CN208760368U - A kind of damping suspension gear and mobile robot for mobile robot - Google Patents
A kind of damping suspension gear and mobile robot for mobile robot Download PDFInfo
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- CN208760368U CN208760368U CN201821296780.9U CN201821296780U CN208760368U CN 208760368 U CN208760368 U CN 208760368U CN 201821296780 U CN201821296780 U CN 201821296780U CN 208760368 U CN208760368 U CN 208760368U
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- mobile robot
- damping
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Abstract
The utility model discloses a kind of damping suspension gears and mobile robot for mobile robot, damping suspension gear includes suspension fixing seat, suspension supporting block, spring-damper and bearing block, one end of suspension supporting block is fixedly connected with suspension fixing seat, one end of spring-damper and suspension fixing seat are rotatablely connected, and the both ends of bearing block are rotatablely connected with suspension supporting block and spring-damper respectively.Mobile robot includes above-mentioned damping suspension gear.In the process of running, spring-damper can absorb the uneven brought vibration of the not gentle speed in ground and impact；In spring-damper telescopic process, bearing block is driven to rotate around suspension supporting block a small range, the driving wheel connecting with bearing block is enabled with ground face contact, to prevent from coming off ground or slipping phenomenon always, guarantees the steady reliable of robot operation.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of damping suspension gears for mobile robot
And mobile robot.
Background technique
With the development of artificial intelligence, the demand of mobile robot will be steeply risen.Mobile machine mostly works in room
Function that is interior and need to having autonomous, thus the design on chassis is the design foundation stone and shifting foundation of mobile robot.Due to
Wheeled robot have from heavy and light, carrying is big, mechanism is simple, driving and control relatively convenient, the speed of travel are fast, maneuverability,
The advantages that work efficiency is high, therefore the mobile robot of indoor environment mostly uses wheeled locomotion mechanism.
Out-of-flatness and robot carrying due to road surface is different, may jolt in moving process, unstable phenomenon,
So that robot generates different degrees of vibration, the stationarity of robot is influenced.
Utility model content
The purpose of this utility model is to provide a kind of damping suspension gear and mobile robot for mobile robot,
To solve the mobile jiggly technical problem of robot existing in the prior art.
As above design, the technical scheme adopted by the utility model is
A kind of damping suspension gear for mobile robot, comprising:
Suspension fixing seat；
Suspension supporting block, one end are fixedly connected with the suspension fixing seat；
Spring-damper, one end and the suspension fixing seat are rotatablely connected；
Bearing block, both ends are rotatablely connected with the suspension supporting block and the spring-damper respectively.
Wherein, one end of the spring-damper is rotatablely connected by first rotating shaft and the suspension fixing seat, and described the
One shaft includes shaft ontology, the limiting section for being set to shaft ontology one end and removable with the other end of the shaft ontology
Unload the tight lock part of connection.
Wherein, the tight lock part includes nut and gasket, and the gasket is sheathed on the shaft ontology, the shaft sheet
The end of body is provided with the external screw thread with nut cooperation.
Wherein, the first mounting portion is provided in the suspension fixing seat, first mounting portion includes two be oppositely arranged
A support plate offers the mounting hole for wearing the shaft ontology, the end of the spring-damper in the support plate
Between two support plates and it is sheathed on the shaft ontology.
Wherein, one end of the bearing block is rotatablely connected by the second shaft and the spring-damper, the bearing block
The other end be rotatablely connected by third shaft and the suspension supporting block, second shaft and the third shaft are and institute
The structure for stating first rotating shaft is identical.
Wherein, be provided with the second mounting portion and third mounting portion on the bearing block, one end of the spring-damper with
Second mounting portion connection, one end of the suspension supporting block are connect with the third mounting portion, second mounting portion with
The third mounting portion is identical as first installation portion structure.
Wherein, the spring-damper includes:
Damper cylinder bucket, one end and the suspension fixing seat are rotatablely connected；
Damper cylinder rod, one end are connect with the damper cylinder bucket, and the other end and the bearing block are rotatablely connected；
Spring is sheathed in the damper cylinder rod；
Limit adjusts component, connect with the damper cylinder bucket and the damper cylinder rod and supports with the both ends of the spring
It connects.
Wherein, the limit adjusting component includes:
Limit plate connect with the damper cylinder rod and abuts with one end of the spring；
Pretightning force adjusts ring, is threadedly coupled with the damper cylinder bucket and abuts with the other end of the spring, described pre-
It is adjustable in the position on the damper cylinder bucket that clamp force adjusts ring.
Wherein, the spring-damper is obliquely installed relative to the suspension fixing seat.
A kind of mobile robot, including at least two damping suspension gears as described above for being used for mobile robot.
