CN110588265A - Omnidirectional mobile robot chassis with suspension device - Google Patents
Omnidirectional mobile robot chassis with suspension device Download PDFInfo
- Publication number
- CN110588265A CN110588265A CN201910751092.XA CN201910751092A CN110588265A CN 110588265 A CN110588265 A CN 110588265A CN 201910751092 A CN201910751092 A CN 201910751092A CN 110588265 A CN110588265 A CN 110588265A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- seat
- bottom plate
- motor
- suspension device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/129—Damper mount on wheel suspension or knuckle
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
An omnidirectional mobile robot chassis with a suspension device belongs to the field of robot technology and application. The motor driving device comprises an upper base plate, a supporting connecting rod, a lower base plate, a suspension device, a damping device and a motor driving device, wherein the upper base plate is connected with the lower base plate through the supporting connecting rod and is fixed through a right-angle fixing block. The invention contains the elastic element in a compressed state, so that the driving force is always contacted with the ground, the mobile robot can move on the uneven ground, the structure is simple, the cost is low, the requirements of most mobile robots on the mobile platform can be met, the actions of advancing, retreating, steering and the like can be realized, the transmission efficiency is higher, the vibration problem of the mobile platform is reduced, and the stability of the motion of the mobile platform is ensured.
Description
Technical Field
The invention belongs to the field of robot technology and application, and relates to an omnidirectional mobile robot chassis with a suspension device.
Background
With the development of science and technology, mobile robots have been applied to aspects of modern society. Meanwhile, people have more and more demands on mobile robots. At present, the motion mode of the mobile robot generally adopts a differential motion scheme. The differential motion mode has low cost and good movement stability, but has low bearing capacity and poor flexibility. And the Mecanum wheel has better bearing capacity and motion flexibility.
At present, the mobile robot chassis adopting the mecanum wheel motion scheme mostly does not adopt a suspension device, which causes a plurality of problems. The omnidirectional mobile robot adopting the non-suspended Mecanum wheels has higher requirement on the ground flatness, has narrower application range and cannot stably run under the severe ground condition. On the other hand, when the mobile robot carries different loads, different degrees of vehicle body vibration are caused during movement, so that the transmission efficiency of the robot in the movement process is directly influenced, and the use of the parts above the chassis of the robot is seriously influenced.
Therefore, the existing omnidirectional mobile robot is not stable enough to move on uneven ground, and is easy to slip, shake and vibrate in the moving process, which seriously affects the use of the robot,
disclosure of Invention
The invention aims to solve the defects in the prior art, and the invention aims to provide the omnidirectional mobile robot chassis with the suspension device, which realizes four-wheel independent drive and in-situ rotation and has the characteristics of strong terrain adaptability and large bearing capacity.
In order to achieve the purpose, the invention adopts the following technical scheme:
an omnidirectional mobile robot chassis with a suspension device comprises an upper bottom plate 1, a support connecting rod 2, a lower bottom plate 4, the suspension device, a damping device and a motor driving device. The upper base plate 1 is connected with the lower base plate 4 through the supporting connecting rod 2 and is connected with the right-angle fixing block 3, and the fixing is carried out through screws. The suspension is attached to the upper plate 1 by screws and to the drive plate 24 by screws. Meanwhile, the driving base plate 24 is connected with the damping device by screws, and the damping device is connected with the upper base plate 1 by screws. The motor drive is attached to the drive base 24 by screws.
The suspension device comprises a left front connecting seat 8, a left rear connecting seat 9, a front upper connecting rod 11, a rear upper connecting rod 10, a front lower connecting rod 14, a rear lower connecting rod 15, a right front connecting seat 13, a right rear connecting seat 12, a left connecting rod 5, a right upper connecting rod 7 and a right lower connecting rod 6. Wherein, left front connecting seat 8 passes through the screw with upper plate 1 with left back connecting seat 9 to left front connecting seat 8 is connected through left connecting rod 5 with left back connecting seat 9, uses the fix with screw. The left front connecting base 8 is connected to the front upper connecting rod 11 and the front lower connecting rod 14 by pins, and the front upper connecting rod 11 and the front lower connecting rod 14 are connected to the right front connecting base by pins. Left rear connecting seat 9 is connected with rear upper connecting rod 10 and rear lower connecting rod 15 by pins, and rear upper connecting rod 10 and rear lower connecting rod 15 are connected with right rear connecting seat 12 by pins. The right rear connecting base 12 is connected to the right front connecting base 13 through the right upper connecting rod 7 and the right lower connecting rod 6, and is fixed using screws.
