CN206170057U - General mobile robot chassis that can move away to avoid possible earthquakes - Google Patents
General mobile robot chassis that can move away to avoid possible earthquakes Download PDFInfo
- Publication number
- CN206170057U CN206170057U CN201621141647.7U CN201621141647U CN206170057U CN 206170057 U CN206170057 U CN 206170057U CN 201621141647 U CN201621141647 U CN 201621141647U CN 206170057 U CN206170057 U CN 206170057U
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- China
- Prior art keywords
- shock
- proof spring
- underloading
- pair
- mobile robot
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Abstract
The utility model discloses a general mobile robot chassis that can move away to avoid possible earthquakes contains: the bottom plate, the backup pad, it sets up the top at the bottom plate, a pair of independent suspended structure, its symmetry sets up between bottom plate and backup pad, a pair of AGV steamboat, it sets up through a pair of independent suspended structure and just is located the backup pad below in the both sides of bottom plate, every independent suspended structure contains: the setting at the layer board of bottom plate lower part, set up under bracing seat on the layer board, set up last supporting seat and underloading move away to avoid possible earthquakes system and heavy load the move away to avoid possible earthquakes system of setting between upper and lower supporting seat at the backup pad lower surface. The utility model provides a drive wheel has all adopted takes absorbing pull -type independent suspension system, and the structure of segmentation effect of having moved away to avoid possible earthquakes system design, guarantees to move chassis all wheels contact ground coplanes under the dead weight circumstances, has also guaranteed under the heavily loaded circumstances chassis steady effect of still walking.
Description
Technical field
The utility model is related to mobile robot chassis, more particularly to it is a kind of can shock-absorbing General Mobile robot chassis.
Background technology
The road wheel on many mobile robot chassis uses rigidly connected mode with chassis at present, i.e., without any direction
, can thus there is difficulty coplanar during more than three wheel contacts ground in assembling in the free degree.In addition, when Uneven road,
If a driving wheel is by a hogwallow, driving wheel can fail to touch ground and hanging, so as to cause to skid, cause to move
The consequence that mobile robot travel route changes；Or when running into slope candy face, it is also possible to cause other non-driving wheels hanging and
Mobile robot is caused to move unstable etc..
Utility model content
The purpose of this utility model be to provide it is a kind of can shock-absorbing General Mobile robot chassis, the driving wheel in the chassis
The pull-type independent suspension system with damping is employed, and suspension system devises the structure of segmenting function, it is ensured that mobile bottom
Disk all wheel contacts ground in the case of deadweight are coplanar, also ensure that the effect in case of heavy load low bottom-disc still smooth running
Really, the contact ground that solves many trains existing on existing market is non-coplanar, excessively concavo-convex ground is easily skidded, walks and rock
Problem.
In order to realize the above object the utility model is achieved through the following technical solutions：
It is a kind of can shock-absorbing General Mobile robot chassis, be characterized in, comprising：
Base plate；
Supporting plate, its top for being arranged on base plate；
A pair of independent suspension structures, it is symmetricly set between base plate and supporting plate；
A pair of AGV steamboats, it passes through a pair of independent suspension structures and is arranged on the both sides of base plate and positioned at supporting plate lower section；
Independent suspension structure described in each is included：The supporting plate for being arranged on base plate bottom, the lower support being arranged on supporting plate
Seat, it is arranged on the upper support seat of supporting plate lower surface and the underloading suspension system that is arranged between upper and lower support base and heavy duty keeps away
Shake system.
Described underloading suspension system is included：
A pair first radial ball bearings, it is separately positioned in upper and lower support base；
Underloading shock-proof spring guide pillar, underloading shock-proof spring, described underloading shock-proof spring two ends are respectively fitted over underloading shock-absorbing
Underloading shock-proof spring guide pillar two ends on spring guide pillar and described put in a pair first radial ball bearings respectively so that described
Underloading shock-proof spring freely swing；
Check ring is mounted between described underloading shock-proof spring two ends and the first radial ball bearing.
Described heavily loaded suspension system is included：
A pair second radial ball bearings, it is separately positioned in upper and lower support base；
Heavily loaded shock-proof spring guide pillar, heavily loaded shock-proof spring, described heavily loaded shock-proof spring two ends are respectively fitted over heavily loaded shock-absorbing
Heavily loaded shock-proof spring guide pillar two ends on spring guide pillar and described put in a pair second radial ball bearings respectively so that described
Heavily loaded shock-proof spring freely swing；
Check ring is mounted between described heavily loaded shock-proof spring two ends and the second radial ball bearing.
Described heavily loaded shock-proof spring guide pillar and underloading shock-proof spring guide pillar are respectively arranged at two ends with spacing back-up ring.
Described independent suspension structure is also included：
It is arranged on a pair of towing arms and motor rack on supporting plate；
Rotating shaft, shaft bearing seat, described towing arm are connected by rotating shaft with shaft bearing seat, and described shaft bearing
Seat is arranged on base plate bottom surface.
Drive disk assembly is also included, it is included：
Motor, it is arranged on motor rack, and between a pair of towing arms；
AGV wheel bearings, it is arranged on lower support base；
AGV wheel shafts, its one end is connected with AGV steamboats, and the other end is connected through AGV wheel bearings with driven gear；
Drive gear, it is arranged on motor and is meshed with driven gear.
The amplitude of oscillation up and down of described AGV steamboats is A1, and the described underloading shock-proof spring decrement under the pressure of deadweight is
A2, described underloading shock-proof spring Free Compression length is A, then should meet A more than or equal to A1+A2, and A2 is more than or equal to A1.
The length of AGV steamboats described in whole with ground contact points in a plane after the compression of underloading shock-proof spring less than etc.
In the drift of heavily loaded shock-proof spring.
Some universal wheels are also included, it is separately positioned on base plate bottom.
The utility model compared with prior art, with advantages below：
The pull-type independent suspension system that the utility model is taken, it is ensured that mobile robot excessively uneven road surface when
Wheel all contacts ground, solves walking skidding, while independent suspension system devises segmentation anti-vibration structure, using light
Carry and heavily loaded suspension system, underloading is deadweight, heavy duty has load.Using segmentation anti-vibration structure after solve only single keeping away
The problem that robot ambulation is rocked after mobile chassis loading under earthquake situations condition.
Brief description of the drawings
Fig. 1 be the utility model it is a kind of can shock-absorbing General Mobile robot chassis isometric side view；
Fig. 2 be the utility model it is a kind of can shock-absorbing General Mobile robot chassis side view；
Fig. 3 be the utility model it is a kind of can shock-absorbing General Mobile robot chassis front view；
Fig. 4 be the utility model it is a kind of can shock-absorbing General Mobile robot chassis upward view；
Fig. 5 is the isometric side view of the utility model independent suspension structure；
Fig. 6 is the explosive view of the utility model independent suspension structure；
Fig. 7 is the sectional view of the utility model independent suspension structure.
Specific embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the utility model is done and is further explained
State.
As shown in Fig. 1 ~ 7, it is a kind of can shock-absorbing General Mobile robot chassis, comprising：Base plate 2；Supporting plate 1, its setting
In the top of base plate 2；A pair of independent suspension structures, it is symmetricly set between base plate 2 and supporting plate 1；A pair of AGV steamboats 4, its
The both sides of base plate 2 are arranged on by a pair of independent suspension structures and positioned at the lower section of supporting plate 1；Independent suspension structure described in each
Comprising：The supporting plate 18 that is arranged on the bottom of base plate 2, the lower support base 11 being arranged on supporting plate 18, it is arranged on the lower surface of supporting plate 1
Upper support seat 5 and the underloading suspension system being arranged between upper and lower support base and heavily loaded suspension system.Supporting plate 1 is led to base plate 2
Support bar 19 is crossed to be connected.
Above-mentioned underloading suspension system is included：A pair first radial ball bearing 9a, it is separately positioned on upper and lower support base
It is interior；Underloading shock-proof spring guide pillar 21, underloading shock-proof spring 22, the described two ends of underloading shock-proof spring 22 are respectively fitted over underloading shock-absorbing
The two ends of underloading shock-proof spring guide pillar 21 on spring guide pillar 21 and described put in a pair first radial ball bearing 9a respectively, make
Described underloading shock-proof spring 22 is obtained to freely swing；The described two ends of underloading shock-proof spring 22 and the first radial ball bearing 9a it
Between be mounted with check ring 8, the radial ball bearing 9a of check ring 8 and first is mounted with radial ball bearing back-up ring 10.
Above-mentioned heavily loaded suspension system is included：A pair second radial ball bearing 9b, it is separately positioned on upper and lower support base
It is interior；Heavily loaded shock-proof spring guide pillar 7, heavily loaded shock-proof spring 6, the described two ends of heavily loaded shock-proof spring 6 are respectively fitted over heavily loaded shock-absorbing bullet
The heavily loaded two ends of shock-proof spring guide pillar 7 on spring guide pillar 7 and described put in a pair second radial ball bearing 9b respectively so that institute
The heavily loaded shock-proof spring 6 stated freely swings；Installed between the described two ends of heavily loaded shock-proof spring 6 and the second radial ball bearing 9b
Check ring 8, check ring 8 and second radial ball bearing 9b is mounted with radial ball bearing back-up ring 10.