The utility model has the beneficial effects that
The utility model proposes the damping suspension gear for mobile robot, by the way that spring-damper and suspension are consolidated
Reservation rotation connection, the both ends of bearing block are rotatablely connected with suspension supporting block and spring-damper respectively, in the process of running, bullet
Spring damper can absorb the uneven brought vibration of the not gentle speed in ground and impact；In spring-damper telescopic process
In, drive bearing block around suspension supporting block a small range rotate, enable the driving wheel being connect with bearing block always with ground
Contact prevents from coming off ground or slipping phenomenon, guarantees the steady reliable of robot operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of the damping suspension gear provided by the utility model for mobile robot；
Fig. 2 is the structural schematic diagram two of the damping suspension gear provided by the utility model for mobile robot；
Fig. 3 is the front view of the damping suspension gear provided by the utility model for mobile robot；
Fig. 4 is that the structure of the spring-damper of the damping suspension gear provided by the utility model for mobile robot is shown
It is intended to；
Fig. 5 is the decomposition texture schematic diagram of the spring-damper in Fig. 4；
Fig. 6 is the part knot of the suspension fixing seat of the damping suspension gear provided by the utility model for mobile robot
Structure schematic diagram；
Fig. 7 is the structural representation of the bearing block of the damping suspension gear provided by the utility model for mobile robot
Figure；
Fig. 8 is that the structure of the suspension supporting block of the damping suspension gear provided by the utility model for mobile robot is shown
It is intended to；
Fig. 9 is the structural representation of the first rotating shaft of the damping suspension gear provided by the utility model for mobile robot
Figure；
Figure 10 is the partial structure diagram one of mobile robot provided by the utility model；
Figure 11 is the partial structure diagram two of mobile robot provided by the utility model；
Figure 12 is the decomposition texture schematic diagram of Figure 10.
In figure:
1, damping suspension gear；2, shafting；3, train；4, deceleration mechanism；5, driving mechanism；
11, suspension fixing seat；12, suspension supporting block；13, spring-damper；14, bearing block；15, first rotating shaft；16,
Two shafts；17, third shaft；
111, the first mounting portion；1111, support plate；1112, mounting hole；
131, damper cylinder bucket；132, damper cylinder rod；133, spring；134, limit plate；135, pretightning force adjusts ring；
1311, first through hole；1321, the second through-hole；
141, the second mounting portion；142, third mounting portion；
151, shaft ontology；152, limiting section；153, tight lock part.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.It is understood that
Specific embodiment described herein is used only for explaining the utility model, rather than the restriction to the utility model.In addition it also needs
It is noted that illustrating only part relevant to the utility model for ease of description, in attached drawing and not all.
Referring to Fig. 1 to Fig. 9, the utility model embodiment provides a kind of damping suspension gear for mobile robot, subtracts
The suspension arrangement 1 that shakes includes suspension fixing seat 11, suspension supporting block 12, spring-damper 13 and bearing block 14, suspension supporting block 12
One end be fixedly connected with suspension fixing seat 11, one end of spring-damper 13 and suspension fixing seat 11 are rotatablely connected, bearing block
14 both ends are rotatablely connected with suspension supporting block 12 and spring-damper 13 respectively.
In the process of running, spring-damper 13 can absorb the uneven brought vibration of the not gentle speed in ground and punching
It hits；In 13 telescopic process of spring-damper, bearing block 14 is driven to rotate around 12 a small range of suspension supporting block, so that and bearing
The driving wheel of 14 connection of seat can prevent from coming off ground or slipping phenomenon, guarantee the flat of robot operation always with ground face contact
It is steady reliable.
Spring-damper 13 includes that damper cylinder bucket 131, damper cylinder rod 132, spring 133 and limit adjust component, resistance
One end of Buddhist nun's device cylinder bucket 131 and suspension fixing seat 11 are rotatablely connected, and one end of damper cylinder rod 132 and damper cylinder bucket 131 connect
It connects, the other end and bearing block 14 are rotatablely connected, and spring 133 is sheathed in damper cylinder rod 132；Limit adjusts component and damper
Cylinder bucket 131 and damper cylinder rod 132 are connected and are abutted with the both ends of spring 133.
It includes that limit plate 134 and pretightning force adjust ring 135 that limit, which adjusts component, and limit plate 134 and damper cylinder rod 132 connect
It connects and is abutted with one end of spring 133；Pretightning force adjusts ring 135 and is threadedly coupled with damper cylinder bucket 131 and another with spring 133
One end abuts, and it is adjustable in the position on damper cylinder bucket 131 that pretightning force adjusts ring 135.I.e. spring 133 is located at 134 He of limit plate
Pretightning force is adjusted between ring 135, adjusts ring 135 by rotation pretightning force, can be changed pretightning force and be adjusted ring 135 in damper cylinder
Position on bucket 131, and then change the length of spring 133, to change the pretightning force of spring 133.
