CN109353169A - A kind of healing robot drive wheel design - Google Patents

A kind of healing robot drive wheel design Download PDF

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Publication number
CN109353169A
CN109353169A CN201811353724.9A CN201811353724A CN109353169A CN 109353169 A CN109353169 A CN 109353169A CN 201811353724 A CN201811353724 A CN 201811353724A CN 109353169 A CN109353169 A CN 109353169A
Authority
CN
China
Prior art keywords
shock
fixing seat
drive wheel
wheel design
shaft
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
Application number
CN201811353724.9A
Other languages
Chinese (zh)
Inventor
李健
王荣耀
吴青鸿
黄煜
刘岳飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi University of Science and Technology
Original Assignee
Guangxi University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangxi University of Science and Technology filed Critical Guangxi University of Science and Technology
Priority to CN201811353724.9A priority Critical patent/CN109353169A/en
Publication of CN109353169A publication Critical patent/CN109353169A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00Castors in general; Anti-clogging castors
    • B60B33/0002Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00Castors in general; Anti-clogging castors
    • B60B33/04Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
    • B60B33/045Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted resiliently, by means of dampers

Abstract

The invention discloses a kind of healing robot drive wheel designs, by vehicle frame, fixing seat, shock-absorbing spring, shock bracket, electric machine support, wheel, shaft composition, specifically, fixing seat there are three being fixedly mounted on vehicle frame: fixing seat a, fixing seat b, fixing seat c, one end of the shock bracket is connect by shaft c with fixing seat c, the other end is connect by shaft d with the fixing head a of shock-absorbing spring one end, simultaneously, the fixing head b and fixing seat a or fixing seat b of the shock-absorbing spring other end are connect by shaft a or shaft b, the shock-absorbing spring is tilted a certain angle with driving wheel vertical direction;The electric machine support and wheel pass through wheel axis connection, meanwhile, electric machine support is connected as one with shock bracket.