Above-mentioned heavily loaded shock-proof spring guide pillar 7 and underloading shock-proof spring guide pillar 22 are respectively arranged at two ends with spacing back-up ring 26.
Above-mentioned independent suspension structure is also included：It is arranged on a pair of towing arms 12 and motor rack 17 on supporting plate 18；Rotating shaft
14th, shaft bearing seat 13, described towing arm 12 is connected by rotating shaft 14 with shaft bearing seat 13, and described shaft bearing seat
13 are arranged on the bottom surface of base plate 2, and rotating shaft 14 is arranged in shaft bearing seat 13 by shaft bearing 25.
In a particular embodiment, the chassis also includes drive disk assembly, and it is included：Motor 16, it is arranged on motor rack 17,
And between a pair of towing arms 12；AGV wheel bearings 24, it is arranged on lower support base 11；AGV wheel shafts 27, its one end and AGV
Steamboat 4 is connected, and the other end is connected through AGV wheel bearings 24 with driven gear 23；Drive gear 15, it is arranged on motor 16 simultaneously
It is meshed with driven gear 23；Some universal wheels 3, it is separately positioned on the bottom of base plate 2.The motor 16 passes through motor driver
20 controls.
In underloading suspension system, if the amplitude of oscillation up and down of AGV steamboats is A1, described underloading shock-proof spring is in the pressure conducted oneself with dignity
Decrement is A2 under power, and described underloading shock-proof spring Free Compression length is A, then should meet A more than or equal to A1+A2, and A2
More than or equal to A1.Heavily loaded shock-proof spring 6 drift or has the length after certain compression to be just equal to all wheels in a pre-installation
With length of the ground contact points in a plane after the compression of underloading shock-proof spring 22（Whole AGV steamboats are contacted with ground
Length o'clock in a plane after the compression of underloading shock-proof spring is less than or equal to the drift of heavily loaded shock-proof spring）, but heavy duty keeps away
Shake spring 6 is fixed after being compressed by spacing back-up ring 26, and is no longer extended, so as to the overall nothing under immunization with gD DNA vaccine in chassis
Any shock-absorbing action effect.And when there is load on chassis, heavily loaded shock-proof spring 6 is whole outstanding so as to ensure that due to that can recompress
Extension system will not swing up and down easily, it is ensured that the stationarity of chassis movement.Therefore, when non-loaded, make in underloading suspension system
Under, chassis is travelled at uneven road surface, it is ensured that driving wheel still can contact to ground, without showing for skidding
As.When having load, when having served as hogwallow, in the presence of underloading suspension system, still ensure that driving wheel still can contact
Ground, without the phenomenon skidded；When having served as Po Kan road surfaces, in the presence of heavily loaded suspension system, it is ensured that the row of chassis
Stationarity is sailed, without double swerve.
In sum, the utility model it is a kind of can shock-absorbing General Mobile robot chassis, the driving wheel in the chassis is equal
The pull-type independent suspension system with damping is employed, and suspension system devises the structure of segmenting function, it is ensured that mobile chassis
All wheel contacts ground are coplanar in the case of deadweight, also ensure that the effect in case of heavy load low bottom-disc still smooth running,
The contact ground that solves many trains existing on existing market is non-coplanar, excessively concavo-convex ground is easily skidded, walk to rock etc. and ask
Topic.
Although content of the present utility model is discussed in detail by above preferred embodiment, but it should be appreciated that on
The description stated is not considered as to limitation of the present utility model.After those skilled in the art have read the above, for
Various modifications and substitutions of the present utility model all will be apparent.Therefore, protection domain of the present utility model should be by appended
Claim limit.
Claims (9)
1. it is a kind of can shock-absorbing General Mobile robot chassis, it is characterised in that include：
Base plate；
Supporting plate, its top for being arranged on base plate；
A pair of independent suspension structures, it is symmetricly set between base plate and supporting plate；
A pair of AGV steamboats, it passes through a pair of independent suspension structures and is arranged on the both sides of base plate and positioned at supporting plate lower section；
Independent suspension structure described in each is included：The supporting plate that is arranged on base plate bottom, the lower support base being arranged on supporting plate, set
Put in the upper support seat of supporting plate lower surface and the underloading suspension system between being arranged on upper and lower support base and heavily loaded shock-absorbing system
System.
2. as claimed in claim 1 can shock-absorbing General Mobile robot chassis, it is characterised in that described underloading shock-absorbing system
System is included：
A pair first radial ball bearings, it is separately positioned in upper and lower support base；
Underloading shock-proof spring guide pillar, underloading shock-proof spring, described underloading shock-proof spring two ends are respectively fitted over underloading shock-proof spring
Underloading shock-proof spring guide pillar two ends on guide pillar and described put in a pair first radial ball bearings respectively so that described is light
Shock-proof spring is carried to freely swing；
Check ring is mounted between described underloading shock-proof spring two ends and the first radial ball bearing.
