CN205326731U - Wheeled mobile robot linkage - Google Patents
Wheeled mobile robot linkage Download PDFInfo
- Publication number
- CN205326731U CN205326731U CN201620031854.0U CN201620031854U CN205326731U CN 205326731 U CN205326731 U CN 205326731U CN 201620031854 U CN201620031854 U CN 201620031854U CN 205326731 U CN205326731 U CN 205326731U
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- China
- Prior art keywords
- wheel
- mobile robot
- wheeled mobile
- suspension arrangement
- chassis
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Abstract
The utility model discloses a wheeled mobile robot linkage, chassis (1) goes up to open has two first through -holes that are used for passing two wheel (11), two between the first through -hole chassis (1) middle part is fixed to be provided with two supporting seats (2), two supporting seat (2) relative setting and its are improved level and are provided with the two second through -holes that are used for passing rotation axis (6), two rotation axis (6) respectively with the one end fixed connection of wheel support (7), two the other end of wheel support (7) is respectively with two wheel (11) link to each other, two the wheel support is provided with the clearance, two between (7) the looks remote site of wheel support (7) all is provided with leaf spring (4). The utility model provides a wheeled mobile robot linkage is alleviated the robot that wheel vibration arouses and is jolted, improves the stationarity that the robot travel, can adjust drive wheels simultaneously and apart from the height on ground, guarantee all the time that the wheel lands.
Description
Technical field
This utility model relates to a kind of wheeled mobile robot suspension arrangement, belongs to robotics。
Background technology
In wheeled mobile robot driving device, driving wheel and chassis are usually rigidly connected, and namely wheel and decelerator are fixed on wheel stand, and wheel stand is directly anchored to again on wheel chassis。When motor via reducer is slowed down, when driven machine people walks, being uneven of ground can cause unsteadiness of wheels, and is directly passed to robot chassis, causes the especially severe that robot jolts。For wheeled mobile robot more than four-wheel or four-wheel, drive according to two-wheel differential, owing to ground is uneven, then there will be driving wheel and maked somebody a mere figurehead by driven pulley, it is impossible to the phenomenon of driving。
Utility model content
Technical problem to be solved in the utility model is, there is provided a kind of can be effectively improved in the face of the impact of robot, the robot that alleviation unsteadiness of wheels causes jolts, improve the stationarity of robot ride, driving wheel tracks height overhead can be adjusted simultaneously, it is always ensured that wheel lands, it is to avoid the phenomenon of driving wheel idle running or skidding and simple in construction, wheeled mobile robot suspension arrangement easy to control；Further, this utility model provides the wheeled mobile robot suspension arrangement of a kind of good damping effect。
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
Wheeled mobile robot suspension arrangement, it is characterized in that, including: chassis, described chassis have for two the first through holes through two wheels, it is fixedly installed two supporting seats in the middle part of described chassis between first through hole described in two, described supporting seat and described wheel move towards perpendicular setting, supporting seat described in two is oppositely arranged and is horizontally disposed with on it for two second through holes through rotating shaft, rotating shaft described in two is fixing with one end of wheel stand respectively to be connected, the other end of wheel stand described in two is connected with wheel described in two respectively, gap it is provided with between wheel stand described in two, the opposite end of wheel stand described in two is provided with leaf spring；Described leaf spring bottom is fixed on described wheel stand upper surface, and described in two, leaf spring top is inconsistent。
Described wheel is connected with reductor, and described reductor is connected with brshless DC motor。
The lower surface on described chassis is all around all symmetrically arranged with universal wheel。
Described wheel stand is L-type flat board, described L-type flat board includes section vertically downward and the horizontal segment that one connects, the end of described horizontal segment and described rotating shaft are bolted to connection, the lateral surface of described section vertically downward is connected with described wheel, and the medial surface of described section vertically downward is fixed with described reductor and brshless DC motor。
Described horizontal segment is additionally provided with the both wings that symmetrical expression level is protruded, between described wing lower surface and described chassis upper surface, is provided with cushion。
The material of described cushion includes rubber。
The width in described gap is 0.5 ~ 1 times of described rotating shaft diameter。
