CN208881513U - The chassis suspension of robot - Google Patents
The chassis suspension of robot Download PDFInfo
- Publication number
- CN208881513U CN208881513U CN201821192909.1U CN201821192909U CN208881513U CN 208881513 U CN208881513 U CN 208881513U CN 201821192909 U CN201821192909 U CN 201821192909U CN 208881513 U CN208881513 U CN 208881513U
- Authority
- CN
- China
- Prior art keywords
- motor
- shock
- fixed block
- suspension
- fixing axle
- 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.)
- Active
Links
Landscapes
- Vibration Prevention Devices (AREA)
Abstract
The utility model relates to the technical fields on robot chassis, provide a kind of chassis suspension of robot, including the hub motor with motor shaft and the suspension arrangement for connecting with chassis, the suspension arrangement includes shock-absorbing bracket and the motor fixed block being connected and fixed with the motor shaft；The shock-absorbing bracket includes parallel to each other and spaced bottom base and top base, and fixing axle is provided in the shock-absorbing bracket, and the fixing axle extends to the top base along the direction perpendicular to bottom base top surface from the bottom base；The motor fixed block is slidably arranged in the fixing axle and is resiliently attached to the shock-absorbing bracket by elastomeric element.It is compared with the prior art, chassis suspension provided by the utility model, antidetonation buffer capacity is stronger, can guarantee the robust motion of hub motor, and can make to keep effective adhesive force between hub motor and ground, avoid slipping phenomenon.
Description
Technical field
The utility model relates to the technical fields on robot chassis, more particularly, to the chassis suspension of robot.
Background technique
Currently, intelligent robot is more and more extensive applied to service industry, especially wheel type intelligent robot, it is excellent with its
Mobile reliability and biggish load capacity more, are commonly used by people for all trades and professions.It is a large amount of with wheel type intelligent robot
It uses, it has been found that, such robot is easy to appear the problems such as wheel slip, train buffer capacity are poor, operation is unstable.It causes
The main reason for these problems is that robot chassis does not have suspension arrangement or suspension arrangement unstable.
Utility model content
The purpose of this utility model is to provide the chassis suspensions of robot, existing in the prior art slow to solve
It is poor to rush ability, runs jiggly defect.
In order to achieve the above purposes, the technical solution adopted by the utility model is: provides a kind of chassis suspension system of robot
System, including the hub motor with motor shaft and the suspension arrangement for connecting with chassis, the suspension arrangement includes shock-absorbing branch
Frame and the motor fixed block being connected and fixed with the motor shaft；The shock-absorbing bracket includes parallel to each other and spaced lower base
Seat and top base are provided with fixing axle in the shock-absorbing bracket, and the fixing axle is from the bottom base along perpendicular to bottom base top
The direction in face extends to the top base；The motor fixed block is slidably arranged in the fixing axle and by elastomeric element bullet
Property is connected to the shock-absorbing bracket.
Further, the shock-absorbing bracket further includes two side plates between the bottom base and the top base,
Two side plates are respectively the first side plate and the second side plate, first side plate, the bottom base, second side plate, institute
Top base is stated to be sequentially connected and be enclosed for accommodating the fixing axle, the motor fixed block and the elastomeric element
Shock-absorbing chamber.
Further, the top base is in the intracavitary setting finite place piece of the shock-absorbing, to limit the motor fixed block
It is mobile towards the top base.
Further, the locating part is fixedly connected on the top base.
Further, the quantity of the fixing axle is two, and the interval setting of two fixing axles, the locating part is set
It sets between two fixing axles.
Further, the motor fixed block is slidably connected to the fixing axle by linear bearing.
Further, the elastomeric element is compressed spring, and the compressed spring is set in the outside of the fixing axle, and
It is supported respectively with the top base and the motor fixed block.
Further, the elastomeric element be extension spring, the both ends of the extension spring respectively with the bottom base and
The motor fixed block connection.
Further, the motor shaft is attached on the motor fixed block by nut lock.
Further, the both ends of the hub motor are respectively connected with a suspension arrangement, two suspension arrangement phases
The longitudinal center plane of the hub motor is symmetrical arranged.