One end of spring-damper 13 is rotatablely connected by first rotating shaft 15 and suspension fixing seat 11.In suspension fixing seat 11
It is provided with the first mounting portion 111, the first mounting portion 111 with first rotating shaft 15 for connecting.One end of suspension supporting block 12 passes through
Bolt is fixedly connected with suspension fixing seat 11.
First rotating shaft 15 include shaft ontology 151, be set to 151 one end of shaft ontology limiting section 152 and with shaft sheet
The tight lock part 153 that the other end of body 151 is detachably connected.Limiting section 152 be set to 151 one end of shaft ontology cylindricality it is convex
It rises, limiting section 152 and shaft ontology 151 are integrally formed.Tight lock part 153 can be pin, or be arranged in the present embodiment
Nut and gasket, gasket are sheathed on shaft ontology 151, and the end of shaft ontology 151 is provided with the external screw thread with nut cooperation.
The annular groove for installing gasket is offered on shaft ontology 151.
First mounting portion 111 includes two support plates 1111 being oppositely arranged, and is offered in support plate 1111 for wearing
The end of the mounting hole 1112 of first rotating shaft 15, spring-damper 13 is located between two support plates 1111.Specifically, damper
The end of cylinder bucket 131 is located between two support plates 1111, and the end of damper cylinder bucket 131 offers first through hole 1311, the
One through-hole 1311 and two mounting holes 1112 are coaxially disposed, for wearing shaft ontology 151.
When installation, the end of spring-damper 13 is placed between two support plates 1111, will be arranged on shaft ontology 151
Have externally threaded one end sequentially pass through the mounting hole 1112 in a support plate 1111, spring-damper 13 end and another
Mounting hole 1112 in support plate 1111, gasket is covered on shaft ontology 151, and nut is tightened at the end of shaft ontology 151
Portion.In order to guarantee that the end of 13 energy of spring-damper can be flexibly movable, the spacing between two support plates 1111 is slightly larger than bullet
The width of the end of 13 energy of spring damper.
One end of bearing block 14 is rotatablely connected by the second shaft 16 with spring-damper 13, and the other end of bearing block 14 is logical
It crosses third shaft 17 and suspension supporting block 12 is rotatablely connected, the structure of the second shaft 16 and third shaft 17 with first rotating shaft 15
Identical, details are not described herein.
The second mounting portion 141 and third mounting portion 142, one end of spring-damper 13 and second are provided on bearing block 14
Mounting portion 141 connects, and one end of suspension supporting block 12 is connect with third mounting portion 142, the second mounting portion 141 and third mounting portion
142 is identical as 111 structure of the first mounting portion, and details are not described herein.The end of damper cylinder rod 132 and the second mounting portion 141
Connection, the end of damper cylinder rod 132 offers the second through-hole 1321, for wearing the second shaft 16.
Second mounting portion 141 and third mounting portion 142 are located on 14 two opposite sides of bearing block, in this implementation
In example, the second mounting portion 141 is located at the lower part of the side of bearing block 14, and third mounting portion 142 is located at the side of bearing block 14
Middle part.
After spring-damper 13 is connect with suspension fixing seat 11 and bearing block 14, spring-damper 13 is fixed relative to suspension
Seat 11 is obliquely installed.Specifically, the plane at 11 place of the extending direction of spring-damper 13 and suspension fixing seat is arranged in angle,
In the present embodiment, angle is acute angle.Certainly, angle may be right angle, i.e., spring-damper 13 can be with suspension fixing seat
11 are vertically arranged.
Spring-damper 13 is obliquely installed relative to suspension fixing seat 11, and the relative compression amount of spring-damper 13 can be compared with
It is small, and stress is nonlinear change, enhances Nonlinear Suspension System damping performance.
Referring to Figure 10 to Figure 12, the utility model embodiment also provides a kind of mobile robot, including at least two above-mentioned
The damping suspension gear 1 for mobile robot.Mobile robot further includes shafting 2, train 3, deceleration mechanism 4 and driving machine
Structure 5, shafting 2 and bearing block 14 are rotatablely connected, and train 3 and shafting 2 are rotatablely connected, and deceleration mechanism 4 is connect with shafting 2, driving machine
The output end of structure 5 is connect with deceleration mechanism 4.
Embodiment of above only elaborates the basic principles and features of the present invention, and the utility model is not by above-mentioned reality
The mode of applying limits, and on the premise of not departing from the spirit and scope of the utility model, the present invention has various changes and changes,
These changes and changes fall within the scope of the claimed invention.The utility model requires protection scope is by appended
Claims and its equivalent thereof.
Claims (10)
1. a kind of damping suspension gear for mobile robot characterized by comprising
Suspension fixing seat (11)；
Suspension supporting block (12), one end are fixedly connected with the suspension fixing seat (11)；
Spring-damper (13), one end and the suspension fixing seat (11) are rotatablely connected；
Bearing block (14), both ends are rotatablely connected with the suspension supporting block (12) and the spring-damper (13) respectively.
2. the damping suspension gear according to claim 1 for mobile robot, which is characterized in that the spring damping
One end of device (13) is rotatablely connected by first rotating shaft (15) and the suspension fixing seat (11), and the first rotating shaft (15) includes
Shaft ontology (151), the limiting section (152) for being set to described shaft ontology (151) one end and with the shaft ontology (151)
The tight lock part (153) that the other end is detachably connected.
3. the damping suspension gear according to claim 2 for mobile robot, which is characterized in that the tight lock part
It (153) include nut and gasket, the gasket is sheathed on the shaft ontology (151), the end of the shaft ontology (151)
It is provided with the external screw thread with nut cooperation.
4. the damping suspension gear according to claim 2 for mobile robot, which is characterized in that the suspension is fixed
It is provided with the first mounting portion (111) on seat (11), first mounting portion (111) includes two support plates being oppositely arranged
(1111), the mounting hole (1112) for wearing the shaft ontology (151), the bullet are offered on the support plate (1111)
The end of spring damper (13) is located between two support plates (1111) and is sheathed on the shaft ontology (151).
5. the damping suspension gear according to claim 2 for mobile robot, which is characterized in that the bearing block
(14) one end is rotatablely connected by the second shaft (16) and the spring-damper (13), the other end of the bearing block (14)
It is rotatablely connected by third shaft (17) and the suspension supporting block (12), second shaft (16) and the third shaft
(17) identical as the structure of the first rotating shaft (15).
6. the damping suspension gear according to claim 4 for mobile robot, which is characterized in that the bearing block
(14) the second mounting portion (141) and third mounting portion (142) are provided on, one end of the spring-damper (13) and described the
Two mounting portions (141) connection, one end of the suspension supporting block (12) are connect with the third mounting portion (142), and described second
Mounting portion (141) and the third mounting portion (142) are identical as the first mounting portion (111) structure.
7. the damping suspension gear according to claim 1 for mobile robot, which is characterized in that the spring damping
Device (13) includes:
Damper cylinder bucket (131), one end and the suspension fixing seat (11) are rotatablely connected；
Damper cylinder rod (132), one end are connect with the damper cylinder bucket (131), and the other end and the bearing block (14) turn
Dynamic connection；
Spring (133) is sheathed on the damper cylinder rod (132)；
Limit adjust component, connect with the damper cylinder bucket (131) and the damper cylinder rod (132) and with the spring
(133) both ends abut.
8. the damping suspension gear according to claim 7 for mobile robot, which is characterized in that the limit is adjusted
Component includes:
Limit plate (134) connect with the damper cylinder rod (132) and abuts with one end of the spring (133)；
Pretightning force adjusts ring (135), is threadedly coupled with the damper cylinder bucket (131) and the other end with the spring (133)
It abuts, the position that the pretightning force is adjusted on ring (135) Yu Suoshu damper cylinder bucket (131) is adjustable.
9. the damping suspension gear according to claim 1 for mobile robot, which is characterized in that the spring damping
Device (13) is obliquely installed relative to the suspension fixing seat (11).
10. a kind of mobile robot, which is characterized in that described in any item for moving including at least two such as claim 1-9
The damping suspension gear of mobile robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821296780.9U CN208760368U (en) | 2018-08-13 | 2018-08-13 | A kind of damping suspension gear and mobile robot for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821296780.9U CN208760368U (en) | 2018-08-13 | 2018-08-13 | A kind of damping suspension gear and mobile robot for mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN208760368U true CN208760368U (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821296780.9U Active CN208760368U (en) | 2018-08-13 | 2018-08-13 | A kind of damping suspension gear and mobile robot for mobile robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927500A (en) * | 2019-04-24 | 2019-06-25 | 青岛钢铁侠科技有限公司 | The damping wheel of mobile 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 |
| CN112172435A (en) * | 2020-09-22 | 2021-01-05 | 广东博智林机器人有限公司 | Suspension device, steering wheel and mobile chassis |
| CN114313060A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | AGV shielding shock attenuation hangs |
-
2018
- 2018-08-13 CN CN201821296780.9U patent/CN208760368U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927500A (en) * | 2019-04-24 | 2019-06-25 | 青岛钢铁侠科技有限公司 | The damping wheel of mobile 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 |
| CN112172435A (en) * | 2020-09-22 | 2021-01-05 | 广东博智林机器人有限公司 | Suspension device, steering wheel and mobile chassis |
| CN112172435B (en) * | 2020-09-22 | 2021-11-02 | 广东博智林机器人有限公司 | Suspension device, steering wheel and mobile chassis |
| CN114313060A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | AGV shielding shock attenuation hangs |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |
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| CP03 | Change of name, title or address |