CN110815289A - Omnidirectional movement chassis - Google Patents
Omnidirectional movement chassis Download PDFInfo
- Publication number
- CN110815289A CN110815289A CN201911095905.0A CN201911095905A CN110815289A CN 110815289 A CN110815289 A CN 110815289A CN 201911095905 A CN201911095905 A CN 201911095905A CN 110815289 A CN110815289 A CN 110815289A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- chassis
- shaft
- assembly
- mounting
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an omnidirectional movement chassis, which is used for supporting and connecting a bearing body, and comprises: the chassis bracket is suitable for being connected with the bearing body; the suspension assembly is connected to the chassis support and comprises at least one connecting frame assembly and at least one group of damping spring assemblies, the at least one connecting frame assembly is connected with the at least one group of damping spring assemblies, one end of each damping spring assembly is a free end, and the free end is suitable for being arranged towards the bearing body to be supported on the bearing body when the bearing body is pressed downwards; the Mecanum wheels comprise at least one, and the Mecanum wheels are connected to the connecting frame assembly; and a damping spring assembly is arranged on the connecting frame assembly connected with at least one Mecanum wheel. According to the omnidirectional moving chassis provided by the embodiment of the invention, the omnidirectional moving chassis can flexibly run in an omnidirectional manner, the free end of the damping spring assembly can be abutted against the bearing body, the maximum downward moving position of the bearing body is reasonably limited, and the moving stability is high.
Description
Technical Field
The invention belongs to the technical field of construction robots, and particularly relates to an omnidirectional movement chassis.
Background
The multiple robots are used for replacing manual labor in a large number at the construction site, the construction work conditions of the construction site are variable and complex, the ground is often uneven, the robots are often unbalanced in motion and offset to preset motion tracks when the robots walk at the construction site, the control difficulty is large in the robot construction process, and the construction efficiency is low.
The existing robot is provided with a two-wheel differential chassis, a double-steering wheel chassis, a four-steering wheel chassis, a Mecanum wheel chassis and the like as motion chassis. The field patrol robot uses a crawler belt, a front axle, a rear axle and four-wheel drive as a motion chassis. In order to improve the work efficiency, the chassis of the construction robot needs to realize omnidirectional movement. The existing construction robot adopts a double-rudder wheel motion chassis, a multi-rudder wheel motion chassis and a Mecanum wheel motion chassis, but the rudder wheels are used as motion components, so that the control difficulty is high, and the construction robot is difficult to ensure to move linearly; the existing construction robot using a Mecanum wheel movement chassis has the defects of complete machine bumping and poor stability when walking on a construction site.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the omnidirectional movement chassis provided by the invention has the advantages of stable movement and good buffering and damping effects, and solves the problems of easiness in bumping and poor stability of a construction robot on a construction road surface.
According to an embodiment of the present invention, an omnidirectional exercise chassis is used for supporting and connecting a carrier, and includes: a chassis bracket adapted to connect to the carrier; a suspension assembly connected to the chassis support, the suspension assembly including at least one link assembly, at least one set of shock absorbing spring assemblies, at least one of the link assemblies connecting at least one set of the shock absorbing spring assemblies, one end of the shock absorbing spring assemblies being a free end adapted to be disposed toward the carrier to be supported on the carrier when the carrier is depressed; a Mecanum wheel comprising at least one, the Mecanum wheel coupled to the link assembly; the connecting frame component connected with at least one Mecanum wheel is provided with the damping spring component.
According to the omnidirectional movement chassis disclosed by the embodiment of the invention, the chassis support, the suspension assembly and the Mecanum wheels are arranged below the bearing body, so that the omnidirectional movement chassis is realized, and meanwhile, the structure is firm, the movement is stable, and the chassis does not deviate from a set route easily. After connecting mecanum wheel and damping spring subassembly simultaneously on the link subassembly, the omnidirectional movement chassis can drive the supporting body under mecanum wheel's drive and go straight around, control and transversely go, the slant is gone, when going on unevenness's ground, the in-process that the supporting body pushed down, the free end of damping spring subassembly will butt the supporting body, it is rationally spacing to move down the position to the biggest of supporting body, make the upper and lower saltus of supporting body inject in certain within range, reduce the upper and lower jolt of supporting body, and the motion stability is promoted. A single Mecanum wheel and a connecting frame component can form an independent module, so that the production and the maintenance are convenient, the damping performance can be tested independently when the damping spring component is arranged on the connecting frame component, and the production quality of a product is ensured.
According to an embodiment of the invention, the omni-directional motion chassis, the damping spring assembly comprises: one end of the guide shaft is connected to the connecting frame component; the spring piece is sleeved on the guide shaft; the spring piece is limited on the guide shaft by the separation blade which is connected to one end of the guide shaft and forms the free end.
According to the omnidirectional moving chassis disclosed by the embodiment of the invention, the connecting frame assembly comprises a first connecting plate and a mounting seat, the lower part of the first connecting plate is connected with the mounting seat, the upper part of the first connecting plate is connected with the chassis support, and the mounting seat is vertically arranged relative to the chassis support.
According to a further embodiment of the present invention, the omnidirectional exercise chassis further comprises a driving mechanism, wherein a shaft mounting hole is formed in the mounting base, the driving mechanism is mounted in the shaft mounting hole, and the driving mechanism is connected to the mecanum wheel.
