CN205818827U - Wheel hub motor suspension - Google Patents
Wheel hub motor suspension Download PDFInfo
- Publication number
- CN205818827U CN205818827U CN201620672838.XU CN201620672838U CN205818827U CN 205818827 U CN205818827 U CN 205818827U CN 201620672838 U CN201620672838 U CN 201620672838U CN 205818827 U CN205818827 U CN 205818827U
- Authority
- CN
- China
- Prior art keywords
- wheel hub
- hub motor
- spring
- connecting plate
- fixed pedestal
- 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.)
- Active
Links
Abstract
This utility model provides a kind of wheel hub motor suspension, including: fixed pedestal；Wheel hub motor, described wheel hub motor is fixed to one end of connecting plate；Connecting plate, the other end of described connecting plate is connected to the second connecting portion of described fixed pedestal by axis of rotation；Spring, one end of described spring is connected to the first connecting portion of described fixed pedestal, the other end of described spring is connected to the spring on described connecting plate other end top and fixes axle, and described spring stretches in the case of wheel hub motor moves up, and compresses in the case of wheel hub motor moves down.According to wheel hub motor suspension of the present utility model, having an advantage in that: tire is little to geostatic pressure change, wheel is difficult to skid；During by broken terrain, shock-absorbing capacity is good, operates steadily, and robot chassis will be made to topple because jolting vibrations or the article that carry it cause damage.
Description
Technical field
This utility model relates to a kind of suspension, more particularly, to a kind of wheel hub motor suspension.
Background technology
Along with the continuous expansion of improving constantly of robot automtion degree, application and function, wheeled movably
Robot is with its superior mobile reliability, and the advantage such as outstanding heavy burden ability has become the main side of robot research exploitation
To.A large amount of uses along with wheeled mobile robot, it has been found that wheel-slip easily occurs, wheel during this type of robot motion
It is that buffer capacity is poor, runs the problems such as unstable.Inventors realized that, there is wheel-slip, run the problem such as unstable be because of
Motor suspension system existing defects for robot.Therefore, it is necessary to provide a kind of stable wheel hub motor suspension.
Utility model content
The purpose of this utility model is to provide a kind of wheel hub motor suspension, and its tire is little to geostatic pressure change, car
Wheel is difficult to skid；During by broken terrain, shock-absorbing capacity is good, operates steadily, and chassis will be made to incline because jolting vibrations
The article covered or carry it cause damage.
To achieve these goals, this utility model provides a kind of wheel hub motor suspension, described suspension bag
Include fixed pedestal, wheel hub motor, connecting plate and spring.Wherein, described wheel hub motor is fixed to one end of connecting plate；Described company
The other end of fishplate bar is connected to the second connecting portion of described fixed pedestal by axis of rotation；One end of described spring is connected to institute
Stating the first connecting portion of fixed pedestal, the other end of described spring is connected to the spring on described connecting plate other end top and fixes
Axle, described spring stretches in the case of wheel hub motor moves up, and compresses in the case of wheel hub motor moves down.
Preferably, described connecting plate can also include the protuberance being positioned at described connecting plate other end bottom, in described company
In the case of the protuberance of fishplate bar other end bottom and described fixed pedestal other end lower contacts, described wheel hub motor stop to
Lower movement.
Preferably, the situation that the first distance is zero between first connecting portion and described connecting plate of described fixed pedestal
Under, described wheel hub motor stops moving up.
Preferably, the first connecting portion and the spring of described fixed pedestal is fixed and can be had two spring installation positions at axle.
Preferably, described spring can be stiffness spring.
Preferably, two interior angles of the blind end of described fixed pedestal all can be 90 degree.
Preferably, the size of described wheel hub motor can be 6.5 inches.
According to wheel hub motor suspension of the present utility model, have an advantage in that: tire is little to geostatic pressure change, wheel
It is difficult to skid；During by broken terrain, shock-absorbing capacity is good, operates steadily, and will not make at the bottom of robot because jolting vibrations
Dish topples or the article that carry it cause damage.
Other features and advantages of the utility model will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
By combining accompanying drawing, this utility model exemplary embodiment is described in more detail, of the present utility model above-mentioned
And other purpose, feature and advantage will be apparent from, wherein, in this utility model exemplary embodiment, identical
Reference number typically represents same parts.
Fig. 1 shows the schematic diagram of the wheel hub motor suspension according to an embodiment of the present utility model.
Fig. 2 shows the axonometric chart of the wheel hub motor suspension according to an embodiment of the present utility model.
Description of reference numerals:
11, fixed pedestal 12, wheel hub motor 13, rotating shaft 14, connecting plate
15, axle the 17, first connecting portion fixed by spring 16, spring
18, the second connecting portion 19, protuberance.
Detailed description of the invention
It is more fully described this utility model below with reference to accompanying drawings.Although accompanying drawing shows of the present utility model preferably
Embodiment, however, it is to be appreciated that may be realized in various forms this utility model and should not limited by embodiments set forth here
System.On the contrary, it is provided that these embodiments are to make this utility model more thorough and complete, and can be by of the present utility model
Scope intactly conveys to those skilled in the art.
In this utility model, in the case of illustrating on the contrary, the noun of locality of use such as " level, vertical, upper and lower "
Can refer to the direction of Fig. 1.
Fig. 1 shows the schematic diagram of the wheel hub motor suspension according to an embodiment of the present utility model；Fig. 2 illustrates
The axonometric chart of the wheel hub motor suspension according to an embodiment of the present utility model.
This utility model provides a kind of wheel hub motor suspension, and as depicted in figs. 1 and 2, described suspension includes:
Fixed pedestal 11, wheel hub motor 12, connecting plate 14 and spring 15.Wherein, described wheel hub motor 12 is fixed to connecting plate 14
One end；The other end of described connecting plate 14 is pivotally attached to the second connecting portion 18 of described fixed pedestal 11 by rotating shaft 13；Institute
The one end stating spring 15 is connected to the first connecting portion 17 of described fixed pedestal 11, and the other end of described spring 15 is connected to described
Axle 16 fixed by the spring on connecting plate 14 other end top, and described spring 15 stretches in the case of wheel hub motor 12 moves up,
Compress in the case of wheel hub motor 12 moves down.
Preferably, described connecting plate 14 can also include the protuberance 19 being positioned at described connecting plate 14 other end bottom,
In the case of the protuberance 19 of described connecting plate 14 other end bottom and described fixed pedestal 11 other end lower contacts, described take turns
Hub motor 12 stops moving down, it is achieved to the effect of lower limit.
Preferably, in the first connecting portion 17 and the feelings that the first distance is zero of described connecting plate 14 of described fixed pedestal 11
Under condition, described wheel hub motor 12 stops moving up, it is achieved to the effect of upper limit.Described first distance can be described fixing
Vertical distance between first connecting portion 17 and the described connecting plate 14 of pedestal 11, described connecting plate 14 is when horizontal level
One distance initial position, when described connecting plate 14 moves upward the first connecting portion 17 touching described fixed pedestal 11, the
One distance is zero.
Described wheel hub motor suspension can be transported by the described connecting plate 14 buffering between upper limit and lower limit
Dynamic improve robot obstacle climbing ability, it is preferable that its obstacle detouring scope can protrude 0-25mm on road surface, or the recessed 0-25mm in road surface it
Between.
In one example, the first connecting portion 17 and the spring of described fixed pedestal 11 is fixed and can be had two at axle 16
Spring installation position.When load is less than or equal to 40kg, 1 spring can be installed；When load is more than 40kg, 2 can be installed
Spring.
In one example, described spring can be any spring meeting this utility model product work needs, preferably
For stiffness spring.
Preferably, two interior angles of the blind end of described fixed pedestal are 90 degree.
In one example, the size of described wheel hub motor can be 5-8 inch, preferably 6.5 inches.
According to wheel hub motor suspension of the present utility model, have an advantage in that: tire is little to geostatic pressure change, wheel
It is difficult to skid；During by broken terrain, shock-absorbing capacity is good, operates steadily, and will not make at the bottom of robot because jolting vibrations
Dish topples or the article that carry it cause damage.
Being described above embodiment of the present utility model, described above is exemplary, and non-exclusive, and
It is also not necessarily limited to disclosed embodiment.In the case of without departing from the scope and spirit of embodiment described, for this technology
For the those of ordinary skill in field, many modifications and changes will be apparent from.
Claims (7)
1. a wheel hub motor suspension, it is characterised in that described suspension includes:
Fixed pedestal (11)；
Wheel hub motor (12), described wheel hub motor (12) is fixed to one end of connecting plate (14)；
Connecting plate (14), the other end of described connecting plate (14) is pivotally attached to described fixed pedestal (11) by rotating shaft (13)
Second connecting portion (18)；And
Spring (15), one end of described spring (15) is connected to first connecting portion (17) of described fixed pedestal (11), described bullet
The other end of spring (15) is connected to the spring on described connecting plate (14) other end top and fixes axle (16),
Described spring (15) stretches in the case of described wheel hub motor (12) moves up, downward at described wheel hub motor (12)
Compress in the case of movement.