Described supporting seat is square。
Described leaf spring is opening is the V-type at obtuse angle, and being connected with described wheel stand and rotating shaft by described bolt of described V-type, the another side top of V-type described in two is inconsistent, and the number of described leaf spring is at least 1 pair。
In order to improve stationarity and the reliability that wheeled mobile robot travels, this utility model adopts the suspension arrangement with shock-absorbing to be operated in wheeled mobile robot driving device。
This utility model includes chassis, at least two leaf spring, connecting mechanism for rotating and wheel stand, and wheel stand is rotatably connected by connecting mechanism for rotating and chassis；One end of each leaf spring is connected with wheel stand, and the other end contacts with each other, and leaf spring must use in pairs。
Wheel stand is fixed with the reductor that wheel is connected with wheel and the brshless DC motor being connected with reductor。
Connecting mechanism for rotating includes rotating shaft, and wheel stand is bolted on rotating shaft, and wheel stand is rotatably connected by rotating shaft and chassis。Connecting mechanism for rotating also includes the supporting seat being fixed on chassis, and rotating shaft is through supporting seat, to be rotatably connected in wheel stand and chassis。
Chassis is also equipped with Rubber shock-absorbing pad。
Two leaf spring one end are fixed on wheel stand, can rotate with chassis with wheel stand, and two leaf springs, by rotating extruding mutually, produce twisting resistance。
Compared with prior art, the beneficial effects of the utility model are: this utility model by arranging leaf spring between two connecting mechanism for rotating, when wheel moves at uneven ground, under leaf spring effect, can be swung up around rotating shaft axial line, absorb the impact energy on road surface, effectively slow down wheeled robot wheel and pass to the vibration on chassis when motion, simultaneously by adjusting wheel tracks height overhead, it is always ensured that wheel lands, avoid driving wheel idle running or the phenomenon skidded, improve the reliability and stability of robot motion；The setting of cushion, further enhancing damping effect of the present utility model。
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural representation of wheel stand in this utility model；
Fig. 4 is the structural representation of rotating shaft in this utility model。
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is further described。
As shown in Fig. 1 ~ Fig. 4, wheeled mobile robot suspension arrangement, it is characterized in that, including: chassis 1, described chassis 1 have for two the first through holes through two wheels 11, it is fixedly installed two supporting seats 2 in the middle part of described chassis 1 between first through hole described in two, described supporting seat 2 moves towards perpendicular setting with described wheel 11, supporting seat 2 described in two is oppositely arranged and is horizontally disposed with on it for two second through holes through rotating shaft 6, rotating shaft 6 described in two is fixing with one end of wheel stand 7 respectively to be connected, described in two, the other end of wheel stand 7 is connected with wheel described in two 11 respectively, it is provided with gap between wheel stand 7 described in two, described in two, the opposite end of wheel stand 7 is provided with leaf spring 4；Described leaf spring 4 bottom is fixed on described wheel stand 7 upper surface, and described in two, leaf spring 4 top is inconsistent。
Described wheel 11 is connected with reductor 12, and described reductor 12 is connected with brshless DC motor 14。
The lower surface on described chassis 1 is all around all symmetrically arranged with universal wheel 13。
Described wheel stand 7 is L-type flat board, described L-type flat board includes section vertically downward and the horizontal segment that one connects, the end of described horizontal segment is connected by bolt 5 is fixing with described rotating shaft 6, the lateral surface of described section vertically downward is connected with described wheel 11, and the medial surface of described section vertically downward is fixed with described reductor 12 and brshless DC motor 14。
Described horizontal segment is additionally provided with the both wings that symmetrical expression level is protruded, between described wing lower surface and described chassis 1 upper surface, is provided with cushion 8。
The material of described cushion 8 includes rubber。
The width in described gap is 0.5 ~ 1 times of described rotating shaft 6 diameter。
Described supporting seat 2 is square。
Described leaf spring 4 is the V-type at obtuse angle for opening, and being connected with described wheel stand 7 and rotating shaft 6 by described bolt 5 of described V-type, the another side top of V-type described in two is inconsistent, and the number of described leaf spring 4 is 1 pair。