Optionally, the link assembly further includes a second connecting plate, a third connecting plate, and a fourth connecting plate, the second connecting plate is disposed opposite to the mounting seat, two ends of the third connecting plate are connected to the second connecting plate and the lower portion of the mounting seat, the fourth connecting plate is disposed below the first connecting plate, two ends of the fourth connecting plate are connected to the second connecting plate and the upper portion of the mounting seat, and the first connecting plate, the third connecting plate, and the fourth connecting plate are vertically disposed at intervals.
Advantageously, the upper portion of the second connecting plate is higher than the mounting seat, the second connecting plate is connected with one end of the first connecting plate, and a buffer member is arranged between the other end of the first connecting plate and the mounting seat.
Optionally, a first mounting groove is formed in the upper portion of the mounting seat, a second mounting groove is formed in the upper portion of the second connecting plate, and the first mounting groove and the second mounting groove are arranged oppositely and parallelly; the fourth connecting plate comprises a first connecting shaft, a second connecting shaft and a swing rod, the first connecting shaft is connected in the first mounting groove, the second connecting shaft is connected in the second mounting groove, and two ends of the swing rod are respectively connected to the first connecting shaft and the second connecting shaft.
Optionally, the omnidirectional exercise chassis further comprises a reinforcement, and two side surfaces of the reinforcement are respectively connected with the mounting seat and the first connecting plate; or the two side surfaces of the reinforcing piece are respectively connected with the second connecting plate and the first connecting plate.
Optionally, one side of the mounting seat facing the second connecting plate is provided with two guide shaft seats, the two guide shaft seats are symmetrically arranged relative to the driving mechanism, each guide shaft seat is provided with a group of damping spring assemblies, and one side of the second connecting plate facing the mounting seat is provided with the reinforcing piece.
According to a further embodiment of the present invention, the first connecting plate is provided with a limiting through hole, and the free end passes through the limiting through hole to extend to the carrier.
Optionally, the damping spring assembly comprises a spring element, the lower end of the spring element is connected to the guide shaft seat, and the upper end of the spring element is matched with the first connecting plate.
Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic perspective view of an omnidirectional exercise chassis according to an embodiment of the present invention.
Fig. 2 is a schematic view of the connection structure of the connection bracket assembly, the driving mechanism and the mecanum wheel according to an embodiment of the present invention.
Fig. 3 is a front view of fig. 2.
Fig. 4 is an exploded view of fig. 2.
FIG. 5 is a schematic view of the linkage assembly of the linkage bracket assembly, the drive mechanism, the damper spring assembly and the Mecanum wheel according to one embodiment of the present invention.
Fig. 6 is a front view of fig. 5.
Fig. 7 is an exploded view of fig. 5.
Fig. 8 is a partial structural schematic diagram of fig. 5.
Fig. 9 is an exploded view of a portion of the structure of fig. 8.
Reference numerals:
an omnidirectional movement chassis 100,
A chassis bracket 1,
A suspension assembly 2,
A connecting frame assembly 21,
A first connection plate 211, a limiting through hole 211a,
A second connecting plate 212, an escape through hole 212a, a second mounting groove 212b,
A third connecting plate 213,
A fourth connecting plate 214, a first connecting shaft 214a, a second connecting shaft 214b, a swing link 214c,
An installation seat 215, a shaft installation hole 215a, a first installation groove 215b, a guide shaft seat 215c,
A reinforcing member 216,
A plug screw 217,
A plug nut 218,
A damping spring assembly 22,
A guide shaft 221,
A spring member 222,
A free end 223, a stop 223a,
A Mecanum wheel 3,
A driving mechanism 4, a speed reducer 41, a servo motor 42,
A buffer 5.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The omnidirectional exercise chassis 100 of the embodiment of the present invention is described below with reference to the drawings of the specification.
According to the omnidirectional exercise chassis 100 provided by the embodiment of the invention, the omnidirectional exercise chassis 100 is used for supporting and connecting a carrier, wherein the carrier can be a carrying base of a vehicle body, a bottom wall of a carriage, a bottom plate and the like, and is suitable for carrying and accommodating a surface structure or a body structure of an upper structural member or an internal structural member.
As shown in fig. 1, the omnidirectional exercise chassis 100 includes: chassis frame 1, suspension assembly 2 and at least one mecanum wheel 3.
Wherein the chassis frame 1 is adapted to be connected to a carrier. The chassis frame 1 may be a frame structure consisting of a plurality of frames, and the upper part of the chassis frame 1 is adapted to form an upper connection surface for connection with the carrier, and the lower part of the chassis frame 1 is adapted to form a lower connection surface for connection with the carrier.
With continued reference to fig. 1, a suspension assembly 2 is attached to the chassis frame 1, the suspension assembly 2 including at least one link assembly 21, at least one set of shock absorbing spring assemblies 22, at least one link assembly 21 connecting at least one set of shock absorbing spring assemblies 22. That is, the suspension assembly 2 may include a link frame assembly 21 and one or more sets of shock absorbing spring assemblies 22. The suspension assembly 2 may further include a plurality of connecting frame assemblies 21, at least one of the connecting frame assemblies 21 is provided with one or more groups of damping spring assemblies 22, and the other connecting frame assemblies 21 may not be provided with the damping spring assemblies 22. The suspension assembly 2 may further include a plurality of link assemblies 21, and a damper spring assembly 22 is provided on each link assembly 21. Regardless of the type of suspension assembly used, it is desirable to ensure that the carrier remains as horizontal as possible.
As shown in FIG. 5, when the suspension spring assemblies 22 are provided on the connecting frame assembly 21, one end of the suspension spring assemblies 22 is a free end 223, and the free end 223 is adapted to be disposed toward the carrier to be supported on the carrier when the carrier is pressed down.
