CN110228548A - A kind of robot with doube bridge suspension - Google Patents
A kind of robot with doube bridge suspension Download PDFInfo
- Publication number
- CN110228548A CN110228548A CN201910540555.8A CN201910540555A CN110228548A CN 110228548 A CN110228548 A CN 110228548A CN 201910540555 A CN201910540555 A CN 201910540555A CN 110228548 A CN110228548 A CN 110228548A
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- China
- Prior art keywords
- bridge
- type mounting
- mounting portion
- suspension assembly
- suspension
- Prior art date
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- Pending
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- 239000000725 suspension Substances 0.000 title claims abstract description 68
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 239000006096 absorbing agent Substances 0.000 claims 1
- 230000035939 shock Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000007689 inspection Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 238000013016 damping Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
- 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
-
- 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
- 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)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to robotic technology fields, and in particular to a kind of robot with doube bridge suspension, including vehicle frame and doube bridge suspension assembly, doube bridge suspension assembly include left suspension assembly and right suspension assembly, and left suspension assembly and right suspension assembly are set to frame downward two sides.It is provided by the invention it is a kind of with doube bridge suspension robot architecture it is simple and compact, it is easy for installation, convenient for safeguarding, have good shock-absorbing ability and traveling comfort, safety, anti-subversiveness, the fields such as machinery equipment and inspection device can be widely used in, using modularized design and assembly method, have the characteristics that simple structure, work are flexible, easy to maintain, automation and mechanization production are realized conducive to enterprise, production cost is reduced, production efficiency is improved.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of robot with doube bridge suspension.
Background technique
With the development of robot technology, robot is increasingly used in our daily life, this is just to machine
More stringent requirements are proposed for people's chassis system.
Traditional robot chassis is mainly used to install the components such as fuselage, driving portion, seldom considers or using with outstanding
The robot chassis of extension system, even if using the chassis system with suspension, suspended structure is also too simple, is extremely difficult to
Ideal effect.
And existing more mature automobile chassis suspension, it is common as McPherson, double link, towing arm, torsion beam,
Multi link etc. comprising the units such as a large amount of spring, damper, bar, beam keep its structure excessively complicated, are not appropriate for robot
Chassis.
To solve the above-mentioned problems, inventor combines experience to have developed a kind of machine with doube bridge suspension
People, the robot improve shock-absorbing ability and traveling comfort, safety, anti-subversiveness, can be widely used in machine
The fields such as device equipment and inspection device.
Summary of the invention
One kind is simple and compact for structure, easy for installation, convenient for safeguarding, has and keeps away well designed for providing by the present invention
Shake ability and traveling comfort, safety, anti-subversiveness can be widely used in the neck such as machinery equipment and inspection device
The robot with doube bridge suspension in domain.
Technical problem solved by the invention is realized using following technical scheme:
A kind of robot with doube bridge suspension, including vehicle frame, further include doube bridge suspension assembly, the doube bridge suspension assembly
Including left suspension assembly and right suspension assembly, the left suspension assembly and the right suspension assembly are set to the frame downward two
Side,
Wherein, the left suspension assembly and the right suspension assembly include bridge-type mounting portion, driving portion, driving section, rotation
Turn support portion and interconnecting piece, the driving portion and the driving section are set to the bridge-type mounting portion by the rotary supporting part
On, for the driving portion for driving vehicle wheel rotation, the driving section is used to transmit the power that the driving portion provides, the connection
Portion is set on the bridge-type mounting portion, for connecting the bridge-type mounting portion and the vehicle frame.
Optionally, along the extending direction of the bridge-type mounting portion, the rotary supporting part is set to the bridge-type mounting portion
Both ends, by the driving section realize power transmitting, the driving portion by the rotary supporting part set on the bridge-type peace
The one end in dress portion.
Optionally, the rotary supporting part includes support shaft and support base, and the support shaft is set to the branch by bearing
It supports on seat, one end that the support shaft is located at the frame outside is equipped with the wheel, and the driving portion passes through the support shaft
Drive the vehicle wheel rotation.
Optionally, the driving section includes synchronous belt and synchronizing wheel, and the synchronizing wheel is set in the support shaft, described same
Step band is set in two synchronizing wheels of the same side.
