CN207670133U - A kind of Omni-mobile obstacle detouring chassis - Google Patents

A kind of Omni-mobile obstacle detouring chassis Download PDF

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Publication number
CN207670133U
CN207670133U CN201721585914.4U CN201721585914U CN207670133U CN 207670133 U CN207670133 U CN 207670133U CN 201721585914 U CN201721585914 U CN 201721585914U CN 207670133 U CN207670133 U CN 207670133U
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CN
China
Prior art keywords
chassis
suspension arms
omni
damping spring
tire
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Active
Application number
CN201721585914.4U
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Chinese (zh)
Inventor
恽为民
王健
庞作伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Xpartner Robotics Co Ltd
Changzhou Xpartner Robotics Co Ltd
Original Assignee
Shanghai Xpartner Robotics Co Ltd
Changzhou Xpartner Robotics Co Ltd
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Application filed by Shanghai Xpartner Robotics Co Ltd, Changzhou Xpartner Robotics Co Ltd filed Critical Shanghai Xpartner Robotics Co Ltd
Priority to CN201721585914.4U priority Critical patent/CN207670133U/en
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Publication of CN207670133U publication Critical patent/CN207670133U/en
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Abstract

A kind of Omni-mobile obstacle detouring chassis, including chassis and it is set to the motion for driving chassis to move below chassis, motion includes at least three or more moving parts, moving parts include tire and driving motor, driving motor connects tire by main shaft, further include a suspension arms and air damping spring, suspension arms is strip, driving motor is fixed on one end of suspension arms, and main shaft is connect across suspension arms with tire, this one end of the suspension arms of air damping spring connection simultaneously is simultaneously hinged with chassis upper, the other end of suspension arms and tray bottom hinge connection.The beneficial effects of the utility model are:It regard that nurse wheel of Mike and driving motor as independent suspension as a whole, is connect with mobile chassis by hinging manner, it is a set of independent suspension to make each wheel, to realize omnidirectional moving and obstacle climbing ability.

Description

A kind of Omni-mobile obstacle detouring chassis
Technical field
The utility model is related to the obstacle detouring chassis of a kind of mobile device more particularly to a kind of mobile device.
Background technology
Existing mobile chassis is mostly with several wheel submodes, before driving wherein several or whole wheels to realize by motor Into, retreat, turn to etc. movements.To improve mobile flexibility and saving mobile space, at present mainly with omni-directional wheel or Mike That nurse wheel realizes omnidirectional moving by moving composition algorithm.Though that nurse wheel of omni-directional wheel or Mike used by Omni-mobile chassis Neatly omnidirectional moving so may be implemented, but since wheel structure limits, obstacle climbing ability is weaker.Mecanum wheel is simultaneously Based on one there are many in the principle of the centre wheel for the wheel shaft for being located at wheel periphery, these angled periphery wheel shafts are a part Wheel steering force be transformed into above a wheel normal force.Omnibearing movable chassis based on Mecanum wheel technology can be real The now motion modes such as forward, traversing, diagonal, rotation and combinations thereof.That nurse wheel of Mike or omni-directional wheel have been all made of this wheel hub and have added The frame mode of roller follower, since roller follower stock size is smaller, this structure directly affects the obstacle detouring on movement chassis Ability.
Utility model content
Purpose of the utility model is to solve the defects present in mobile device obstacle detouring in the prior art, provide one kind The obstacle detouring chassis of mobile device solves the above problems.
To achieve the goals above, the technical solution of the utility model is as follows:
A kind of Omni-mobile obstacle detouring chassis, including chassis and the motion for being set to drive chassis movement below chassis, It is characterized in that, the motion includes at least three or more moving parts, the moving parts include tire and driving Motor, the driving motor connect tire by main shaft, further include a suspension arms and air damping spring, the suspension pendulum Arm is strip, and the driving motor is fixed on one end of suspension arms, and main shaft is connect across suspension arms with tire, together When air damping spring connection suspension arms this one end and and chassis upper be hinged, the other end and tray bottom of suspension arms Hinge connection.
A kind of above-mentioned Omni-mobile obstacle detouring chassis, which is characterized in that the mobile mechanism includes four moving assemblies, point It is not set to four angles on chassis.
Above-mentioned a kind of Omni-mobile obstacle detouring chassis, which is characterized in that the tire is omni-directional wheel or Mike that nurse wheel One of which.
Above-mentioned a kind of Omni-mobile obstacle detouring chassis, which is characterized in that damping spring holder, institute are provided on the chassis The top for stating air damping spring is hinged through the hinge on damping spring holder.
A kind of above-mentioned Omni-mobile obstacle detouring chassis, which is characterized in that the damping spring holder, air damping spring and Suspension arms is in the same plane.
The beneficial effects of the utility model are:By that nurse wheel of Mike and driving motor as a whole as independent outstanding It hangs, is connect with mobile chassis by hinging manner, it is a set of independent suspension to make each wheel, to realize that omnidirectional transports Dynamic and obstacle climbing ability.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model;
Fig. 2 is the structural schematic diagram of moving assembly.
Specific implementation mode
To make the structure feature to the utility model and the effect of being reached has a better understanding and awareness, to compared with Good embodiment and attached drawing cooperation detailed description, are described as follows:
Referring to Fig. 1 and Fig. 2, a kind of Omni-mobile obstacle detouring chassis, including chassis 100 drive with 100 lower section of chassis is set to The motion 200 that chassis 100 is moved, motion 200 include at least three or more moving parts 300, moving parts 300 Including tire 310 and driving motor 320, driving motor 320 connects tire 310 by main shaft, further includes a suspension arms 330 With air damping spring 340, suspension arms 330 is strip, and driving motor 320 is fixed on one end of suspension arms 330, and Main shaft is connect across suspension arms 330 with tire 310, while air damping spring 340 connects this one end of suspension arms 330 simultaneously It is connect with 100 bottom hinge of chassis with the other end of 100 upper articulation of chassis, suspension arms 330.
In one of the utility model preferred embodiment, motion 200 includes four moving parts 300, It is respectively arranged at four angles on chassis, while tire 310 is omni-directional wheel or Mike that nurse wheel, mechanism easy to remove carries out omnidirectional It is mobile.
And damping spring holder 110 is provided on chassis 100, the top of air damping spring 340 is connected through the hinge In on damping spring holder 110, and damping spring holder 110, air damping spring 340 and suspension arms 330 are same flat In face.
In order to make the chassis for having Omni-mobile that can also realize obstacle climbing ability, the utility model proposes a kind of that nurses of Mike Wheel or the new structure of omni-directional wheel cooperation suspension.This structure is by that nurse wheel of Mike and the conduct as a whole of driving motor 320 Independent suspension is connect by hinging manner with chassis 100, and it is a set of independent suspension to make each tire 310, to Realize omnidirectional moving and obstacle climbing ability.
Driving motor 320 is fixed with suspension arms 330, that nurse wheel of Mike passes through ring flange and coupling piece and driving motor 320 main shaft is connected, and forms suspension arms 330, and increase air damping spring by articulated manner on suspension arms 330 340, assemble the independent suspension of each tire 310.Each 310 independent suspension of tire adds steel shaft mode to be formed by double-sided bearings seat Hinge connection, and the independent suspension of each tire 310 is connect with chassis 100.Air damping spring 340 and 100 top of chassis Damping spring holder 110 equally use hinge connection mode, guarantee is suspended in shock absorbing process air damping spring 340 can be with Freely swing.
The tire 310 of independent suspension can be in air damping spring 340 by the articulated shaft of suspension arms 330 and be stretched model Rotate freely in enclosing, can allow each tire 310 can individual adaptation barrier, and ensure that each tire 310 can be with ground Face comes into full contact with, and enough power is provided for the movement of chassis 100.
Basic principles, main features, and advantages of the present invention has been shown and described above.One's own profession The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description Only the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model the utility model also have respectively Kind changes and improvements, these changes and improvements are both fallen in claimed the scope of the utility model.The requires of the utility model Protection domain defined by appended claims and its equivalent.

Claims (5)

1. a kind of Omni-mobile obstacle detouring chassis, including chassis and the motion for being set to drive chassis movement below chassis, It is characterized in that, the motion includes at least three or more moving parts, and the moving parts include tire and driving electricity Machine, the driving motor connect tire by main shaft, further include a suspension arms and air damping spring, the suspension arms For strip, the driving motor is fixed on one end of suspension arms, and main shaft is connect across suspension arms with tire, simultaneously Air damping spring connects this one end of suspension arms and is hinged with chassis upper, and the other end and the tray bottom of suspension arms are cut with scissors Chain link.
2. a kind of Omni-mobile obstacle detouring chassis according to claim 1, which is characterized in that the motion includes four Moving parts are respectively arranged at four angles on chassis.
3. a kind of Omni-mobile obstacle detouring chassis according to claim 1 or 2, which is characterized in that the tire is omni-directional wheel Or the one of which of Mike that nurse wheel.
4. a kind of Omni-mobile obstacle detouring chassis according to claim 3, which is characterized in that be provided with damping on the chassis The top of spring support, the air damping spring is hinged through the hinge on damping spring holder.
5. a kind of Omni-mobile obstacle detouring chassis according to claim 4, which is characterized in that the damping spring holder, sky Gas damping spring and suspension arms are in the same plane.
CN201721585914.4U 2017-11-23 2017-11-23 A kind of Omni-mobile obstacle detouring chassis Active CN207670133U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721585914.4U CN207670133U (en) 2017-11-23 2017-11-23 A kind of Omni-mobile obstacle detouring chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721585914.4U CN207670133U (en) 2017-11-23 2017-11-23 A kind of Omni-mobile obstacle detouring chassis

Publications (1)

Publication Number Publication Date
CN207670133U true CN207670133U (en) 2018-07-31

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Application Number Title Priority Date Filing Date
CN201721585914.4U Active CN207670133U (en) 2017-11-23 2017-11-23 A kind of Omni-mobile obstacle detouring chassis

Country Status (1)

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CN (1) CN207670133U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109398012A (en) * 2018-09-03 2019-03-01 精锐动力科技(深圳)有限公司 A kind of shock-absorbing driving structure and walking robot
CN110588266A (en) * 2019-10-22 2019-12-20 广东博智林机器人有限公司 Driving device and AGV chassis
CN111110896A (en) * 2020-03-31 2020-05-08 华南智能机器人创新研究院 Intelligent disinfection epidemic prevention robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109398012A (en) * 2018-09-03 2019-03-01 精锐动力科技(深圳)有限公司 A kind of shock-absorbing driving structure and walking robot
CN110588266A (en) * 2019-10-22 2019-12-20 广东博智林机器人有限公司 Driving device and AGV chassis
CN111110896A (en) * 2020-03-31 2020-05-08 华南智能机器人创新研究院 Intelligent disinfection epidemic prevention robot

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