CN209795097U - four-wheel drive four-axis independent steering damping suspension frame moving chassis and robot - Google Patents
four-wheel drive four-axis independent steering damping suspension frame moving chassis and robot Download PDFInfo
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- CN209795097U CN209795097U CN201920046970.3U CN201920046970U CN209795097U CN 209795097 U CN209795097 U CN 209795097U CN 201920046970 U CN201920046970 U CN 201920046970U CN 209795097 U CN209795097 U CN 209795097U
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- chassis
- shock absorbing
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Abstract
the utility model discloses a shock attenuation suspension that four wheel drive four-axis independently turned to removes chassis and robot, shock attenuation suspension removes the chassis and includes a plurality of actuating mechanism, a plurality of steering mechanism, a plurality of damping elasticity suspension mechanism and frame. The driving mechanism and the steering mechanism are arranged, so that the running flexibility and the motion precision of the movable chassis of the damping suspension are improved, and the damping suspension is suitable for more scenes; the arrangement of the damping elastic suspension mechanism eliminates the adverse effects on the electric parts and circuits of the damping suspension movable chassis due to vibration to a certain extent, and improves the shock-absorbing obstacle-crossing capability and the operation stability of the damping suspension movable chassis.
Description
Technical Field
The utility model relates to a mobile robot technical field particularly, relates to a shock attenuation suspension that four wheel drive four-axis independently turned to removes chassis and robot.
background
Currently, the wheel-type mobile robot is widely applied to places such as warehouse logistics, exhibition catering and the like due to the characteristics of simple mechanism, convenience in control, flexibility in action, high efficiency and the like. The common mobile robot is driven by four wheels at most, and has two disadvantages in the working process: firstly, the two-wheeled differential robot realizes steering through two-wheeled differential, and has the defects of large turning radius and more restriction by site conditions; the four-wheel differential robot realizes steering through four-wheel differential, and has the defect of serious sideslip and is not beneficial to accurately controlling places. Secondly, the chassis of the mobile robot is generally hard connected, and lacks the functions of shock absorption and shock absorption, and the shock in the motion process easily causes the damage of electrical parts and poor line connection for a long time.
SUMMERY OF THE UTILITY MODEL
in order to overcome the defects of large turning radius, more restriction by site conditions, lack of shock absorption and shock absorption functions of the conventional wheeled mobile robot, the utility model provides a four-wheel drive four-axis independent steering shock absorption suspension mobile chassis and a robot, wherein the turning radius of the shock absorption suspension mobile chassis is small, the operation flexibility and the motion precision are high, and the robot is suitable for various scenes; meanwhile, the damping elastic suspension mechanism is arranged, so that the obstacle-crossing shock-absorbing capacity is strong, and the operation stability is good.
Correspondingly, the embodiment of the utility model provides a four-wheel drive four-axis independent steering's shock attenuation suspension removes chassis, shock attenuation suspension removes chassis includes a plurality of actuating mechanism, a plurality of steering mechanism, a plurality of damping elasticity suspension mechanism and frame;
The driving mechanism is fixedly connected right below the steering mechanism and comprises a hub motor, a steering chain, a pressing block, a wheel carrier vertical plate and a wheel carrier transverse plate;
The steering mechanism comprises a bearing chamber, a bearing cover plate, a steering stepping motor, a fan-shaped induction sheet and a groove-shaped photoelectric switch; the fan-shaped induction sheet is matched with the groove-shaped photoelectric switch;
The damping elastic suspension mechanism comprises a damping arm, a bridge frame, a hinge seat, a damping spring shock absorber and a U-shaped frame; one end of the steering mechanism is fixedly connected with the steering mechanism, and the other end of the steering mechanism is fixedly connected below the rack.
In an alternative embodiment, the shock-absorbing suspension moving chassis comprises four driving mechanisms and four steering mechanisms which are arranged in front of and behind two wheels.
In an optional embodiment, a hub photoelectric encoder is arranged in the hub motor.
In an optional embodiment, a steering stepping motor photoelectric encoder is disposed in the steering stepping motor.
In an optional embodiment, one end of the damping arm is fixedly connected to the periphery of the bearing chamber, and the other end of the damping arm is rotatably connected with the bridge frame based on a pin shaft.
In an optional implementation mode, one end of the damping spring shock absorber is rotatably connected with the damping arm based on a pin shaft, and the other end of the damping spring shock absorber is fixedly connected with the hinge base.
In an optional implementation mode, strip-shaped holes are formed in two sides of the U-shaped frame.
In an optional embodiment, the damping suspension moving chassis comprises four damping elastic suspension mechanisms corresponding to each other in a front-back direction, and the two damping elastic suspension mechanisms corresponding to each other in the front-back direction are connected by sharing one bridge and the U-shaped frame.
additionally, the utility model also provides a robot, including above-mentioned arbitrary one the robot on chassis is removed to shock attenuation suspension.
The embodiment of the utility model provides a four-wheel drive four-axis independent steering damping suspension frame moving chassis and a robot, four mutually independent wheel hub motors on a driving mechanism enable the damping suspension frame moving chassis to easily realize full-time four-wheel drive, and a steering stepping motor arranged on a steering mechanism is matched, so that the turning radius of the damping suspension frame moving chassis is greatly shortened; the hub motor and the steering stepping motor are also provided with photoelectric encoders which are matched with a carried control system to realize closed-loop control on the movable chassis of the damping suspension, so that the movement precision is improved; meanwhile, due to the arrangement of the damping elastic suspension mechanism, the electric part damage and poor line connection caused by vibration can be eliminated to a certain extent by the damping suspension moving chassis, and the obstacle crossing and shock absorbing capacity and the operation stability of the damping suspension moving chassis are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a three-dimensional structural view of a four-wheel drive four-axis independently steered damping suspension moving chassis according to an embodiment of the present invention;
Fig. 2 is a left side view of the damping suspension moving chassis with four-wheel drive and four-axle independent steering according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is the embodiment of the utility model provides an in the embodiment of the three-dimensional structure view of the shock attenuation suspension removal chassis that four wheel drive four-axis independently turned to, fig. 2 is the embodiment of the utility model provides an in the embodiment of the left side view of the shock attenuation suspension removal chassis that four wheel drive four-axis independently turned to.
As shown in fig. 1 and 2, the embodiment of the utility model provides a shock attenuation suspension that four wheel drive four-axis independently turned to removes chassis, shock attenuation suspension removes chassis and includes four actuating mechanism 1, four steering mechanism 2, four damping elastic suspension mechanisms 3 and frame 4. The driving mechanism 1 is connected right below the steering mechanism 2; one end of the damping elastic suspension mechanism 3 is fixedly connected to the steering mechanism 2, and the other end of the damping elastic suspension mechanism is connected to the frame 4.
The driving mechanism 1 comprises a hub motor 11, a steering chain 12, a pressing block 13, a wheel frame vertical plate 14 and a wheel frame horizontal plate 15. Specifically, a wheel shaft of the hub motor 11 is connected with the lower end of a steering chain 12 and is pressed tightly through a pressing block 13, and the pressing block 13 is fixed below a wheel carrier vertical plate 14 through screw connection; the upper end of the steering chain 12 is arranged in a groove in the middle of the wheel carrier vertical plate 14 and is fixed by a fixing plate 141, and the fixing plate 141 is fixed on the wheel carrier vertical plate 14 through a screw; the wheel frame horizontal plate 15 is fixed above the wheel frame vertical plate 14 through screw connection.
It should be noted that the hub motor 11 is of a modular design, integrates a power device, a transmission device and a braking device into a hub, and has the advantages of quick and convenient installation, small volume, compact structure and attractive appearance; in addition, in-wheel motor 11 possesses the independent driven characteristic of single round, can easily realize the full-time four-wheel drive, and still disposes in-wheel motor 11 wheel hub photoelectric encoder, wheel hub photoelectric encoder can the accurate control in-wheel motor 11's rotational speed, makes the mobile platform drive wheel about have different rotational speeds, realizes similar tracked vehicle's differential steering through the different rotational speeds of its wheel about, can reduce turning radius greatly.
The steering mechanism 2 comprises a bearing chamber 21, a bearing cover plate 22, a steering stepping motor 23, a fan-shaped induction sheet 24 and a groove-shaped photoelectric switch 25. Specifically, the steering stepping motor 23 is fixed on the bearing cover plate 22 through screw connection, and an output shaft of the steering stepping motor 23 is connected with the upper end of the wheel carrier transverse plate 15 of the driving mechanism 1; two angular contact ball bearings are arranged one above the other in the bearing chamber 21, the inner ring of each angular contact ball bearing is connected with the wheel carrier transverse plate 15, and the outer ring of each angular contact ball bearing is connected with the bearing chamber 21 and fixed through a bearing cover plate 22 above the bearing chamber 21; the damping arm 31 of the damping elastic suspension mechanism 3 is connected with the outer ring of the bearing chamber 21, and the damping arm 31, the bearing 21 and the bearing cover plate 22 are connected into a whole through a bolt structure; specifically, the sector sensing piece 24 is arranged on the wheel carrier transverse plate 15, and the groove-shaped photoelectric switch 25 is fixed below the damping arm 31 through screw connection.
It should be noted that, the steering stepping motor 23 is also provided with a steering stepping motor photoelectric encoder; the wheel hub photoelectric encoder and the steering stepping motor photoelectric encoder can not only feed back the information of the wheel hub motor 11 and the steering stepping motor 23 to the control system in time, but also can accurately drive the wheel hub motor 11 and the steering stepping motor 23 according to the information of the control system, and realize closed-loop control on the movement of the damping suspension moving chassis.
The groove-type photoelectric switch 25 is one of the correlation photoelectric switches, is an infrared-sensing photoelectric product, and is formed by combining an infrared transmitting tube and an infrared receiving tube. In the embodiment of the present invention, the groove-shaped photoelectric switch 25 and the fan-shaped sensing piece 24 work together to limit the steering range of the steering mechanism 2. Specifically, when the sector sensing strip 24 is located in the sensing area of the slot-type photoelectric switch 25, the slot-type photoelectric switch 25 is in an "on" state, and the steering stepping motor 23 is allowed to continue to rotate in the current direction; when the steering stepping motor 23 rotates a certain angle, the sector sensing piece 24 leaves the sensing area of the groove-shaped photoelectric switch 25, the groove-shaped photoelectric switch 25 is in an off state, and at this time, the steering stepping motor 23 cannot rotate continuously according to the current steering direction and can only select to stop rotating or rotate reversely.
The damped elastic suspension mechanism 3 includes a shock absorbing arm 31, a bridge 32, a hinge mount 33, a damping spring shock absorber 34 and a clevis 35. Specifically, one end of the damping arm 31 is fixedly connected with the bearing chamber 21, the other end of the damping arm is rotatably connected with the bridge frame 32 based on a pin shaft, and the bridge frame 32 is fixedly connected below the rack 4 through a bolt and plays a supporting role for the rack 4; the U-shaped frame 35 is fixedly connected to the frame 4 through a bolt structure, and the hinge seat 33 is fixedly connected to the strip-shaped holes 351 in the two sides of the U-shaped frame 35 through a bolt structure; one end of the damping spring shock absorber 34 is rotatably connected to the middle position of the shock absorption arm 31 based on a pin shaft, and the other end of the damping spring shock absorber is fixedly connected to the hinge seat 33 through a bolt structure; particularly, the arrangement of the strip-shaped holes 351 on the two sides of the U-shaped frame facilitates the adjustment of the upper position and the lower position of the hinge seat 33, the adjustment of the position of the hinge seat 33 can change the stress condition of the damping spring shock absorber 34, the stress condition of the damping spring shock absorber 34 can be adjusted according to actual needs, and the service life of the damping spring shock absorber 34 can be prolonged.
Particularly, the front damping elastic suspension mechanism and the rear damping elastic suspension mechanism 3 are connected by sharing a bridge frame 32 and a U-shaped frame 35, and the connection of the front damping elastic suspension mechanism and the rear damping elastic suspension mechanism enables the whole structure of the movable chassis of the damping suspension to be more balanced and stable; in addition, the force applied to the front and rear damping elastic suspension mechanisms 3 can be partially offset by sharing the bridge frame 32 and the U-shaped frame 35, so that the stress condition and the damping effect of the damping elastic suspension mechanisms 3 are improved, and the service life of the movable chassis of the damping suspension is prolonged.
In addition, the embodiment of the utility model provides a still provide a robot, this robot contains the arbitrary one on the chassis is removed to the shock attenuation suspension in the embodiment of the above-mentioned utility model, and other subassemblies of this robot do not do the restriction.
The embodiment of the utility model provides a four-wheel drive four-axis independent steering damping suspension frame moving chassis and a robot, four mutually independent wheel hub motors 11 on a driving mechanism 1 enable the damping suspension frame moving chassis to easily realize full-time four-wheel drive, and a steering stepping motor 23 arranged on a steering mechanism 2 is matched, so that the turning radius of the damping suspension frame moving chassis is greatly shortened; the hub motor 11 and the steering stepping motor 23 are also provided with photoelectric encoders which are matched with a carried control system to realize closed-loop control on a movable chassis of the damping suspension, so that the movement precision is improved; meanwhile, the damping elastic suspension mechanism 3 is arranged, so that the electric part damage and the poor line connection caused by vibration can be eliminated to a certain extent by the damping suspension moving chassis, and the obstacle crossing and shock absorbing capacity and the operation stability of the damping suspension moving chassis are improved.
In addition, the damping suspension moving chassis and the robot which are provided by the embodiment of the invention and have four-wheel drive four-axis independent steering are described in detail, and a specific embodiment is adopted herein to explain the principle and the implementation mode of the invention, and the description of the above embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (9)
1. A four-wheel drive four-shaft independent steering damping suspension frame moving chassis is characterized by comprising a plurality of driving mechanisms, a plurality of steering mechanisms, a plurality of damping elastic suspension frame mechanisms and a frame;
The driving mechanism is fixedly connected right below the steering mechanism and comprises a hub motor, a steering chain, a pressing block, a wheel carrier vertical plate and a wheel carrier transverse plate;
The steering mechanism comprises a bearing chamber, a bearing cover plate, a steering stepping motor, a fan-shaped induction sheet and a groove-shaped photoelectric switch; the fan-shaped induction sheet is matched with the groove-shaped photoelectric switch;
The damping elastic suspension mechanism comprises a damping arm, a bridge frame, a hinge seat, a damping spring shock absorber and a U-shaped frame; one end of the damping elastic suspension mechanism is fixedly connected to the steering mechanism, and the other end of the damping elastic suspension mechanism is fixedly connected to the lower portion of the rack.
2. The shock absorbing suspension travel chassis of claim 1, wherein the shock absorbing suspension travel chassis includes four drive mechanisms and four steering mechanisms disposed two-front-two-rear.
3. The damped suspension travel chassis of claim 1, wherein a hub photoelectric encoder is disposed in the hub motor.
4. The shock absorbing suspension travel chassis of claim 1, wherein a steering stepper motor photo encoder is disposed in the steering stepper motor.
5. The shock absorbing suspension travel chassis of claim 1, wherein the shock absorbing arm is fixedly connected to the outer periphery of the bearing housing at one end and rotatably connected to the bridge at the other end based on a pin.
6. The shock absorbing suspension moving chassis according to claim 1, wherein one end of the damping spring shock absorber is rotatably connected with the shock absorbing arm based on a pin shaft, and the other end of the damping spring shock absorber is fixedly connected with the hinge base.
7. The shock absorbing suspension travel chassis of claim 1, wherein a slotted hole is provided on both sides of the U-shaped frame.
8. The shock absorbing suspension mobile chassis of claim 1, wherein the shock absorbing suspension mobile chassis comprises four damped elastic suspension mechanisms corresponding to each other in pairs, and the two damped elastic suspension mechanisms corresponding to each other in the front and back are connected by sharing a bridge and a U-shaped frame.
9. A robot comprising a shock absorbing suspension locomotion chassis according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920046970.3U CN209795097U (en) | 2019-01-11 | 2019-01-11 | four-wheel drive four-axis independent steering damping suspension frame moving chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920046970.3U CN209795097U (en) | 2019-01-11 | 2019-01-11 | four-wheel drive four-axis independent steering damping suspension frame moving chassis and robot |
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| CN209795097U true CN209795097U (en) | 2019-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920046970.3U Active CN209795097U (en) | 2019-01-11 | 2019-01-11 | four-wheel drive four-axis independent steering damping suspension frame moving chassis and robot |
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| CN (1) | CN209795097U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112519909A (en) * | 2020-12-09 | 2021-03-19 | 广州高新兴机器人有限公司 | Four-wheel drive robot and chassis thereof |
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2019
- 2019-01-11 CN CN201920046970.3U patent/CN209795097U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112519909A (en) * | 2020-12-09 | 2021-03-19 | 广州高新兴机器人有限公司 | Four-wheel drive robot and chassis thereof |
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