CN209305267U - A kind of two-way vibration isolation chassis of mobile robot - Google Patents
A kind of two-way vibration isolation chassis of mobile robot Download PDFInfo
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- CN209305267U CN209305267U CN201822155652.9U CN201822155652U CN209305267U CN 209305267 U CN209305267 U CN 209305267U CN 201822155652 U CN201822155652 U CN 201822155652U CN 209305267 U CN209305267 U CN 209305267U
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- damper
- connecting rod
- mobile robot
- sole
- sleeve
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Abstract
The utility model relates to mobile robot chassis, the two-way vibration isolation chassis of specifically a kind of mobile robot, including mobile platform, sole, connecting rod, damper, wheel mounting disc and isolation spring, sole is equipped with slide bar, mobile platform bottom is equipped with sleeve, sleeve is connect with sliding bar, and the two sides of sleeve are respectively equipped with the isolation spring for covering on slide bar, absorbing mobile robot direction of travel impact vibration；Wheel is installed, wheel mounting disc is connect by connecting rod and damper with sole, and one end of connecting rod and damper is hinged with sole respectively, and the other end of connecting rod and damper is hinged with wheel mounting disc respectively in wheel mounting disc；Mobile robot realizes Vertical Vibration Reduction by damper in the impact vibration of vertical direction.The utility model enables to mobile robot walking more steady, opens, the stopping time reduces to whole especially to the impact of load equipment.
Description
Technical field
The utility model relates to mobile robot chassis, the two-way vibration isolation chassis of specifically a kind of mobile robot.
Background technique
Mobile robot purposes more extensively, growth momentum it is swift and violent, progressed into industrial production, health care,
The industries such as warehouse logistics also start to be applied in daily life.Mobile robot is required to move in application process
Sensitive, braking in time, and can guarantee whole steady.When being particularly applied to the more complicated operating condition of road conditions of track route,
With regard to even more important, the work for not only needing to guarantee that robot is completed can stablize whole stationarity, it is also necessary to guarantee machine
The inside and outside structure of people will not be failed and be opened in the case where impact or vibration, be stopped steadily.Currently, the existing moving machine in market
Device people, the Vibration Absorbing System Design in direction perpendicular to the ground have been relatively mature, but mobile robot can advance in emergency stop, anxious
Direction generates larger inertia；It excessively sensitively opens, stop will lead to whole shakiness, internal component can also be made to generate instantaneous rush
It hits and is damaged.But the sensitive situation open, stopped is that an important requirement cannot be ignored, therefore be badly in need of solution mobile robot and exist
The problem of vibration isolation after impact vibration is encountered on direction of travel.
Utility model content
In order to solve the problems, such as vibration isolation after mobile robot encounters impact vibration, the purpose of this utility model is to provide one
The kind two-way vibration isolation chassis of mobile robot.The two-way vibration isolation chassis enables mobile robot to run balance, improves vibration isolation energy
Power.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes mobile platform, sole, connecting rod, damper, wheel mounting disc and isolation spring, indsole
Plate rail is equipped with slide bar, and the mobile platform bottom is equipped with sleeve, which connect with the sliding bar, and the two of the sleeve
Side is respectively equipped with the isolation spring for covering on slide bar, absorbing mobile robot direction of travel impact vibration；The wheel mounting disc
On wheel is installed, which is connect by connecting rod and damper with sole, one end of the connecting rod and damper
Hinged with sole respectively, the other end of the connecting rod and damper is hinged with the wheel mounting disc respectively；The mobile machine
People realizes Vertical Vibration Reduction by damper in the impact vibration of vertical direction；
Wherein: be separately installed with damper erecting bed and connecting rod erecting bed on the sole, one end of the connecting rod with
The connecting rod erecting bed is hinged, and one end of the damper and the damper erecting bed are hinged；
The sole is a square box, and any opposite two sides are symmetrically arranged with the damper erecting bed and connecting rod peace
Fill platform；
The damper erecting bed and connecting rod erecting bed are symmetrical arranged, and are tilted down from inside to outside in the chassis
Frame；The connecting rod and damper are in " V "-shape setting；
The isolation spring can be movably set in respect to slide bar along axial reciprocating on slide bar or the isolation spring two
End is connected with the inner wall of sleeve and sole respectively；
The mobile platform includes equipment installs case and sleeve, which is open hollow structure, the set
The upper end of cylinder is fixed in the lower surface of equipment installs case, and the lower end of the sleeve offers the through-hole connecting with the sliding bar.
The advantages of the utility model and good effect are as follows:
1. the utility model enables to mobile robot walking more steady, open, the stopping time reduces to entirety especially
Impact to load equipment.
2. installing wheel in the wheel mounting disc of the utility model, the support of wheel not only can guarantee, but also vertical punching can be resisted
Hit vibration.
3. the utility model has the advantages of simple structure and easy realization, and compact-sized reasonable, whole center of gravity is reduced.
Detailed description of the invention
Fig. 1 is the structural front view of the utility model；
Fig. 2 is the schematic perspective view of the utility model；
Fig. 3 is the front sectional view of the utility model；
Fig. 4 is the schematic perspective view of the utility model mobile platform；
Fig. 5 is the schematic perspective view of the utility model sole；
Wherein: 1 is mobile platform, and 101 be equipment installs case, and 102 be sleeve；
2 be sole, and 201 be slide bar, and 202 be damper erecting bed, and 203 be connecting rod erecting bed；
3 be connecting rod, and 4 be damper, and 5 be wheel mounting disc, and 6 be isolation spring.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figures 1 to 3, the utility model includes mobile platform 1, sole 2, connecting rod 3, damper 4, wheel mounting disc
5 and isolation spring 6, wherein sole 2 is equipped with slide bar 201, and 1 bottom of mobile platform is equipped with sleeve 102, the sleeve 102 and sliding
Bar 201 is slidably connected, and the two sides of sleeve 102, which are respectively equipped with, to be covered on slide bar 201, absorbs the impact vibration of mobile robot direction of travel
Dynamic isolation spring 6.Wheel is installed in wheel mounting disc 5, which passes through connecting rod 3 and damper 4 and sole
2 connections, one end of connecting rod 3 and damper 4 is hinged with sole 2 respectively, the other end of the connecting rod 3 and damper 4 respectively with wheel
Sub- mounting disc 5 is hinged；Mobile robot realizes Vertical Vibration Reduction by damper 4 in the impact vibration of vertical direction.
As shown in figure 4, mobile platform 1 includes equipment installs case 101 and sleeve 102, which is open
Hollow structure, inside is for installing electromechanical equipment；The upper end of sleeve 102 is fixed in the lower surface of equipment installs case 101, the sleeve
102 lower end offers the through-hole being slidably connected with slide bar 201.The equipment installs case 101 of the present embodiment in a rectangular parallelepiped shape, sleeve
102 be four, in pairs, be symmetrical arranged, each centerline collineation of axis of through-hole on two sleeves 102 in every group, and with it is another
One group parallel, and is parallel to the length direction of equipment installs case 101.
As shown in figure 5, sole 2 is a square box, slide bar 201 is equipped in frame；The slide bar 201 of the present embodiment is two,
Two groups of sleeves 102 in equipment installs case 101 are slidably connected with two slide bars 201 respectively.Any opposite two sides on sole 2
It is symmetrically arranged with damper erecting bed 202 and connecting rod erecting bed 203, a damper erecting bed 202 and a connecting rod erecting bed
203 be one group, and the present embodiment is respectively arranged two groups in every side of sole 2.Damper erecting bed 202 and connecting rod in every group are pacified
It fills platform 203 to be symmetrical arranged, and tilts down from inside to outside in sole 2.One end of connecting rod 3 and connecting rod erecting bed 203 are hinged,
One end of damper 4 and the damper erecting bed 202 are hinged, and connecting rod 3 and damper 4 are in " V "-shape setting.
Isolation spring 6 can be movably set in respect to slide bar 201 along axial reciprocating on slide bar 201 or isolation spring 6 two
End is connected with the inner wall of sleeve 102 and sole 2 respectively.The both ends of the isolation spring 6 of the present embodiment respectively with sleeve 102 and bottom
The inner wall of plate rail 2 is connected
The working principle of the utility model are as follows:
Mobile platform 1 is mounted on sole 2, and mounting means is that sleeve 102 is installed on the slide bar 201 of sole 2 simultaneously
It can be slided along slide bar 201, for installing electromechanical equipment inside equipment installs case 101.Vibration isolation is added between slide bar 201 and sleeve 102
Spring 6,6 sets of isolation spring on slide bar 201.When mobile robot carries out starting and stopping movement, isolation spring 6 be will do it
Absorbing becomes more violent impact slowly, and then protects borne device.
Vertical vibration isolation realizes that wheel is mounted in wheel mounting disc 5 by the structure installed outside sole 2, wheel installation
Articulated linkage 3 and damper 4 on disk 5, connecting rod 3 and 4 upper end of damper respectively with connecting rod erecting bed 203, damper erecting bed 202
Hingedly.Connecting rod 3 defines the path of motion of wheel mounting disc 5.In mobile robot walking, ground inequality feelings are such as encountered
Condition, damper 4 reach Vertical Vibration Reduction effect by absorption and slow release vibrational energy, and motion path is carried out by connecting rod 3
Regulation.
Claims (6)
1. a kind of two-way vibration isolation chassis of mobile robot, it is characterised in that: including mobile platform (1), sole (2), connecting rod
(3), damper (4), wheel mounting disc (5) and isolation spring (6), wherein sole (2) is equipped with slide bar (201), the shifting
Moving platform (1) bottom is equipped with sleeve (102), which is slidably connected with the slide bar (201), the sleeve (102)
Two sides are respectively equipped with the isolation spring (6) for covering on slide bar (201), absorbing mobile robot direction of travel impact vibration；It is described
Wheel mounting disc is equipped with wheel on (5), which is connected by connecting rod (3) and damper (4) and sole (2)
Connect, one end of the connecting rod (3) and damper (4) respectively with sole (2) hingedly, the connecting rod (3) and damper (4) it is another
End is hinged with the wheel mounting disc (5) respectively；The mobile robot passes through damper (4) in the impact vibration of vertical direction
Realize Vertical Vibration Reduction.
2. the two-way vibration isolation chassis of mobile robot according to claim 1, it is characterised in that: on the sole (2)
It is separately installed with damper erecting bed (202) and connecting rod erecting bed (203), one end of the connecting rod (3) and the connecting rod erecting bed
(203) hingedly, one end of the damper (4) and the damper erecting bed (202) are hinged.
3. the two-way vibration isolation chassis of mobile robot according to claim 2, it is characterised in that: the sole (2) is
One square box, any opposite two sides are symmetrically arranged with the damper erecting bed (202) and connecting rod erecting bed (203).
4. the two-way vibration isolation chassis of mobile robot according to claim 2, it is characterised in that: the damper erecting bed
(202) it is symmetrical arranged, and is tilted down from inside to outside in the sole (2) with connecting rod erecting bed (203)；The connecting rod
(3) setting is in " V "-shape with damper (4).
5. the two-way vibration isolation chassis of mobile robot according to claim 1, it is characterised in that: the isolation spring (6)
It can be movably set on slide bar (201) with respect to slide bar (201) along axial reciprocating or the both ends of the isolation spring (6) are distinguished
It is connected with the inner wall of sleeve (102) and sole (2).
6. the two-way vibration isolation chassis of mobile robot according to claim 1, it is characterised in that: the mobile platform (1)
Including equipment installs case (101) and sleeve (102), which is open hollow structure, the sleeve
(102) upper end is fixed in the lower surface of equipment installs case (101), and the lower end of the sleeve (102) offers and the slide bar
(201) through-hole being slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822155652.9U CN209305267U (en) | 2018-12-21 | 2018-12-21 | A kind of two-way vibration isolation chassis of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822155652.9U CN209305267U (en) | 2018-12-21 | 2018-12-21 | A kind of two-way vibration isolation chassis of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209305267U true CN209305267U (en) | 2019-08-27 |
Family
ID=67678061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822155652.9U Active CN209305267U (en) | 2018-12-21 | 2018-12-21 | A kind of two-way vibration isolation chassis of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209305267U (en) |
-
2018
- 2018-12-21 CN CN201822155652.9U patent/CN209305267U/en active Active
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