CN111319699B - Small damping mechanism for mobile platform - Google Patents
Small damping mechanism for mobile platform Download PDFInfo
- Publication number
- CN111319699B CN111319699B CN202010192807.5A CN202010192807A CN111319699B CN 111319699 B CN111319699 B CN 111319699B CN 202010192807 A CN202010192807 A CN 202010192807A CN 111319699 B CN111319699 B CN 111319699B
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- Prior art keywords
- damping
- bearing
- spring
- fixed
- linear bearing
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- 238000013016 damping Methods 0.000 title claims abstract description 104
- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 230000035939 shock Effects 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 6
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Vibration Prevention Devices (AREA)
- Vibration Dampers (AREA)
Abstract
The invention relates to a small damping mechanism for a mobile platform, which is arranged between a mobile chassis and a mobile mechanism; the device comprises a bearing beam fixed with a movable chassis, a spring upper cover fixed on the bottom surface of the bearing beam, and a spring lower cover fixed on the top side of a moving mechanism; the spring upper cover and the spring lower cover are assembled in a sleeved mode, and the spring upper cover and the spring lower cover can only move up and down relatively; the inner cavity of the spring upper cover and the inner cavity of the spring lower cover jointly form a damping spring accommodating space, a damping spring is arranged in the damping spring accommodating space, one end of the damping spring is propped against the top surface of the inner side of the spring upper cover, and the other end of the damping spring is pressed against the bottom surface of the inner side of the spring lower cover and is used for damping the moving chassis and the moving mechanism. The small damping mechanism for the mobile platform is simple in structure, modular in production and assembly, suitable for mobile chassis of different specifications and optimal in damping effect.
Description
Technical Field
The invention relates to the field of damping of a moving platform of a robot, in particular to a small damping mechanism for a moving platform.
Background
At present, the robot moving platform is increasingly used outdoors, and the topography of an outdoor environment is complex, so that the robot moving platform needs to be designed with a damping system to ensure the use of the robot moving platform; however, the design of the damping system of the existing robot moving platform is complex, the processing difficulty of relevant parts is high, the assembly procedure is complex, and moreover, the whole damping system occupies more space and the damping effect is not ideal.
Disclosure of Invention
In order to solve the technical problems, the invention provides a small damping mechanism for a mobile platform, which has a simple structure, is produced and assembled in a modularized manner, is suitable for mobile chassis with different specifications, and achieves the optimal damping effect.
The technical scheme adopted for solving the technical problems is as follows: a small-sized damping mechanism for a mobile platform is arranged between a mobile chassis and a mobile mechanism; the damping mechanism comprises a bearing beam fixed with the movable chassis, a spring upper cover fixed on the bottom surface of the bearing beam, and a spring lower cover fixed on the top side of the movable mechanism; the spring upper cover and the spring lower cover are assembled in a sleeved mode, and the spring upper cover and the spring lower cover can only move up and down relatively; the inner cavity of the spring upper cover and the inner cavity of the spring lower cover jointly form a damping spring accommodating space, a damping spring is arranged in the damping spring accommodating space, one end of the damping spring is propped against the top surface of the inner side of the spring upper cover, and the other end of the damping spring is pressed against the bottom surface of the inner side of the spring lower cover and is used for damping the moving chassis and the moving mechanism.
Further, the lower opening of the spring upper cover is sleeved outside the upper opening of the spring lower cover and is assembled in a sliding mode.
Furthermore, the damping mechanism adopts damping springs with corresponding wire diameters according to the damping hardness degree of actual requirements.
Further, the moving mechanism comprises a wheel fixed disc, a motor reducer assembly and a bearing; an output shaft of the motor reducer assembly penetrates through the bearing and then is fixed with the wheel fixing disc; the shell of the motor reducer assembly is fixed with the side face of the bearing seat of the bearing; the spring lower cover is fixed with the top surface of the bearing seat of the bearing.
Further, the damping mechanism also comprises a guiding and limiting mechanism, wherein the guiding and limiting mechanism comprises a linear bearing, a guiding shaft and a limiting bolt; the top end of the linear bearing is fixed with the bearing cross beam, the bottom end of the guide shaft is fixed with the top surface of the bearing seat of the bearing, and the top end of the guide shaft passes through the linear bearing to be fixed with the limit bolt; the guide shaft is used for providing guide for the up-and-down movement of the linear bearing, and the limit bolt is used for forming upper limit when the linear bearing moves upwards.