The speed reducer comprises a guide shaft seat 16, a guide shaft 17, an oilless bushing 20, an oilless bushing seat 18 and a shock absorber seat 19. Wherein, the guide shaft seat 16 is connected with the guide shaft 17 through a pin, and the guide shaft 17 is sleeved with a spring and matched with the oilless bush 20. The oilless bushing 20 is connected to the oilless bushing seat 18 by a screw. The oilless bushing boss 18 is connected to the damper boss 19 by a pin, and the damper boss 19 is connected to the drive baseplate 24 by a screw.
The motor drive includes a coupling 21, a motor mount 22, a motor 23, a drive base 24, a bearing block 25, a wheel motor connection 26, and a mecanum wheel 27. Wherein, the motor 23 is connected with the driving bottom plate through the motor base 22 and fixed by screws. And motor 23 is coupled to wheel motor coupling 26 via coupling 21. wheel motor coupling 26 is coupled to mecanum wheel 27. The wheel motor connection 26 is connected to the bearing block 25 by a bearing, and the bearing block 25 is connected to the drive chassis 24 by a screw.
The invention has the beneficial effects that: the invention contains the elastic element in a compressed state, so that the driving force is always contacted with the ground, the mobile robot can move on the uneven ground, the structure is simple, the cost is low, the requirements of most mobile robots on the mobile platform can be met, the actions of advancing, retreating, steering and the like can be realized, the transmission efficiency is higher, the vibration problem of the mobile platform is reduced, and the stability of the motion of the mobile platform is ensured.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of the suspension of the present invention.
Figure 3 is a schematic view of the shock absorbing device of the present invention.
Fig. 4 is a schematic view of the driving device of the present invention.
Description of reference numerals:
1 upper plate, 2 support connecting rods, 3 right angle fixed blocks, 4 lower plates, 5 left connecting rods, 6 right lower connecting rods, 7 upper right connecting rods, 8 left front connecting seat, 9 left rear connecting seat, 10 rear upper connecting rods, 11 front upper connecting rods, 12 right rear connecting seats, 13 right front connecting seats, 14 front lower connecting rods, 15 rear lower connecting rods, 16 guide shaft seats, 17 guide shafts, 18 oil bush seats, 19 shock absorber seats, 20 oil-free bushes, 21 couplings, 22: motor cabinet, 23 motor, 24 driving bottom plate, 25 bearing seats, 26 wheel motor connectors and 27 Mecanum wheels.
The specific implementation mode is as follows:
reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements throughout, and wherein the same or similar elements have the same or similar functions. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As shown in the attached drawings, an omnidirectional mobile robot chassis with a suspension device comprises an upper bottom plate 1, a support connecting rod 2, a lower bottom plate 4, the suspension device, a damping device and a motor driving device.
The upper base plate 1 is connected through the lower base plate 4 of the support connecting rod 2 and is connected through the right-angle fixing block 3 and fixed by screws.
The suspension device comprises a left front connecting seat 8, a left rear connecting seat 9, a front upper connecting rod 11, a rear upper connecting rod 10, a front lower connecting rod 14, a rear lower connecting rod 15, a right front connecting seat 13, a right rear connecting seat 12, a left connecting rod 5, a right upper connecting rod 7 and a right lower connecting rod 6. Wherein, left front connecting seat 8 passes through the screw with upper plate 1 with left back connecting seat 9 to left front connecting seat 8 is connected through left connecting rod 5 with left back connecting seat 9, uses the fix with screw. The left front connecting base 8 is connected to the front upper connecting rod 11 and the front lower connecting rod 14 by pins, and the front upper connecting rod 11 and the front lower connecting rod 14 are connected to the right front connecting base by pins. Left rear connecting seat 9 is connected with rear upper connecting rod 10 and rear lower connecting rod 15 by pins, and rear upper connecting rod 10 and rear lower connecting rod 15 are connected with right rear connecting seat 12 by pins. The right rear connecting base 12 is connected to the right front connecting base 13 through the right upper connecting rod 7 and the right lower connecting rod 6, and is fixed using screws.
