CN113147302A - Novel Mecanum wheel suspension damping mechanism - Google Patents
Novel Mecanum wheel suspension damping mechanism Download PDFInfo
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- CN113147302A CN113147302A CN202110524926.0A CN202110524926A CN113147302A CN 113147302 A CN113147302 A CN 113147302A CN 202110524926 A CN202110524926 A CN 202110524926A CN 113147302 A CN113147302 A CN 113147302A
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- suspension
- mecanum wheel
- connecting rod
- vehicle body
- body mounting
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a novel Mecanum wheel suspension damping mechanism which comprises a vehicle body mounting plate, a suspension assembly and a chassis; the front and the back of the mechanism are respectively provided with a suspension assembly, each suspension assembly consists of a shock absorber and two Mecanum wheel sets, and the shock absorber is provided with a buffer spring and is arranged between a vehicle body mounting plate and a chassis; the invention can realize that the pressure can be adjusted according to the load and the ground condition when the omnidirectional mobile platform based on the Mecanum wheels is used under various different environmental working conditions, can reduce the influence degree of the ground on the operation process of the Mecanum wheels, avoids the phenomena of suspension of a certain group of wheel sets and the like caused by uneven ground, and has the advantages of stable platform operation, strong obstacle-crossing capability and large bearing capacity.
Description
Technical Field
The invention relates to the technical field of Mecanum wheel moving platforms, in particular to a non-independent suspension mechanism of an omnidirectional moving platform.
Background
With the development and popularization of robotics, robots are applied to a wide variety of environments and terrains, especially some rugged and rugged terrains. When the robot walks in a complex environment and terrain, in order to protect precise parts and expensive instruments on the robot, the chassis with the excellent cushioning effect of the robot is very important.
The mecanum wheel is a wheel that moves based on an omni-directional movement based on a center wheel principle with a number of rollers located around the hub, the angled peripheral rollers converting a portion of the steering force of the hub to a normal force of the hub; depending on the direction and speed of the respective hub, these forces ultimately produce a resultant force vector in any desired direction, thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the hub itself.
However, most of the existing robot chassis based on the mecanum wheels have smaller buffer stroke of a suspension system, when the chassis with the structure faces severe terrains such as steep slopes or steps in the running process, the impact absorption capacity is not good enough, and the stroke of the shock absorber can easily reach the limit, so that the design of the mecanum wheel platform which has the shock absorption function and can realize speed reduction with a larger speed reduction ratio is very urgent. Based on the above, the invention designs a novel Mecanum wheel suspension damping mechanism to solve the above problems.
Disclosure of Invention
The invention aims to provide a novel Mecanum wheel suspension damping mechanism which has the advantages of good impact force absorption effect, good buffering capacity and the like.
In order to achieve the purpose, the invention provides the following technical scheme: a novel Mecanum wheel suspension damping mechanism comprises a vehicle body mounting plate, a suspension assembly and a chassis; the chassis front and back end all installs the automobile body mounting panel of installing of a suspension assembly and suspension assembly top, its characterized in that: the suspension assembly consists of a shock absorber and a Mecanum wheel set, the shock absorber consists of a connecting rod lower support, a shock absorption connecting rod, a vehicle body mounting plate support, a connecting rod upper support, a linear bearing, a shock absorption spring and a shock absorption shaft, the linear bearing is mounted on the shock absorption shaft, the shock absorption spring is arranged on two sides of the linear bearing, and the Mecanum wheel set is rotationally connected with the linear bearing through the shock absorption connecting rod;
mecanum wheel group comprises Mecanum wheel, motor cabinet, upper suspension rocking arm, motor, perpendicular rocking arm, lower suspension rocking arm, be equipped with the connecting hole on the Mecanum wheel and be connected with the motor, and the motor is installed on the motor cabinet, motor cabinet upper end and lower extreme are connected with upper suspension rocking arm, lower suspension rocking arm respectively, and upper suspension rocking arm and lower suspension rocking arm are connected with the upper and lower connecting hole of erecting the rocking arm, and the bumper shock absorber is connected with the lower suspension rocking arm of Mecanum wheel group in addition.
Preferably, the lower end face of the linear bearing is connected with an upper connecting rod support, the upper connecting rod support is connected with the upper end of a damping connecting rod through a bolt, the lower end of the damping connecting rod is connected with a lower connecting rod support, and the lower connecting rod support of the damper is connected with a lower suspension arm connecting hole of a Mecanum wheel set through a bolt.
Preferably, the suspension assembly comprises a shock absorber and two Mecanum wheel sets, and the two Mecanum wheel sets are respectively arranged on two sides of the shock absorber.
Preferably, the upper end surface of the vehicle body mounting plate support is connected with the vehicle body mounting plate through a screw,
preferably, the lower end of the support of the vehicle body mounting plate is provided with a threaded hole and connected with the damping shaft.