Further, the limit bolt is in threaded connection with the guide shaft, and the limit bolt is screwed in or screwed out relative to the guide shaft and used for finely adjusting the stroke of the linear bearing moving up and down along the guide shaft.
Furthermore, the damping mechanism adopts a guide shaft and a linear bearing with corresponding lengths according to the damping stroke of actual requirements.
Further, a rubber pad is further arranged between the linear bearing and the limiting bolt and used for buffering when the linear bearing and the limiting bolt are limited.
Further, the rubber pad is adhered to the top surface of the linear bearing.
Further, a group of moving mechanisms are respectively arranged below two ends of the bearing cross beam, and the two groups of damping mechanisms are respectively arranged between the corresponding moving mechanisms and the bearing cross beam.
The invention has the advantages that: the small damping mechanism for the mobile platform adopts the upper spring cover, the lower spring cover and the built-in damping springs to realize damping between the mobile chassis and the mobile mechanism, has a simple structure, and can be adapted to the mobile chassis with different specifications through the bearing cross beam; the damping effect is adjusted by selecting springs of different types; the linear bearing and the guide shaft are adopted to guide up and down movement, the stroke required by shock absorption is adapted by adjusting the selection of the linear bearing and the length of the guide shaft, and the stroke of the linear bearing, which moves up and down, can be finely adjusted by the limit bolt, so that the best shock absorption effect is achieved; the assembly can be produced and assembled in a modularized manner, and components with corresponding types can be selected for assembly according to different movable chassis so as to meet the damping requirements of different movable chassis and achieve the best damping effect; in the development design of the mobile chassis, the damping mechanism can be quickly installed by only reserving installation, so that the mobile chassis is wide in applicability and convenient to assemble and disassemble.
Drawings
FIG. 1 is a schematic view of a small shock absorbing mechanism for a mobile platform according to an embodiment;
fig. 2 is a schematic cross-sectional view of A-A of fig. 1.
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, which are only for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Examples
As shown in fig. 1 and 2, the present embodiment provides a small-sized vibration damping mechanism for a mobile platform, which is installed between a mobile chassis and a mobile mechanism; the damping mechanism comprises a bearing beam 1 fixed with the movable chassis, a spring upper cover 4 fixed on the bottom surface of the bearing beam 1, and a spring lower cover 5 fixed on the top side of the movable mechanism; the spring upper cover 4 and the spring lower cover 5 are sleeved and assembled, and the spring upper cover 4 and the spring lower cover 5 can only move up and down relatively; the inner cavity of the spring upper cover 4 and the inner cavity of the spring lower cover 5 jointly form a damping spring accommodating space, a damping spring is arranged in the damping spring accommodating space, one end of the damping spring is propped against the top surface of the inner side of the spring upper cover 4, and the other end of the damping spring is pressed against the bottom surface of the inner side of the spring lower cover 5, so that damping is provided for the movable chassis and the movable mechanism.
In a small-sized vibration damping mechanism for a mobile platform of the present embodiment, the lower opening of the spring upper cover 4 is sleeved outside the upper opening of the spring lower cover 5 and is slidably assembled.
In the small damping mechanism for the mobile platform of the embodiment, the damping mechanism adopts damping springs with corresponding wire diameters according to the damping hardness degree of actual requirements.
In the small damping mechanism for the mobile platform of the embodiment, the mobile mechanism comprises a wheel fixed disc 7, a motor reducer assembly 6 and a bearing 8; the output shaft of the motor reducer assembly 6 passes through a bearing 8 and then is fixed with a wheel fixing disc 7; the shell of the motor reducer assembly 6 is fixed with the side surface of the bearing seat of the bearing 8; the spring lower cover 5 is fixed with the top surface of the bearing seat of the bearing 8.
In the small damping mechanism for the mobile platform, the damping mechanism further comprises a guiding and limiting mechanism, wherein the guiding and limiting mechanism comprises a linear bearing 2, a guiding shaft 3 and a limiting bolt 9; the top end of the linear bearing 2 is fixed with the bearing cross beam 1, the bottom end of the guide shaft 3 is fixed with the top surface of a bearing seat of the bearing 8, and the top end of the guide shaft penetrates through the linear bearing 2 to be fixed with the limit bolt 9; the guide shaft 3 is used for guiding the linear bearing 2 to move up and down, and the limit bolt 9 is used for forming an upper limit when the linear bearing 2 moves up.
In the small damping mechanism for the mobile platform of this embodiment, the limit bolt 9 is in threaded connection with the guide shaft 3, and the limit bolt 9 is screwed into or out of the guide shaft 3, so as to finely adjust the stroke of the linear bearing 2 moving up and down along the guide shaft 3.
In the small damping mechanism for the mobile platform of the embodiment, a rubber pad 10 is further arranged between the linear bearing 2 and the limiting bolt 9 and used for buffering when the linear bearing 2 and the limiting bolt 9 are limited; the rubber pad 10 is adhered to the top surface of the linear bearing 2.
In the small damping mechanism for the mobile platform of the embodiment, the damping mechanism adopts the guide shaft 3 and the linear bearing 2 with corresponding lengths according to the damping stroke of actual requirements.
In the small-sized damping mechanism for the mobile platform of the embodiment, a group of moving mechanisms are respectively arranged below two ends of the bearing beam 1, and the two groups of damping mechanisms are respectively arranged between the corresponding moving mechanisms and the bearing beam 1.
When the small damping mechanism for the mobile platform is installed, a bearing beam with proper width, a damping spring with proper damping hardness, a guide shaft with proper damping stroke and a linear bearing are selected through a mobile chassis to be installed; fixing the spring upper cover with the bearing beam through bolts at the bottom sides of the two ends of the bearing beam, and fixing the spring lower cover with the bearing beam through bolts at the top surface of a bearing seat of the moving mechanism after the moving mechanism is assembled; the method comprises the steps of fixedly connecting a guide shaft with a bearing seat through a nut, fixedly connecting a linear bearing with a bearing beam, placing a damping spring in a spring lower cover, sleeving a spring upper cover on a spring lower cover fixed on a moving mechanism, sleeving the linear bearing on the guide shaft, pressing the bearing beam downwards by force after the assembly is finished, compressing the damping spring, enabling the top end of the guide shaft to be exposed out of the linear bearing, installing a limit bolt at the top end of the guide shaft, and fixedly assembling the damping mechanism with a moving chassis through installation hole sites on two sides of the bearing beam, so that the installation of the damping mechanism is completed; when the shock absorber is used, the stroke of the linear bearing, which moves relative to the guide shaft, is finely adjusted through the limiting bolt, so that the shock absorption stroke is finely adjusted, and the best shock absorption effect is achieved; .
The small damping mechanism for the mobile platform adopts the spring upper cover, the spring lower cover and the built-in damping springs to realize damping between the mobile chassis and the mobile mechanism, has a simple structure, and can be adapted to the mobile chassis with different specifications through the bearing cross beam; the damping effect is adjusted by selecting springs of different types; the linear bearing and the guide shaft are adopted to guide up and down movement, the stroke required by shock absorption is adapted by adjusting the selection of the linear bearing and the length of the guide shaft, and the stroke of the linear bearing, which moves up and down, can be finely adjusted by the limit bolt, so that the best shock absorption effect is achieved; the assembly can be produced and assembled in a modularized manner, and components with corresponding types can be selected for assembly according to different movable chassis so as to meet the damping requirements of different movable chassis and achieve the best damping effect; in the development design of the mobile chassis, the damping mechanism can be quickly installed by only reserving installation, so that the mobile chassis is wide in applicability and convenient to assemble and disassemble.
The above embodiments should not limit the present invention in any way, and all technical solutions obtained by equivalent substitution or equivalent conversion fall within the protection scope of the present invention.
Claims (8)
1. A small damping mechanism for a mobile platform, which is arranged between a mobile chassis and the mobile mechanism; the method is characterized in that: the damping mechanism comprises a bearing beam fixed with the movable chassis, a spring upper cover fixed on the bottom surface of the bearing beam, and a spring lower cover fixed on the top side of the movable mechanism; the spring upper cover and the spring lower cover are assembled in a sleeved mode, and the spring upper cover and the spring lower cover can only move up and down relatively; the inner cavity of the spring upper cover and the inner cavity of the spring lower cover jointly form a damping spring accommodating space, a damping spring is arranged in the damping spring accommodating space, one end of the damping spring is propped against the top surface of the inner side of the spring upper cover, and the other end of the damping spring is pressed against the bottom surface of the inner side of the spring lower cover and is used for damping a moving chassis and a moving mechanism;
The moving mechanism comprises a wheel fixed disc, a motor reducer assembly and a bearing; an output shaft of the motor reducer assembly penetrates through the bearing and then is fixed with the wheel fixing disc; the shell of the motor reducer assembly is fixed with the side face of the bearing seat of the bearing; the spring lower cover is fixed with the top surface of the bearing seat of the bearing;
The damping mechanism further comprises a guiding and limiting mechanism, wherein the guiding and limiting mechanism comprises a linear bearing, a guiding shaft and a limiting bolt; the top end of the linear bearing is fixed with the bearing cross beam, the bottom end of the guide shaft is fixed with the top surface of the bearing seat of the bearing, and the top end of the guide shaft passes through the linear bearing to be fixed with the limit bolt; the guide shaft is used for providing guide for the up-and-down movement of the linear bearing, and the limit bolt is used for forming upper limit when the linear bearing moves upwards;
When in installation, a bearing beam with proper width, a damping spring with proper damping hardness requirement, a guide shaft with proper damping stroke and a linear bearing are selected through a movable chassis to be installed; fixing the spring upper cover with the bearing beam through bolts at the bottom sides of the two ends of the bearing beam, and fixing the spring lower cover with the bearing beam through bolts at the top surface of a bearing seat of the moving mechanism after the moving mechanism is assembled; then pass through nut fixed connection with guiding axle and bearing frame, with linear bearing and bearing crossbeam fixed connection, place damping spring in the spring lower cover again, cover the spring upper cover and cover under fixing the last spring of moving mechanism, simultaneously, with linear bearing cover on the guiding axle, after assembling, press down bearing crossbeam hard, make damping spring compress, and then make the top of guiding axle expose linear bearing, the top installation stop bolt at the guiding axle again, the installation hole site and the removal chassis of rethread bearing crossbeam both sides carry out fixed assembly, accomplish damper's installation promptly.
2. A compact vibration-damping mechanism for a mobile platform as defined in claim 1, wherein: the lower opening of the spring upper cover is sleeved outside the upper opening of the spring lower cover and assembled in a sliding mode.
3. A compact vibration-damping mechanism for a mobile platform as defined in claim 1, wherein: the damping mechanism adopts damping springs with corresponding wire diameters according to the damping softness degree of actual requirements.
4. A compact vibration-damping mechanism for a mobile platform as defined in claim 1, wherein: the limiting bolt is in threaded connection with the guide shaft, and the limiting bolt is screwed in or out relative to the guide shaft and used for finely adjusting the stroke of the linear bearing moving up and down along the guide shaft.
5. A compact vibration reducing mechanism for a mobile platform according to claim 1 or 4, wherein: the damping mechanism adopts a guide shaft and a linear bearing with corresponding lengths according to the damping stroke of actual requirements.
6. A compact vibration reducing mechanism for a mobile platform according to claim 1 or 4, wherein: and a rubber pad is further arranged between the linear bearing and the limiting bolt and used for buffering during limiting between the linear bearing and the limiting bolt.
7. A compact vibration-damping mechanism for a mobile platform as defined in claim 6, wherein: the rubber pad is stuck on the top surface of the linear bearing.
8. A compact vibration-damping mechanism for a mobile platform as defined in claim 1, wherein: a group of moving mechanisms are respectively arranged below the two ends of the bearing cross beam, and the two groups of damping mechanisms are respectively arranged between the corresponding moving mechanisms and the bearing cross beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010192807.5A CN111319699B (en) | 2020-03-18 | 2020-03-18 | Small damping mechanism for mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010192807.5A CN111319699B (en) | 2020-03-18 | 2020-03-18 | Small damping mechanism for mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111319699A CN111319699A (en) | 2020-06-23 |
| CN111319699B true CN111319699B (en) | 2024-07-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010192807.5A Active CN111319699B (en) | 2020-03-18 | 2020-03-18 | Small damping mechanism for mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111319699B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211995925U (en) * | 2020-03-18 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Small-sized damping mechanism for mobile platform |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3126640U (en) * | 2006-08-23 | 2006-11-02 | 水泉 趙 | Vehicle anti-sway assembly structure |
| SI2953840T1 (en) * | 2013-02-07 | 2018-06-29 | Alois Kober Gmbh | Vehicle chassis |
| CN108583735B (en) * | 2018-07-04 | 2024-01-09 | 严格科创发展(昆山)有限公司 | A drive wheel hangs damper, chassis, AGV dolly for AGV dolly |
| CN110722943A (en) * | 2019-11-19 | 2020-01-24 | 广州锐速智能科技股份有限公司 | Driving wheel suspension damping mechanism and AGV trolley |
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2020
- 2020-03-18 CN CN202010192807.5A patent/CN111319699B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211995925U (en) * | 2020-03-18 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Small-sized damping mechanism for mobile platform |
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| Publication number | Publication date |
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| CN111319699A (en) | 2020-06-23 |
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