Description

A kind of healing robot drive wheel design
Technical field
The present invention relates to a kind of healing robot drive wheel designs.
Background technique
The driving wheel of Traditional Rehabilitation robot mostly uses greatly direct insertion motor, and volume is necessarily large and bulky, and reduces overall structure Portability, be simutaneously arranged trouble, integrally-built spatial scalability reduces.The control that direct insertion motor moves driving wheel Precision is limited, and there is certain limitation in workable place.In addition, traditional driving wheel lacks damping hold-down mechanism, work as driving wheel It is arranged in middle position, when by rough road surface, overall structure, which will appear, significantly to be shaken, on four feet of robot Universal wheel can be in the vacant state of certain time.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problem to be solved in the present invention is to provide a kind of drivings of healing robot Wheel design improves drive efficiency, increases integrally-built portability, while improving driving wheel while satisfaction driving requires Stability in operation process.
The specific technical solution that the present invention takes is:
A kind of healing robot drive wheel design, by vehicle frame, fixing seat, shock-absorbing spring, shock bracket, electric machine support, vehicle Wheel, shaft composition are specifically fixedly mounted on vehicle frame there are three fixing seat: fixing seat a, fixing seat b, fixing seat c, described to subtract One end of shake bracket is connect by shaft c with fixing seat c, and the other end is connected by the fixing head a of shaft d and shock-absorbing spring one end It connects, meanwhile, the fixing head b and fixing seat a or fixing seat b of the shock-absorbing spring other end are connect by shaft a or shaft b, the suction Shake spring is tilted a certain angle with driving wheel vertical direction;The electric machine support and wheel pass through wheel axis connection, meanwhile, motor Bracket is connected as one with shock bracket.
Preferably, the fixing seat and vehicle frame are connected by screw bolts installation.
Preferably, the electric machine support is bolted with shock bracket use and is integrated.
Preferably, the mountable multiple shock-absorbing springs of the above-mentioned healing robot drive wheel design.
Preferably, above-mentioned healing robot drive wheel design is made of Novel aluminum alloy material.
Preferably, above-mentioned healing robot drive wheel design is driven using hub motor, the hub motor installation It is hinged with electric machine support in wheel.
Further, the hub motor uses DC brushless motor, and PLC control can be used.
Preferably, the shock bracket is alternatively at damp adjustable damper.
Further, the damp adjustable damper is ER fluid damper, realizes that dynamic controls.
Preferably, a locking mechanism can be increased on the wheel, improve the safety of user.
The beneficial effects of the present invention are:
1, the present invention is effectively utilized existing installation space, and volume of part is small, and carrying and installation is more convenient, and shock absorbing part is adopted With pure mechanic structure, theory of mechanics is easily understood, part can voluntarily fabrication design, cost is greatly saved.
2, the present invention does not use disposable processing method, and part is readily removable, can reduce the maintenance difficulty of user of service, improves whole Body structure service life, and drive efficiency is higher than general driving wheel, can meet higher driving requirement, increase product utilization rate.
3, the present invention installs two adjacent fixing seats, so that the initial makeup location of shock-absorbing spring is adjustable, according to reality It is required that making spring that there is different relaxation degree in initial time, to realize different degrees of damping effect.
4, the present invention has abandoned traditional direct insertion motor, and using hub motor, hub motor selects DC brushless motor, Brushless motor does not have noise, and healing robot uses in the quiet place such as hospital mostly, and the small driving wheel of noise has very big excellent Gesture, other brushless motor long service life, speed is faster.
5, mechanical structure portion of the present invention is all detachably to install, and ensure that integrally-built lasting usability, composition portion The simple easy processing of part, only user does not provide the portability of dismounting or renewal part, and carries out for user to this structure Voluntarily repacking provides possible.
6, the present invention increases dedicated damping, this not only improves the security and stability of structure, also solves part and leads The hanging problem occurred when jolting to wheel.
7, shock-absorbing spring end of the present invention is connected with shock bracket, and shock-absorbing spring and driving wheel vertical direction tilt certain angle Degree, increases the adjusting stroke of shock-absorbing spring, damping effect also obtains a degree of promotion.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of drive wheel design described in embodiment 1;
Fig. 2 is the structural schematic diagram of shock bracket;
Fig. 3 is the structural schematic diagram of shock-absorbing spring;
In figure, 1. vehicle frames;21. fixing seat a;22. fixing seat b;23. fixing seat c;3. shock-absorbing spring;31. fixing head a; 32. fixing head b;4. shock bracket;5. electric machine support;6. wheel;61. axletree;71. shaft a;72. shaft b;73. shaft c; 74. shaft d.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing.
Embodiment 1
A kind of healing robot drive wheel design, as shown in Figure 1, by vehicle frame 1, fixing seat, shock-absorbing spring 3, shock bracket 4, electric machine support 5, wheel 6, shaft composition, specifically, vehicle frame 1 is bolted installation, and there are three fixing seats: fixing seat a21, consolidating Reservation b22, fixing seat c23, in conjunction with Fig. 2,3 as can be seen that one end of the shock bracket 4 passes through shaft c73 and fixing seat c23 Connection, the other end are connect by shaft d74 with the fixing head a31 of 3 one end of shock-absorbing spring, meanwhile, 3 other end of shock-absorbing spring is consolidated Determine head b32 and connect with fixing seat a21 or fixing seat b22 by shaft a71 or shaft b72, the shock-absorbing spring 3 and driving wheel are perpendicular Histogram is to being tilted a certain angle;The electric machine support 5 is connect with wheel 6 by axletree 61, meanwhile, electric machine support 5 and damping 4 use of bracket, which is bolted, to be integrated.The design is driven using hub motor, and the hub motor is mounted in wheel 6, Hinged with electric machine support 5, hub motor uses DC brushless motor, and PLC control can be used
Embodiment 2
Structure and embodiment 1 are unanimous on the whole, and difference is to be mounted with multiple shock-absorbing springs.
Embodiment 3
Structure and embodiment 1 are unanimous on the whole, and difference is that the shock bracket has been substituted for damp adjustable damper, institute It is ER fluid damper with damp adjustable damper, realizes that dynamic controls.
Embodiment 4
Structure and embodiment 1 are unanimous on the whole, and difference is on wheel that a locking mechanism can be increased, and improve user's Safety.

Claims (10)

1. a kind of healing robot drive wheel design, it is characterised in that by vehicle frame, fixing seat, shock-absorbing spring, shock bracket, motor Bracket, wheel, shaft composition, specifically, there are three fixing seats for fixed installation on vehicle frame: fixing seat a, fixing seat b, fixing seat c, One end of the shock bracket is connect by shaft c with fixing seat c, and the other end passes through the fixation of shaft d and shock-absorbing spring one end Head a connection, meanwhile, the fixing head b and fixing seat a or fixing seat b of the shock-absorbing spring other end are connect by shaft a or shaft b, institute Shock-absorbing spring is stated to be tilted a certain angle with driving wheel vertical direction;The electric machine support and wheel pass through wheel axis connection, meanwhile, Electric machine support is connected as one with shock bracket.
2. drive wheel design according to claim 1, it is characterised in that the fixing seat and vehicle frame are connected by screw bolts peace Dress.
3. drive wheel design according to claim 1, it is characterised in that the electric machine support and shock bracket use bolt It is connected as one.
4. drive wheel design according to claim 1, it is characterised in that the above-mentioned healing robot drive wheel design can Multiple shock-absorbing springs are installed.
5. drive wheel design according to claim 1, it is characterised in that above-mentioned healing robot drive wheel design is using new The production of type aluminum alloy materials.
6. drive wheel design according to claim 1, it is characterised in that above-mentioned healing robot drive wheel design is using wheel Hub motor is driven, and the hub motor is mounted in wheel, hinged with electric machine support.
7. drive wheel design according to claim 6, it is characterised in that the hub motor uses DC brushless motor, can It is controlled using PLC.
8. drive wheel design according to claim 1, it is characterised in that the shock bracket is alternatively at damp adjustable Damper.
9. drive wheel design according to claim 8, it is characterised in that the damp adjustable damper is ER fluid Damper realizes that dynamic controls.
10. -9 drive wheel design described in any one according to claim 1, it is characterised in that one can be increased on the wheel Locking mechanism improves the safety of user.
CN201811353724.9A 2018-11-14 2018-11-14 A kind of healing robot drive wheel design Pending CN109353169A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811353724.9A CN109353169A (en) 2018-11-14 2018-11-14 A kind of healing robot drive wheel design