As shown in fig. 1, the mecanum wheels 3 include at least one, the mecanum wheels 3 are connected to the link assembly 21, and the link assembly 21 to which the at least one mecanum wheel 3 is connected is provided with a shock-absorbing spring assembly 22. It should be noted here that, when there is one mecanum wheel 3, the connecting frame assembly 21 connected to it must be provided with a damping spring assembly 22; when there are a plurality of mecanum wheels 3, shock-absorbing spring assemblies 22 may be provided on some of the frame assemblies 21 connected to mecanum wheels 3 (as shown in fig. 5, 6, and 7), and shock-absorbing spring assemblies 22 may not be provided on other frame assemblies 21 connected to mecanum wheels 3 (as shown in fig. 2, 3, and 4).
As can be seen from the above structure, the omnidirectional movement chassis 100 according to the embodiment of the present invention can realize omnidirectional movement by installing the chassis bracket 1, the suspension assembly 2, and the mecanum wheels 3 under the supporting body, and meanwhile, the omnidirectional movement chassis 100 has a firm overall structure, is stable in movement, and is not easy to deviate from a predetermined route.
When the mecanum wheels 3 and the damping spring assemblies 22 are simultaneously connected to the connecting frame assembly 21, the omnidirectional movement chassis 100 can drive the supporting body to linearly travel back and forth, transversely travel left and right, and obliquely travel under the driving of the mecanum wheels 3 to form omnidirectional movement, can flexibly change directions and operate in multiple degrees of freedom, and is not limited by a traveling space.
Meanwhile, when the omnidirectional movement chassis 100 runs on uneven ground, the bearing body can move up and down to a certain degree relative to the ground, when the bearing body presses down, the free end 223 of the damping spring assembly 22 abuts against the bearing body to reasonably limit the maximum downward moving position of the bearing body, so that the upward and downward jumping of the bearing body is limited in a certain range, the upward and downward bumping amplitude of the bearing body is reduced, and the movement stability is improved.
In a specific application process, a single Mecanum wheel 3 and a connecting frame assembly 21 can form an independent module, so that the production and maintenance are convenient; when the damping spring assembly 22 is arranged on the connecting frame assembly 21, the damping performance of a single independent module can be tested independently, the production quality of a product is guaranteed, and the stability and the overhauling convenience of the product after leaving a factory are improved. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Compared with the existing moving chassis with Mecanum wheels, the omnidirectional moving chassis has better buffering and shock-absorbing performance, can adapt to uneven building ground, and is flexible and easy to control the advancing and steering.
The Mecanum wheel 3 is used as a driving wheel to drive, and other driven wheels can be matched to support the chassis support 1 to be matched with the Mecanum wheel 3 for use.
In some embodiments of the present invention, as shown in fig. 5 and 9, the damper spring assembly 22 includes: a guide shaft 221, a spring member 222, and a stopper piece 223 a. As shown in fig. 5, one end of the guide shaft 221 is connected to the link assembly 21. As shown in fig. 9, the spring member 222 is fitted over the guide shaft 221, and a stopper 223a is connected to one end of the guide shaft 221 and constitutes a free end 223, and the stopper 223a restrains the spring member 222 on the guide shaft 221. It can be understood that, by providing the guide shaft 221, the telescopic movement direction of the spring member 222 is consistent with the length direction of the guide shaft 221, and by providing the blocking piece 223a, not only the telescopic movement of the spring member 222 on the guide shaft 221 is kept without being released, but also the carrier body pressed downward can be effectively supported, that is, the blocking piece 223a not only determines the maximum height range of the upward movement of the spring member 222, but also determines the lowest position of the downward movement of the carrier body.
Optionally, the blocking piece 223a is formed as a buffer support member with certain structural strength and buffer performance, such as a rubber member, a silicone material member, and a high molecular polymer plastic member. So that the blocking piece 223a has a certain buffer effect on the carrier when contacting with the carrier, and the service life of the blocking piece 223a is prolonged.
Alternatively, the spring member 222 is formed as a helical spring member.
Alternatively, as shown in fig. 5 and 7, the first connecting plate 211 is provided with a limiting through hole 211a, and the free end 223 passes through the limiting through hole 211a to extend to the carrier. The limiting through hole 211a can limit the upper end of the guide shaft 221 at the limiting through hole 211a, so that the support failure caused by overlarge swing amplitude of the guide shaft 221 and the free end 223 of the end part is prevented, the contact of the whole surface is ensured when the free end 223 is contacted with the bearing body, and the buffering support effect is good.
In some embodiments of the present invention, as shown in fig. 2 and 5, the connecting bracket assembly 21 includes a first connecting plate 211, a mounting seat 215, a lower portion of the first connecting plate 211 being connected to the mounting seat 215, and an upper portion of the first connecting plate 211 being connected to the chassis bracket 1. It should be noted that, as shown in fig. 2, the mounting seat 215 and the first connecting plate 211 may be directly connected, as shown in fig. 5, and the mounting seat 215 and the first connecting plate 211 may also be indirectly connected through other connecting members.
Wherein the mounting seat 215 is vertically arranged with respect to the chassis frame 1. When the chassis frame 1 is in the horizontal position, the mount 215 is in the vertical position.
Wherein the first connection plate 211 is arranged horizontally with respect to the chassis frame 1. When the chassis frame 1 is in the horizontal position, the first connection plate 211 is in the substantially horizontal position.
Thus, the mounting seat 215 and the first connecting plate 211 are connected to form a three-dimensional semi-open framework.
Optionally, as shown in fig. 2, 3 and 4, the connecting bracket assembly 21 further includes a reinforcing member 216, and two side surfaces of the reinforcing member 216 are respectively connected to the mounting seat 215 and the first connecting plate 211. The reinforcing member 216 is in surface contact with the first connection plate 211 and the mounting seat 215, respectively, and fastens the connection therebetween. The semi-open type framework composed of the mounting seat 215 and the first connecting plate 211 is stable in structure and high enough in local strength, and is not easy to be scattered or damaged in the process of bumping and advancing of the omnidirectional movement chassis 100 or in the process of encountering ground obstacles, so that the horizontality of the chassis support 1 is ensured, and the horizontal stability of the supporting body is also ensured.
In some embodiments of the present invention, as shown in fig. 2, 3, 5 and 6, the omnidirectional exercise chassis 100 further includes a driving mechanism 4, as shown in fig. 4 and 9, the mounting base 215 is provided with a shaft mounting hole 215a, the driving mechanism 4 is mounted in the shaft mounting hole 215a, and the driving mechanism 4 is connected to the mecanum wheel 3.
Alternatively, as shown in fig. 4 and 7, the driving mechanism 4 includes a speed reducer 41 and a servo motor 42, an output shaft of the servo motor 42 is connected to the speed reducer 41, the speed reducer 41 is mounted in the shaft mounting hole 215a, and an output end of the speed reducer 41 is connected to an input end of the mecanum wheel 3. The use of servo motors 42 allows precise control of the starting and stopping of mecanum wheels 3, allowing more precise control of the travel and steering of the omni-directional motion chassis 100.
Optionally, the speed reducer 41 is provided with a support shaft matched with the shaft mounting hole 215a, and the support shaft is fixedly matched with the shaft mounting hole 215a (for example, bolt matching or flange and bolt combination fixing, etc., and no specific limitation is made here).
In some embodiments of the present invention, as shown in fig. 5 and 6, the connecting frame assembly 21 further includes a second connecting plate 212, a third connecting plate 213, and a fourth connecting plate 214, wherein the second connecting plate 212 is disposed opposite to the mounting seat 215 (where the relative disposition means that two surfaces between the second connecting plate 212 and the mounting seat 215 are disposed in parallel, for example, when the mounting seat 215 is disposed vertically, the second connecting plate 212 is also disposed vertically, the mounting seat 215 and the second connecting plate 212 each have one vertical surface, and the two vertical surfaces are disposed in parallel and opposite to each other), two ends of the third connecting plate 213 are respectively connected to lower portions of the second connecting plate 212 and the mounting seat 215, the fourth connecting plate 214 is located below the first connecting plate 211, and two ends of the fourth connecting plate 214 are respectively connected to upper portions of the second connecting plate 212 and the mounting seat 215. Thus, the mounting seat 215, the second connecting plate 212, the third connecting plate 213 and the fourth connecting plate 214 form a square frame. The overall structure of the square frame is firmer, and an installation aggregate is formed, so that the Mecanum wheels 3 and the driving mechanism 4 can be conveniently installed, and the structure is compact and the stability is high.
As shown in fig. 6 or 7, the first connecting plate 211, the third connecting plate 213, and the fourth connecting plate 214 are vertically spaced. Therefore, a plurality of connected square frame-shaped frameworks are formed, the overall stability of the connecting frame assembly 21 is further improved, the mounting seat 215 and the first connecting plate 211 are indirectly connected, a certain space is formed, and a buffer piece 5 (the buffer piece 5 is described below) can be additionally arranged, in addition, the first connecting plate 211 is connected to the chassis support 1, the fourth connecting plate 214 and the first connecting plate 211 are spaced at a certain distance, when the omnidirectional movement chassis 100 runs, the force transmitted by the mecanum wheels 3 is firstly buffered and dispersed on the square frame-shaped frameworks, and then is upwards transmitted to the first connecting plate 211, the chassis support 1 and the supporting body, so that the direct stress and impact of the supporting body are reduced. When the Mecanum wheels 3 generate noise, a semi-closed silencing cavity is formed in the connected square frame-shaped frameworks, so that the noise of the omnidirectional exercise chassis 100 is low in the exercise process.
In the description of the invention, features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include one or more of the features for distinguishing between the described features, whether sequential or not.
Advantageously, as shown in fig. 6 and 7, the upper portion of the second connecting plate 212 is higher than the mounting seat 215, the second connecting plate 212 connects one end of the first connecting plate 211, and a buffer 5 is provided between the other end of the first connecting plate 211 and the mounting seat 215. That is, a space is formed between the bottom surface of the first connecting member 211 and the top surface of the mounting seat 215, and the buffer member 5 is disposed in the space, so that a buffer amount is formed between the first square frame formed by the mounting seat 215, the second connecting plate 212, the third connecting plate 213, and the fourth connecting plate 214 and the adjacent second square frame formed by the buffer member 5, the first connecting plate 211, the second connecting plate 212, and the fourth connecting plate 214, where the buffer amount is ensured by the buffer member 5. It can be understood that, by forming the buffer amount, the stress impact performance of the square frameworks connected with each other is better, the force transmitted from bottom to top by the Mecanum wheels 3 can be buffered, the deformation force generated by the pressing of the supporting body can also be buffered, the framework structure is not easy to deform, and the service life is long. The buffer part 5 can also limit the mounting seat 215 upwards and limit the chassis support 1 downwards, so that the horizontal position of the supporting body and the shock absorption and buffer performance of the chassis support 1 and the Mecanum wheel 3 are ensured.
Alternatively, as shown in fig. 8 and 9, the upper portion of the mounting seat 215 is provided with a first mounting groove 215b, the upper portion of the second connecting plate 212 is provided with a second mounting groove 212b, and the first mounting groove 215b is opposite to and parallel to the second mounting groove 212b, which means that the first mounting groove 215b and the second mounting groove 212b are located on the same plane, thereby facilitating connection of the fourth connecting plate 214 and forming a frame-shaped structure.
Optionally, as shown in fig. 7, the fourth connecting plate 214 includes a first connecting shaft 214a, a second connecting shaft 214b and a swing link 214c, the first connecting shaft 214a is connected in the first mounting groove 215b, the second connecting shaft 214b is connected in the second mounting groove 212b, and two ends of the swing link 214c are respectively connected to the first connecting shaft 214a and the second connecting shaft 214 b. Here, a stable frame-shaped upper structure will be formed, facilitating installation and adjustment of the assembly position of the fourth connection plate 214.
Advantageously, as shown in fig. 7, the first connection shaft 214a penetrates both walls of the first mounting groove 215b and is fixed by a tuck screw 217 and a tuck nut 218, and the second connection shaft 214b penetrates both walls of the second mounting groove 212b and is fixed by a tuck screw 217 and a tuck nut 218. The plugging screw 217 and the plugging nut 218 are adopted for fixation, so that the occupied space is small, the structure is compact, and the assembly and disassembly are convenient.
Advantageously, as shown in fig. 6, the second connection plate 212 and the first connection plate 211 are connected to both side surfaces of the reinforcing member 216, respectively. Here, the first square frame formed by the mounting seat 215, the second connecting plate 212, the third connecting plate 213, and the fourth connecting plate 214 and the second square frame formed by the cushion 5, the first connecting plate 211, the second connecting plate 212, and the fourth connecting plate 214 are reinforced, so that the local strength and the impact resistance are improved, the connection between the first connecting plate 211 and the second connecting plate 212 is more stable, and the cushion 5 between the first connecting plate 211 and the mounting seat 215 is prevented from being excessively compressed.
Alternatively, as shown in fig. 5, 7 and 9, a guide shaft seat 215c is formed on the mounting seat 215, the guide shaft seat 215c is perpendicular to the mounting seat 215, the lower end of the spring member 222 is connected to the guide shaft seat 215c, and the upper end of the spring member 222 is fitted to the first connecting plate 211. Here, the spring member 222 performs an alternating action of energy accumulation and energy release when the first connection plate 211 slightly vibrates up and down with respect to the mounting seat 215, so that the first connection plate 211 is always kept in a relatively horizontal position, thereby enhancing the driving stability of the chassis frame 1. Meanwhile, the spring element 222 can respectively buffer the acting force transmitted by the lower Mecanum wheel 3 and the acting force transmitted by the upper bearing body, and further cooperates with the buffer element 5, so that the excellent buffer and shock absorption performance of the omnidirectional movement chassis 100 and the stability of the bearing body are ensured. Additionally, spring member 222 increases the grip of mecanum wheel 3 on the ground, allowing mecanum wheel 3 to remain flush with the ground.
Specifically, as shown in fig. 9, the side of the mounting seat 215 facing the second connecting plate 212 is provided with two shaft guide seats 215c, the two shaft guide seats 215c are symmetrically arranged relative to the driving mechanism 4, and each shaft guide seat 215c is provided with a group of damping spring assemblies 22. Here, the guide shaft seat 215c and the damping spring assembly 22 are symmetrically disposed at both sides of the driving mechanism 4, so that the damping and buffering effect of the same connecting frame assembly 21 is more significant, and the first connecting plate 211 is not easily inclined to one side, which is beneficial to the omnidirectional moving chassis 100 to keep a horizontal stable operation.
Further alternatively, as shown in fig. 7, a side of the second connecting plate 212 facing the mounting seat 215 is provided with a reinforcing member 216. The reinforcing member 216 is disposed opposite to the guide shaft seat 215c and the damper spring assembly 22, and is compact and easy to machine and arrange.
Alternatively, as shown in fig. 7, a spacing space is formed between the swing link 214c of the fourth connecting plate 214 and the reinforcement 216 on the same side, and the damper spring assembly 22 is disposed in the spacing space and extends in the spacing space. Here, two reinforcing members 216 are provided, and each reinforcing member 216 is provided corresponding to one set of damper spring assemblies 22.
Correspondingly, two third connecting plates 213 are also provided, and the two third connecting plates 213 are oppositely arranged in parallel between the second connecting plate 212 and the mounting seat 215, and jointly form a frame of the frame-shaped framework.
Optionally, the lower portion of the second connecting plate 212 is provided with an avoiding through hole 212a communicated with the bottom, one end of the driving mechanism 4 extends out of the avoiding through hole 212a, and the other end of the driving mechanism 4 extends into the first frame-shaped framework from the avoiding through hole 212a and is connected to the shaft mounting hole 215 a.
The following describes a specific structure of the omnidirectional exercise chassis 100 according to an embodiment of the present invention with reference to the drawings.
Examples
An omnidirectional exercise chassis 100, as shown in fig. 1, comprising: chassis frame 1, suspension assembly 2, mecanum wheel 3, drive mechanism 4, and damper 5 (the structure of damper 5 is shown with reference to fig. 7).
As shown in fig. 1, the chassis frame 1 is formed into a plurality of criss-cross frame assembly structures, the upper portion of the chassis frame 1 is adapted to be connected to a carrier, and the lower portion of the chassis frame 1 is adapted to be connected to the suspension assembly 2.
With continued reference to fig. 1, four chassis frames 1 are provided with four independent travel modules, each of which comprises a suspension assembly 2, mecanum wheels 3 and a drive mechanism 4. The suspension assembly 2 of each traveling module comprises a connecting frame assembly 21, a servo motor 42 in the driving mechanism 4 is connected with a speed reducer 41, the speed reducer 41 is connected to the connecting frame assembly 21, and the output end of the speed reducer 41 is connected with the Mecanum wheel 3.
As shown in fig. 2, 3 and 4, the suspension assembly 2 of the two traveling modules is not provided with the damper spring assembly 22, and the two traveling modules employ a connecting frame assembly 21 comprising a first connecting plate 211 and a mounting seat 215 which are vertically arranged, and a triangular reinforcing member 216 connected between the first connecting plate 211 and the mounting seat 215, the first connecting plate 211 and the mounting seat 215 are fixed by bolts, and two side surfaces of the reinforcing member 216 are respectively in contact with the first connecting plate 211 and the mounting seat 215 and fixed by bolts. Therefore, the first connecting plate 211, the mounting seat 215 and the reinforcing member 216 together constitute a three-dimensional semi-open framework. The two traveling modules are symmetrically arranged on the front side of the chassis support 1.
Wherein the other two traveling modules are symmetrically arranged at the rear side of the chassis support 1. The suspension assemblies 2 of the two traveling modules are each provided with a damper spring assembly 22 and a cushion member 5, and as shown in fig. 5, 6 and 7, the two traveling modules employ a link assembly 21 including a first link plate 211, a second link plate 212, a third link plate 213, a fourth link plate 214, a mount 215 and a reinforcement member 216. The second connecting plate 212 and the mounting seat 215 are vertically arranged relatively, the upper portion of the second connecting plate 212 is higher than the mounting seat 215, the second connecting plate 212 is connected with one end of the first connecting plate 211, and a buffer 5 is arranged between the other end of the first connecting plate 211 and the mounting seat 215. As shown in fig. 8 and 9, the upper portion of the mounting seat 215 is provided with a first mounting groove 215b, the upper portion of the second connecting plate 212 is provided with a second mounting groove 212b, the first mounting groove 215b is opposite to and parallel to the second mounting groove 212b, as shown in fig. 7, the fourth connecting plate 214 comprises a first connecting shaft 214a, a second connecting shaft 214b and a swing rod 214c, the first connecting shaft 214a is connected in the first mounting groove 215b, the second connecting shaft 214b is connected in the second mounting groove 212b, and two ends of the swing rod 214c are respectively connected to the first connecting shaft 214a and the second connecting shaft 214 b. The first connection shaft 214a penetrates both walls of the first mounting groove 215b and is fixed by a tuck screw 217 and a tuck nut 218, and the second connection shaft 214b penetrates both walls of the second mounting groove 212b and is fixed by a tuck screw 217 and a tuck nut 218. As shown in fig. 6, both side surfaces of the reinforcing member 216 are connected to the second connection plate 212 and the first connection plate 211, respectively. The third connection plate 213 is provided with two, two third connection plates 213 are oppositely arranged in parallel between the second connection plate 212 and the mount 215, and the two connection plates 213 are arranged below. As shown in fig. 6 or 7, the first connecting plate 211, the third connecting plate 213, and the fourth connecting plate 214 are vertically spaced apart. Therefore, the mount 215, the second connecting plate 212, the third connecting plate 213, and the fourth connecting plate 214 form a first square frame, and the cushion 5, the first connecting plate 211, the second connecting plate 212, and the fourth connecting plate 214 form a second square frame adjacent to each other.
As shown in fig. 9, the side of the mounting seat 215 facing the second connecting plate 212 is provided with two shaft guide seats 215c, the two shaft guide seats 215c are symmetrically arranged with respect to the drive mechanism 4, and each shaft guide seat 215c is mounted with a set of damper spring assemblies 22. As shown in fig. 5 and 9, the damper spring assembly 22 includes: a guide shaft 221, a spring member 222, and a stopper piece 223 a. As shown in fig. 5, one end of the guide shaft 221 is connected to the link assembly 21. As shown in fig. 9, the spring member 222 is fitted over the guide shaft 221, and a stopper 223a is connected to one end of the guide shaft 221 and constitutes a free end 223, and the stopper 223a restrains the spring member 222 on the guide shaft 221. As shown in fig. 5 and 7, the first connecting plate 211 is provided with a limiting through hole 211a, and the free end 223 passes through the limiting through hole 211a to extend to the carrier. The lower end of the spring member 222 is coupled to the guide shaft seat 215c, and the upper end of the spring member 222 is fitted to the first coupling plate 211.
Therefore, by arranging the structure, a multiple-buffering damping system can be formed, so that the chassis support 1 with the Mecanum wheels 3 can not only move flexibly in all directions, but also can stably run, the up-down bumping amplitude of the supporting body can be controlled, and the ground-grabbing effect of the Mecanum wheels 3 is good.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Four mecanum wheels 3 are shown in fig. 1 for illustrative purposes, but it will be apparent to one of ordinary skill after reading the above disclosure that other embodiments utilizing other numbers of mecanum wheels 3 are also within the scope of the present invention.
Other configurations of omnidirectional exercise chassis 100 according to embodiments of the present invention, such as the principles of walking, steering, etc., of mecanum wheels 3 are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (11)
1. An omnidirectional exercise chassis, wherein the omnidirectional exercise chassis is configured to support a connection carrier, the omnidirectional exercise chassis comprising:
a chassis bracket adapted to connect to the carrier;
a suspension assembly connected to the chassis support, the suspension assembly including at least one link assembly, at least one set of shock absorbing spring assemblies, at least one of the link assemblies connecting at least one set of the shock absorbing spring assemblies, one end of the shock absorbing spring assemblies being a free end adapted to be disposed toward the carrier to be supported on the carrier when the carrier is depressed;
a Mecanum wheel comprising at least one, the Mecanum wheel coupled to the link assembly; the connecting frame component connected with at least one Mecanum wheel is provided with the damping spring component.
