CN208881517U - The suspension chassis of reasonable distribution normal load and robot - Google Patents
The suspension chassis of reasonable distribution normal load and robot Download PDFInfo
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- CN208881517U CN208881517U CN201821607871.XU CN201821607871U CN208881517U CN 208881517 U CN208881517 U CN 208881517U CN 201821607871 U CN201821607871 U CN 201821607871U CN 208881517 U CN208881517 U CN 208881517U
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- frame
- shock absorber
- reasonable distribution
- suspension chassis
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Abstract
The utility model provides a kind of suspension chassis of reasonable distribution normal load and installs its robot.Wherein the suspension chassis of reasonable distribution load includes upper layer frame, lower layer's frame, frame connecting column, shock absorber, drive wheel bracket, driving wheel and supporting roller, upper layer frame is fixedly connected with lower layer's frame by the frame connecting column, the upper layer frame is connected with the drive wheel bracket by the shock absorber, the driving wheel is mounted in the drive wheel bracket, and supporting roller is mounted on lower layer's frame.Load is delivered separately to by shock absorber and frame connecting column by upper layer frame in the suspension chassis structure of reasonable distribution normal load provided by the embodiment of the utility model, and then it is delivered separately to driving wheel and supporting roller, realize the distribution of normal load train, so that driving wheel distribution load is greater than supporting roller and loads, guarantee driving wheel output driving power.And then solve driving wheel system in the related technology and servo-actuated wheel system load can not reasonable distribution the technical issues of.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of suspension of reasonable distribution normal load
Chassis further relates to the robot for being equipped with the suspension chassis.
Background technique
With the rapid development of robot technology, robot application is more and more extensive, for example, guest-meeting robot, feeder
Device people and educational robot, bio-robot etc..Robot is the automatic installations for executing work, it can be with acceptor
Class commander, can also run the program of preparatory layout, the principle action that can also be formulated according to artificial intelligence technology.With country
The attention of Macroscopic Strategy, the research of China's mobile robot come into the period of unprecedented hot topic.Various mobile machines
People's sight is gradually mirrored on people chassis, and in the prior art, the mobile robot chassis with suspension is varied, substantially
Meet function, but still comes with some shortcomings.
Service robot is in heavy duty situation, in order to guarantee that robot can normally run advance, needs rationally
The load of distribution system, so that driving wheel system distribution loads the load for being greater than servo-actuated wheel system distribution, to obtain advance
Driving force.
For reasonable for the load of driving wheel system and servo-actuated wheel system in the suspension frame structure of robot in the related technology
Assignment problem, currently no effective solution has been proposed.
Utility model content
The main purpose of the utility model is to provide a kind of suspension chassis knots that can be used for reasonable distribution normal load
Structure, with solve in the related technology driving wheel system and servo-actuated wheel system load can not reasonable distribution the technical issues of.
To achieve the goals above, one aspect according to the present utility model, the utility model provide a kind of reasonable point
Suspension chassis with normal load.
The suspension chassis include upper layer frame, lower layer's frame, frame connecting column, shock absorber, drive wheel bracket, driving wheel and
Supporting roller, the upper layer frame and lower layer's frame are fixedly connected by the frame connecting column, the upper layer frame and institute
It states drive wheel bracket to connect by the shock absorber, the driving wheel is mounted in the drive wheel bracket, the supporting roller peace
On lower layer's frame.
Further, the both ends of the shock absorber are hinged with the upper layer frame and the drive wheel bracket respectively, described
Upper layer frame and the opposite side of the drive wheel bracket are respectively and fixedly provided with shock absorber hinge seat, the both ends of the shock absorber respectively with
The shock absorber hinge seat is hinged.
Further, the upper layer frame upper surface protrusion is provided with multiple load points, and the load point and setting exist
The shock absorber hinge seat on the upper layer frame is arranged in a one-to-one correspondence.
Further, the shock absorber is obliquely installed.
Further, there are four the shock absorber, shock absorber hinge seat and load point are respectively provided with, and spatially in symmetrical
Setting.
Further, the shock absorber includes sequentially connected upper interconnecting piece, hydraulic damper and lower interconnecting piece, the oil
It is arranged with variable stiffness coil spring outside pressure damper, one end of the variable stiffness coil spring is connect with the upper interconnecting piece, separately
One end is connect with the lower interconnecting piece.
Further, the upper interconnecting piece includes upper binding head and overhead gage, the lower interconnecting piece include lower union joint and
Lower baffle plate, the variable stiffness coil spring are arranged between the overhead gage and lower baffle plate, the upper binding head and lower union joint
It is elastomer connector, the elastomer connector is hinged by rubber pin shaft and the shock absorber hinge seat.
Further, the quantity of the supporting roller and shock absorber is 4.
Further, spring damping is provided between the supporting roller and lower layer's frame.
To achieve the goals above, other side according to the present utility model, the utility model additionally provide a kind of machine
Device people.
The robot includes the suspension chassis of above-mentioned reasonable distribution normal load provided by the utility model.
Passing through upper layer frame in the suspension chassis structure of reasonable distribution normal load provided by the embodiment of the utility model will
Load is delivered separately to shock absorber and frame connecting column, and then is delivered separately to driving wheel and supporting roller, realizes normal load
Train distribution guarantees driving wheel output driving power so that driving wheel distribution load is greater than supporting roller and loads.And then solves correlation
In technology the load of driving wheel system and servo-actuated wheel system can not reasonable distribution the technical issues of.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, so that this reality
It is become more apparent upon with novel other features, objects and advantages.The illustrative examples attached drawing of the utility model and its illustrate to use
In explaining the utility model, do not constitute improper limits to the present invention.In the accompanying drawings:
Fig. 1 is the structural representation according to a kind of suspension chassis of reasonable distribution normal load of the utility model embodiment
Figure；
Fig. 2 is the structural schematic diagram according to a kind of shock absorber of the utility model embodiment；
In figure:
1, upper layer frame；2, lower layer's frame；3, frame connecting column；4, shock absorber；401, upper interconnecting piece；4011, upper connection
Head；4012, overhead gage；402, hydraulic damper；4021, outer cylinder；4022, piston roofbolt；4023, piston valve；4024, on
Working chamber；4025, lower working chamber；4026, damping hole；403, lower interconnecting piece；4031, lower union joint；4032, lower baffle plate；404,
Variable stiffness coil spring；5, drive wheel bracket；6, driving wheel；7, supporting roller；8, shock absorber hinge seat；9, point is loaded.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
It should be noted that the specification and claims of the utility model and term " first " in above-mentioned attached drawing,
" second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that in this way
The data used are interchangeable under appropriate circumstances, so as to the embodiments of the present invention described herein.In addition, term " packet
Include " and " having " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps
Or the process, method, system, product or equipment of unit those of are not necessarily limited to be clearly listed step or unit, but can wrap
Include other step or units being not clearly listed or intrinsic for these process, methods, product or equipment.
In the present invention, term " on ", "lower", "inner", " in ", "outside", the instructions such as "front", "rear" orientation or position
Setting relationship is to be based on the orientation or positional relationship shown in the drawings.These terms primarily to better describe the utility model and
Embodiment, is not intended to limit indicated device, element or component must have particular orientation, or with particular orientation
It is constructed and is operated.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " setting ", " connection ", " fixation " shall be understood in a broad sense.For example, " connection " may be a fixed connection,
It is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, or pass through centre
Medium is indirectly connected, or is two connections internal between device, element or component.For ordinary skill
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment one
As shown in Figure 1, giving the suspension chassis of reasonable distribution normal load provided by the utility model.Reasonable distribution is hung down
The suspension chassis directly loaded includes upper layer frame 1, lower layer's frame 2, frame connecting column 3, shock absorber 4, drive wheel bracket 5, driving
Wheel 6 and supporting roller 7, upper layer frame 1 are fixedly connected with lower layer frame 2 by frame connecting column 3, upper layer frame 1 and driving wheel branch
Frame 5 is by shock absorber connection 4, and driving wheel 6 is mounted in drive wheel bracket 5, and supporting roller 7 is mounted on lower layer's frame 2.This is practical
Load is delivered separately to by upper layer frame 1 in the suspension chassis structure for the reasonable distribution normal load that new embodiment provides
Shock absorber 4 and frame connecting column 3, and then driving wheel 6 is passed to by shock absorber 4, pass through frame connecting column 3 and lower layer's frame 2
Supporting roller 7 is passed to, the train distribution of normal load is realized, so that the distribution load of driving wheel 6 is greater than supporting roller 7 and loads, is protected
Demonstrate,prove 6 output driving power of driving wheel.It solves driving wheel system in the related technology in turn and the load of servo-actuated wheel system can not be reasonable
The technical issues of distribution.
As a preferred embodiment, the both ends of shock absorber 4 are hinged with upper layer frame 1 and drive wheel bracket 5 respectively,
Upper layer frame 1 and the opposite side of drive wheel bracket 5 are respectively and fixedly provided with shock absorber hinge seat 8, the both ends of shock absorber 4 respectively with shock-absorbing
Device hinge seat 8 is hinged.On the one hand the setting of shock absorber hinge seat 8 can be convenient the hinged installation for realizing shock absorber 4, on the other hand
The tilt angle setting for the realization shock absorber 4 that can be convenient.Preferably pass through rubber material between shock absorber 4 and shock absorber hinge seat 8
The pivot of matter carries out hingedly, to realize the flexible connection of shock absorber 4 and upper layer frame 1 or drive wheel bracket 5.
As a preferred embodiment, 1 upper surface of upper layer frame protrusion is provided with multiple load points 9, and load point 9
It is arranged in a one-to-one correspondence with the shock absorber hinge seat 8 being arranged on upper layer frame 1.9 positions corresponding with shock absorber hinge seat of load point
It sets, multiple shock absorber parallel configurations can be with the load percentage of reasonable distribution driving wheel, and structure is simple, and suspension is stablized.
In some embodiments, shock absorber 4 is obliquely installed, and shock absorber 4 is tilting can to distribute driving wheel load again, simultaneously
The sensibility that shock absorber is disposed vertically is avoided, for loading big or big inertia running environment, the shock absorber of multiple parallel connections
It may be implemented adaptively to adjust, have good adjustment effect to the stationarity of suspension.
Preferably, there are four shock absorber 4, the shock absorber hinge seat 8 that is arranged on upper layer frame 1 and load point 9 are respectively provided with,
And it is spatially symmetrical set.
As shown in Fig. 2, shock absorber 4 includes sequentially connected upper interconnecting piece 401, hydraulic damper 402 and lower interconnecting piece
403, hydraulic damper 402 is arranged with variable stiffness coil spring 404, one end of variable stiffness coil spring 404 and upper interconnecting piece outside
401 connections, the other end are connect with lower interconnecting piece 403.Variable stiffness coil spring is used in the present embodiment shock absorber structure to cooperate
The structure of hydraulic damper realizes damping effect, avoids running plus-minus fast mode due to robot, generation is shaken repeatedly, to protect
Demonstrate,prove the stationarity of robot motion.Wherein, in variable stiffness coil spring 4 implementation of variation rigidity can have it is a variety of, such as
Can the pitch along the hand of spiral from one end to the other end be gradually increased the variation to realize rigidity；It can also be by changing not
Lead to the thickness of position spring silk to realize the variation of rigidity.Preferably, pass through consecutive variations in the utility model embodiment
The central diameter of spiral coil generates variation rigidity.Rigidity linear change of generation with deformation quantity change that spring may be implemented is arranged such,
It can satisfy that be supported on a certain range adjustable, avoid fixed load phenomenon.Specifically in the present embodiment, variable stiffness coil spring 4 by
Centre is gradually reduced to the central diameter of both ends spiral coil.More preferably, the both ends of variable stiffness coil spring 4 are symmetrical arranged.It is above-mentioned
Variable stiffness coil spring may be implemented for taper layout, to guarantee the stability of variable stiffness coil spring in structure.
In some embodiments, upper interconnecting piece 401 includes upper binding head 4011 and overhead gage 4012, and lower interconnecting piece 403 wraps
Lower union joint 4031 and lower baffle plate 4032 are included, variable stiffness coil spring 404 is arranged between overhead gage 4012 and lower baffle plate 4032,
Upper binding head 4011 and lower union joint 4031 are elastomer connector, and elastomer connector is cut with scissors by rubber pin shaft and shock absorber hinge seat 8
It connects.
In some embodiments, as shown in Fig. 2, hydraulic damper 402 includes the outer cylinder connecting with lower interconnecting piece 403
4021, the piston roofbolt 4022 that is connect with upper interconnecting piece 401, the piston valve 4023 that 4022 end of piston roofbolt is set, it is living
Plug valve piece 4023 is slidably connected with 4021 inner wall of outer cylinder, and piston valve 4023 will be divided into upper working chamber 4024 inside outer cylinder 4021
With lower working chamber 4025, the damping of working chamber 4024 and lower working chamber 4025 in several connections is formed on piston valve 4023
Hole 4026.Wherein, the working media in upper working chamber 4024 and lower working chamber 4025 is hydraulic oil.
In specific work process, when the load carried on upper binding head shakes, upper interconnecting piece can be close to lower connection
Portion, variable stiffness coil spring 404 compress, and since the rigidity of variable stiffness coil spring 404 changes with deformation quantity and occur linearly to change
Become, makes itself that there is damping action, the deformation quantity of variable stiffness coil spring 404 can be reduced, deformational displacement is further transferred to
Hydraulic damper 402, piston roofbolt 4022 decline, and piston valve 4023 is driven to move downward in outer cylinder 4021, compress lower work
Make chamber 4025, so that damping hole 4026 of the hydraulic oil in lower working chamber 4025 on piston valve 4023 returns to upper working chamber
In 4024, hydraulic oil generates frictional damping during passing through damping hole, so that the stopping of being exceedingly fast of variable stiffness coil spring 404
It only shakes, keeps the steady posture during equipment moving.
In some implementations, the quantity of supporting roller 7 and shock absorber 4 is 4.And it is set between supporting roller 7 and lower layer's frame 2
It is equipped with spring damping.The spring damping being arranged on 4 supporting rollers, the impact force generated when can reduce perpendicular steps and
Motional inertia load is born, the damping self-balancing with 4 shock absorbers connected in drive wheel bracket keeps chassis operation posture
Steadily.