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811353724.9A CN109353169A (en) 2018-11-14 2018-11-14 A kind of healing robot drive wheel design

Publications (1)

Publication Number Publication Date
CN109353169A true CN109353169A (en) 2019-02-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811353724.9A Pending CN109353169A (en) 2018-11-14 2018-11-14 A kind of healing robot drive wheel design

Country Status (1)

Country Link
CN (1) CN109353169A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112277552A (en) * 2019-07-25 2021-01-29 山东大学 Modular AGV independent suspension device and application thereof

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CN1473115A (en) * 2001-05-14 2004-02-04 Ī�¹������ϵ� Suspension device
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CN107054501A (en) * 2017-03-10 2017-08-18 上海大学 A kind of adaptive dolly of unmanned complex road surface based on parallel institution
CN107244201A (en) * 2017-05-05 2017-10-13 清华大学 360 degree of unilateral independent suspension systems of omnidirectional
CN107571697A (en) * 2017-08-09 2018-01-12 北京云迹科技有限公司 Equalizing type of suspension chassis and robot
CN107600218A (en) * 2017-10-11 2018-01-19 深圳市普渡科技有限公司 It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity
CN207345389U (en) * 2017-09-29 2018-05-11 北京正合慧视科技有限公司 Robot castor and walking robot
CN108454719A (en) * 2018-04-02 2018-08-28 西南交通大学 A kind of mobile robot walking mechanism
CN108749554A (en) * 2018-04-18 2018-11-06 北京理工大学 With the matched electric automobile hub power drive system of independent suspension
CN209240785U (en) * 2018-11-14 2019-08-13 广西科技大学 A kind of healing robot driving wheel

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1473115A (en) * 2001-05-14 2004-02-04 Ī�¹������ϵ� Suspension device
US20020190492A1 (en) * 2001-06-15 2002-12-19 Strong Russell W. Integrated wheel suspension system
CN200957847Y (en) * 2006-10-10 2007-10-10 浙江诺力机械股份有限公司 Supporting-wheel balance mecahnism for five-wheeled chassis warehousing machinery
CN201633846U (en) * 2009-09-10 2010-11-17 熊耀榜 Reverse electric tricycle rear-wheel suspension driving device
US20140083785A1 (en) * 2011-05-04 2014-03-27 Deborah Ann Dantzie Steerable wheel assembly for a vehicle, and vehicle including such an assembly
CN102431586A (en) * 2011-10-24 2012-05-02 上海航天汽车机电股份有限公司 Integrated steering and suspension system
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
TWM478081U (en) * 2013-08-09 2014-05-11 Li You Ci Structure of multiple-link shock absorber
CN105691131A (en) * 2016-01-15 2016-06-22 安徽大学 Independent steering driving wheel for mobile robot
CN105691106A (en) * 2016-03-11 2016-06-22 无锡建凌电器有限公司 Universal wheel of logistics container base
CN107054501A (en) * 2017-03-10 2017-08-18 上海大学 A kind of adaptive dolly of unmanned complex road surface based on parallel institution
CN107244201A (en) * 2017-05-05 2017-10-13 清华大学 360 degree of unilateral independent suspension systems of omnidirectional
CN107571697A (en) * 2017-08-09 2018-01-12 北京云迹科技有限公司 Equalizing type of suspension chassis and robot
CN207345389U (en) * 2017-09-29 2018-05-11 北京正合慧视科技有限公司 Robot castor and walking robot
CN107600218A (en) * 2017-10-11 2018-01-19 深圳市普渡科技有限公司 It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity
CN108454719A (en) * 2018-04-02 2018-08-28 西南交通大学 A kind of mobile robot walking mechanism
CN108749554A (en) * 2018-04-18 2018-11-06 北京理工大学 With the matched electric automobile hub power drive system of independent suspension
CN209240785U (en) * 2018-11-14 2019-08-13 广西科技大学 A kind of healing robot driving wheel

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112277552A (en) * 2019-07-25 2021-01-29 山东大学 Modular AGV independent suspension device and application thereof

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