When wheel 11 runs into barrier, because wheel stand 7 is to swing, wheel 11 is elevated, leaf spring 4 is compressed, therefore cushioned ground in the face of the impact on chassis 1, effectively absorbed the impact energy on road surface, reduced the wheel of wheeled mobile robot, 1 vibration passing to chassis 1 on road surface when moving, improves wheeled mobile robot traveling comfort。
The above is only preferred implementation of the present utility model; it is noted that, for those skilled in the art; under the premise without departing from this utility model principle, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model。
Claims (9)
1. wheeled mobile robot suspension arrangement, it is characterized in that, including: chassis (1), described chassis (1) have for two the first through holes through two wheels (11), described in two, the middle part, described chassis (1) between the first through hole is fixedly installed two supporting seats (2), described supporting seat (2) and described wheel (11) move towards perpendicular setting, supporting seat described in two (2) is oppositely arranged and is horizontally disposed with on it for two second through holes through rotating shaft (6), rotating shaft described in two (6) is fixing with one end of wheel stand (7) respectively to be connected, the other end of wheel stand described in two (7) is connected with wheel described in two (11) respectively, wheel stand described in two is provided with gap between (7), the opposite end of wheel stand described in two (7) is provided with leaf spring (4)；Described leaf spring (4) bottom is fixed on described wheel stand (7) upper surface, and leaf spring described in two (4) top is inconsistent。
2. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that: described wheel (11) is connected with reductor (12), and described reductor (12) is connected with brshless DC motor (14)。
3. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that: the lower surface of described chassis (1) is all around all symmetrically arranged with universal wheel (13)。
4. wheeled mobile robot suspension arrangement according to claim 2, it is characterized in that: described wheel stand (7) is L-type flat board, described L-type flat board includes section vertically downward and the horizontal segment that one connects, the end of described horizontal segment is connected by bolt (5) is fixing with described rotating shaft (6), the lateral surface of described section vertically downward is connected with described wheel (11), and the medial surface of described section vertically downward is fixed with described reductor (12) and brshless DC motor (14)。
5. wheeled mobile robot suspension arrangement according to claim 4, it is characterised in that: described horizontal segment is additionally provided with the both wings that symmetrical expression level is protruded, between described wing lower surface and described chassis (1) upper surface, is provided with cushion (8)。
6. wheeled mobile robot suspension arrangement according to claim 5, it is characterised in that: the material of described cushion (8) includes rubber。
7. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that: the width in described gap is 0.5 ~ 1 times of described rotating shaft (6) diameter。
8. wheeled mobile robot suspension arrangement according to claim 1, it is characterised in that: described supporting seat (2) is square。
9. wheeled mobile robot suspension arrangement according to claim 4, it is characterized in that: described leaf spring (4) is the V-type at obtuse angle for opening, described V-type while being connected with described wheel stand (7) and rotating shaft (6) by described bolt (5), the another side top of V-type described in two is inconsistent；The number of described leaf spring (4) is at least 1 pair。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620031854.0U CN205326731U (en) | 2016-01-14 | 2016-01-14 | Wheeled mobile robot linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620031854.0U CN205326731U (en) | 2016-01-14 | 2016-01-14 | Wheeled mobile robot linkage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205326731U true CN205326731U (en) | 2016-06-22 |
Family
ID=56195999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620031854.0U Withdrawn - After Issue CN205326731U (en) | 2016-01-14 | 2016-01-14 | Wheeled mobile robot linkage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205326731U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564177A (en) * | 2016-01-14 | 2016-05-11 | 浙江大学昆山创新中心 | Suspension device for wheeled mobile robot |
| WO2024125306A1 (en) * | 2022-12-13 | 2024-06-20 | 深圳市海柔创新科技有限公司 | Suspension mechanism, chassis and robot |
-
2016
- 2016-01-14 CN CN201620031854.0U patent/CN205326731U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564177A (en) * | 2016-01-14 | 2016-05-11 | 浙江大学昆山创新中心 | Suspension device for wheeled mobile robot |
| CN105564177B (en) * | 2016-01-14 | 2017-09-12 | 浙江大学昆山创新中心 | Wheeled mobile robot suspension arrangement |
| WO2024125306A1 (en) * | 2022-12-13 | 2024-06-20 | 深圳市海柔创新科技有限公司 | Suspension mechanism, chassis and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160622 Effective date of abandoning: 20170912 |