Wheel hub motor suspension the most according to claim 1, it is characterised in that described connecting plate (14) also includes being positioned at
The protuberance (19) of described connecting plate (14) other end bottom, the protuberance (19) in described connecting plate (14) other end bottom with
In the case of described fixed pedestal (11) other end lower contacts, described wheel hub motor (12) stops moving down.
Wheel hub motor suspension the most according to claim 1, it is characterised in that at the first of described fixed pedestal (11)
In the case of the first distance between connecting portion (17) and described connecting plate (14) is zero, described wheel hub motor (12) stops upwards
Mobile.
Wheel hub motor suspension the most according to claim 1, it is characterised in that the first of described fixed pedestal (11) is even
Meet portion (17) and spring is fixed axle (16) place and had two spring installation positions.
Wheel hub motor suspension the most according to claim 1, it is characterised in that described spring (15) is stiffness spring.
Wheel hub motor suspension the most according to claim 1, it is characterised in that the blind end of described fixed pedestal (11)
Two interior angles be 90 degree.
Wheel hub motor suspension the most according to claim 1, it is characterised in that the size of described wheel hub motor (12) is
6.5 inch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620672838.XU CN205818827U (en) | 2016-06-29 | 2016-06-29 | Wheel hub motor suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620672838.XU CN205818827U (en) | 2016-06-29 | 2016-06-29 | Wheel hub motor suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205818827U true CN205818827U (en) | 2016-12-21 |
Family
ID=57565893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620672838.XU Active CN205818827U (en) | 2016-06-29 | 2016-06-29 | Wheel hub motor suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205818827U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882034A (en) * | 2017-03-17 | 2017-06-23 | 西南交通大学 | A kind of supporting construction of power wheel |
| CN108944310A (en) * | 2018-06-27 | 2018-12-07 | 上海有个机器人有限公司 | A kind of extension spring-type suspension robot chassis |
| CN110103654A (en) * | 2019-04-28 | 2019-08-09 | 北京云迹科技有限公司 | Suspension mechanism, mobile chassis and robot |
-
2016
- 2016-06-29 CN CN201620672838.XU patent/CN205818827U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882034A (en) * | 2017-03-17 | 2017-06-23 | 西南交通大学 | A kind of supporting construction of power wheel |
| CN108944310A (en) * | 2018-06-27 | 2018-12-07 | 上海有个机器人有限公司 | A kind of extension spring-type suspension robot chassis |
| CN110103654A (en) * | 2019-04-28 | 2019-08-09 | 北京云迹科技有限公司 | Suspension mechanism, mobile chassis and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106564047B (en) | It is a kind of can shock-absorbing General Mobile robot chassis | |
| CN103958923B (en) | There is the wheel of suspension system and there is the centering unit of suspension system | |
| CN205818827U (en) | Wheel hub motor suspension | |
| CN204955960U (en) | A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel | |
| US20120053788A1 (en) | Moving mechanism | |
| CN108045187A (en) | A kind of independent wheel suspension of Omni-mobile platform | |
| CN207291549U (en) | One kind six takes turns AGV shock-absorbings chassis | |
| CN213322549U (en) | Chassis suspension mechanism, chassis and robot | |
| CN204955961U (en) | A compressed spring type suspension and vehicle and wheeled robot for drive wheel | |
| CN105197432B (en) | A kind of panel of refrigerator glass turning device | |
| CN111267997A (en) | Ground self-adaptation AGV chassis and AGV car | |
| CN204998291U (en) | AGV dolly drive unit damper | |
| CN204955959U (en) | A compressed spring type suspension and vehicle and wheeled robot for drive wheel | |
| CN206436756U (en) | The suspension arrangement of Mecanum wheel | |
| CN102653221A (en) | Vibration damping system with steering automatic balance | |
| CN109606053A (en) | A kind of full active suspension system and its logistic car of application | |
| CN204055214U (en) | The traveling gear of novel bomb truck | |
| CN106515904A (en) | Mobile platform | |
| CN206617496U (en) | A kind of heavy-duty car spring assembly | |
| CN109263739A (en) | It is a kind of for carrying out the inflection point self-reacting device and application method of rail integration transferring platform | |
| CN114670952A (en) | Robot chassis with shock-absorbing structure | |
| CN208715338U (en) | A kind of chassis assembly and transport device of transport device | |
| CN205395686U (en) | Novel electric tricycle shock absorber plate spring and electric tricycle thereof | |
| US20140239607A1 (en) | Vehicle wheel axle lifting device | |
| CN210148105U (en) | Suspension system of service robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: No. 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |