CN207747692U - Robot hangs shock mitigation system - Google Patents
Robot hangs shock mitigation system Download PDFInfo
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- CN207747692U CN207747692U CN201820009118.4U CN201820009118U CN207747692U CN 207747692 U CN207747692 U CN 207747692U CN 201820009118 U CN201820009118 U CN 201820009118U CN 207747692 U CN207747692 U CN 207747692U
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- China
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- cantilever
- type control
- hinged
- control arm
- short axle
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Abstract
The utility model provides a kind of robot suspension shock mitigation system, including short axle cantilever, long axis cantilever, tension spring and electric machine support, one end of the short axle cantilever is hinged with the upper end of the electric machine support, the other end is hinged with the first cantilever linkage, first cantilever linkage is hinged on chassis, one end of the long axis cantilever is hinged with the lower end of the electric machine support, the other end is hinged with the second cantilever linkage, second cantilever linkage is hinged on chassis, the short axle cantilever and long axis cantilever include two H-type control arms, two H-type control arms are arranged in a crossed manner, described tension spring one end connects the short axle cantilever, the other end is connected on chassis.The utility model is by the short axle cantilever and long axis cantilever that are made of two H-type control arms, and increased in wheel torque, the stress point of cantilever increases to 4, therefore, it is possible to prevent cantilever torsional deformation well, to control walking precision when machine operation.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of robot hangs shock mitigation system.
Background technology
With the development of science and technology occurring various robots in real life, they are generally all disposed within one can
On mobile bottom plate, and the performance of bottom plate will directly affect the overall performance of robot.Most of existing robot is using wheel
Formula mechanism driving wheel is moved, and in order to adapt to different ground, corresponding suspended shock absorbing mechanism can also be arranged on bottom plate.
The robot suspension occurred on the market now most of is A font suspended structures, due to the cusp of A fonts suspension
Forced area is smaller, and when wheel runs to acclive road surface, since torque increases, the cusp of A fonts suspension is turned round
It is bent.The promising adaptation of institute is increased in wheel torque, needs to design a new robot suspension shock mitigation system.
Utility model content
The utility model provides a kind of robot suspension shock mitigation system, solves the problems, such as existing above-mentioned.
To solve the above problems, the utility model embodiment provides a kind of robot suspension shock mitigation system, including short axle is hanged
Arm, long axis cantilever, tension spring and electric machine support, one end of the short axle cantilever is hinged with the upper end of the electric machine support, another
End is hinged with the first cantilever linkage, and first cantilever linkage is hinged on chassis, one end and the electricity of the long axis cantilever
The lower end of machine support is hinged, and the other end is hinged with the second cantilever linkage, and second cantilever linkage is hinged on chassis, described short
Axle suspension arm and long axis cantilever include two H-type control arms, and two H-type control arms are arranged in a crossed manner, and described tension spring one end connects institute
Short axle cantilever is stated, the other end is connected on chassis.
As an implementation, further include motor, the motor is horizontally installed on the electric machine support.
As an implementation, described two H-type control arms include the first H-type control arm and the second H-type control arm, institute
It includes that first longitudinal axis, second longitudinal axis and first longitudinal axis of connection and second are vertical to state the first H-type control arm and the second H-type control arm
The horizontal axis of axis, the second longitudinal axis end of the first H-type control arm connect the end of first longitudinal axis of the second H-type control arm, the first H-type
First longitudinal axis end of control arm connects the end of second longitudinal axis of the second H-type control arm.
As an implementation, the quantity of the tension spring is two, first longitudinal axis for being set to the first H-type control arm
On, another is set on second longitudinal axis of the second H-type control arm.
As an implementation, the short axle cantilever, long axis cantilever axial length ratio be 0.65.
As an implementation, the short axle cantilever, long axis cantilever are in bending setting in the axial direction.
The beneficial effects of the utility model compared with the prior art lie in：Pass through the short axle being made of two H-type control arms
Cantilever and long axis cantilever, increased in wheel torque, the stress point of cantilever increases to 4, therefore, it is possible to prevent well
Only cantilever torsional deformation, to control walking precision when machine operation.
Description of the drawings
Fig. 1 is that the robot of the utility model hangs the structure chart of shock mitigation system；
Fig. 2 is that the robot of the utility model hangs the structure chart of cantilever linkage in shock mitigation system.
Attached drawing marks：1, short axle cantilever；2, long axis cantilever；3, tension spring；4, motor；5, electric machine support；61, the first cantilever connects
Bar；62, the second cantilever linkage；71, first longitudinal axis；72, second longitudinal axis；81, first longitudinal axis；82, second longitudinal axis；9, horizontal axis.
Specific implementation mode
Below in conjunction with attached drawing, technical characteristic above-mentioned to the utility model and other and advantage carry out clearly and completely
Description, it is clear that described embodiment is only the section Example of the utility model, rather than whole embodiments.
As shown in Figure 1, a kind of robot hangs shock mitigation system, including short axle cantilever 1, long axis cantilever 2, tension spring 3, motor 4
And electric machine support 5.Motor 4 is horizontally installed on electric machine support 5.It is cut with scissors with the upper end of electric machine support 5 one end of short axle cantilever 1
It connects, the other end is hinged with the first cantilever linkage 61, and the first cantilever linkage 61 is hinged on chassis.One end of long axis cantilever 2 and electricity
The lower end of machine support 5 is hinged, and the other end is hinged with the second cantilever linkage 62, and the second cantilever linkage 62 is hinged on chassis.Short axle
Cantilever 1 and long axis cantilever 2 include two H-type control arms, and two H-type control arms are arranged in a crossed manner.It is outstanding that 3 one end of tension spring connects short axle
Arm 1, the other end is connected on chassis.
As shown in Fig. 2, in the present embodiment, two H-type control arms include the first H-type control arm and second being obliquely installed
H-type control arm.First H-type control arm and the second H-type control arm include first longitudinal axis of first longitudinal axis, second longitudinal axis and connection
With the horizontal axis 9 of second longitudinal axis, second longitudinal axis, 72 end of the first H-type control arm connects first longitudinal axis 81 of the second H-type control arm
End, first longitudinal axis, 71 end of the first H-type control arm connects the end of second longitudinal axis 82 of the second H-type control arm, two H
Type control arm shares same horizontal axis, and six small triangles are formed after intersection.
The quantity of tension spring 3 is two, and one is set on first longitudinal axis of the first H-type control arm, another is set to the second H-type
On second longitudinal axis of control arm.
Short axle cantilever 1, long axis cantilever 2 axial length ratio be 0.65, at this point, the variation of wheelspan is smaller, can more reduce
Tire wear, improves the service life of tire, and the variation of front wheel alignment angle is small.
Short axle cantilever 1, long axis cantilever 2 are in bending setting in the axial direction, and bigger can be born by being bent the control arm of setting
Horizontal force.
The utility model is increased by the short axle cantilever and long axis cantilever that are made of two H-type control arms in wheel torque
In the case of, the stress point of cantilever increases to 4, therefore, it is possible to prevent cantilever torsional deformation well, to control machine fortune
Walking precision when row.
Particular embodiments described above has carried out into one the purpose of this utility model, technical solution and advantageous effect
The detailed description of step, it should be understood that the foregoing is merely specific embodiment of the utility model, be not used to limit this reality
With novel protection domain.Particularly point out, to those skilled in the art, it is all the spirit and principles of the utility model it
Any modification, equivalent substitution, improvement and etc. that are interior, being done, should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of robot hangs shock mitigation system, which is characterized in that including short axle cantilever, long axis cantilever, tension spring and motor branch
Frame, one end of the short axle cantilever and the upper end of the electric machine support are hinged, and the other end is hinged with the first cantilever linkage, and described the
One cantilever linkage is hinged on chassis, and one end of the long axis cantilever is hinged with the lower end of the electric machine support, and the other end is hinged
There are the second cantilever linkage, second cantilever linkage to be hinged on chassis, the short axle cantilever and long axis cantilever include two H
Type control arm, two H-type control arms are arranged in a crossed manner, and described tension spring one end connects the short axle cantilever, and the other end is connected to chassis
On.
2. robot according to claim 1 hangs shock mitigation system, which is characterized in that further include motor, the motor is horizontal
To setting on the electric machine support.
3. robot according to claim 1 hangs shock mitigation system, which is characterized in that described two H-type control arms include
First H-type control arm and the second H-type control arm, the first H-type control arm and the second H-type control arm include first longitudinal axis,
Second longitudinal axis end of second longitudinal axis and the horizontal axis for connecting first longitudinal axis and second longitudinal axis, the first H-type control arm connects the 2nd H
The end of first longitudinal axis of type control arm, the first longitudinal axis end of the first H-type control arm connect the second of the second H-type control arm and indulge
The end of axis.
4. robot according to claim 3 hangs shock mitigation system, which is characterized in that the quantity of the tension spring is two,
One is set on first longitudinal axis of the first H-type control arm, another is set on second longitudinal axis of the second H-type control arm.
5. robot according to claim 1 hangs shock mitigation system, which is characterized in that the short axle cantilever, long axis cantilever
Axial length ratio be 0.65.
6. robot according to claim 1 hangs shock mitigation system, which is characterized in that the short axle cantilever, long axis cantilever
It is in bending setting in the axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820009118.4U CN207747692U (en) | 2018-01-03 | 2018-01-03 | Robot hangs shock mitigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820009118.4U CN207747692U (en) | 2018-01-03 | 2018-01-03 | Robot hangs shock mitigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207747692U true CN207747692U (en) | 2018-08-21 |
Family
ID=63151280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820009118.4U Active CN207747692U (en) | 2018-01-03 | 2018-01-03 | Robot hangs shock mitigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207747692U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515087A (en) * | 2018-11-02 | 2019-03-26 | 吉林大学 | A kind of all-terrain moving robot with active independent suspension system |
-
2018
- 2018-01-03 CN CN201820009118.4U patent/CN207747692U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515087A (en) * | 2018-11-02 | 2019-03-26 | 吉林大学 | A kind of all-terrain moving robot with active independent suspension system |
| CN109515087B (en) * | 2018-11-02 | 2021-09-14 | 吉林大学 | All-terrain mobile robot with active independent suspension system |
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