A kind of wall climbing vehicle and the detection robot based on the wall climbing vehicle | |
| CN102673671B (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN106585750A (en) | Wall climbing robot adsorbed on steel wall surface | |
| CN105172562B (en) | A kind of automobile-used chassis of AGV with hitch | |
| CN105383582B (en) | The unmanned 4 wheel driven platform of swing arm | |
| CN108945148A (en) | A kind of independent suspension device and omni-directional mobile robots | |
| CN102700646B (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| CN203726481U (en) | Robot head | |
| CN206719346U (en) | Hoofing part component and ball shape robot | |
| CN110065054B (en) | Multi-section driving master-slave type snake-shaped robot | |
| CN211083546U (en) | AGV vehicle-mounted camera | |
| CN207579991U (en) | A kind of independent suspension device and omni-directional mobile robots | |
| CN204641931U (en) | A kind of transport trolley | |
| WO2020154969A1 (en) | Crawler-type firefighting robot and control method therefor | |
| CN207257823U (en) | A kind of crawler type magnetic adsorption wall climbing robot | |
| CN103302678B (en) | A kind of wrist joint of robot | |
| CN107009344A (en) | A kind of service robot body chassis | |
| CN109720193A (en) | Wheel for vehicle built-in motor driving device | |
| CN109080700A (en) | A kind of 4 wheel driven independent steering gear | |
| CN107128383A (en) | Ball shape robot | |
| CN107336216A (en) | One kind three rotates broad sense decoupling parallel robot mechanism | |
| CN207060147U (en) | A kind of mobile chassis of place crusing robot | |
| CN116161118A (en) | Mobile chassis | |
| CN204937293U (en) | The crawler-type mobile platform of passive adaptation landform and there is its robot | |
| CN208181253U (en) | A kind of comprehensive twin-differential vision guided navigation intelligence AGV body construction |
Legal Events
| 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 | ||
| CB02 | Change of applicant information |
Address after: 518000 TCL Science Park F2 601, 1001 Zhongshan Garden Road, Shuguang Community, Xili Street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Anze Intelligent Robot Co., Ltd. Address before: 518000 Floor 1 and 4 of Huamei Group Complex Building, No. 1 Huamei Road, Songgang Street, Baoan District, Shenzhen City, Guangdong Province Applicant before: Anze Shenzhen Intelligent Engineering Co., Ltd. |
|
| CB02 | Change of applicant information |