Be compared with the prior art, chassis suspension provided by the utility model, using shock-absorbing bracket, motor fixed block,
The suspension arrangement that fixing axle and elastomeric element are constituted, motor fixed block are resiliently attached to shock-absorbing bracket and are slidably arranged in fixing axle
On, the motor fixed block that is connect with hub motor can according to the variation of landform, opposite shock-absorbing bracket move up and down with keep with
Effective contact on ground and adhesive force in this way, antidetonation buffer capacity is stronger can guarantee the robust motion of hub motor, and
It can make to keep effective adhesive force between hub motor and ground, avoid slipping phenomenon.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of hub motor provided by the embodiment of the utility model and suspension arrangement；
Fig. 2 is the decomposition diagram of hub motor provided by the embodiment of the utility model and suspension arrangement；
Fig. 3 is the cross-sectional view in the face A-A in Fig. 1.
Main element symbol description
10: hub motor 10a: motor shaft
20: suspension arrangement
21: shock-absorbing bracket 211: bottom base
212: 213: the first side plate of top base
214: the second side plates
22: motor fixed block 221: top surface
222: 223: the first face of bottom surface
224: the second face, 225: the first hole
226 second holes
23: fixing axle
24: elastomeric element 25: nut
26: linear bearing 27: locating part
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that described embodiment is this
A part of the embodiment of utility model, instead of all the embodiments.Based on described the embodiments of the present invention, ability
Domain those of ordinary skill every other embodiment obtained under the premise of being not necessarily to creative work, belongs to the utility model
The range of protection.
In order to make those skilled in the art more fully understand the technical solution of the utility model, below with reference to specific attached drawing
The realization of the utility model is described in detail.
For sake of convenience, hereinafter left and right, the upper and lower direction one of so-called " left side " " right side " "upper" "lower" and attached drawing itself
It causes, but restriction effect is not played to the structure of the utility model.
Unless otherwise defined, the technical term or scientific term used herein is should be in the utility model fields
The ordinary meaning that personage with general technical ability is understood.Make in the utility model patent application specification and claims
" first ", " second " and similar word are not offered as any sequence, quantity or importance, and are used only to distinguish
Different component parts.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates exist at least
One.
It as shown in Figures 1 to 3, is a preferred embodiment provided by the utility model.
The chassis suspension of robot provided in this embodiment including the hub motor 10 with motor shaft 10a and is used
In the suspension arrangement 20 being connect with chassis (not shown), wherein suspension arrangement 20 includes shock-absorbing bracket 21 and connects with motor shaft 10a
Connect fixed motor fixed block 22；Shock-absorbing bracket 21 includes parallel to each other and spaced bottom base 211 and top base 212,
Fixing axle 23 is provided in shock-absorbing bracket 21, fixing axle 23 is from bottom base 211 along the direction extension perpendicular to 211 top surface of bottom base
To top base 212；Motor fixed block 22 is slidably arranged in fixing axle 23 and is resiliently attached to shock-absorbing branch by elastomeric element 24
Frame 21.
Above-mentioned chassis suspension, using shock-absorbing bracket 21,24 structure of motor fixed block 22, fixing axle 23 and elastomeric element
At suspension arrangement 20, motor fixed block 22 is resiliently attached to shock-absorbing bracket 21 and is slidably arranged in fixing axle 23, with wheel hub
The motor fixed block 22 that motor 10 connects can be according to the variation of landform, and opposite shock-absorbing bracket 21 is moved up and down with holding and ground
Effective contact and adhesive force in this way, the chassis suspension antidetonation buffer capacity is stronger can guarantee the fortune of hub motor 10
Dynamic stationarity, and can make to keep effective adhesive force between hub motor 10 and ground, slipping phenomenon is avoided, in addition, also
Have many advantages, such as that structure is simple, space hold is smaller.