Optionally, the bridge-type mounting portion is equipped with tensioning device, and the tensioning device includes adaptive supporting frame and expansion tightening wheel,
The expansion tightening wheel is set to the top of the adaptive supporting frame, for synchronous belt described in tensioner.
Optionally, the interconnecting piece includes first connecting portion and second connecting portion, and the first connecting portion is set to the bridge
Close to one end of the driving portion on formula mounting portion, the second connecting portion is set on the bridge-type mounting portion to be connected with described first
The opposite one end of socket part.
Optionally, the first connecting portion includes that mounting base, linking arm and connection lifting lug, the mounting base are fixed at institute
It states on bridge-type mounting portion, described connection lifting lug one end and the mounting base are hinged, and the other end and the linking arm are hinged, the company
Upper end and the vehicle frame for connecing arm are hinged.
Optionally, the second connecting portion includes elastic joint part, the upper end of the elastic joint part and is fixed at institute
The link block stated on vehicle frame is hinged, and the lower end of the elastic joint part is cut with scissors with the rotary connector being set on the bridge-type mounting portion
It connects.
Optionally, the elastic joint part is spring shock-absorbing device, and the rotary connector includes rotation attachment base and is set to
The lower end of bearing in the rotation attachment base, the elastic joint part is rotatablely connected by pin shaft and the rotation attachment base.
Optionally, the vehicle frame is equipped with navigation portion and control unit, and the navigation portion is set to the front of the vehicle frame, described
Control unit is set to the rear portion of the vehicle frame, and the navigation portion is electrically connected with the control unit.
The invention has the advantages that: a kind of robot architecture with doube bridge suspension provided by the invention is simply tight
It gathers, is easy for installation, is convenient for safeguarding, there is good shock-absorbing ability and traveling comfort, safety, anti-subversiveness, it can be with
It is widely used in the fields such as machinery equipment and inspection device.In addition, a kind of machine with doube bridge suspension provided by the invention
People uses modularized design and assembly method, has the characteristics that simple structure, work are flexible, easy to maintain, is conducive to enterprise and realizes
Automation and mechanization production reduce production cost, improve production efficiency.
Detailed description of the invention
It, below will be in embodiment or technical characteristic in order to illustrate more clearly of embodiment of the present invention or technical characteristic
Required attached drawing is briefly described.
Fig. 1 diagrammatically illustrates a kind of three-dimensional structure diagram of robot with doube bridge suspension of the invention；
Fig. 2 diagrammatically illustrates a kind of stereo-resolution figure of robot with doube bridge suspension of the invention；
Fig. 3 diagrammatically illustrates the three-dimensional structure diagram of the doube bridge suspension assembly in the present invention；
Fig. 4 diagrammatically illustrates the stereochemical structure of bridge-type mounting portion in doube bridge suspension assembly of the invention；
Fig. 5 diagrammatically illustrates the stereo-resolution figure of the doube bridge suspension assembly in the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Embodiment is closed, the present invention is further explained.
Referring to shown in Fig. 1-2, the present invention provides a kind of robots 00 with doube bridge suspension, including vehicle frame 01, also wrap
Doube bridge suspension assembly 02 is included, the doube bridge suspension assembly 02 includes left suspension assembly 03 and right suspension assembly 04, the left suspension
Component 03 and the right suspension assembly 04 are set to the 01 lower part two sides of vehicle frame.
That is, the robot 00 that there is doube bridge to hang mainly is made of vehicle frame 01 and doube bridge suspension assembly 02,
In, doube bridge suspension assembly 02 includes left suspension assembly 03 and right suspension assembly 04, left suspension assembly 03 and right suspension assembly 04 again
It is set to the lower part two sides of vehicle frame 01 along the width direction (as shown in figure 1 shown in Y-direction) of vehicle frame 01, vehicle frame can not only be supported
01, and can be good at realize damping, shock-absorbing effect, improve robot 00 shock-absorbing ability and operation it is steady
Property, safety, anti-subversiveness, can be widely used in the fields such as machinery equipment and inspection device.