The reduction gear includes a guide shaft seat 16, a guide shaft 17, an oilless bush 20, an oilless bush seat 18, and a damper seat 19. Wherein, the guide shaft seat 16 is connected with the guide shaft 17 through a pin, and the guide shaft 17 is sleeved with a spring and matched with the oilless bush 20. The oilless bushing 20 is connected to the oilless bushing seat 18 by a screw. The oilless bushing boss 18 is connected to the damper boss 19 by a pin, and the damper boss 19 is connected to the drive baseplate 24 by a screw.
The motor drive includes a coupling 21, a motor mount 22, a motor 23, a drive base 24, bearing blocks 25, wheel motor connections 26, and mecanum wheels 27. Wherein, the motor 23 is connected with the driving bottom plate through the motor base 22 and fixed by screws. And motor 23 is coupled to wheel motor coupling 26 via coupling 21. wheel motor coupling 26 is coupled to mecanum wheel 27. The wheel motor connection 26 is connected to the bearing block 25 by a bearing, and the bearing block 25 is connected to the drive chassis 24 by a screw.
The invention adopts four driving wheels, and four wheels can be driven independently.
In the embodiment, when the ground is uneven, the spring in the damping device can be contracted and contracted to enable the Mecanum wheel to be tightly attached to the ground, so that the chassis can run stably.
Claims (1)
1. An omnidirectional mobile robot chassis with a suspension device is characterized by comprising an upper bottom plate (1), a supporting connecting rod (2), a lower bottom plate (4), the suspension device, a damping device and a motor driving device; the upper bottom plate (1) is connected with the lower bottom plate (4) through a supporting connecting rod (2) and is fixed through a right-angle fixing block (3); the suspension device is connected with the upper bottom plate (1) and is connected to the driving bottom plate (24); meanwhile, the driving bottom plate (24) is connected with a damping device, and the damping device is connected with the upper bottom plate (1); the motor driving device is connected to the driving bottom plate (24);
the suspension device comprises a left front connecting seat (8), a left rear connecting seat (9), a front upper connecting rod (11), a rear upper connecting rod (10), a front lower connecting rod (14), a rear lower connecting rod (15), a right front connecting seat (13), a right rear connecting seat (12), a left connecting rod (5), a right upper connecting rod (7) and a right lower connecting rod (6); the left front connecting seat (8) and the left rear connecting seat (9) are connected through a left connecting rod (5) and fixed by screws, and the left front connecting seat (8) and the left rear connecting seat (9) are connected with the upper bottom plate (1) through screws; the left front connecting seat (8) is connected with a front upper connecting rod (11) and a front lower connecting rod (14) through pins, and the front upper connecting rod (11) and the front lower connecting rod (14) are connected with a right front connecting seat (13) through pins; the left rear connecting seat (9) is connected with a rear upper connecting rod (10) and a rear lower connecting rod (15) through pins, and the rear upper connecting rod (10) and the rear lower connecting rod (15) are connected with a right rear connecting seat (12) through pins; the right rear connecting seat (12) is connected with the right front connecting seat (13) through a right upper connecting rod (7) and a right lower connecting rod (6) and is fixed by screws;
the speed reducer comprises a guide shaft seat (16), a guide shaft (17), an oilless bushing (20), an oilless bushing seat (18) and a shock absorber seat (19); the guide shaft seat (16) is connected with the guide shaft (17) through a pin, and a spring is sleeved outside the guide shaft (17) and matched with the oilless bushing (20); the oilless bushing (20) is connected with the oilless bushing seat (18) through a screw; the oilless bushing seat (18) is connected with the shock absorber seat (19) through a pin, and the shock absorber seat (19) is connected with the driving bottom plate (24) through a screw;
