CN210148105U - Suspension system of service robot - Google Patents
Suspension system of service robot Download PDFInfo
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- CN210148105U CN210148105U CN201920567602.3U CN201920567602U CN210148105U CN 210148105 U CN210148105 U CN 210148105U CN 201920567602 U CN201920567602 U CN 201920567602U CN 210148105 U CN210148105 U CN 210148105U
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- air pressure
- pressure rod
- traveling wheel
- fixed
- wheel bracket
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Abstract
The utility model provides a service robot suspension, include: a frame; the fixed base is fixed on the frame; the air pressure push rod fixing parts are fixed on the frame, and the other air pressure push rod fixing part is fixed on the traveling wheel bracket; one end of the air pressure push rod is connected to the air pressure rod fixing piece on the frame, and the other end of the air pressure push rod is connected to the air pressure rod fixing piece on the traveling wheel bracket; the middle parts of the air pressure rod and the air pressure rod fixing piece are both penetrated with air pressure rod connecting pins; the traveling wheel bracket is connected to the fixed base, and a base connecting pin penetrates through the traveling wheel bracket; a travel wheel fixed to the travel wheel bracket; the travel wheel support rotates clockwise around the base connecting pin under the condition that the travel wheel moves upwards, the air pressure rod compresses simultaneously, and the travel wheel support rotates anticlockwise around the base connecting pin under the condition that the travel wheel moves downwards, and the air pressure rod stretches simultaneously.
Description
Technical Field
The present invention relates to a suspension system, and more particularly, to a suspension system for a service robot.
Background
The service robot generally works in a flat indoor ground, a suspension system is generally not considered when a chassis of the service robot is designed, but because floor tiles are increasingly used on the indoor ground at present, gaps and bulges are formed among the floor tiles due to uneven installation of the floor tiles, the service robot is enabled to bump and slip in the air when walking, and the service robot can not walk normally. Therefore, a service robot mounting suspension is very necessary.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a suspension system, the radius of a driving wheel is smaller, and the surface of the wheel is smooth; the over-ridge and over-pit performance is good, and the mute performance is good, and is particularly suitable for indoor use.
In order to achieve the above object, the utility model provides a pneumatic rod motor suspension, suspension includes: the device comprises a fixed base, a traveling wheel bracket, a pneumatic rod fixing piece, a pneumatic rod connecting pin and a base connecting pin. Wherein the fixed base is fixed to the upper surface of the frame; the pneumatic rod fixing parts are fixed on the frame, and the other pneumatic rod fixing part is fixed on the traveling wheel bracket; one end of the air pressure rod is connected to the air pressure rod fixing piece on the frame, the other end of the air pressure rod is connected to the air pressure rod fixing piece on the traveling wheel support, and air pressure rod connecting pins penetrate through the air pressure rod and the air pressure rod fixing piece; the travel wheel bracket is connected to the fixed base, a base connecting pin penetrates through the middle of the travel wheel bracket, the travel wheel bracket rotates clockwise around the base connecting pin under the condition that the travel wheel moves upwards, and meanwhile, the air pressure rod compresses, and the travel wheel bracket rotates anticlockwise around the base connecting pin under the condition that the travel wheel moves downwards, and meanwhile, the air pressure rod stretches; the traveling wheel is fixed to the traveling wheel bracket.
Preferably, the right side of the traveling wheel support is connected with a through hole of the pneumatic rod fixing piece, so that an upper group of holes and a lower group of holes can be added, when the whole weight of the robot is increased, the pneumatic rod fixing piece is arranged in the uppermost group of holes, and when the whole weight of the robot is reduced, the pneumatic rod fixing piece is arranged in the lowermost group of holes.
Preferably, the center distance of the pneumatic rod can be 120mm, the stroke can be 20mm, the cylinder diameter can be 15mm, and the pressure can be in the range of 30-300N.
Preferably, the size of the travel wheel may be 3 inches.
The technical scheme of the utility model in, provide, through the use of pneumatic rod, can maintain the balance of robot motion in-process organism, guarantee the stability that the robot marchd.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments of the present invention with reference to the attached drawings, in which like reference numerals generally represent like parts in exemplary embodiments of the present invention.
Fig. 1 shows a perspective view of a pneumatic rod suspension system according to an embodiment of the present invention.
Fig. 2 shows a schematic view of a pneumatic rod suspension system according to an embodiment of the present invention.
Figure 3 shows a schematic view 1 of a robot according to the present invention for achieving a rough ground.
Figure 4 shows a schematic view 2 of a robot according to the present invention for achieving a rough ground.
Figure 5 shows a schematic view 3 of the robot according to the present invention for achieving a rough ground.
Fig. 6 shows a schematic diagram of a driving structure of the traveling wheel through the motor and the synchronous belt.
Fig. 7 shows an overall robot diagram of a pneumatic rod suspension system according to an embodiment of the present invention.
Description of reference numerals:
1-a traveling wheel, 2-a fixed base, 3-a base connecting pin, 4-a pneumatic rod fixing part, 5-a pneumatic rod connecting pin, 6-a vehicle frame, 7-a pneumatic rod, 8-a traveling wheel bracket, 9-a driven wheel, 10-a driven wheel bracket, 11-a synchronous belt, 12-a pressing wheel and 13-a motor.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows a perspective view of a pneumatic rod suspension system according to an embodiment of the present invention; fig. 2 shows a schematic view of a pneumatic rod suspension system according to an embodiment of the present invention; 3-5 show schematic views of a robot for realising a rough ground according to the present invention; fig. 6 shows an overall robot diagram of a pneumatic rod suspension system according to an embodiment of the present invention.
The utility model provides a pneumatic rod suspension, suspension includes: the device comprises a fixed base, a traveling wheel bracket, a pneumatic rod fixing piece, a pneumatic rod connecting pin and a base connecting pin. Wherein the fixed base is fixed to the upper surface of the frame; the pneumatic rod fixing parts are fixed on the frame, and the other pneumatic rod fixing part is fixed on the traveling wheel bracket; one end of the air pressure rod is connected to the air pressure rod fixing piece on the frame, the other end of the air pressure rod is connected to the air pressure rod fixing piece on the traveling wheel support, and air pressure rod connecting pins penetrate through the air pressure rod and the air pressure rod fixing piece; the travel wheel bracket is connected to the fixed base, a base connecting pin penetrates through the middle of the travel wheel bracket, the travel wheel bracket rotates clockwise around the base connecting pin under the condition that the travel wheel moves upwards, and meanwhile, the air pressure rod compresses, and the travel wheel bracket rotates anticlockwise around the base connecting pin under the condition that the travel wheel moves downwards, and meanwhile, the air pressure rod stretches; the traveling wheel is fixed to the traveling wheel bracket.
Preferably, the right side of the traveling wheel support is connected with a through hole connected with a pneumatic rod fixing piece, so that an upper group of holes and a lower group of holes can be added, when the whole weight of the robot is increased, the pneumatic rod fixing piece is arranged in the uppermost group of holes, and when the whole weight of the robot is reduced, the pneumatic rod fixing piece is arranged in the lowermost group of holes.
Further referring to fig. 3, the robot body is connected with two driven wheels in front and back, when the road surface is flat, the driven wheels are suspended in the air, and are landed by the traveling wheels to advance and retreat or turn; referring to fig. 4, when the traveling wheel encounters an obstacle, the traveling wheel bracket and the member to which the traveling wheel bracket belongs rotate clockwise around the air pressure rod connecting pin, and the air pressure rod compresses to pass through the obstacle; referring to fig. 7, when the driven wheel meets an obstacle, the traveling wheel bracket and the member to which the traveling wheel bracket belongs rotate counterclockwise around the pneumatic rod connecting pin, and the pneumatic rod stretches to pass through the obstacle.
Referring to fig. 1, the traveling wheel bracket is provided with three pneumatic rod connecting piece mounting positions. When the load is more than 60kg, the air pressure rod is connected to the uppermost hole position; when the load is less than 40kg, the pneumatic rod is connected to the lowest hole site; when the load is between 40kg and 60kg, the pneumatic rod is connected to the middle hole.
The technical scheme of the utility model in, provide the suspension that compressible air pressure bar adjusted the wheel height of marcing, through this suspension's use, can maintain the balance of robot motion in-process organism, guaranteed the stability that the robot marchd.
It is to be understood that the above-described embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (3)
1. A service robot suspension system, the suspension system comprising:
a frame (6);
a fixed base (2), the fixed base (2) being fixed to the frame (6);
the pneumatic rod fixing parts (4), one of the pneumatic rod fixing parts (4) is fixed on the frame (6), and the other one of the pneumatic rod fixing parts is fixed on the traveling wheel bracket (8);
one end of the air pressure rod (7) is connected to the air pressure rod fixing piece (4) on the frame (6), and the other end of the air pressure rod (7) is connected to the air pressure rod fixing piece (4) on the traveling wheel bracket (8); the middle parts of the air pressure rod (7) and the air pressure rod fixing piece (4) are respectively penetrated with an air pressure rod connecting pin (5);
the traveling wheel bracket (8), the traveling wheel bracket (8) is connected to the fixed base (2), and a base connecting pin (3) passes through the middle of the traveling wheel bracket (8);
a travelling wheel (1), the travelling wheel (1) being fixed to the travelling wheel support (8);
the traveling wheel bracket (8) rotates clockwise around the base connecting pin (3) under the condition that the traveling wheel (1) moves upwards, and meanwhile, the air pressure rod (7) compresses, and the traveling wheel bracket (8) rotates anticlockwise around the base connecting pin (3) under the condition that the traveling wheel (1) moves downwards, and meanwhile, the air pressure rod (7) stretches;
the travelling wheel (1) is driven by a motor (13) and a synchronous belt (11).
2. A suspension system according to claim 1, wherein the through hole connecting the gas strut attachment (4) on the right side of the travelling wheel carrier (8) has three sets of holes, and when the overall weight of the robot increases, the gas strut attachment (4) is placed in the uppermost set of holes, and when the overall weight of the robot decreases, the gas strut attachment (4) is placed in the lowermost set of holes.
3. A suspension system according to claim 1, characterized in that the size at the running wheel (1) is 3 inches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920567602.3U CN210148105U (en) | 2019-04-24 | 2019-04-24 | Suspension system of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920567602.3U CN210148105U (en) | 2019-04-24 | 2019-04-24 | Suspension system of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210148105U true CN210148105U (en) | 2020-03-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920567602.3U Active CN210148105U (en) | 2019-04-24 | 2019-04-24 | Suspension system of service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210148105U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986578A (en) * | 2019-04-24 | 2019-07-09 | 北京海风智能科技有限责任公司 | A kind of service robot suspension |
-
2019
- 2019-04-24 CN CN201920567602.3U patent/CN210148105U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986578A (en) * | 2019-04-24 | 2019-07-09 | 北京海风智能科技有限责任公司 | A kind of service robot suspension |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220707 Address after: 314000 room 703, building 8, No. 36, Changsheng South Road, Jiaxing Economic and Technological Development Zone, Zhejiang Province Patentee after: Haifeng Intelligent Technology (Zhejiang) Co.,Ltd. Address before: 100041 room 3020, 3 / F, 11 Shixing East Street, Shijingshan District, Beijing Patentee before: BEIJING SEA BREEZE INTELLIGENT TECHNOLOGY LLC |
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| TR01 | Transfer of patent right |