Referring to Fig. 1 to 3, the chassis suspension of the robot of the present embodiment, including the hub motor with motor shaft 10a
10 and the suspension arrangement 20 for connecting with chassis, the size of hub motor 10 is but is not limited to 6.5 cun, can also be according to machine
Device human needs selects the hub motor 10 of other sizes, and suspension arrangement 20 is convenient and hub motor 10 integral into modularization
Dismounting, replacement.In the present embodiment, the quantity of suspension arrangement 20 is but is not limited to one, is detachably attached to wheel hub electricity
The side of machine 10.
In another embodiment, the both ends of hub motor 10 are respectively connected with a suspension arrangement 20, two 20 phases of suspension arrangement
The longitudinal center plane of hub motor 10 is symmetrical arranged.
Certainly, multiple suspension arrangements 20 can be set, be connected with hub motor 10 according to the load-carrying needs of robot.
Referring to Fig. 1 to 3, shock-absorbing bracket 21, including bottom base 211 and top base 212, bottom base 211, top base 212 are equal
Be square plate, and bottom base 211 is parallel to each other with top base 212 and interval is arranged.In the present embodiment, shock-absorbing bracket 21 includes
Two side plates between bottom base 211 and top base 212, two side plates are respectively the first side plate 213 and the second side plate
214, the first side plate 213, bottom base 211, the second side plate 214, top base 212 are sequentially connected, and are enclosed solid for accommodating
The shock-absorbing chamber of dead axle 23, motor fixed block 22 and elastomeric element 24.Top base 212 be located at bottom base 211 top (diagram
Top), the first side plate 213, the second side plate 214 are connected to left and right (left and right directions of diagram) side of lower substrate, the first side
All existing fixed form connections are solid using screw, welding etc. for plate 213, bottom base 211, the second side plate 214, top base 212
It is fixed.It should be pointed out that bottom base 211 and top base 212 are used to be connected and fixed with the chassis of robot, using top base
212 and bottom base 211, be more advantageous to guarantee under upper and lower pedestal 212,211 it is parallel and firm, and be fixed to robot chassis
It is fixed simultaneously by under upper and lower pedestal 212,211 when upper, it is more firm, more heavy-duty can be born.
Fixing axle 23, cross section are circle, are arranged in shock-absorbing bracket 21, fixing axle 23 is from bottom base 211 along vertical
Top base 212 is extended in the direction of 211 top surface of bottom base, the both ends of fixing axle 23 are kept at bottom base 211 and upper base
On seat 212.In the present embodiment, the quantity of fixing axle 23 is but is not limited to two, and two fixing axles 23 are side by side and interval is set
It sets.
Motor fixed block 22 is but is not limited to rectangular shape, and motor fixed block 22 connect solid with motor shaft 10a
It is fixed, and be slidably arranged in fixing axle 23 and shock-absorbing bracket 21 is resiliently attached to by elastomeric element 24.In the present embodiment, electric
Machine fixed block 22 has top surface 221, bottom surface 222 and the first face 223 therebetween, the second face 224, third face, and (figure is not
Show) and fourth face (not shown), wherein top surface 221 is towards top base 212, and bottom surface 222 is towards bottom base 211, the first face 223
Opposite with third face, the second face 224 is opposite with fourth face.Power supply arbor 10a is passed through first is offered on motor fixed block 22
Hole 225, and for the second hole 226 that fixing axle 23 passes through, the first hole 225 penetrates through first face 223 and the setting of third face, the second hole
226 perforation top surfaces 221 and bottom surface 222 are arranged.It is locked after the first hole 225 is pierced by, then through nut 25 outer end of motor shaft 10a
It is attached on motor fixed block 22, so that motor shaft 10a be made to be connected and fixed with motor fixed block 22.The quantity in the second hole 226 be but
Two are not limited to, is arranged in a one-to-one correspondence respectively with two fixing axles 23, in this way, the motor shaft 10a with hub motor 10 is fixed
Motor fixed block 22 can be mobile relative to fixed axis 23 between bottom base 211 and top base 212, real hub motor 10 from
By going up and down, two fixing axles 23 parallel to each other can guarantee the mobile stationarity of motor fixed block 22.
From Fig. 1 to 3 as can be seen that motor fixed block 22 is slidably connected to fixing axle 23 by linear bearing 26, motor is solid
Determine to be provided with a linear bearing 26 in the second hole 226 of block 22, linear bearing 26 can be ball bearing, be also possible to bushing
Or sliding bearing, primarily to realizing that hub motor 10 can be by moving up and down, in this way, motor fixed block along fixing axle 23
22 movement is more stable, and has the characteristics that high sensitivity, precision are high.
Referring to Fig. 1 to 3, in the present embodiment, elastomeric element 24 is compressed spring, and quantity is but is not limited to two,
And corresponded respectively with two fixing axles 23, compressed spring is set in the outside of fixing axle 23, and respectively with top base 212 and
Corresponding linear bearing 26 on motor fixed block 22 is mounted on to support.It is understood that by suspension arrangement 20 respectively with wheel hub
After motor 10 is connected with chassis, shock-absorbing bracket 21 is depressed under the gravity on chassis, and the opposite motor fixed block 22 of meeting moves down, together
When elasticity of compression component 24, and the elastic reset power towards bottom base 211 is generated to motor fixed block 22.That is, wheel hub
Motor 10 can be uneven to adjust height according to ground in the walking of robot, when encountering low-lying road surface, bullet
Property component 24 can ejection motor fixed block 22 make hub motor 10 decline contact road surface；On the contrary, having raised barrier when encountering road surface
When hindering, hub motor 10 can be such that elastomeric element 24 further shrinks by motor fixed block 22, realize the rising of hub motor 10.
In another embodiment, elastomeric element 24 be extension spring, the both ends of extension spring respectively with bottom base 211 and electricity
Machine fixed block 22 connects.
Referring to Fig. 1 to 3, top base 212 is in the intracavitary setting finite place piece 27 of shock-absorbing, to 22 direction of limiting motor fixed block
Top base 212 is mobile, and in the present embodiment, locating part 27 is the plate body of rectangle, and using screw, welding etc., all are existing solid
Determine mode to be fixedly connected on top base 212, and is located between two fixing axles 23.It should be noted that motor fixed block 22
Stroke up and down in shock-absorbing bracket 21 is limited by locating part 27 and bottom base 211, and in the present embodiment, motor fixed block 22 is gone up and down
Stroke in 20mm, can also suitably relax according to actual needs.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modification, equivalent replacement or improvement etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of chassis suspension of robot, including the hub motor with motor shaft and the suspension for being connect with chassis
Device, which is characterized in that the suspension arrangement includes shock-absorbing bracket and the motor fixed block being connected and fixed with the motor shaft；Institute
Stating shock-absorbing bracket includes parallel to each other and spaced bottom base and top base, is provided with fixing axle in the shock-absorbing bracket,
The fixing axle extends to the top base along the direction perpendicular to bottom base top surface from the bottom base；The motor fixed block
It is slidably arranged in the fixing axle and the shock-absorbing bracket is resiliently attached to by elastomeric element.
2. the chassis suspension of robot according to claim 1, which is characterized in that the shock-absorbing bracket further includes position
Two side plates between the bottom base and the top base, two side plates are respectively the first side plate and the second side plate,
First side plate, the bottom base, second side plate, the top base are sequentially connected and are enclosed described for accommodating
The shock-absorbing chamber of fixing axle, the motor fixed block and the elastomeric element.
3. the chassis suspension of robot according to claim 2, which is characterized in that the top base is in the shock-absorbing
Intracavitary setting finite place piece, it is mobile towards the top base to limit the motor fixed block.
4. the chassis suspension of robot according to claim 3, which is characterized in that the locating part is fixedly connected on
On the top base.
5. the chassis suspension of robot according to claim 3 or 4, which is characterized in that the quantity of the fixing axle
It is two, the interval setting of two fixing axles, the locating part is arranged between two fixing axles.
6. the chassis suspension of robot according to any one of claims 1 to 4, which is characterized in that the motor is solid
Determine block and the fixing axle is slidably connected to by linear bearing.
7. the chassis suspension of robot according to any one of claims 1 to 4, which is characterized in that the elastic portion
Part is compressed spring, and the compressed spring is set in the outside of the fixing axle, and respectively with the top base and the motor
Fixed block is supported.
8. the chassis suspension of robot according to any one of claims 1 to 4, which is characterized in that the elastic portion
Part is extension spring, and the both ends of the extension spring are connect with the bottom base and the motor fixed block respectively.
9. the chassis suspension of robot according to any one of claims 1 to 4, which is characterized in that the motor shaft
It is attached on the motor fixed block by nut lock.
10. the chassis suspension of robot according to any one of claims 1 to 4, which is characterized in that the wheel hub electricity
The both ends of machine are respectively connected with a suspension arrangement, longitudinal center plane of two suspension arrangements relative to the hub motor
It is symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821192909.1U CN208881513U (en) | 2018-07-25 | 2018-07-25 | The chassis suspension of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821192909.1U CN208881513U (en) | 2018-07-25 | 2018-07-25 | The chassis suspension of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208881513U true CN208881513U (en) | 2019-05-21 |
Family
ID=66507406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821192909.1U Active CN208881513U (en) | 2018-07-25 | 2018-07-25 | The chassis suspension of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208881513U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217068A (en) * | 2019-06-23 | 2019-09-10 | 上海有个机器人有限公司 | Robot chassis suspension and robot |
| CN110667732A (en) * | 2019-10-11 | 2020-01-10 | 湖北工业大学 | Terrain self-adaptive six-wheel moving device |
| CN110758037A (en) * | 2018-07-25 | 2020-02-07 | 深圳市神州云海智能科技有限公司 | Chassis suspension system of robot |
-
2018
- 2018-07-25 CN CN201821192909.1U patent/CN208881513U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758037A (en) * | 2018-07-25 | 2020-02-07 | 深圳市神州云海智能科技有限公司 | Chassis suspension system of robot |
| CN110217068A (en) * | 2019-06-23 | 2019-09-10 | 上海有个机器人有限公司 | Robot chassis suspension and robot |
| CN110667732A (en) * | 2019-10-11 | 2020-01-10 | 湖北工业大学 | Terrain self-adaptive six-wheel moving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208881513U (en) | The chassis suspension of robot | |
| CN206721660U (en) | A kind of shock-absorbing bridge support | |
| CN201884533U (en) | Combined vibration isolator with adjustable damping | |
| CN104895978A (en) | Multilayer buffer spring | |
| CN103639795A (en) | Clamping device with reset rods | |
| CN203437902U (en) | Train wheel set withdrawal machine | |
| CN208134074U (en) | A kind of fuel tank of antidetonation | |
| CN212150023U (en) | Liquefied natural gas damping device | |
| CN103192671A (en) | Vibration isolation device for vehicle with Mecanum wheels | |
| CN206264776U (en) | A kind of bushing class suspends position limiting structure and automobile | |
| CN210853330U (en) | Engine crankshaft assembly work or material rest | |
| CN208248403U (en) | A kind of automobile-used damping device of electric three-wheel | |
| CN208886261U (en) | One kind being used for mechanical and electric equipment installation balancing device | |
| CN110758037A (en) | Chassis suspension system of robot | |
| CN213851497U (en) | Ambulance-mounted oxygenerator with balance structure | |
| CN105370782A (en) | Automobile suspended type vibration isolating device | |
| CN208885873U (en) | A kind of damping device for caravan outdoor machine of air-conditioner | |
| CN208100201U (en) | A kind of chassis metal plate assembling device | |
| CN207841382U (en) | Mechanical arm for drawing small dimension jig | |
| CN202142109U (en) | Taxi empty plate | |
| CN207550348U (en) | Mobile platform | |
| CN108407548B (en) | Caster capable of enabling transverse shaft to rise and shock-proof and vehicle | |
| CN205639457U (en) | Bumper shock absorber for washing machine | |
| CN215552411U (en) | Independent suspension structure of mobile chassis | |
| CN203031587U (en) | Support parts of folding lying wooden bench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |