CN209776078U - Damping wheel of mobile robot - Google Patents
Damping wheel of mobile robot Download PDFInfo
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- CN209776078U CN209776078U CN201920569396.XU CN201920569396U CN209776078U CN 209776078 U CN209776078 U CN 209776078U CN 201920569396 U CN201920569396 U CN 201920569396U CN 209776078 U CN209776078 U CN 209776078U
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- fixing plate
- side fixing
- damping
- outer side
- mobile robot
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Abstract
The embodiment of the utility model discloses a damping wheel of a mobile robot, which relates to the technical field of wheels and is arranged on a bottom plate, and comprises an inner side fixing plate and an outer side fixing plate, wherein two sides of the inner side fixing plate and the outer side fixing plate, which are away from each other, are respectively provided with an omnidirectional wheel and a motor, the omnidirectional wheel is connected with the motor through a shaft coupling, and the shaft coupling is positioned between the outer side fixing plate and the inner side fixing plate; a rotary connecting assembly is rotatably arranged between the outer side fixing plate and the inner side fixing plate and is fixedly connected with the bottom plate; a damping mechanism is rotatably arranged between the outer side fixing plate and the inner side fixing plate, and one end of the damping mechanism, which is far away from the outer side fixing plate, is rotatably connected with the bottom plate; the damping mechanism with rotate coupling assembling and be located the shaft coupling both sides. Be used for solving among the prior art because the omniwheel is relatively poor problem of shock attenuation effect in the use.
Description
Technical Field
The embodiment of the utility model provides a relate to wheel technical field, concretely relates to mobile robot's shock attenuation wheel.
Background
The omni-wheel vehicle can move in all directions and even rotate 360 degrees in situ, which brings great convenience to control and is gradually popular. However, the conventional omni-directional wheel vehicle has no shock absorbing system, and the bearing seats of the wheels are directly and rigidly connected with the vehicle body, so that the vehicle is easy to slip and deviate from the running track. In addition, most of the existing driving units adopt a mode that a motor is directly connected with a driving wheel through a flange, so that a motor shaft is subjected to larger radial force, and the service life of the motor is influenced.
The rigidly connected damping system is lack of flexibility, so the requirement on the flatness of the running ground of the omni-directional wheel vehicle is high, if the flatness is poor, the omni-directional wheel vehicle is easy to slip and deviate from a running track, and in severe cases, the omni-directional wheel vehicle can damage the vehicle and other equipment around the vehicle, so that serious potential safety hazards exist. The motor is directly connected with the driving wheel through the flange, so that the motor shaft is subjected to large radial force, and the service life of the motor is influenced.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides a mobile robot's shock attenuation wheel to solve among the prior art because the omnidirectional wheel is at the relatively poor problem of shock attenuation effect in the use.
in order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
according to the embodiment of the utility model, the damping wheel of the mobile robot is arranged on the bottom plate and comprises an inner side fixing plate and an outer side fixing plate, wherein the two sides of the inner side fixing plate and the outer side fixing plate, which are away from each other, are respectively provided with an omnidirectional wheel and a motor, the omnidirectional wheel is connected with the motor through a coupling, and the coupling is positioned between the outer side fixing plate and the inner side fixing plate; a rotary connecting assembly is rotatably arranged between the outer side fixing plate and the inner side fixing plate and is fixedly connected with the bottom plate; a damping mechanism is rotatably arranged between the outer side fixing plate and the inner side fixing plate, and one end of the damping mechanism, which is far away from the outer side fixing plate, is rotatably connected with the bottom plate; the damping mechanism with rotate coupling assembling and be located the shaft coupling both sides.
Further, the rotating connection assembly comprises a rotating shaft and a bearing seat, the rotating shaft is rotatably connected between the outer side fixing plate and the inner side fixing plate, the bearing seat is sleeved on the rotating shaft, a connection bearing connected with the rotating shaft is arranged in the bearing seat, and the bearing seat is fixed on the bottom plate.
Furthermore, a support bearing is fixed on the outer side fixing plate and/or the inner side fixing plate, and the rotating shaft is connected in the support bearing.
Furthermore, a baffle is integrally formed on the rotating shaft and positioned on one side of the connecting bearing; the rotating shaft is sleeved with a sleeve, and the connecting bearing is located between the sleeve and the baffle.
Furthermore, a support rod is fixed between the outer fixing plate and the inner fixing plate.
Furthermore, the damping mechanism comprises a rotating shaft fixed between the outer side fixing plate and the inner side fixing plate, a first shaft sleeve sleeved on the rotating shaft, a damping rod fixed on the first shaft sleeve, a connecting rod connected to the bottom plate, and a base rotatably connected to the connecting rod, wherein one end, far away from the shaft sleeve, of the damping rod is slidably connected to the base, and a damping spring is sleeved on the damping rod.
Furthermore, the base comprises a second shaft sleeve which is rotatably connected to the connecting rod and a sleeve which is fixed on the side wall of the second shaft sleeve, a first abutting disc is fixed on the outer side of the telescopic sleeve, and a second abutting disc is fixed on the side wall of the shock absorption rod; one end of the damping rod is connected in the sleeve in a sliding mode, and two ends of the damping spring are respectively abutted to the first abutting disc and the second abutting disc.
further, the supporting bearing is a deep groove ball bearing and/or an angular contact ball bearing.
The embodiment of the utility model provides a have following advantage:
the embodiment of the utility model provides a through damping spring cooperation rotation coupling assembling simultaneously, the two can play fine shock attenuation effect. The structure has certain flexibility, has low requirement on the smoothness of the running ground and has wider application scene; the slippage is not easy to occur, and the control precision is higher; through the outside fixed plate and the inboard fixed plate that set up, greatly improved the motor shaft atress condition, improved the motor life-span, reduced manufacturing cost.
drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic view of an overall structure of a damping wheel of a mobile robot according to an embodiment of the present invention;
Fig. 2 is a schematic view of a protruding rotation connection assembly in a damping wheel of a mobile robot according to an embodiment of the present invention;
Fig. 3 is a cross-sectional view of a protruding rotation connection assembly in a shock-absorbing wheel of a mobile robot according to an embodiment of the present invention;
Fig. 4 is a schematic view of a protruding damping mechanism in a damping wheel of a mobile robot according to an embodiment of the present invention.
In the figure: 1. an inner fixing plate; 2. an outer fixing plate; 21. a support bar; 3. an omni wheel; 4. a motor; 41. a coupling; 5. rotating the connecting assembly; 51. a rotating shaft; 511. a baffle plate; 512. a sleeve; 52. a bearing seat; 53. connecting a bearing; 54. a support bearing; 6. a damping mechanism; 61. a rotating shaft; 62. a first bushing; 63. a shock-absorbing lever; 631. a second abutting joint disc; 64. a connecting rod; 65. a base; 651. a second shaft sleeve; 652. a sleeve; 653. a first abutting pad; 66. a shock absorbing spring.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for the sake of clarity only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also considered to be the scope of the present invention without substantial changes in the technical content.
The utility model provides a mobile robot's shock attenuation wheel, sets up on the bottom plate, supports the in-process that removes to mobile robot, plays the shock attenuation effect to a certain extent. As shown in fig. 1, the damping wheel includes an inner fixing plate 1 and an outer fixing plate 2, an omni wheel 3 and a motor 4 are respectively disposed on two sides of the inner fixing plate 1 and the outer fixing plate 2, which are away from each other, and the motor 4 is a dc brushless motor. The omnidirectional wheel 3 is connected with the motor 4 through a coupler 41, and the coupler 41 is positioned between the outer side fixing plate 2 and the inner side fixing plate 1; a rotary connecting component 5 is rotatably arranged between the outer side fixing plate 2 and the inner side fixing plate 1, and the rotary connecting component 5 is fixedly connected with the bottom plate; a damping mechanism 6 is rotatably arranged between the outer side fixing plate 2 and the inner side fixing plate 1, and one end of the damping mechanism 6 far away from the outer side fixing plate 2 is rotatably connected with the bottom plate. Wherein, rotate coupling assembling 5 and damper 6 and be located the both sides of shaft coupling 41, one side is rotated to the bottom plate and is connected, and in the use, when omni wheel 3 removed and received great vibrations, damper 6 and rotation coupling assembling 5 cooperation were in order to be used for reducing the vibrations to the bottom plate.
Referring to fig. 2 and 3, the rotating connection assembly 5 includes a rotating shaft 51 rotatably connected between the outer fixing plate 2 and the inner fixing plate 1, and a bearing housing 52 sleeved on the rotating shaft 51, a connection bearing 53 connected to the rotating shaft 51 is provided in the bearing housing 52, and the bearing housing 52 is fixed to the vehicle floor. A support bearing 54 is fixed to the outer fixing plate 2 and/or the inner fixing plate 1, and the rotating shaft 51 is connected to the support bearing 54. The support bearings 54 are selected to be deep groove ball bearings and/or angular contact ball bearings, which serve to support, reduce drag, and carry axial and radial loads.
A baffle 511 is integrally formed on the rotating shaft 51 and positioned at one side of the connecting bearing 53; the rotating shaft 51 is sleeved with the sleeve 512, the connecting bearing 53 is located between the sleeve 512 and the baffle 511, and the baffle 511 and the sleeve 512 limit and fix the connecting bearing 53 on two sides of the connecting bearing 53, so that the connecting bearing is not easy to displace along the rotating length direction in the use process, and the service life is longer.
In order to make the connection between the outer fixing plate 2 and the inner fixing plate 1 more stable, a support rod 21 is fixed between the outer fixing plate 2 and the inner fixing plate 1.
As shown in fig. 4, the damper mechanism 6 includes a rotating shaft 61 fixed between the outer fixing plate 2 and the inner fixing plate 1, a first boss 62 fitted around the rotating shaft 61, a damper rod 63 fixed to the first boss 62, a connecting rod 64 connected to a floor of the vehicle, and a base 65 rotatably connected to the connecting rod 64, wherein one end of the damper rod 63 remote from the boss is slidably fitted in the base 65, and a damper spring 66 is fitted around the damper rod 63.
The base 65 comprises a second shaft sleeve 651 rotatably connected to the connecting rod 64 and a sleeve 652 fixed on the side wall of the second shaft sleeve 651, a first abutting disk 653 is fixed on the outer side of the sleeve 652, and a second abutting disk 631 is fixed on the side wall of the damper rod 63; one end of the damping rod 63 is slidably received in the sleeve 652, and both ends of the damping spring 66 are respectively abutted against the first abutting disk 653 and the second abutting disk 631.
During use, a damping effect can be achieved by the damping spring 66. Meanwhile, the connecting assembly 5 is matched and rotated, and the connecting assembly can play a good damping effect. The structure has certain flexibility, has low requirement on the smoothness of the running ground and has wider application scene; the slippage is not easy to occur, and the control precision is higher; through the outside fixed plate 2 and the inboard fixed plate 1 that set up, 4 axle atress circumstances of motor have greatly been improved, improve 4 life-span of motor, have reduced manufacturing cost.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a mobile robot's shock attenuation wheel, sets up on the bottom plate, its characterized in that: the device comprises an inner side fixing plate (1) and an outer side fixing plate (2), wherein an omnidirectional wheel (3) and a motor (4) are respectively arranged on two sides of the inner side fixing plate (1) and the outer side fixing plate (2) which are far away from each other, the omnidirectional wheel (3) is connected with the motor (4) through a coupler (41), and the coupler (41) is positioned between the outer side fixing plate (2) and the inner side fixing plate (1);
a rotary connecting assembly (5) is rotatably arranged between the outer side fixing plate (2) and the inner side fixing plate (1), and the rotary connecting assembly (5) is fixedly connected with the bottom plate; a damping mechanism (6) is rotatably arranged between the outer side fixing plate (2) and the inner side fixing plate (1), and one end, far away from the outer side fixing plate (2), of the damping mechanism (6) is rotatably connected with the bottom plate;
The damping mechanism (6) and the rotating connecting assembly (5) are located on two sides of the coupler (41).
2. The vibration-damping wheel of a mobile robot according to claim 1, wherein: rotate coupling assembling (5) including rotate to be connected pivot (51) between outside fixed plate (2) and inboard fixed plate (1) and cup joint bearing frame (52) on pivot (51) be provided with in bearing frame (52) with connecting bearing (53) that pivot (51) are connected, bearing frame (52) are fixed on the bottom plate.
3. The vibration-damping wheel of a mobile robot according to claim 2, wherein: and a support bearing (54) is fixed on the outer side fixing plate (2) and/or the inner side fixing plate (1), and the rotating shaft (51) is connected in the support bearing (54).
4. The vibration-damping wheel of a mobile robot according to claim 2, wherein: a baffle (511) is integrally formed on the rotating shaft (51) and positioned on one side of the connecting bearing (53); a sleeve (512) is sleeved on the rotating shaft (51), and the connecting bearing (53) is positioned between the sleeve (512) and the baffle (511).
5. The vibration-damping wheel of a mobile robot according to claim 1, wherein: a support rod (21) is fixed between the outer fixing plate (2) and the inner fixing plate (1).
6. The vibration-damping wheel of a mobile robot according to claim 1, wherein: damper (6) including fix axis of rotation (61) between outside fixed plate (2) and inboard fixed plate (1), cup joint first axle sleeve (62) on axis of rotation (61), fix shock attenuation pole (63) on first axle sleeve (62), connect connecting rod (64) on the bottom plate, rotate and connect and be in base (65) on connecting rod (64), shock attenuation pole (63) keep away from the one end sliding joint of axle sleeve in base (65) damping spring (66) have been cup jointed on shock attenuation pole (63).
7. The vibration-damping wheel of a mobile robot according to claim 6, wherein: the base (65) comprises a second shaft sleeve (651) rotatably connected to the connecting rod (64) and a sleeve (652) fixed to the side wall of the second shaft sleeve (651), a first abutting disk (653) is fixed to the outer side of the telescopic sleeve (652), and a second abutting disk (631) is fixed to the side wall of the shock-absorbing rod (63); one end of the damping rod (63) is connected in the sleeve (652) in a sliding mode, and two ends of the damping spring (66) are respectively abutted to the first abutting disk (653) and the second abutting disk (631).
8. The vibration-damping wheel of a mobile robot according to claim 3, wherein: the supporting bearing (54) is a deep groove ball bearing and/or an angular contact ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920569396.XU CN209776078U (en) | 2019-04-24 | 2019-04-24 | Damping wheel of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920569396.XU CN209776078U (en) | 2019-04-24 | 2019-04-24 | Damping wheel of mobile robot |
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| Publication Number | Publication Date |
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| CN209776078U true CN209776078U (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920569396.XU Active CN209776078U (en) | 2019-04-24 | 2019-04-24 | Damping wheel of mobile robot |
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| CN (1) | CN209776078U (en) |
Cited By (1)
| 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 |
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2019
- 2019-04-24 CN CN201920569396.XU patent/CN209776078U/en active Active
Cited By (1)
| 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 |
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