Embodiment two
The utility model embodiment provides a kind of robot comprising the reasonable distribution normal load that embodiment one provides
Suspension chassis.
Specifically, robot is in the process of running, normal load is applied on the upper layer frame on suspension chassis, is transmitted respectively
To shock absorber and frame connecting column, bottom frame；The load for completing driving wheel and supporting roller distributes, and driving wheel and the earth rub
Tractive force is generated, robot ambulation is driven.Maintain robot steady by the shock absorber between upper layer frame and driving wheel chassis
Posture operation.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of suspension chassis of reasonable distribution normal load, which is characterized in that including upper layer frame (1), lower layer's frame (2),
Frame connecting column (3), shock absorber (4), drive wheel bracket (5), driving wheel (6) and supporting roller (7), the upper layer frame (1) and
Lower layer's frame (2) is fixedly connected by the frame connecting column (3), the upper layer frame (1) and the drive wheel bracket
(5) it is connected by the shock absorber (4), the driving wheel (6) is mounted on the drive wheel bracket (5), the supporting roller (7)
It is mounted on lower layer's frame (2).
2. the suspension chassis of reasonable distribution normal load according to claim 1, which is characterized in that the shock absorber (4)
Both ends respectively with the upper layer frame (1) and the drive wheel bracket (5) hingedly, the upper layer frame (1) and the driving
The opposite side of wheel support (5) is respectively and fixedly provided with shock absorber hinge seat (8), the both ends of the shock absorber (4) respectively with the shock-absorbing
Device hinge seat (8) is hinged.
3. the suspension chassis of reasonable distribution normal load according to claim 2, which is characterized in that the upper layer frame
(1) upper surface protrusion is provided with multiple load points (9), and load point (9) and the institute being arranged on the upper layer frame (1)
Shock absorber hinge seat (8) is stated to be arranged in a one-to-one correspondence.
4. the suspension chassis of reasonable distribution normal load according to claim 2, which is characterized in that the shock absorber (4)
It is obliquely installed.
5. the suspension chassis of reasonable distribution normal load according to claim 3, which is characterized in that the shock absorber (4),
It is arranged in the shock absorber hinge seat (8) on the upper layer frame (1) and there are four load point (9) is respectively provided with, and is spatially in
It is symmetrical arranged.
6. according to the suspension chassis of the described in any item reasonable distribution normal loads of claim 2-5, which is characterized in that described to keep away
Shake device (4) includes sequentially connected upper interconnecting piece (401), hydraulic damper (402) and lower interconnecting piece (403), the oil pressure resistance
It is arranged with variable stiffness coil spring (404) outside Buddhist nun's device (402), one end of the variable stiffness coil spring (404) and the upper company
Socket part (401) connection, the other end are connect with the lower interconnecting piece (403).
7. the suspension chassis of reasonable distribution normal load according to claim 6, which is characterized in that the upper interconnecting piece
(401) include upper binding head (4011) and overhead gage (4012), the lower interconnecting piece (403) include lower union joint (4031) and under
Baffle (4032), the variable stiffness coil spring (404) are arranged between the overhead gage (4012) and lower baffle plate (4032), institute
Stating upper binding head (4011) and lower union joint (4031) is elastomer connector, and the elastomer connector is kept away by rubber pin shaft with described
It is hinged to shake device hinge seat (8).
8. the suspension chassis of reasonable distribution normal load according to claim 7, which is characterized in that the supporting roller (7)
Quantity with shock absorber (4) is 4.
9. the suspension chassis of reasonable distribution normal load according to claim 8, which is characterized in that the supporting roller (7)
Spring damping is provided between lower layer's frame (2).
10. a kind of robot, which is characterized in that including such as the described in any item reasonable distribution normal loads of claim 1-9
Suspension chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607871.XU CN208881517U (en) | 2018-09-29 | 2018-09-29 | The suspension chassis of reasonable distribution normal load and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607871.XU CN208881517U (en) | 2018-09-29 | 2018-09-29 | The suspension chassis of reasonable distribution normal load and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208881517U true CN208881517U (en) | 2019-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821607871.XU Active CN208881517U (en) | 2018-09-29 | 2018-09-29 | The suspension chassis of reasonable distribution normal load and robot |
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| CN (1) | CN208881517U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094320A (en) * | 2018-09-29 | 2018-12-28 | 北京云迹科技有限公司 | The suspension chassis of reasonable distribution normal load and robot |
-
2018
- 2018-09-29 CN CN201821607871.XU patent/CN208881517U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094320A (en) * | 2018-09-29 | 2018-12-28 | 北京云迹科技有限公司 | The suspension chassis of reasonable distribution normal load and robot |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |