CN111137358A

CN111137358A - Two-stage damping mechanism of omnidirectional movement chassis

Info

Publication number: CN111137358A
Application number: CN202010115523.6A
Authority: CN
Inventors: 杨扬; 杨超; 全鹏
Original assignee: Southwest Petroleum University
Current assignee: Southwest Petroleum University
Priority date: 2020-02-25
Filing date: 2020-02-25
Publication date: 2020-05-12

Abstract

The invention discloses a secondary damping mechanism of an omnidirectional mobile chassis, which comprises a chassis keel and a wheel set module. Wheel set modules are arranged at four corners of the chassis keel respectively and comprise power motors, Mecanum wheels and secondary damping mechanisms. Two fan-shaped carbon plates are arranged on two sides of the second-stage damping mechanism, a first-stage damping is fixed on each fan-shaped carbon plate, the upper end of each first-stage damping is connected with a door-shaped frame, and the door-shaped frame is matched with a pin shaft, a spring, a guide wheel, a spring seat and a linear bearing to form second-stage damping. The first-stage damping mechanism can effectively filter self-vibration of Mecanum wheels, meets the requirement on stability of the chassis in most application scenes, and solves the problem that the omnidirectional moving chassis is suitable for various complicated and bad terrains by the aid of the second-stage damping mechanism formed together with the second-stage damping mechanism.

Description

Two-stage damping mechanism of omnidirectional movement chassis

Technical Field

The invention relates to the field of damping of mobile chassis, in particular to a secondary damping mechanism of an omnidirectional mobile chassis.

Background

With the continuous research and development of the robot technology, the requirement for the mobile chassis is also larger and larger. At present, a differential wheel type or non-suspension type chassis is generally adopted in a robot moving chassis, the chassis has high requirements on road flatness, can not adapt to various road conditions, and has poor motion flexibility and bearing capacity, and Mecanum wheels are used as power wheels of an omnidirectional moving chassis, so that the requirements of people on the motion flexibility and the bearing capacity are met.

Most of the existing omnidirectional moving chassis adopting Mecanum wheels as power wheels are suspended in a primary mode, and although the self-vibration caused by the movement of the omnidirectional moving chassis can be filtered, the requirement that the chassis is in an abnormal working condition cannot be met. In particular, when the chassis moves down steps, in a flight gully, and climbs, the single linear suspension may adversely affect the vehicle body structure and the vehicle-mounted equipment once it comes into contact with the ground.

Disclosure of Invention

The invention provides a secondary damping mechanism of an omnidirectional moving chassis, which aims to solve the problems that the conventional omnidirectional moving chassis cannot be normally used on a bad road surface, so that the whole vehicle structure and vehicle-mounted instrument equipment are influenced and the like.

In order to achieve the purpose of the invention, the invention adopts the technical scheme that:

the two-stage damping mechanism of the omnidirectional moving chassis comprises a chassis keel and a wheel set module, wherein the chassis keel consists of a plurality of 6063-T5 aluminum alloy square tubes; four wheel sets are symmetrically arranged on the chassis keel; the four wheel sets respectively comprise a power system and a secondary damping mechanism, wherein the power system is formed by connecting a motor and a Mecanum wheel.

Furthermore, the secondary damping mechanism comprises two fan-shaped carbon plates, one sides of the two fan-shaped carbon plates are connected with the power motor through a motor bracket, and the other sides of the two fan-shaped carbon plates are connected with the coupler through flange bearings; an aluminum column is arranged between the two fan-shaped carbon plates for supporting and is fixed on the Mecanum wheel through two couplings; a first-stage shock absorber is fixed on the fan-shaped carbon plate, and the upper end of the first-stage shock absorber is connected with a door-shaped frame; the door-shaped frame consists of 3 aluminum alloy square tubes, and 3D printing materials are filled in the door-shaped frame; 3 linear bearings are placed in the 3D printing material; the linear bearing is matched with a 6cm pin shaft to form second-stage damping; the second-stage damping device comprises a guide wheel, a spring, a 6cm pin shaft, an upper spring seat and a lower spring seat.

Further, the secondary damping mechanism is fixed on the chassis keel through two vertical bearing seats; the two vertical bearing seats are connected with the two fan-shaped carbon plates through four plane thrust needle roller bearings and an M8 plug screw.

Furthermore, a curved surface metal plate is placed at the upper ends of the two fan-shaped carbon plates, and after the curved surface metal plate can be in contact with the guide wheel, second-stage shock absorption is compressed.

The gain effect of the invention is as follows:

1. the invention has four Mecanum wheels arranged in an O-rectangle mode to enable the chassis to have an omnidirectional movement function, the hinge design avoids the connection of a damping mechanism and the hinge, the stability of the damping mechanism is greatly enhanced, the first-stage damping with 3cm effective travel can effectively filter the self-vibration of the Mecanum wheels, the requirement on the stability of the chassis in most application scenes is met, and the nonlinear suspension system formed by the first-stage damping and the second-stage damping solves the problem that the omnidirectional movement chassis is suitable for various complicated and bad terrains, such as the lower step, the upper slope, the flying gully and the like of the chassis.

2. The guide wheel and the plane metal plate are matched in a secondary damping mode, the spring is compressed by the aid of extrusion of the plane metal plate on the guide wheel, the pin shaft and the linear bearing are connected in series to play a role in guiding, research and development cost and assembly complexity of suspension are greatly reduced, the suspension is easy to install, stress is uniform, and a damping effect is obvious.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic structural view of a secondary damping mechanism;

fig. 4 is a front view of the secondary damping mechanism.

Wherein: 1. 6063-T5 aluminum alloy square tube; 2. a large guide wheel; 3. a power motor; 4. a motor bracket; 5. a Mecanum wheel; 6. a planar thrust needle bearing; 7. a vertical bearing seat; 8. m8 stop-driving screws; 9. a small guide wheel; 10. a curved surface metal plate; 11. a coupling; 12. an aluminum column; 13. a guide wheel fixing rod; 14. first-stage shock absorption; 15. a spring; 16. a pin shaft; 17. a fan-shaped carbon plate; 18. a lower spring seat; 19. an upper spring seat; 20. 3D printing material.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.

A two-stage damping mechanism of an omnidirectional moving chassis refers to fig. 1, fig. 2, fig. 3 and fig. 4, and comprises a chassis keel and a wheel set module, wherein the chassis keel is composed of a plurality of 6063-T5 aluminum alloy square tubes 1; four wheel set modules are symmetrically arranged on the chassis keel; the four wheel set modules respectively comprise a power system and a secondary damping mechanism, wherein the power system is formed by connecting a power motor 3 and a Mecanum wheel 5.

Referring to fig. 3, the secondary damping mechanism comprises two fan-shaped carbon plates 17, one sides of the two fan-shaped carbon plates 17 are connected with the power motor 3 through the motor bracket 4, the other sides of the two fan-shaped carbon plates are connected with the coupler 11 through a flange bearing, and the middle of the two fan-shaped carbon plates 17 is supported by an aluminum column 12 and fixed on the mecanum wheel 5 through the two couplers 11; be fixed with first order shock attenuation 14 on the fan-shaped carbon plate 17, this first order shock attenuation upper end links to each other with a door type frame, and door type frame comprises 3 aluminum alloy square tubes 1, has the 3D printing material 20 of packing in, has placed 3 linear bearing in the 3D printing material 20, and linear bearing forms the second level shock attenuation with the cooperation of 6cm round pin axle 16, and the second level shock attenuation includes little guide pulley 9, spring 15, 6cm round pin axle 16, goes up spring holder 19 and lower spring holder 18.

Referring to fig. 3, the secondary damping mechanism is fixed on the chassis keel through two vertical bearing seats 7; two vertical bearing blocks 7 are connected with two fan-shaped carbon plates 17 through four plane thrust needle roller bearings 6 and an M8 plug screw 8 to form a hinge, and the design of the hinge avoids the connection of a damping mechanism and the hinge, thereby greatly enhancing the stability of the damping mechanism.

Referring to fig. 3, a curved surface panel beating 10 is placed to two fan-shaped carbon plates 17 upper ends, when wheelset module revolutes the rotation axis motion, compresses first order shock attenuation earlier, and curved surface panel beating rebound thereupon, when the little guide pulley 9 of contact, can extrude little guide pulley 9, because of little guide pulley 9 links to each other with lower spring holder and drives down spring holder rebound, compression spring, the second level shock attenuation plays the effect this moment. In the specific implementation process, the small guide wheel penetrates through the fixing rod and is placed at the lower end of the lower spring seat, the pin shaft and the linear bearing are connected in series to play a guiding role for the movement of the spring, the upper end of the spring is fixed in the upper spring seat, the spring is prevented from sliding out, the research and development cost and the assembly complexity of suspension are greatly reduced, the suspension is easy to install, the stress is uniform, and the damping effect is obvious.

Referring to fig. 1, four mecanum wheel sets are arranged at four corners of a chassis in an O-rectangle mode, so that the chassis has an omnidirectional movement function, the first-stage damping rigidity of 3cm effective travel is small, self-vibration of the mecanum wheels can be effectively filtered, the second-stage damping rigidity is large, and when the first-stage damping deformation reaches a certain value, the second-stage damping plays a role, so that a second-stage nonlinear independent damping mechanism is formed, and the problems that the omnidirectional movement chassis is suitable for various complicated and bad terrains, such as chassis lower steps, upslope, flying gullies and the like are solved.

Claims

1. A secondary damping mechanism of an omnidirectional moving chassis comprises a chassis keel and a wheel set module, wherein the chassis keel is composed of 6063-T5 aluminum alloy square tubes (1); four wheel set modules are symmetrically arranged on the chassis keel; the four wheel set modules respectively comprise a power system and a secondary damping mechanism, wherein the power system is formed by connecting a power motor (3) and a Mecanum wheel (5).

2. The secondary damping mechanism for an omni-directional mobile chassis according to claim 1, wherein: the two-stage damping mechanism comprises two fan-shaped carbon plates (17), one sides of the two fan-shaped carbon plates (17) are connected with the power motor (3) through a motor bracket (4), and the other sides of the two fan-shaped carbon plates are connected with the coupler (11) through a flange bearing; an aluminum column (12) is arranged between the two fan-shaped carbon plates (17) for supporting and is fixed on the Mecanum wheel (5) through two couplings (11); a first-stage damping device (14) is fixed on the fan-shaped carbon plate (17), and the upper end of the first-stage damping device is connected with a door-shaped frame; the door-shaped frame consists of 3 aluminum alloy square tubes (1) and filled with 3D printing materials (20); 3 linear bearings are placed in the 3D printing material (20); the linear bearing is matched with a 6cm pin shaft (16) to form second-stage damping; the second-stage damping device comprises a small guide wheel (9), a spring (15), a 6cm pin shaft (16), an upper spring seat (19) and a lower spring seat (18).

3. The secondary damping mechanism for an omni-directional mobile chassis according to claim 1, wherein: the secondary damping mechanism is fixed on the chassis keel through two vertical bearing seats (7); the two vertical bearing seats (7) are connected with the two fan-shaped carbon plates (17) through four plane thrust needle roller bearings (6) and an M8 plug screw (8).

4. The secondary damping mechanism for an omni-directional mobile chassis according to claim 2, wherein: a curved surface metal plate (10) is placed at the upper ends of the two fan-shaped carbon plates (17), and after the curved surface metal plate (10) can be in contact with the guide wheel (9), second-stage shock absorption is compressed.