Referring to shown in Fig. 1-2, in the present invention, the left suspension assembly 03 and the right suspension assembly 04 include bridge-type
Mounting portion 1, driving portion 2, driving section 3, rotary supporting part 4 and interconnecting piece 5, the driving portion 2 and the driving section 3 pass through institute
Rotary supporting part 4 is stated on the bridge-type mounting portion 1, the driving portion 2 is for driving wheel 07 to rotate, the driving section 3
The power provided for transmitting the driving portion 2, the interconnecting piece 5 is set on the bridge-type mounting portion 1, for connecting the bridge
Formula mounting portion 1 and the vehicle frame 01.
Specifically, in the present embodiment, left suspension assembly 03 and right suspension assembly 04 are mainly by bridge referring to fig. 2 shown in -5
Formula mounting portion 1, driving portion 2, driving section 3, rotary supporting part 4 and interconnecting piece 5 form, wherein shown in Figure 4, the present embodiment
In bridge-type mounting portion 1 be bridge architecture plate, have good bearing capacity and processing performance, convenient for the peace of other component
Dress and arrangement.
Referring to fig. 2 shown in -5, in the present embodiment, driving portion 2 and driving section 3 are set to bridge-type by rotary supporting part 4
On mounting portion 1.Specifically, along the extending direction (as shown in figure 1 shown in X-direction) of bridge-type mounting portion 1, rotary supporting part 4 is set to
Power transmitting is realized by driving section 3 in the both ends of bridge-type mounting portion 1, and driving portion 2 is installed by rotary supporting part 4 set on bridge-type
The one end in portion 1.In the present embodiment, bridge-type mounting portion 1 is equipped with a pair of of rotary supporting part 4, and rotary supporting part 4 is located at bridge
The both ends of formula mounting portion 1 can be good at the load for carrying and sharing vehicle frame 01, has good damping, shock-proof effect, is conducive to
Robot 00 is smoothly run.
Further, referring to fig. 2 shown in -5, in the present invention, rotary supporting part 4 includes support shaft 41 and support base 40,
The support shaft 41 sets 42 on the support base 40 by bearing, and the support shaft 41 is located at the one end in 01 outside of vehicle frame
Equipped with the wheel 07, the driving portion 2 drives the wheel 07 to rotate by the support shaft 41.
Specifically, referring to Fig. 5 and combining shown in Fig. 2-3, in the present embodiment, rotary supporting part 4 is mainly by support shaft 41
It is formed with support base 40, a pair of bearings 42 is equipped in support base 40, support shaft 41 is set on support base 40 by bearing 42.It is a pair of
Bearing 42 enable to that support shaft 41 installs more rationally, operation it is more steady, the stabilization of support shaft 41 is ensured from structure,
Preferably realize the effect of damping, shock-absorbing.In addition, bearing 42 falls off out of support base 40 in order to prevent, set on support base 40
There is bearing cover 43, by the ladder and bearing cover 43 in support shaft 41, can be good at bearing 42 being limited to support base
In 40.Meanwhile in order to avoid 41 play of support shaft, snap ring (not infusing in figure) is equipped in the free end of support shaft 41.
It referring to Fig. 5 and combines shown in Fig. 2-3, one end of support shaft 41 is equipped with wheel 07, and wheel 07 is located at the outer of vehicle frame 01
Side, driving portion 2 drive wheel 07 to rotate by support shaft 41.The outer of support shaft 41 is removably arranged in by bolt in wheel 07
End, positioned at the outside of vehicle frame 01, driving portion 2 drives wheel 07 to rotate by support shaft 41.In the present embodiment, bridge-type mounting portion
Rotary supporting part 4 there are two setting on 1, driving portion 2 is mounted on bridge-type mounting portion 1 by one of rotary supporting part 4, with rotation
The support shaft 41 for turning support portion 4 connects, and transfers power in support shaft 41, and transfers power to bridge-type by driving section 3
The support shaft 41 of 1 other end of mounting portion enables driving portion 2 to drive wheel 07 to rotate by support shaft 41.In other implementations
In example, it is also possible to be equipped with driving portion on each rotary supporting part, so that the independent driving of each wheel.
It should be noted that the present invention to the specific structure and type of driving section without limitation, can be according to actual needs
With require reasonably to be select and set, driving section can be also possible to chain conveyer, can also be gear drive with V belt translation
Deng.
Specifically, referring to Fig. 3 and combining shown in Fig. 2, Fig. 5, in the present embodiment, driving section 3 is V belt translation, including synchronization
Band 30 and synchronizing wheel 31, the synchronizing wheel 31 are set in the support shaft 41, and the synchronous belt 30 is set to two institutes of the same side
It states in synchronizing wheel 31.Shown in Figure 5, synchronizing wheel 31 is set in support shaft 41, and the form and support shaft 41 being connected by key connect
It connects, synchronous rotation can be realized between support shaft 41.
Further, the stability in order to ensure synchronous belt during the motion avoids the occurrence of synchronous belt and fluffs or beat
Sliding phenomenon, referring to Fig. 3 and as shown in connection with fig. 5, bridge-type mounting portion 1 of the invention is equipped with tensioning device 6, the tensioning device 6
Including adaptive supporting frame 60 and expansion tightening wheel 61, the expansion tightening wheel 61 is set to the top of the adaptive supporting frame 60, is used for tensioner institute
State synchronous belt 30.Expansion tightening wheel 61 can be adjusted to the expanding force of synchronous belt 30, convenient for expansion tightening wheel 61 by adaptive supporting frame 60
It adjusts, it is ensured that the tensioner synchronous belt 30 that expansion tightening wheel 61 can be reliable and stable, and then ensure the reliable and stable transmission of synchronous belt 30.From
Bracket in the prior art can be selected according to actual needs by adapting to bracket 60, and is fixed at by connector (such as bolt)
On bridge-type mounting portion 1.
Referring to shown in Fig. 1-5, in the present invention, the interconnecting piece 5 includes first connecting portion 50 and second connecting portion 51, institute
First connecting portion 50 is stated on the bridge-type mounting portion 1 close to one end of the driving portion 2, the second connecting portion 51 is set to
One end opposite with the first connecting portion 50 on the bridge-type mounting portion 1.First connecting portion 50 and second connecting portion 51 are distinguished
The both ends of bridge-type mounting portion 1 are set, can be good at the load of loading carriage 01, it is ensured that the reliable and stable fortune of robot 00
Row.
It should be noted that the present invention to the specific structure and type of first connecting portion and second connecting portion without limitation,
Can according to actual needs with require reasonably to be select and set.
Specifically, referring to Fig. 3 and combining shown in Fig. 2, Fig. 5, in the present embodiment, the first connecting portion 50 includes installation
Seat 500, linking arm 502 and connection lifting lug 501, the mounting base 500 are fixed on the bridge-type mounting portion 1, the connection
501 one end of lifting lug and the mounting base 500 are hinged, and the other end and the linking arm 502 are hinged, the upper end of the linking arm 502
It is hinged with the vehicle frame 01.
That is, first connecting portion 50 is telescopic connection component, mainly by mounting base 500, linking arm 502 and company
The composition of lifting lug 501 is connect, mounting base 500 is fixed on bridge-type mounting portion 1, and is connected by connection lifting lug 501 and linking arm 502
It connects, connects between lifting lug 501 and linking arm 502, is all made of hinged form activity between connection lifting lug 501 and mounting base 500
Connection, vehicle frame 01 are equipped with cantilever lever 504, and linking arm 502 is rotatably connect by pin shaft 503 with cantilever lever 504.Pass through hinge
It connects and rotatably to can be realized first connecting portion 50 flexible for connection, the effect of damping may be implemented, it is ensured that robot 00 stablizes
Reliable operation.
Specifically, in the present embodiment, the second connecting portion 51 includes elastic joint part 510 referring to shown in Fig. 1-5,
The upper end of the elastic joint part 510 and the link block 511 being fixed on the vehicle frame 01 are hinged, the elastic joint part
510 lower end and the rotary connector 512 being set on the bridge-type mounting portion 1 are hinged.
More specifically, referring to shown in Fig. 1-5, in the present embodiment, the elastic joint part 510 is spring shock-absorbing device,
The rotary connector 512 includes rotation attachment base 513 and the bearing 515 in the rotation attachment base 513, the elasticity
The lower end of interconnecting piece 515 is rotatablely connected by pin shaft (not infusing in figure) and the rotation attachment base 513.Bearing 515 passes through rotation
Bearing axle bed 514 is mounted on rotation attachment base 513, and the outer end of swivel bearing axle bed 514 is equipped with swivel bearing cover board 516, is used for
Limited bearing 515 avoids bearing 515 from sliding from swivel bearing axle bed 514.
In other embodiments, elastic joint part and rotary connector can be other types and structure, the present invention couple
This without limitation, can according to actual needs with require reasonably to be selected.
In order to enable robot can be reliable and stable movement, referring to shown in Fig. 1-2, the vehicle frame 01 is equipped with navigation portion
06 and control unit 05, the navigation portion 06 is set to the front of the vehicle frame 01, after the control unit 05 is set to the vehicle frame 01
Portion, the navigation portion 06 are electrically connected with the control unit 05.The present invention to the concrete type in navigation portion and control unit without limitation,
It can be chosen according to actual needs.In the present embodiment, navigation portion 06 is laser radar omniselector, and control unit 05 is electrical
Control module.In 00 motion process of robot, navigation portion 06 can lead robot 00 according to the line-of-road movement of setting.
Technical solution present invention as described above, a kind of robot architecture's letter with doube bridge suspension provided by the invention
List is compact, easy for installation, convenient for safeguarding, has good shock-absorbing ability and traveling comfort, safety, anti-subversiveness,
The fields such as machinery equipment and inspection device can be widely used in.In addition, it is provided by the invention it is a kind of with doube bridge suspension
Robot uses modularized design and assembly method, has the characteristics that simple structure, work are flexible, easy to maintain, is conducive to enterprise
It realizes automation and mechanization production, reduces production cost, improve production efficiency.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of robot with doube bridge suspension, including vehicle frame, which is characterized in that it further include doube bridge suspension assembly, it is described double
Bridge suspension assembly includes left suspension assembly and right suspension assembly, and the left suspension assembly and the right suspension assembly are set to the vehicle
Frame lower part two sides,
Wherein, the left suspension assembly and the right suspension assembly include bridge-type mounting portion, driving portion, driving section, rotation branch
Support part and interconnecting piece, the driving portion and the driving section are set on the bridge-type mounting portion by the rotary supporting part,
For the driving portion for driving vehicle wheel rotation, the driving section is used to transmit the power that the driving portion provides, the interconnecting piece
On the bridge-type mounting portion, for connecting the bridge-type mounting portion and the vehicle frame.
2. the robot according to claim 1 with doube bridge suspension, it is characterised in that: along the bridge-type mounting portion
Extending direction, the rotary supporting part are set to the both ends of the bridge-type mounting portion, realize power transmitting, institute by the driving section
State one end that driving portion is set to the bridge-type mounting portion by the rotary supporting part.
3. the robot according to claim 2 with doube bridge suspension, it is characterised in that: the rotary supporting part includes branch
Axis and support base are supportted, the support shaft is set on the support base by bearing, and the support shaft is located at the frame outside
One end is equipped with the wheel, and the driving portion drives the vehicle wheel rotation by the support shaft.
4. the robot according to claim 3 with doube bridge suspension, it is characterised in that: the driving section includes synchronous belt
And synchronizing wheel, the synchronizing wheel are set in the support shaft, the synchronous belt is set in two synchronizing wheels of the same side.
5. the robot according to claim 4 with doube bridge suspension, it is characterised in that: the bridge-type mounting portion, which is equipped with, to rise
Tight device, the tensioning device include adaptive supporting frame and expansion tightening wheel, and the expansion tightening wheel is set to the top of the adaptive supporting frame,
For synchronous belt described in tensioner.
6. the robot according to claim 1 with doube bridge suspension, it is characterised in that: the interconnecting piece includes the first company
Socket part and second connecting portion, the first connecting portion is set to one end on the bridge-type mounting portion close to the driving portion, described
Second connecting portion is set to one end opposite with the first connecting portion on the bridge-type mounting portion.
7. the robot according to claim 6 with doube bridge suspension, it is characterised in that: the first connecting portion includes peace
It fills seat, linking arm and connection lifting lug, the mounting base to be fixed on the bridge-type mounting portion, described connection lifting lug one end and institute
It is hinged to state mounting base, the other end and the linking arm are hinged, and the upper end of the linking arm and the vehicle frame are hinged.
8. the robot according to claim 6 with doube bridge suspension, it is characterised in that: the second connecting portion includes bullet
Property interconnecting piece, the upper end of the elastic joint part and the link block being fixed on the vehicle frame are hinged, the elastic joint part
Lower end and be set to the bridge-type mounting portion on rotary connector it is hinged.
9. the robot according to claim 8 with doube bridge suspension, which is characterized in that the elastic joint part is spring
Shock absorber, the rotary connector include rotating attachment base and the bearing in the rotation attachment base, the elastic connection
The lower end in portion is rotatablely connected by pin shaft and the rotation attachment base.
10. the robot according to claim 1 with doube bridge suspension, it is characterised in that: the vehicle frame is equipped with navigation
Portion and control unit, the navigation portion are set to the front of the vehicle frame, and the control unit is set to the rear portion of the vehicle frame, the navigation
Portion is electrically connected with the control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910540555.8A CN110228548A (en) | 2019-06-21 | 2019-06-21 | A kind of robot with doube bridge suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910540555.8A CN110228548A (en) | 2019-06-21 | 2019-06-21 | A kind of robot with doube bridge suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110228548A true CN110228548A (en) | 2019-09-13 |
Family
ID=67857142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910540555.8A Pending CN110228548A (en) | 2019-06-21 | 2019-06-21 | A kind of robot with doube bridge suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110228548A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201970815U (en) * | 2011-01-07 | 2011-09-14 | 三一重工股份有限公司 | Construction vehicle and dual-front-axle linkage front suspension system |
| CN202022066U (en) * | 2010-12-15 | 2011-11-02 | 浙江中控研究院有限公司 | Shock absorption and suspension structure of inspection vehicle for vehicle type robot |
| CN203770556U (en) * | 2013-11-29 | 2014-08-13 | 湖南三一路面机械有限公司 | Belt tightening pulley device, belt pulley transmission mechanism and milling machine |
| CN104002633A (en) * | 2014-06-03 | 2014-08-27 | 佛山市何氏协力机械制造有限公司 | Single-point suspension device |
| WO2018018504A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Mobile device and photographic apparatus having mobile device |
| CN108394487A (en) * | 2018-01-18 | 2018-08-14 | 中山市百佳大谷电子科技有限公司 | Has the safety protection robot of shock-absorbing function |
| CN210592220U (en) * | 2019-06-21 | 2020-05-22 | 上海灵至科技有限公司 | Robot with double-bridge suspension |
-
2019
- 2019-06-21 CN CN201910540555.8A patent/CN110228548A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202022066U (en) * | 2010-12-15 | 2011-11-02 | 浙江中控研究院有限公司 | Shock absorption and suspension structure of inspection vehicle for vehicle type robot |
| CN201970815U (en) * | 2011-01-07 | 2011-09-14 | 三一重工股份有限公司 | Construction vehicle and dual-front-axle linkage front suspension system |
| CN203770556U (en) * | 2013-11-29 | 2014-08-13 | 湖南三一路面机械有限公司 | Belt tightening pulley device, belt pulley transmission mechanism and milling machine |
| CN104002633A (en) * | 2014-06-03 | 2014-08-27 | 佛山市何氏协力机械制造有限公司 | Single-point suspension device |
| WO2018018504A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Mobile device and photographic apparatus having mobile device |
| CN108394487A (en) * | 2018-01-18 | 2018-08-14 | 中山市百佳大谷电子科技有限公司 | Has the safety protection robot of shock-absorbing function |
| CN210592220U (en) * | 2019-06-21 | 2020-05-22 | 上海灵至科技有限公司 | Robot with double-bridge suspension |
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