CN207000086U - A kind of wheeled supporting mechanism of mobile robot with buffer unit - Google Patents
A kind of wheeled supporting mechanism of mobile robot with buffer unit Download PDFInfo
- Publication number
- CN207000086U CN207000086U CN201720522222.9U CN201720522222U CN207000086U CN 207000086 U CN207000086 U CN 207000086U CN 201720522222 U CN201720522222 U CN 201720522222U CN 207000086 U CN207000086 U CN 207000086U
- Authority
- CN
- China
- Prior art keywords
- link
- supporting mechanism
- cylindrical sleeve
- mobile robot
- jacking block
- 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.)
- Expired - Fee Related
Links
Landscapes
- Vibration Dampers (AREA)
Abstract
The wheeled supporting mechanism of a kind of mobile robot with buffer unit provided by the utility model, by setting jacking block between wheel and car body, impulsive force from wheel is born by jacking block, the impulsive force is passed to damping spring by jacking block simultaneously, during so as to ensure moveable robot movement, car body is not by the impulsive force from ground；Meanwhile cylindrical sleeve can play the function of support robot car body；Wheeled supporting mechanism provided by the utility model not only ensure that mobile robot steadily can be moved quickly, at the same also have it is simple to operate, it is rational in infrastructure, have it is safe and applicable the characteristics of.
Description
Technical field
A kind of wheeled supporting mechanism is the utility model is related to, specifically, is related to a kind of moving machine with pooling feature
The wheeled supporting mechanism of device people.
Background technology
Wheeled mobile robot is widely applied to space because it has the characteristics that the speed of service is fast, good environmental adaptability
The fields such as detection, deep ocean work and community service.At present, it is all car body and travel mechanism that miscellaneous robot is most of
The hard connecting mode of any buffering is could be used without, using this hard connecting mode, when wheeled mobile robot is indoors or outdoor
When being moved in environment, the obstacle such as the uneven or step on ground, robot body can be made to produce body in movement and jolted, sternly
The damage or control system failure of moving parts can be directly resulted in during weight.Therefore, it is necessary to design a kind of with pooling feature
Mobile robot supporting mechanism, the mechanism can play the function of support robot car body, moreover it is possible to play protection robot and moving
During dynamic, the damage or failure of part are caused due to the impact on ground.So that robot can be run at faster speed,
It is also beneficial to further expand the application field of mobile robot simultaneously.
The content of the invention
The purpose of this utility model is to provide a kind of wheeled supporting mechanism of the mobile robot with buffer unit solve
Existing robot produces body in moving process and jolted, caused by moving parts damage or control system the defects of failing.
In order to achieve the above object, the technical solution adopted in the utility model is specific as follows：
The wheeled supporting mechanism of a kind of mobile robot with buffer unit provided by the utility model, including support bar,
Calotte, damping spring, cylindrical sleeve, vehicle wheel frame, wheel and jacking block, wherein, wheel is arranged on the lower end of vehicle wheel frame, cylindrical sleeve peace
Mounted in the upper end of vehicle wheel frame, jacking block, damping spring, calotte and support bar are inserted into cylindrical sleeve successively, and jacking block, damping bullet
Spring, calotte and support bar and cylindrical sleeve are coaxial, and axis is vertical with the upper surface of vehicle wheel frame.
Preferably, one end of damping spring and the top of jacking block connect, the other end of damping spring and the bottom of calotte
Connection, the top of calotte is engaged with one end of support bar, and the bottom of jacking block is in contact with the upper surface of vehicle wheel frame.
Preferably, the upper surface of cylindrical sleeve is installed with locking cap.
Preferably, be provided with link on the outer surface of cylindrical sleeve, link include the first link, the second link,
3rd link and the 4th link, the link be by the both ends of the first link respectively with the second link and the 4th
One end connection of link, the other end of the both ends of the 3rd link respectively with the second link and the 4th link are connected composition
Closure parallelogram sturcutre.
Preferably, the junction of the 3rd link and the second link is fixedly mounted in cylindrical sleeve by fix bar；The
The junction of the junction of two links and the first link, the 3rd link and the 4th link is fixed by steady pin respectively
Connection；The junction of first link and the 4th link is fixedly connected by support shaft, and support shaft is connected with support bar.
Preferably, back-moving spring is provided with link, the both ends of back-moving spring are separately mounted to two steady pins.
Compared with prior art, the beneficial effects of the utility model are：
The wheeled supporting mechanism of a kind of mobile robot with buffer unit provided by the utility model, by wheel with
Jacking block is set between car body, the impulsive force from wheel is born by jacking block, the impulsive force is passed to damping spring by jacking block simultaneously,
During so as to ensure moveable robot movement, car body is not by the impulsive force from ground；Meanwhile cylindrical sleeve can play support machine
The function of people's car body；Wheeled supporting mechanism provided by the utility model not only ensure that mobile robot steadily can be transported quickly
It is dynamic, at the same also have it is simple to operate, it is rational in infrastructure, there is the characteristics of safe and applicable.
Further, locking cap is used for preventing support bar from, when moving up and down along the axis direction of cylindrical sleeve, will not skid off
Cylindrical sleeve.
Further, the link of the parallelogram sturcutre set on the outside of cylindrical sleeve, constitutes the two of the supporting mechanism
Level buffer unit, the impulsive force on ground can be further absorbed, effectively protect the stationarity of car body.
Further, the composition of back-moving spring and link, effectively evaded when impulsive force is excessive, beyond damping bullet
The compression zone of spring and the phenomenon of mechanism dieback occurred.
Brief description of the drawings
Fig. 1 is the assembling schematic diagram of the supporting mechanism；
Fig. 2 is the part explosive view of the supporting mechanism；
Fig. 3 is cylindrical sleeve structural representation；
Wherein, 1, locking cap 2, support bar 3, the first link 4, calotte 5, damping spring 6, cylindrical sleeve 7, vehicle wheel frame 8,
Wheel 9, axletree 10, fix bar 11, the second link 12, jacking block 13, back-moving spring 14, steady pin 15, support shaft the 16, the 3rd
Link 17, the 4th link.
Embodiment
Below in conjunction with the accompanying drawings, the utility model is further described.
As shown in Figure 1-Figure 3, the wheeled support machine of a kind of mobile robot with pooling feature provided by the utility model
Structure, including locking cap 1, support bar 2, the first link 3, calotte 4, damping spring 5, cylindrical sleeve 6, vehicle wheel frame 7, wheel 8, car
Wheel shaft 9, fix bar 10, the second link 11, jacking block 12, return spring 13, steady pin 14, support shaft 15, the 3rd link 16
With the 4th link 17, wherein, wheel 8 is fixed on vehicle wheel frame 7 by axletree 9, and cylindrical sleeve 6 is bolted on wheel
The upper surface of frame 7, jacking block 12, damping spring 5, calotte 4 and support bar 2 are sequentially inserted into cylindrical sleeve 6, wherein, damping spring
5 one end is connected with the top of jacking block 12, and the other end of damping spring 5 is connected with the bottom of calotte 4, the top of calotte 4
It is engaged with one end of support bar 2, the bottom of jacking block 12 is in contact with the upper surface of vehicle wheel frame 7；Meanwhile locking cap 1 passes through spiral shell
Bolt is fixed on the upper surface of cylindrical sleeve 6.
First link 3 is identical with the structure size of the 3rd link 16, and be arranged in parallel；Second link 11 and the 4th connects
It is identical to connect the structure size of frame 17, and be arranged in parallel, wherein, the both ends of the first link 3 respectively with the second link 11 and the 4th
One end connection of link 17, the both ends of the 3rd link 16 respectively with the second link 11 and the other end of the 4th link 17
Connection, form a parallelogram sturcutre；
The junction of 3rd link 16 and the second link 11 is fixedly mounted in cylindrical sleeve 6 by fix bar 10, tool
Body, fix bar 10 is arranged in the mounting hole that the outer surface lower end of cylindrical sleeve 6 opens up；
The junction of the junction of second link 11 and the first link 3, the 3rd link 16 and the 4th link 17
It is fixedly connected respectively by steady pin 14；
First link 3 is fixedly connected with the junction of the 4th link 17 by support shaft 15, support shaft 15 and support
Bar 2 is connected.
The both ends of back-moving spring 13 are separately mounted on two steady pins 14.
The effect of locking cap 1 is to ensure that support bar 2 when the axial direction along cylindrical sleeve 6 moves up and down, will not skid off circle
Column sleeve 6；The effect of jacking block 12 is subject to the impulsive force from wheel 8, and the impulsive force is passed into damping spring 5, so as to protect
When demonstrate,proving moveable robot movement, car body is not by the impulsive force from ground；Back-moving spring 13 is used to ensure parallelogram sturcutre
It is indeformable, the impulsive force on ground is further absorbed, effectively protects the stationarity of car body；The effect of the parallelogram sturcutre is
Prevent, when impulsive force is excessive, the phenomenon of mechanism dieback occur beyond the compression zone of damping spring 5.
To ensure that damping spring 5, cylindrical sleeve 6, calotte 4, support bar 2, jacking block 12 are coaxial when mounted, and axis is all the time
It is vertical with the upper surface of vehicle wheel frame 7.
Claims (6)
- A kind of 1. wheeled supporting mechanism of mobile robot with buffer unit, it is characterised in that：Including support bar (2), hemisphere Cap (4), damping spring (5), cylindrical sleeve (6), vehicle wheel frame (7), wheel (8) and jacking block (12), wherein, wheel (8) is arranged on car The lower end of wheel carrier (7), cylindrical sleeve (6) be arranged on vehicle wheel frame (7) upper end, jacking block (12), damping spring (5), calotte (4) and Support bar (2) is inserted into cylindrical sleeve (6) successively, and jacking block (12), damping spring (5), calotte (4) and support bar (2) and Coaxially, and axis is vertical with the upper surface of vehicle wheel frame (7) for cylindrical sleeve (6).