Preferably, the upper end of the motor base is connected with the upper suspension bending arm through a bolt, and the lower end of the motor base is connected with the lower suspension bending arm through a bolt.
Preferably, the vehicle body mounting plate and the chassis are both epoxy resin plates.
Compared with the prior art, the invention has the beneficial effects that: the shock absorber is arranged between the vehicle body mounting plate and the Mecanum wheel set, so that when the road condition with raised ground is met, the shock absorber is compressed to reduce the shock amplitude of the vehicle body mounting plate, and when the road condition with depressed ground is met, the shock absorber is not in the longest state, so that the shock absorber extends to enable the Mecanum wheel to adapt to the depressed ground, thereby reducing the shock amplitude of the vehicle body mounting plate and playing a role in buffering and shock absorption;
the omnidirectional moving platform based on the Mecanum wheels can realize that the pressure can be adjusted according to the load and the ground condition when the omnidirectional moving platform is used under various different environmental working conditions, the influence degree of the ground on the operation process of the Mecanum wheels can be reduced, the phenomena of suspension of a certain group of wheel sets and the like caused by uneven ground are avoided, and the omnidirectional moving platform has the advantages of stable operation, strong obstacle-crossing capability and large bearing capacity.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of the overall structure of the preferred embodiment of the present invention.
FIG. 2 is a block diagram of a preferred embodiment of the present invention without a body panel.
FIG. 3 is a view showing a structure of a vehicle body mounting plate according to the present invention.
Fig. 4 is a structural view of a chassis provided by the present invention.
Fig. 5 is a structural view of a suspension assembly provided by the present invention.
Fig. 6 is a structural view of a shock absorber provided by the present invention.
Fig. 7 is a diagram of a mecanum wheel set according to the present invention.
In the figure, 1-a vehicle body mounting plate, 2-a suspension assembly, 3-a chassis, 4-a shock absorber, 5-a Mecanum wheel set, 6-a connecting rod lower support, 7-a shock absorption connecting rod, 8-a vehicle body mounting plate support, 9-a connecting rod upper support, 10-a linear bearing, 11-a shock absorption spring, 12-a shock absorption shaft, 13-a Mecanum wheel, 14-a motor base, 15-an upper suspension and swing arm, 16-a motor, 17-a vertical rocker arm and 18-a lower suspension and swing arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme that: a novel Mecanum wheel suspension damping mechanism comprises a vehicle body mounting plate 1, a suspension assembly 2 and a chassis 3.
As shown in fig. 1, 2 and 3, a suspension assembly 2 is respectively installed at the front and the rear of the chassis, and a vehicle body installation plate 1 is installed above the suspension assembly 2.
As shown in fig. 5, the suspension assembly 2 is composed of a shock absorber 4 and two mecanum wheel sets 5, and the two mecanum wheel sets 5 are respectively installed on both sides of the shock absorber 4.
As shown in fig. 6, the shock absorber 4 is composed of a connecting rod lower support 6, a shock absorbing connecting rod 7, a vehicle body mounting plate support 8, a connecting rod upper support 9, a linear bearing 10, a shock absorbing spring 11 and a shock absorbing shaft 12, wherein the upper end surface of the vehicle body mounting plate support 8 is connected with the vehicle body mounting plate 1 through a screw, the lower end of the vehicle body mounting plate support 8 is provided with a threaded hole which is connected with the shock absorbing shaft 12, the linear bearing 10 is mounted on the shock absorbing shaft 12, the shock absorbing spring 11 is arranged on two sides of the linear bearing 10, the lower end surface of the linear bearing 10 is connected with the connecting rod upper support 9, the connecting rod upper support 9 is connected with the upper end of the shock absorbing connecting rod 7 through a bolt, and the lower end of the shock absorbing connecting rod 7 is connected with the connecting rod lower support 6;
as shown in fig. 7, the mecanum wheel set 5 is composed of a mecanum wheel 13, a motor base 14, an upper suspension bending arm 15, a motor 16, a vertical rocker arm 17 and a lower suspension bending arm 18, a connecting hole is formed in the mecanum wheel 13 and connected with the motor 16, the motor 16 is installed on the motor base 14, the upper end of the motor base 14 is connected with the upper suspension bending arm 15 through a bolt, the lower end of the motor base 14 is connected with the lower suspension bending arm 18 through a bolt, the upper suspension bending arm 15 and the lower suspension bending arm 18 are connected with the upper connecting hole and the lower connecting hole of the vertical rocker arm 17, and in addition, the connecting rod lower support 6 of the shock absorber 4 is connected with the connecting hole of the lower suspension bending arm 18 of the mecanum wheel set 5 through a bolt.