the motor driving device comprises a coupling (21), a motor base (22), a motor (23), a driving bottom plate (24), a bearing seat (25), a wheel motor connecting piece (26) and a Mecanum wheel (27); the motor (23) is connected with the driving bottom plate through a motor base (22) and fixed by screws, the motor (23) is connected with a wheel motor connecting piece (26) through a coupler (21), and the wheel motor connecting piece (26) is connected with a Mecanum wheel (27); the wheel motor connecting piece (26) is connected with the bearing seat (25) through a bearing, and the bearing seat (25) is connected with the driving bottom plate (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910751092.XA CN110588265A (en) | 2019-08-15 | 2019-08-15 | Omnidirectional mobile robot chassis with suspension device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910751092.XA CN110588265A (en) | 2019-08-15 | 2019-08-15 | Omnidirectional mobile robot chassis with suspension device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110588265A true CN110588265A (en) | 2019-12-20 |
Family
ID=68854217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910751092.XA Withdrawn CN110588265A (en) | 2019-08-15 | 2019-08-15 | Omnidirectional mobile robot chassis with suspension device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110588265A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660724A (en) * | 2020-06-10 | 2020-09-15 | 安徽爱瑞特新能源专用汽车股份有限公司 | Front axle damping device for unmanned sweeping vehicle |
| EP3862208A1 (en) * | 2020-02-05 | 2021-08-11 | Tata Consultancy Services Limited | Autonomous mobile robot for outdoor applications |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070235972A1 (en) * | 2006-04-05 | 2007-10-11 | Schmitz Geoffrey W | Modular, central frame, offset, dual control arm independent suspension and suspension retrofit |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN106183681A (en) * | 2016-08-01 | 2016-12-07 | 山东建筑大学 | Omni-directional moving platform with damping device |
| CN108045187A (en) * | 2017-12-15 | 2018-05-18 | 西京学院 | A kind of independent wheel suspension of Omni-mobile platform |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN208576379U (en) * | 2018-06-21 | 2019-03-05 | 福建（泉州）哈工大工程技术研究院 | A kind of omni-directional mobile robots mobile chassis |
| CN109732559A (en) * | 2019-03-13 | 2019-05-10 | 桂林理工大学 | A kind of mobile device and robot |
| CN110077184A (en) * | 2019-05-20 | 2019-08-02 | 河北工业大学 | A kind of Mecanum wheel omni-directional mobile robots independent suspension structure |
-
2019
- 2019-08-15 CN CN201910751092.XA patent/CN110588265A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070235972A1 (en) * | 2006-04-05 | 2007-10-11 | Schmitz Geoffrey W | Modular, central frame, offset, dual control arm independent suspension and suspension retrofit |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN106183681A (en) * | 2016-08-01 | 2016-12-07 | 山东建筑大学 | Omni-directional moving platform with damping device |
| CN108045187A (en) * | 2017-12-15 | 2018-05-18 | 西京学院 | A kind of independent wheel suspension of Omni-mobile platform |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN208576379U (en) * | 2018-06-21 | 2019-03-05 | 福建（泉州）哈工大工程技术研究院 | A kind of omni-directional mobile robots mobile chassis |
| CN109732559A (en) * | 2019-03-13 | 2019-05-10 | 桂林理工大学 | A kind of mobile device and robot |
| CN110077184A (en) * | 2019-05-20 | 2019-08-02 | 河北工业大学 | A kind of Mecanum wheel omni-directional mobile robots independent suspension structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3862208A1 (en) * | 2020-02-05 | 2021-08-11 | Tata Consultancy Services Limited | Autonomous mobile robot for outdoor applications |
| CN111660724A (en) * | 2020-06-10 | 2020-09-15 | 安徽爱瑞特新能源专用汽车股份有限公司 | Front axle damping device for unmanned sweeping vehicle |
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191220 |
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| WW01 | Invention patent application withdrawn after publication |