2. The omnidirectional exercise chassis of claim 1, wherein the damper spring assembly comprises:
one end of the guide shaft is connected to the connecting frame component;
the spring piece is sleeved on the guide shaft;
the spring piece is limited on the guide shaft by the separation blade which is connected to one end of the guide shaft and forms the free end.
3. The omnidirectional exercise chassis of claim 1, wherein the connector assembly comprises a first connector plate, a mounting base, a lower portion of the first connector plate being attached to the mounting base, an upper portion of the first connector plate being attached to the chassis support, the mounting base being vertically disposed with respect to the chassis support.
4. The omnidirectional exercise chassis of claim 3, further comprising a drive mechanism, wherein the mounting base defines a shaft mounting hole, the drive mechanism being mounted in the shaft mounting hole, the drive mechanism being coupled to the mecanum wheel.
5. The omnidirectional exercise chassis of claim 4, wherein the connecting frame assembly further comprises a second connecting plate, a third connecting plate, and a fourth connecting plate, the second connecting plate is disposed opposite to the mounting seat, two ends of the third connecting plate are respectively connected to the second connecting plate and the lower portion of the mounting seat, the fourth connecting plate is located below the first connecting plate, two ends of the fourth connecting plate are respectively connected to the second connecting plate and the upper portion of the mounting seat, and the first connecting plate, the third connecting plate, and the fourth connecting plate are vertically spaced apart.
6. The omnidirectional exercise chassis of claim 5, wherein the second connecting plate is higher than the mounting base at an upper portion thereof, the second connecting plate is connected to one end of the first connecting plate, and a buffer member is disposed between the other end of the first connecting plate and the mounting base.
7. The omnidirectional exercise chassis of claim 5, wherein a first mounting groove is formed at an upper portion of the mounting seat, and a second mounting groove is formed at an upper portion of the second connecting plate, the first mounting groove being opposite to and parallel to the second mounting groove;
the fourth connecting plate comprises a first connecting shaft, a second connecting shaft and a swing rod, the first connecting shaft is connected in the first mounting groove, the second connecting shaft is connected in the second mounting groove, and two ends of the swing rod are respectively connected to the first connecting shaft and the second connecting shaft.
8. The omnidirectional exercise chassis of claim 5, further comprising a reinforcing member, wherein two sides of the reinforcing member are respectively connected to the mounting base and the first connecting plate; or the two side surfaces of the reinforcing piece are respectively connected with the second connecting plate and the first connecting plate.
9. The chassis of claim 8, wherein the mounting base is provided with two guide shaft seats on a side facing the second connecting plate, the two guide shaft seats are symmetrically arranged relative to the driving mechanism, each guide shaft seat is provided with a group of damping spring assemblies, and the second connecting plate is provided with the reinforcing member on a side facing the mounting base.
10. The omnidirectional exercise chassis according to claim 3 or 5, wherein the first connecting plate is provided with a limiting through hole, and the free end passes through the limiting through hole to extend to the supporting body.
11. The omnidirectional exercise chassis of claim 9, wherein the damper spring assembly comprises a spring member, a lower end of the spring member being coupled to the spindle base and an upper end of the spring member being coupled to the first coupling plate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095905.0A CN110815289A (en) | 2019-11-11 | 2019-11-11 | Omnidirectional movement chassis |
| PCT/CN2020/120645 WO2021093498A1 (en) | 2019-11-11 | 2020-10-13 | Omnidirectional movement chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095905.0A CN110815289A (en) | 2019-11-11 | 2019-11-11 | Omnidirectional movement chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110815289A true CN110815289A (en) | 2020-02-21 |
Family
ID=69553953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911095905.0A Pending CN110815289A (en) | 2019-11-11 | 2019-11-11 | Omnidirectional movement chassis |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110815289A (en) |
| WO (1) | WO2021093498A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267145A (en) * | 2020-03-18 | 2020-06-12 | 广东博智林机器人有限公司 | Suspension mechanism, chassis and robot |
| CN111409056A (en) * | 2020-04-29 | 2020-07-14 | 天津航天机电设备研究所 | Omnidirectional mobile robot |
| CN111609083A (en) * | 2020-05-20 | 2020-09-01 | 杭州程天科技发展有限公司 | Shock-absorbing device |
| WO2021093498A1 (en) * | 2019-11-11 | 2021-05-20 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
| CN114212521A (en) * | 2021-12-13 | 2022-03-22 | 中铁七局集团第五工程有限公司 | Building material conveying device suitable for small space |