Specifically, when the mechanism meets ground protrusions, the shock absorbers 4 can move upwards to compress the shock absorbers 4 to different degrees according to different ground protrusions, the shock absorbers 4 are compressed to be shortened, and when the shock absorbers 4 are compressed to a certain degree, the compression is stopped, so that the vibration amplitude of the vehicle body mounting plate 1 is weakened, and the shock absorption effect is achieved; due to the self weight of the chassis 3, the shock absorption is not the longest state, but has the tendency of extension, when the ground is sunken, the shock absorber 4 extends to enable the Mecanum wheels 13 to adapt to the sunken ground, so that the shock amplitude of the vehicle body mounting plate 1 is weakened, and the shock absorption effect is achieved;
the omnidirectional moving platform based on Mecanum wheels 13 can realize that the pressure can be adjusted according to the load and the ground condition under the use of various different environmental conditions, the influence degree of the ground on the operation process of Mecanum wheels 13 can be reduced, the phenomena of suspension of a certain group of wheel sets and the like caused by uneven ground are avoided, and the omnidirectional moving platform has the advantages of stable platform operation, strong obstacle-crossing capability and large bearing capacity.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to 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.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. A novel Mecanum wheel suspension damping mechanism comprises a vehicle body mounting plate (1), a suspension assembly (2) and a chassis (3); the chassis (3) front and back end all installs a suspension assembly (2) and the vehicle body mounting panel (1) of installing of suspension assembly (2) top, its characterized in that: the suspension assembly (2) consists of a shock absorber (4) and a Mecanum wheel set (5), the shock absorber (4) consists of a connecting rod lower support (6), a shock absorption connecting rod (7), a vehicle body mounting plate support (8), a connecting rod upper support (9), a linear bearing (10), a shock absorption spring (11) and a shock absorption shaft (12), the linear bearing (10) is mounted on the shock absorption shaft (12), the shock absorption spring (11) is arranged on two sides of the linear bearing (10), and the Mecanum wheel set (5) is rotatably connected with the linear bearing (10) through the shock absorption connecting rod (7);
mecanum wheel group (5) comprise Mecanum wheel (13), motor cabinet (14), upper suspension rocking arm (15), motor (16), perpendicular rocking arm (17), lower suspension rocking arm (18), be equipped with the connecting hole on Mecanum wheel (13) and be connected with motor (16), motor (16) are installed on motor cabinet (14), motor cabinet (14) upper end and lower extreme are connected with upper suspension rocking arm (15), lower suspension rocking arm (18) respectively, and upper suspension rocking arm (15) and lower suspension rocking arm (18) are connected with the upper and lower connecting hole of perpendicular rocking arm (17), and shock absorber (4) are connected with lower suspension rocking arm (18) of Mecanum wheel group (5) in addition.
2. The novel mecanum wheel suspension damping mechanism of claim 1, wherein: the lower end face of the linear bearing (10) is connected with an upper connecting rod support (9), the upper connecting rod support (9) is connected with the upper end of a damping connecting rod (7) through a bolt, the lower end of the damping connecting rod (7) is connected with a lower connecting rod support (6), and the lower connecting rod support (6) of the damper (4) is connected with a connecting hole of a lower suspension swing arm (18) of a Mecanum wheel set (5) through a bolt.
3. The novel mecanum wheel suspension damping mechanism of claim 1, wherein: the suspension assembly (2) is composed of a shock absorber (4) and two Mecanum wheel sets (5), and the two Mecanum wheel sets (5) are respectively installed on two sides of the shock absorber (4).
4. The novel mecanum wheel suspension damping mechanism of claim 1, wherein: the upper end surface of the vehicle body mounting plate support (8) is connected with the vehicle body mounting plate (1) through a screw.
5. The novel mecanum wheel suspension damping mechanism of claim 1, wherein: the lower end of the vehicle body mounting plate support (8) is provided with a threaded hole and is connected with a damping shaft (12).
6. The novel mecanum wheel suspension damping mechanism of claim 1, wherein: the upper end of the motor base (14) is connected with the upper suspension bending arm (15) through a bolt, and the lower end of the motor base (14) is connected with the lower suspension bending arm (18) through a bolt.
7. The novel mecanum wheel suspension damping mechanism of claim 1, wherein: the vehicle body mounting plate (1) and the chassis (3) are both epoxy resin plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110524926.0A CN113147302A (en) | 2021-05-14 | 2021-05-14 | Novel Mecanum wheel suspension damping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110524926.0A CN113147302A (en) | 2021-05-14 | 2021-05-14 | Novel Mecanum wheel suspension damping mechanism |
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| Publication Number | Publication Date |
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| CN113147302A true CN113147302A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110524926.0A Pending CN113147302A (en) | 2021-05-14 | 2021-05-14 | Novel Mecanum wheel suspension damping mechanism |
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| CN (1) | CN113147302A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394323A (en) * | 2022-01-20 | 2022-04-26 | 水利部牧区水利科学研究所 | Water sample strorage device for water quality testing |
-
2021
- 2021-05-14 CN CN202110524926.0A patent/CN113147302A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394323A (en) * | 2022-01-20 | 2022-04-26 | 水利部牧区水利科学研究所 | Water sample strorage device for water quality testing |
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