CN207670137U - A kind of coordinated type suspension arrangement - Google Patents
A kind of coordinated type suspension arrangement Download PDFInfo
- Publication number
- CN207670137U CN207670137U CN201721884897.4U CN201721884897U CN207670137U CN 207670137 U CN207670137 U CN 207670137U CN 201721884897 U CN201721884897 U CN 201721884897U CN 207670137 U CN207670137 U CN 207670137U
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- connecting rod
- mobile robot
- support chain
- robot platform
- chain
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Abstract
The utility model discloses a kind of coordinated type suspension arrangements, including horizontally disposed mobile robot platform, further include the first support chain and the second support chain being vertically slidably connected with the mobile robot platform, it is erected at the fixation chain in two support chains and for fixing the mobile robot platform, the fixed chain includes horizontally disposed first connecting rod and the second connecting rod that is vertically arranged, the first end of the first connecting rod is hinged first support chain, second end is slided and is hinged second support chain, the first end of the second connecting rod is fixedly connected with the mobile robot platform, second end is slided and is hinged the first connecting rod, the fixing end of the second connecting rod is arranged at the center of the mobile robot platform.The utility model has at least the following advantages：It improves the rigidity of single unit system, increase the stability of mobile robot.
Description
Technical field
The utility model is related to field of mechanical technique more particularly to a kind of coordinated type suspension arrangements.
Background technology
At this stage, mobile robot platform uses independent suspension device substantially in the solution of each driving wheel, solely
Vertical suspension arrangement is by spring shock absorption mechanism and is vertically directed mechanism and constitutes.It can be had the disadvantage that using independent suspension device：Work as drive
In the case that driving wheel is not as loadwheel, driving wheel has each constant lower pressure, but with the increase of load, driving wheel
Interaction force between ground will not increase together, to improve the slip risk between driving wheel and ground；Work as drive
When driving wheel is as loadwheel, in the case where loading variation, the height of robot body can change correspondingly, in this way it cannot be guaranteed that moving
The height one of mobile robot platform is straightforward, this only when the execution for executing industrial production or needing high consistency good acts
Vertical hanging system can seriously affect usability；When encountering broken terrain, robot body part can be with load
Common balleting is taken turns, robot body's plane can be tilted with the uneven generation of landing ground.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of coordinated type suspension arrangements, and which raises single unit systems
Rigidity, the stability for increasing mobile robot.
In order to solve the above-mentioned technical problem, the utility model provides a kind of coordinated type suspension arrangement, including horizontally disposed
Mobile robot platform, further include the first support chain being vertically slidably connected with the mobile robot platform and
Two support chains, the fixation chain for being erected in two support chains and being used to fix the mobile robot platform, the fixed chain
Including horizontally disposed first connecting rod and the second connecting rod being vertically arranged, the first end of the first connecting rod is described first hinged
Second support chain is slided and are hinged to support chain, second end, and the first end of the second connecting rod is fixedly connected with the mobile machine
The first connecting rod is slided and are hinged to people's platform, second end, and the fixing end of the second connecting rod is arranged in the mobile robot
At the center of platform.
Further, first support chain and second support chain include the supporting rod vertically extended,
The supporting rod connects the mobile robot platform by first movement pair.
Further, the second end of the first connecting rod extends to the outside of second support chain.
Further, multiple bullets of both connections are provided between the first connecting rod and the mobile robot platform
Spring.
Further, the first end of the first connecting rod connects first support chain, second end by the first revolute pair
By the second revolute pair the second support chain is connected with the second prismatic pair.
Further, the second end of the second connecting rod is connected described first with third prismatic pair by third revolute pair and connected
Bar.
Further, the bottom of the supporting rod is provided with the idler wheel being rotatablely connected with it.
By above-mentioned technical proposal, the utility model has at least the following advantages：
1, flat by being provided with the first support chain being vertically arranged, the second support chain and horizontally disposed mobile robot
Suffered external force, by above-mentioned set-up mode, can be transferred to by platform on the mobile robot platform when bearing external force
In first support chain and the second support chain, the rigidity of single unit system can be improved, and mobile robot platform can be improved big
Slipping phenomenon under load；
2, by being provided with first connecting rod and second connecting rod, when single unit system encounters hollow in the way of operation, first
Connecting rod is under run-off the straight, second connecting rod occur under the action of revolute pair and prismatic pair under the action of revolute pair and prismatic pair
Drop, and then drive the mobile robot platform to synchronize and decline；By setting in mobile robot platform and the first support chain, the
Prismatic pair between two support chains can preferably ensure the vertical degree of the first support chain and the second support chain, and then ensure to move
The levelness of mobile robot platform greatly improves the mobile robot platform stability uneven on road surface；
3, by being arranged the fixing end of the second connecting rod at the center of the mobile robot platform, when whole dress
It sets when encountering hollow in the way of operation, the distance that mobile robot platform declines is the half of supporting rod dropping distance, can
Preferably improve the height that mobile robot platform declines, promotes its stability.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model in the horizontal plane；
Fig. 2 is overall structure diagram of the utility model on male and fomale(M＆F).
In the figures above：1, mobile robot platform；2, first connecting rod；3, second connecting rod；4, supporting rod；5, first movement
It is secondary；6, spring；7, the first revolute pair；8, the second revolute pair；9, the second prismatic pair；10, third revolute pair；11, third prismatic pair；
12, idler wheel.