| CN115320301A (en) * | 2022-07-21 | 2022-11-11 | 武汉数字化设计与制造创新中心有限公司 | Wall climbing robot suspension mechanism with adaptive curved surface and wall climbing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008122538A1 (en) * | 2007-04-04 | 2008-10-16 | Kuka Roboter Gmbh | Omnidirectional vehicle, driving module, and mobile industrial robot |
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN106183681A (en) * | 2016-08-01 | 2016-12-07 | 山东建筑大学 | Omni-directional moving platform with damping device |
| CN107031322A (en) * | 2017-03-20 | 2017-08-11 | 东莞松山湖国际机器人研究院有限公司 | Active driving device |
| CN108015748A (en) * | 2017-12-14 | 2018-05-11 | 华南理工大学 | A kind of omnidirectional moving chassis with buffer unit |
| CN208005661U (en) * | 2018-02-24 | 2018-10-26 | 珠海格力智能装备有限公司 | Chassis assembly and robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104144845A (en) * | 2011-12-02 | 2014-11-12 | 螺旋机器人有限责任公司 | Mobile robot |
| CN204526693U (en) * | 2015-01-13 | 2015-08-05 | 上海智远弘业机器人有限公司 | The independent wheel suspension of Mecanum wheel intelligent family moving platform |
| CN206579423U (en) * | 2017-03-20 | 2017-10-24 | 东莞松山湖国际机器人研究院有限公司 | Active driving device |
| CN110469758B (en) * | 2019-08-15 | 2020-06-02 | 燕山大学 | Super-large-bearing omnidirectional carrying attitude-adjusting platform and ground self-adaptive omnidirectional mobile unit |
| CN210591264U (en) * | 2019-08-19 | 2020-05-22 | 华晓精密工业(苏州)有限公司 | Mecanum wheel suspension mechanism and AGV trolley with same |
| CN110815289A (en) * | 2019-11-11 | 2020-02-21 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
-
2019
- 2019-11-11 CN CN201911095905.0A patent/CN110815289A/en active Pending
-
2020
- 2020-10-13 WO PCT/CN2020/120645 patent/WO2021093498A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008122538A1 (en) * | 2007-04-04 | 2008-10-16 | Kuka Roboter Gmbh | Omnidirectional vehicle, driving module, and mobile industrial robot |
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN106183681A (en) * | 2016-08-01 | 2016-12-07 | 山东建筑大学 | Omni-directional moving platform with damping device |
| CN107031322A (en) * | 2017-03-20 | 2017-08-11 | 东莞松山湖国际机器人研究院有限公司 | Active driving device |
| CN108015748A (en) * | 2017-12-14 | 2018-05-11 | 华南理工大学 | A kind of omnidirectional moving chassis with buffer unit |
| CN208005661U (en) * | 2018-02-24 | 2018-10-26 | 珠海格力智能装备有限公司 | Chassis assembly and robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021093498A1 (en) * | 2019-11-11 | 2021-05-20 | 广东博智林机器人有限公司 | Omnidirectional movement chassis |
| CN111267145A (en) * | 2020-03-18 | 2020-06-12 | 广东博智林机器人有限公司 | Suspension mechanism, chassis and robot |
| CN111409056A (en) * | 2020-04-29 | 2020-07-14 | 天津航天机电设备研究所 | Omnidirectional mobile robot |
| CN111609083A (en) * | 2020-05-20 | 2020-09-01 | 杭州程天科技发展有限公司 | Shock-absorbing device |
| CN111609083B (en) * | 2020-05-20 | 2021-11-02 | 杭州程天科技发展有限公司 | Shock-absorbing device |
| CN114212521A (en) * | 2021-12-13 | 2022-03-22 | 中铁七局集团第五工程有限公司 | Building material conveying device suitable for small space |
| CN115320301A (en) * | 2022-07-21 | 2022-11-11 | 武汉数字化设计与制造创新中心有限公司 | Wall climbing robot suspension mechanism with adaptive curved surface and wall climbing robot |
| CN115320301B (en) * | 2022-07-21 | 2024-05-24 | 武汉数字化设计与制造创新中心有限公司 | Wall climbing robot suspension mechanism of self-adaptation curved surface and wall climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021093498A1 (en) | 2021-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110815289A (en) | Omnidirectional movement chassis | |
| CN108045187B (en) | Independent suspension mechanism of omnidirectional mobile platform | |
| CN106739904B (en) | AGV drive unit damper | |
| CN104085266A (en) | Suspension for chassis of four-wheel moving robot | |
| CN206202314U (en) | Bogie assembly and straddle-type single-track vehicle | |
| CN208181080U (en) | A kind of bogie and the Rail Transit System with it | |
| CN112248735A (en) | Mecanum wheel multi-stiffness spring suspension for heavy-duty omnidirectional mobile platform | |
| US20180201086A1 (en) | Connecting structure which reduces vibration effect of power system on vehicle body | |
| CN217598681U (en) | Cross-country robot | |
| CN211568096U (en) | Rear auxiliary frame of rear-drive new energy automobile | |
| CN202623843U (en) | Double-rear axle air suspension for heavy duty car | |
| CN105854271A (en) | Remotely-controlled intelligent four-wheel-driven scooter damping device | |
| CN112356650A (en) | Mechanical vibration buffering automobile power device | |
| CN114789634B (en) | Active suspension device for Mecanum wheel omnidirectional vehicle | |
| CN111016562A (en) | Independent suspension device of manned trolley | |
| CN203127079U (en) | Front-hanging device of sweeper | |
| CN214985620U (en) | Front wheel steering mechanism with damping function for unmanned sweeper and unmanned sweeper | |
| CN210852406U (en) | Wheel balancing device for full-automatic parking robot | |
| CN210591277U (en) | Linkage, motion chassis and robot | |
| CN211195761U (en) | Independent suspension and vehicle | |
| US10266213B2 (en) | Tractor | |
| CN112141153B (en) | Bogie and railway vehicle with same | |
| CN203651377U (en) | Novel lightweight suspension structure | |
| CN205523636U (en) | Vehicle | |
| CN219154573U (en) | Unmanned vehicle chassis and robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200221 |
|
| RJ01 | Rejection of invention patent application after publication |