- A kind of 2. wheeled supporting mechanism of mobile robot with buffer unit according to claim 1, it is characterised in that： One end of damping spring (5) is connected with the top of jacking block (12), and the other end of damping spring (5) connects with the bottom of calotte (4) Connect, the top of calotte (4) is engaged with one end of support bar (2), and the bottom of jacking block (12) and the upper surface of vehicle wheel frame (7) It is in contact.
- A kind of 3. wheeled supporting mechanism of mobile robot with buffer unit according to claim 1, it is characterised in that： The upper surface of cylindrical sleeve (6) is installed with locking cap (1).
- A kind of 4. wheeled supporting mechanism of mobile robot with buffer unit according to claim 1, it is characterised in that： Link is provided with the outer surface of cylindrical sleeve (6), link includes the first link (3), the second link (11), the 3rd company Connect frame (16) and the 4th link (17), the link be by the both ends of the first link (3) respectively with the second link (11) one end with the 4th link (17) connects, the both ends of the 3rd link (16) respectively with the second link (11) and the 4th The closure parallelogram sturcutre of the other end connection composition of link (17).
- A kind of 5. wheeled supporting mechanism of mobile robot with buffer unit according to claim 4, it is characterised in that： The junction of 3rd link (16) and the second link (11) is fixedly mounted in cylindrical sleeve (6) by fix bar (10)；The The handing-over punishment of the junction of two links (11) and the first link (3), the 3rd link (16) and the 4th link (17) It is not fixedly connected by steady pin (14)；The junction of first link (3) and the 4th link (17) passes through support shaft (15) It is fixedly connected, support shaft (15) is connected with support bar (2).
- A kind of 6. wheeled supporting mechanism of mobile robot with buffer unit according to claim 5, it is characterised in that： Back-moving spring (13) is provided with link, the both ends of back-moving spring (13) are separately mounted to two steady pins (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720522222.9U CN207000086U (en) | 2017-05-11 | 2017-05-11 | A kind of wheeled supporting mechanism of mobile robot with buffer unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720522222.9U CN207000086U (en) | 2017-05-11 | 2017-05-11 | A kind of wheeled supporting mechanism of mobile robot with buffer unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207000086U true CN207000086U (en) | 2018-02-13 |
Family
ID=61443278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720522222.9U Expired - Fee Related CN207000086U (en) | 2017-05-11 | 2017-05-11 | A kind of wheeled supporting mechanism of mobile robot with buffer unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207000086U (en) |
-
2017
- 2017-05-11 CN CN201720522222.9U patent/CN207000086U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203512061U (en) | Impact reducing structure suitable for small spacecraft | |
| CN207291549U (en) | One kind six takes turns AGV shock-absorbings chassis | |
| CN205076034U (en) | Unmanned aerial vehicle nose -gear | |
| CN106184727A (en) | A kind of roller type Multi-stage damping reed pipe unmanned plane Shatter-resistant device | |
| CN204136914U (en) | Buffer device for collision | |
| CN206703863U (en) | Robot chassis and robot | |
| CN207000086U (en) | A kind of wheeled supporting mechanism of mobile robot with buffer unit | |
| CN104875574A (en) | Macpherson independent suspension and knuckle assembly | |
| CN205951641U (en) | Operating system of combined car | |
| CN207466962U (en) | A kind of rotor wing unmanned aerial vehicle damping undercarriage | |
| CN108639167A (en) | A kind of installation of car for guarding against side turned over | |
| CN209797407U (en) | high-altitude operation car supporting device capable of detecting soft legs of supporting legs | |
| CN209820762U (en) | Torsion bar spring durability fatigue test device | |
| CN104057927A (en) | Hydraulic supporting leg structure and movable type crusher | |
| CN210971511U (en) | Four-wheel aircraft rear wheel cage type double shock-absorbing device | |
| CN214057608U (en) | Computer hardware conveyer | |
| CN202202255U (en) | Protective device for preventing bridge detection vehicles from tipping over | |
| CN201971061U (en) | Steering knuckle | |
| CN211440003U (en) | Inspection robot | |
| CN211710941U (en) | Industrial spot inspection robot | |
| CN108827664B (en) | Impact test detection table for automobile steering system | |
| CN203428024U (en) | Vibration-absorption strut system of aircraft landing gear | |
| CN206322619U (en) | A kind of centering and erecting device for horizontal breaker hydraulic spring mechanism | |
| CN202115458U (en) | Retractable anti-collision support for automobile | |
| CN204095404U (en) | A kind of trailing wheel running gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180213 Termination date: 20190511 |