3. as claimed in claim 2 can shock-absorbing General Mobile robot chassis, it is characterised in that described heavily loaded shock-absorbing system
System is included：
A pair second radial ball bearings, it is separately positioned in upper and lower support base；
Heavily loaded shock-proof spring guide pillar, heavily loaded shock-proof spring, described heavily loaded shock-proof spring two ends are respectively fitted over heavily loaded shock-proof spring
Heavily loaded shock-proof spring guide pillar two ends on guide pillar and described put in a pair second radial ball bearings respectively so that described weight
Shock-proof spring is carried to freely swing；
Check ring is mounted between described heavily loaded shock-proof spring two ends and the second radial ball bearing.
4. as claimed in claim 3 can shock-absorbing General Mobile robot chassis, it is characterised in that described heavily loaded shock-absorbing bullet
Spring guide pillar and underloading shock-proof spring guide pillar are respectively arranged at two ends with spacing back-up ring.
5. as claimed in claim 1 can shock-absorbing General Mobile robot chassis, it is characterised in that described independent suspension knot
Structure is also included：
It is arranged on a pair of towing arms and motor rack on supporting plate；
Rotating shaft, shaft bearing seat, described towing arm are connected by rotating shaft with shaft bearing seat, and described shaft bearing seat peace
Mounted in base plate bottom surface.
6. as claimed in claim 5 can shock-absorbing General Mobile robot chassis, it is characterised in that also comprising drive disk assembly,
It is included：
Motor, it is arranged on motor rack, and between a pair of towing arms；
AGV wheel bearings, it is arranged on lower support base；
AGV wheel shafts, its one end is connected with AGV steamboats, and the other end is connected through AGV wheel bearings with driven gear；
Drive gear, it is arranged on motor and is meshed with driven gear.
7. as claimed in claim 2 can shock-absorbing General Mobile robot chassis, it is characterised in that described AGV steamboats
The upper and lower amplitude of oscillation is A1, and the described underloading shock-proof spring decrement under the pressure of deadweight is A2, described underloading shock-proof spring from
It is A by reduction length, then should meets A more than or equal to A1+A2, and A2 is more than or equal to A1.
8. as claimed in claim 3 can shock-absorbing General Mobile robot chassis, it is characterised in that the AGV described in whole is small
Length of the wheel with ground contact points in a plane after the compression of underloading shock-proof spring is less than or equal to the freely long of heavily loaded shock-proof spring
Degree.
9. as described in claim any one of 1-8 can shock-absorbing General Mobile robot chassis, it is characterised in that if also comprising
A dry universal wheel, it is separately positioned on base plate bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141647.7U CN206170057U (en) | 2016-10-20 | 2016-10-20 | General mobile robot chassis that can move away to avoid possible earthquakes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141647.7U CN206170057U (en) | 2016-10-20 | 2016-10-20 | General mobile robot chassis that can move away to avoid possible earthquakes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170057U true CN206170057U (en) | 2017-05-17 |
Family
ID=58678916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621141647.7U Withdrawn - After Issue CN206170057U (en) | 2016-10-20 | 2016-10-20 | General mobile robot chassis that can move away to avoid possible earthquakes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206170057U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564047A (en) * | 2016-10-20 | 2017-04-19 | 上海思岚科技有限公司 | Universal mobile robot chassis capable of avoiding shock |
| CN107472397A (en) * | 2017-08-22 | 2017-12-15 | 北京百度网讯科技有限公司 | Robot chassis and robot |
| CN110978926A (en) * | 2019-12-31 | 2020-04-10 | 杭州极木科技有限公司 | Multistage dependent suspension system |
-
2016
- 2016-10-20 CN CN201621141647.7U patent/CN206170057U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564047A (en) * | 2016-10-20 | 2017-04-19 | 上海思岚科技有限公司 | Universal mobile robot chassis capable of avoiding shock |
| CN106564047B (en) * | 2016-10-20 | 2019-08-20 | 上海思岚科技有限公司 | It is a kind of can shock-absorbing General Mobile robot chassis |
| CN107472397A (en) * | 2017-08-22 | 2017-12-15 | 北京百度网讯科技有限公司 | Robot chassis and robot |
| CN110978926A (en) * | 2019-12-31 | 2020-04-10 | 杭州极木科技有限公司 | Multistage dependent suspension system |
| CN110978926B (en) * | 2019-12-31 | 2024-02-23 | 杭州极木科技有限公司 | Multistage non-independent suspension system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20190820 |