Specific implementation mode
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
In conjunction with shown in above-mentioned Fig. 1 and Fig. 2, the utility model discloses a kind of coordinated type suspension arrangements, including horizontally disposed
Mobile robot platform 1, further include the first support chain being vertically slidably connected with the mobile robot platform 1 and
Second support chain, the fixation chain for being erected in two support chains and being used to fix the mobile robot platform 1.Described first
Support chain and second support chain include the supporting rod 4 vertically extended, and the supporting rod 4 passes through first movement pair
5 connect the mobile robot platform 1.In the utility model, the bottom of the preferably supporting rod 4 is provided with and its company of rotation
The idler wheel 12 connect.It is flat by being provided with the first support chain being vertically arranged, the second support chain and horizontally disposed mobile robot
Platform 1, by above-mentioned set-up mode, can transmit suffered external force on the mobile robot platform 1 when bearing external force
To the first support chain and the second support chain, the rigidity of single unit system can be improved, and mobile robot platform 1 can be improved and existed
Slipping phenomenon under heavy load.
The fixed chain includes horizontally disposed first connecting rod 2 and the second connecting rod 3 that is vertically arranged, the first connecting rod 2
First end be hinged first support chain, second end is slided and is hinged second support chain；The first of the second connecting rod 3
End is fixedly connected with the mobile robot platform 1, second end is slided and is hinged the first connecting rod 2.In the utility model, preferably
The second end of the ground first connecting rod 2 extends to the outside of second support chain.The first end of the first connecting rod 2 passes through
One revolute pair 7 connects first support chain, second end connects the second support chain by the second revolute pair 8 and the second prismatic pair 9；
The second end of the second connecting rod 3 connects the first connecting rod 2 by third revolute pair 10 and third prismatic pair 11.By above-mentioned
Set-up mode, when encountering hollow in the way in operation, first connecting rod 2 is in the first revolute pair 7, the second revolute pair 8 and second
Under run-off the straight, second connecting rod 3 occur under the action of third revolute pair 10 and third prismatic pair 11 under the action of prismatic pair 9
Drop, and then drive the mobile robot platform 1 to synchronize and decline；In the utility model, the mobile robot platform 1 and application
Gravity on the mobile robot platform 1 is larger, by be arranged between mobile robot platform 1 and supporting rod 4
One prismatic pair 5 can preferably ensure the vertical degree of two supporting rods 4, and then the levelness of guarantee mobile robot platform 1, greatly
Improve the stability uneven on road surface of mobile robot platform 1 greatly.
Multiple springs 6 of both connections are provided between the first connecting rod 2 and the mobile robot platform 1.Pass through
Above-mentioned setting, the spring 6 preferably can play cushioning effect to the mobile robot platform 1.The second connecting rod 3
Fixing end be arranged at the center of the mobile robot platform 1, by above-mentioned set-up mode, in conjunction with first connecting rod 2,
Connection type between two connecting rods 3 and supporting rod 4 and spatial relation, when single unit system encounters hollow in the way of operation
When, the distance that mobile robot platform 1 declines is the half of 4 dropping distance of supporting rod, can preferably improve mobile robot
The height that platform 1 declines, promotes its stability.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the utility model, the utility model
Protection domain it is without being limited thereto.Those skilled in the art on the basis of the utility model made by equivalent substitute or change
It changes, both is within the protection scope of the present invention.The scope of protection of the utility model is subject to claims.
Claims (7)
1. a kind of coordinated type suspension arrangement, including horizontally disposed mobile robot platform, which is characterized in that further include with it is described
The first support chain and the second support chain that mobile robot platform is vertically slidably connected are erected in two support chains
And the fixation chain for fixing the mobile robot platform, the fixed chain include horizontally disposed first connecting rod and set vertically
The second connecting rod set, the first end of the first connecting rod is hinged first support chain, second end is slided and is hinged described second
The first end of support chain, the second connecting rod is fixedly connected with the mobile robot platform, second end is slided and is hinged described
The fixing end of one connecting rod, the second connecting rod is arranged at the center of the mobile robot platform.
2. coordinated type suspension arrangement as described in claim 1, which is characterized in that first support chain and second support
Chain includes the supporting rod vertically extended, and the supporting rod connects the mobile robot by first movement pair and puts down
Platform.
3. coordinated type suspension arrangement as described in claim 1, which is characterized in that the second end of the first connecting rod extends to institute
State the outside of the second support chain.
4. coordinated type suspension arrangement as described in claim 1, which is characterized in that the first connecting rod and the mobile robot
Multiple springs of both connections are provided between platform.
5. coordinated type suspension arrangement as described in claim 1, which is characterized in that the first end of the first connecting rod passes through first
Revolute pair connects first support chain, second end connects the second support chain by the second revolute pair with the second prismatic pair.
6. coordinated type suspension arrangement as described in claim 1, which is characterized in that the second end of the second connecting rod passes through third
Revolute pair connects the first connecting rod with third prismatic pair.
7. coordinated type suspension arrangement as claimed in claim 2, which is characterized in that the bottom of the supporting rod is provided with and its turn
The idler wheel of dynamic connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721884897.4U CN207670137U (en) | 2017-12-28 | 2017-12-28 | A kind of coordinated type suspension arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721884897.4U CN207670137U (en) | 2017-12-28 | 2017-12-28 | A kind of coordinated type suspension arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207670137U true CN207670137U (en) | 2018-07-31 |
Family
ID=62971515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721884897.4U Active CN207670137U (en) | 2017-12-28 | 2017-12-28 | A kind of coordinated type suspension arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207670137U (en) |
-
2017
- 2017-12-28 CN CN201721884897.4U patent/CN207670137U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220228 Address after: Room 707A, Guanghong building, No. 287, Dongping street, Dushuhu, Suzhou Industrial Park, Jiangsu 215000 Patentee after: Suzhou New Optimization Investment Consulting Co.,Ltd. Address before: 215000 units 6-701 and 702, creative industrial park, No. 328, Xinghu street, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU UMORE ROBOTICS Co.,Ltd. |
|
| TR01 | Transfer of patent right |