CN210591277U - Linkage, motion chassis and robot - Google Patents
Linkage, motion chassis and robot Download PDFInfo
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- CN210591277U CN210591277U CN201920939229.XU CN201920939229U CN210591277U CN 210591277 U CN210591277 U CN 210591277U CN 201920939229 U CN201920939229 U CN 201920939229U CN 210591277 U CN210591277 U CN 210591277U
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Abstract
The utility model relates to a hang and the robotechnology field, concretely relates to linkage, motion chassis and robot, linkage comprises linkage and shock attenuation portion, and on the shock attenuation portion located the suspension support board through the connecting plate, the connecting plate rotated with the suspension support board through the pivot and is connected. The utility model discloses install shock attenuation portion in hanging the backup pad, with both integrations, compact structure has the shock attenuation, moves away to avoid possible earthquakes the function, the stable performance, the maintenance of being convenient for. The damping part is rotatably connected with the suspension part through the rotating shaft, the structure is simple, and the driving requirement of a complex road surface can be met. The utility model discloses a motion chassis adopts modularized design and assembly, installs linkage on the bottom plate with the module form, and the structure is simple and easy, simple to operate. The utility model discloses a robot has above-mentioned linkage's motion chassis through the application, and work is nimble, the maintenance is convenient, can be applied to each technical field, does benefit to automation and mechanized production, reduction in production cost improves production efficiency.
Description
Technical Field
The utility model relates to a hang and the robotechnology field, concretely relates to linkage, install this linkage's motion chassis and robot.
Background
The suspension device is a force transmission connecting device used between a frame and an axle or wheels on an automobile chassis, and has the functions of transmitting force and moment acting between the wheels and the frame, buffering impact force transmitted to the frame or an automobile body from an uneven road surface and attenuating vibration caused by the impact force so as to ensure that the automobile runs smoothly.
However, because the suspension device is complex, the suspension device is less adopted on the chassis of the robot and the AGV at present, and even if the existing chassis provided with the suspension device is provided with a simple shock-absorbing structure or has no shock-absorbing structure, the requirement of complex road conditions cannot be met, or the problems of overhigh cost, difficult maintenance and the like caused by the fact that the suspension device and the shock-absorbing structure are too complex exist.
In order to solve the problems, the inventor develops a suspension device, a motion chassis provided with the suspension device and a robot by combining the experience of the inventor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a simple structure is compact, simple to operate, be convenient for maintain, can install in narrow and small space and have shock attenuation, the linkage of moving away to avoid possible earthquakes function, install this linkage's motion chassis and robot.
The utility model provides a technical problem adopt following technical scheme to realize:
the utility model provides a suspension device, which comprises a suspension part and a suspension support plate, wherein both ends of the suspension support plate are respectively provided with a driving part and a transmission part, and the driving part drives wheels to rotate through the transmission part; the shock absorption part comprises an elastic part and is used for realizing shock absorption and shock absorption functions; the elastic part is arranged in the middle of the hanging support plate through a connecting plate, and the connecting plate is rotatably connected with the hanging support plate through a rotating shaft.
Optionally, the damping portion further includes a damping bottom plate and a damping pressing plate, the damping bottom plate is disposed on the connecting plate, the elastic portion is disposed on the damping bottom plate, and the damping pressing plate is disposed at the upper end of the elastic portion.
Optionally, the damping bottom plate is provided with a guide plate, the guide plate is provided with a guide hole, the damping pressing plate is provided with a guide column, and the guide column extends into the guide hole and can move in the guide hole under the action of the elastic part.
Optionally, the damping pressure plate is arranged on a mounting plate, and the suspension device is connected with the mounting platform through the mounting plate.
Optionally, the mounting plate is a U-shaped groove plate with a downward opening, the suspension support plate is a U-shaped groove plate with an upward opening, and the suspension support plate is clamped or partially clamped into the mounting plate.
Optionally, a gasket, a copper pad and a shaft collar are arranged on the rotating shaft, and the rotating shaft sequentially penetrates through the gasket, the mounting hole in the side plate of the hanging support plate, the copper pad and the mounting hole in the side plate of the connecting plate from the outer sides of the two side plates of the hanging support plate and then is connected with the shaft collar.
Optionally, the driving parts are symmetrically arranged at two ends of the hanging support plate through mounting flanges.
Optionally, the transmission part comprises a shaft sleeve, and the shaft sleeve is arranged on a driving shaft of the driving part and can rotate along with the driving shaft; the bearing block is arranged on the mounting flange, and a bearing is arranged between the bearing block and the shaft sleeve; the adapter flange, the adapter flange with the outer end of axle sleeve is connected, can pass through the axle sleeve follows the drive shaft rotates, the wheel is fixed to be located on the adapter flange.
The utility model also provides a motion chassis, which comprises a bottom plate, wherein the bottom plate is provided with the suspension device in any embodiment; a mounting frame, which is arranged on the bottom plate, wherein,
the hanging device is characterized in that the hanging device is arranged on the bottom plate in a longitudinal mode through a mounting plate in the width direction of the bottom plate, a battery, a navigator and a controller are arranged on the mounting frame, the navigator is electrically connected with the controller, and universal wheels are arranged on the bottom plate.
The utility model also provides a robot, including any one of the above-mentioned embodiments motion chassis.
The utility model has the advantages that: the utility model provides a pair of linkage installs shock attenuation portion in hanging the backup pad for shock attenuation portion and hanging portion are integrated together, have not only reduced installation space, and compact structure has shock attenuation, the function of moving away to avoid possible earthquakes moreover, and the stable performance is convenient for maintain. Meanwhile, the rotating connection between the damping part and the suspension part is realized by using the rotating shaft, so that the suspension device is simple in structure, convenient to install and maintain, and can meet the running requirement of a complex road surface, and the stable and reliable operation of equipment is ensured.
Further, the utility model provides a pair of motion chassis adopts modularized design and assembly method, installs linkage on the bottom plate with the form of module, has that the structure is simple and easy, simple to operate, the automated production of being convenient for.
Further, the utility model provides a pair of robot has above-mentioned linkage's motion chassis through the application, has work flexibility, maintains characteristics such as convenient, and each technical field of being applied to that can be extensive does benefit to the enterprise and realizes automation and mechanized production, reduction in production cost, improvement production efficiency.
Drawings
In order to more clearly illustrate the embodiments or technical features of the present invention, the drawings to be used in the embodiments or technical features will be briefly described below.
Fig. 1 schematically illustrates a perspective exploded view of a suspension arrangement in an embodiment of the invention;
fig. 2 schematically shows a cross-sectional view of a suspension device according to an embodiment of the invention;
fig. 3 schematically shows a perspective exploded view of a shock absorbing part in an embodiment of the present invention;
fig. 4 schematically shows a structure diagram of a sports chassis in an embodiment of the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and effects of the present invention easy to understand, the present invention is further explained by combining the following embodiments.
Referring to fig. 1-3, the present invention provides a suspension device 1, including a suspension portion 10 and a damping portion 13, wherein, the suspension portion 10 includes a suspension support plate 100, and along an extending direction of the suspension support plate 100 (as shown in X direction in fig. 1-2)), both ends of the suspension support plate 100 are provided with a driving portion 11 and a transmission portion 12, the driving portion 11 drives a wheel 2 to rotate through the transmission portion 12, the damping portion 13 includes an elastic portion 130 for achieving damping and shock-absorbing functions, the elastic portion 130 is provided in the middle of the suspension support plate 100 through a connecting plate 14, and the connecting plate 14 is rotatably connected with the suspension support plate 100 through a rotating shaft 15.
That is to say, linkage 1 mainly comprises linkage 10 and shock attenuation portion 13, and linkage 10 is used for providing and transmitting moment, and shock attenuation portion 13 is used for the shock attenuation, moves away to avoid possible earthquakes, ensures the reliable and stable operation of whole equipment (like robot, inspection vehicle etc.), combines both together, not only can save installation space, is convenient for maintain and install, and whole linkage 1 compact structure, stable performance moreover can the whole equipment of reliable and stable drive motion.
Specifically, referring to fig. 1 to 3, in the present embodiment, the suspension portion 10 includes a suspension support plate 100, a driving portion 11 and a transmission portion 12 are disposed at both ends of the suspension support plate 100, the driving portion 11 drives the wheel 2 to rotate through the transmission portion 12, the damping portion 13 includes an elastic portion 130, the elastic portion 130 is disposed in the middle of the suspension support plate 100 through a connecting plate 14, and the connecting plate 14 is rotatably connected to the suspension support plate 100 through a rotating shaft 15. The both ends of hanging backup pad 100 all are equipped with drive division 11 and transmission portion 12, and the drive division 11 symmetry at both ends sets up, and the transmission portion 12 symmetry at both ends sets up, and the outer end of transmission portion 12 is equipped with wheel 2, and drive division 11 passes through transmission portion 12 drive wheel 2 and rotates.
The elastic part 130 of the shock absorbing part 13 is provided at the middle of the suspension support plate 100 through a connection plate 14, and the connection plate 14 is rotatably connected to the suspension support plate 100 through a rotation shaft 15. When the stress between the suspension support plate 100 and the connecting plate 14 is unbalanced, the suspension support plate 100 can rotate around the rotating shaft 15, so that the stress between the suspension support plate and the connecting plate is balanced, the suspension support plate and the connecting plate can adapt to uneven road surfaces, the wheel 2 is prevented from slipping due to poor road conditions, and the stable and reliable movement of the whole equipment is ensured.
It should be noted that the utility model discloses do not restrict the concrete structure and the type of shock attenuation portion, can carry out reasonable selection according to actual need, can be spring damper, also can be hydraulic shock absorber, can also be the gas-liquid mixture bumper shock absorber.
Referring to fig. 3 in combination with fig. 1-2, in this embodiment, the damping portion 13 is a spring damper, the elastic portion 130 is a spring, the damping portion 13 further includes a damping bottom plate 131 and a damping pressing plate 132, the damping bottom plate 131 is disposed on the connecting plate 14, the elastic portion 130 is disposed on the damping bottom plate 131, and the damping pressing plate 132 is disposed at an upper end of the elastic portion 130.
That is to say, the elastic part 130 is arranged between the damping base plate 131 and the damping pressing plate 132, the lower end of the elastic part 130 is arranged on the damping base plate 131 through the elastic supporting part 138, the damping pressing plate 132 is provided with the limiting plate 136 for limiting and compressing the elastic part 130, and the elastic part 130 can be reliably installed through the elastic supporting part 138, the damping base plate 131 and the damping pressing plate 132 with the limiting plate 136, so that the damping function of the whole damping part 13 can be stably and reliably realized, and further, the stable movement of the whole device can be ensured.
In order to make the realization shock attenuation that the elasticity portion can be more stable, the function of moving away to avoid possible earthquakes, see fig. 3 and show the utility model discloses in, be equipped with deflector 133 on the shock attenuation bottom plate 131, be equipped with guiding hole 134 on the deflector 133, be equipped with guide post 135 on the shock attenuation clamp plate 132, guide post 135 stretches into in the guiding hole 134, can under the effect of elasticity portion 130 the guiding hole 134 internal motion.
Specifically, referring to fig. 3, in the present embodiment, the guide plates 133 are symmetrically disposed on two sides of the elastic portion 130 through bolts, and along the extending direction of the elastic portion 130 (as shown in the Y direction in fig. 1-3), guide holes 134 are disposed on the guide plates 133, guide posts 135 are disposed on the damping pressure plate 132, and the guide posts 135 extend into the guide holes 134, so as to guide the movement of the elastic portion 130, and ensure that the elastic portion 130 can stably and reliably implement the functions of damping and absorbing shock. In addition, in order to prevent the shock-absorbing pressure plate 132 from hitting the guide plate 133, referring to fig. 3, in the present embodiment, a cushion 137 is provided at the upper end of the guide plate 133.
It should be noted that, the utility model discloses do not restrict the concrete structure of guiding hole and guide post, can carry out reasonable selection according to actual need, as long as can reliable and stable guide elasticity portion motion can. Referring to fig. 3, in the present embodiment, the guiding hole 134 is a light hole, and the guiding post 135 is a cylinder, so that the light hole and the cylinder are easy to process and have a simple structure. In other embodiments, the guiding holes and the guiding posts may also be other structures, such as rectangular grooves and rectangular posts, which the present invention is not limited to.
Referring to fig. 1-2 in conjunction with fig. 3, in the present invention, the damping pressure plate 132 is disposed on the mounting plate 16, and the suspension device 1 is connected to a mounting platform (e.g., a bottom plate in a sports chassis provided in the following description) through the mounting plate 16.
Specifically, referring to fig. 1-2 in conjunction with fig. 3, the mounting plate 16 is a U-shaped channel plate with a downward opening, the suspension support plate 100 is a U-shaped channel plate with an upward opening, and the suspension support plate 100 is snapped or partially snapped into the mounting plate 16. The two side plates 101 of the suspension support plate 100 are rotatably connected with the two side plates 140 of the connecting plate 14 by a rotating shaft 15, and the rotating shaft 15 is located at the center position in the length direction (as shown in the X direction in fig. 1-2) of the suspension support plate 100. The lower ends of the two side plates 160 of the mounting plate 16 are turned outwards to form mounting side plates 161, which can be connected to other application platforms or mounting frames.
Referring to fig. 1, a mounting hole 102/141 is formed at a central position of each of the side plates 101 and 140 of the suspension support plate 100 and the link plate 14 along a length direction of the suspension support plate 100, and the rotation shaft 15 passes through the mounting hole 102/141 to rotatably couple the suspension support plate 100 and the link plate 14. When the suspension support plate 100 is installed, the connecting plate 14 is firstly clamped into the suspension support plate 100, so that the two side plates 140 of the connecting plate 14 are attached to the two side plates 101 of the suspension support plate 100, and the rotating shaft 15 penetrates into the installation hole 102/141 from the outer side of the side plate 101 of the suspension support plate 100 along the direction perpendicular to the side plate 101 of the suspension support plate 100, so that the connection between the suspension support plate 100 and the connecting plate 14 is realized.
It should be noted that the utility model discloses do not restrict to the concrete structure of pivot, the structure of pivot can carry out reasonable selection according to the structure of hanging backup pad and fixed mounting panel, as long as can guarantee under the circumstances of joint strength make can produce relative rotation between hanging backup pad and the fixed mounting panel can.
In an embodiment of the present invention, the rotating shaft 15 is provided with a gasket 150, a copper pad 151, and a collar 152, and the rotating shaft 15 sequentially passes through the gasket 150, the mounting holes 102 on the side plates 101 of the suspension support plate 100, the copper pad 151, and the mounting holes 141 on the side plates 140 of the connection plate 14 from the outside of the two side plates 101 of the suspension support plate 100, and then is connected to the collar 152.
Referring to fig. 1, in the present embodiment, the rotating shaft 15 is a bolt, the gasket 150 is sleeved on the rotating shaft 15, the copper pad 151 is sleeved on the rotating shaft 15 and is located between the side plate 140 of the connecting plate 14 and the side plate 101 of the suspension support plate 100, and the collar 152 is located inside the side plate 140 of the connecting plate 14. Wherein, gasket 150 in this embodiment can be the flat pad, also can be the elastic washer, still can be the combination form of flat pad and elastic washer, the utility model discloses do not limit to this, can select according to actual need.
That is to say, the number of the rotating shafts 15 of the embodiment is two, the two rotating shafts 15 respectively pass through the spacers 150, the mounting holes 102 on the side plates 101 of the suspension support plate 100, the copper pads 151, and the mounting holes 141 on the side plates 140 of the connecting plate 14 from the outer sides of the two side plates 101 of the suspension support plate 100 in sequence and then are connected with the collars 152, the collars 152 can lock the rotating shafts 15 from the inner sides of the side plates 140 of the connecting plate 14 to prevent the rotating shafts 15 from loosening and slipping off, the copper pads 151 are located between the side plates 140 of the connecting plate 14 and the side plates 101 of the suspension support plate 100 to separate the side plates 140 of the connecting plate 14 from the side plates 101 of the suspension support plate.
The utility model discloses an in other embodiments, the pivot also can be a major axis, can penetrate from the mounting hole on the curb plate of one side of hanging the backup pad, and the mounting hole on the curb plate of opposite side is worn out, and the pivot can pass mounting hole, copper pad, the mounting hole on two curb plates of connecting plate, copper pad, the mounting hole on the opposite side curb plate of hanging the backup pad, gasket back and the collar tie in proper order promptly. At this time, a pair of shaft collars may be disposed on the shaft sections of the rotating shaft located inside the two side plates of the connecting plate, and the suspension support plate and the connecting plate are respectively locked from the inside of the two side plates of the connecting plate. This embodiment is through the pivot erection joint board and the suspension support board that use the major axis form, not only can increase joint strength between the two, can also increase support strength between the two for whole linkage is more stable.
The utility model provides a linkage realizes the rotation between shock attenuation portion and the suspension portion through using the pivot and connects, simple structure, simple to operate is convenient for maintain.
Further, as shown in fig. 1, the suspension portion 10 of the present invention further includes a driving portion 11 and a transmission portion 12, the driving portion 11 and the transmission portion 12 are both disposed on the suspension support plate 100, the driving portion 11 is used for driving the wheel 2 to rotate, and the transmission portion 12 is used for transmitting the power provided by the driving portion 11 to the wheel 2.
Referring to fig. 1, in the present embodiment, a driving portion 11 and a transmission portion 12 are disposed at both ends of a suspension support plate 100, wherein the driving portion 11 is symmetrically disposed at both ends of the suspension support plate 100 through a mounting flange 103 for driving a wheel 2 to rotate. The transmission unit 12 is connected to the drive unit 11 and can transmit power supplied from the drive unit 11 to the wheels 2.
The utility model discloses an integrated installation of drive division, transmission portion and wheel has reduced suspended structure's size in the portion of hanging, and compact structure can be applied to the operation in narrow and small space.
Specifically, referring to fig. 1-2, the driving part 11 of the present embodiment includes a driving shaft 110, and the driving shaft 110 is connected to the transmission part 12 for transmitting the power provided by the driving part 11 to the transmission part 12.
Further, referring to fig. 1-2, the transmission part 12 of the present embodiment includes a shaft sleeve 120, a bearing seat 121 and an adapter flange 123, wherein the shaft sleeve 120 is disposed on the driving shaft 110 and can rotate along with the driving shaft 110, the bearing seat 121 is disposed on the mounting flange 103, a bearing 122 is disposed between the bearing seat 121 and the shaft sleeve 120, the adapter flange 123 is connected to an outer end of the shaft sleeve 120 and can rotate along with the driving shaft 110 through the shaft sleeve 120, and the wheel 2 is fixedly disposed on the adapter flange 123.
That is, the suspension support plate 100 is symmetrically provided with mounting flanges 103 at both ends. In this embodiment, the mounting flanges 103 are detachably and symmetrically arranged at both ends of the suspension support plate 100 through screws. In other embodiments, the mounting flange 103 may be integrally formed with the suspension support plate 100 or fixedly attached thereto by welding, riveting, or the like.
The bearing seat 121 of the embodiment is detachably arranged on the outer side of the mounting flange 103 through a screw, and the shaft sleeve 120 is sleeved on the driving shaft 110 and is in key connection with the driving shaft 110, so that the bearing seat can rotate along with the driving shaft 110. A bearing 122 is disposed between the bearing housing 121 and the shaft sleeve 120, and the bearing 122 can support the shaft sleeve 120 and the driving shaft 110 such that the shaft sleeve 120 stably rotates following the driving shaft 110.
It should be noted that the present invention is not limited to the type and number of the bearings, as long as the shaft sleeve and the driving shaft can be supported well, so that the shaft sleeve and the driving shaft can rotate stably.
Referring to fig. 1-2, in the present embodiment, there are two bearings 122, the two bearings 122 are respectively disposed at two ends of an interior of the bearing seat 121, bearing caps 125 are disposed at two ends of the bearing seat 121, the bearing caps 125 can limit axial movement of the bearings 122 from an outer side of the bearings 122, a bearing stop ring 124 is disposed on the shaft sleeve 120 between the two bearings 122, the bearing stop ring 124 can limit axial movement of the bearings 122 from an inner side of the bearings 122, and the positions of the bearings 122 can be well determined by using the bearing caps 125 and the bearing stop ring 124 in combination, so as to ensure stable operation of the bearings 122.
In order to be able to reliably follow the rotation of the drive shaft, the wheel 2 is connected in this embodiment to the hub 120 on the drive shaft 110 via a flange 123, as shown in fig. 1-2. One end of the adapter flange 123 is detachably connected to the end of the sleeve 120 by screws, and the wheel 2 is detachably mounted to the other end of the adapter flange 123 by screws. Therefore, reliable transmission between the wheel 2 and the driving shaft 110 can be guaranteed, the wheel 2 can be conveniently and quickly replaced, and efficient assembly and quick assembly are realized.
Specifically, in the present embodiment, the driving portion 11 is a motor, the driving shaft 110 of the driving portion 11 is a motor shaft, the driving portion 11 is symmetrically disposed on the mounting flanges 103 at two ends of the suspension support plate 100, and the driving shaft 110 faces to the outer sides of the two ends of the suspension support plate 100.
In other embodiments, the driving portion may also be other types of drivers, such as a hydraulic motor, a pneumatic motor, etc., and the present invention is not limited to the selection of the driver.
Referring to fig. 1-2, in the present embodiment, the driving portion 11 is keyed to drive the shaft sleeve 120 disposed on the driving shaft 110 to rotate, the adapter flange 123 is fixed to the shaft sleeve 120 by screws, and the wheel 2 is fixed to the adapter flange 123 by screws, so that the driving portion 11 drives the wheel 2 to rotate. The driving portion 11 is fixed to the mounting flange 103 by screws, and the mounting flange 103 is fixed to the suspension support plate 100 by screws. The suspension support plate 100 is rotatably connected to the connecting plate 14 via a rotating shaft 15, and the suspension support plate 100 not only can rotate circumferentially around the rotating shaft 15, but also can transmit force to the connecting plate 14 along the axial direction of the rotating shaft.
Referring to fig. 4, the utility model also provides a motion chassis 00, including bottom plate 01 and mounting bracket 02, bottom plate 01 is equipped with suspension 1 of any preceding embodiment, the mounting bracket 02 is installed on bottom plate 01, wherein, is equipped with battery 03, navigator 04 and controller 05 on the mounting bracket 02, and navigator 04 and controller 05 electricity are connected, are equipped with universal wheel 06 on the bottom plate 01. The suspension 1 is disposed on the base plate 01 longitudinally in the width direction of the base plate 01 (as shown by the X direction in fig. 4) by the mounting plate 16.
Referring to fig. 4, in the present embodiment, a base plate 01 and a mounting bracket 02 form an integral structure of a sports chassis 00, wherein a suspension device 1 is arranged at the bottom of the base plate 01, and the mounting bracket 02 is a frame structure formed by section bars and is fixedly mounted on a base plate 20 through screws. In other embodiments, the mounting bracket may be fixedly connected to the base plate by welding, riveting, integral molding, or the like.
Referring to fig. 4 in combination with fig. 1, the mounting plate 16 of the suspension device 1 of the present embodiment is fixedly mounted on the bottom plate 01 by screws, the bottom plate 01 is provided with mounting openings 010, and the mounting side plates 161 on the two side plates 160 of the mounting plate 16 are fixedly connected with the edges of the mounting openings 010 by screws, so as to facilitate the dismounting of the suspension device 1. In addition, both ends that lie in installation opening 010 on the bottom plate 01 position all are equipped with spacing support 011, can further fix linkage 1 for linkage 1 installs more stably.
In order to ensure that the motion chassis can reliably and stably move, referring to fig. 4, the bottom plate 01 of the present embodiment is further provided with universal wheels 06, the mounting frame 02 is provided with a battery 03, a navigator 04 and a controller 05, and the navigator 04 is electrically connected with the controller 05. The utility model discloses do not restrict navigator 04 and controller 05's specific type, can select according to actual need. In this embodiment, the navigator 04 is a laser radar navigator, and the controller 05 is an electrical control cabinet.
As shown in fig. 4, the suspension device 1 is fixedly mounted on the base plate 01 by screws, and a plurality of universal wheels 06 are further mounted on the base plate 01. The torque generated by the drive unit 11 of the suspension 1 is transmitted to the wheel 2 through the key, the boss 120, and the adapter flange 123. The acting force generated by the wheels 2 and the ground drives the bottom plate 01 and the moving chassis 00 to move through the suspension device 1.
In the working process, if the universal wheel 06 or the wheel 2 on one side of the moving chassis 00 meets an obstacle, the suspension support plate 100 of the suspension device 1 rotates around the rotating shaft 15, so that the wheel 2 and the universal wheel 06 are ensured to be always in contact with the ground, the problems of slipping, deviation and the like caused by the fact that the wheel 2 is not in contact with the ground are avoided, and the moving stability and the moving precision of the moving chassis 00 are ensured.
The utility model also provides a robot, including any one of the above-mentioned embodiments motion chassis.
As above the technical scheme the utility model, the utility model provides a pair of linkage installs shock attenuation portion in hanging the backup pad for shock attenuation portion and suspension portion are integrated together, have not only reduced installation space, compact structure has shock attenuation, the function of moving away to avoid possible earthquakes moreover, stable performance, the maintenance of being convenient for. Meanwhile, the rotating connection between the damping part and the suspension part is realized by using the rotating shaft, so that the suspension device is simple in structure, convenient to install and maintain, and can meet the running requirement of a complex road surface, and the stable and reliable operation of equipment is ensured.
Further, the utility model provides a pair of motion chassis adopts modularized design and assembly method, installs linkage on the bottom plate with the form of module, has that the structure is simple and easy, simple to operate, the automated production of being convenient for.
Further, the utility model provides a pair of robot has above-mentioned linkage's motion chassis through the application, has work flexibility, maintains characteristics such as convenient, and each technical field of being applied to that can be extensive does benefit to the enterprise and realizes automation and mechanized production, reduction in production cost, improvement production efficiency.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A suspension arrangement, comprising:
the suspension part comprises a suspension support plate, two ends of the suspension support plate are respectively provided with a driving part and a transmission part, and the driving part drives wheels to rotate through the transmission part;
the shock absorption part comprises an elastic part and is used for realizing shock absorption and shock absorption functions;
the elastic part is arranged in the middle of the hanging support plate through a connecting plate, and the connecting plate is rotatably connected with the hanging support plate through a rotating shaft.
2. The suspension device of claim 1, wherein: the damping portion further comprises a damping bottom plate and a damping pressing plate, the damping bottom plate is arranged on the connecting plate, the elastic portion is arranged on the damping bottom plate, and the damping pressing plate is arranged at the upper end of the elastic portion.
3. The suspension device of claim 2, wherein: the shock absorption base plate is provided with a guide plate, the guide plate is provided with a guide hole, the shock absorption pressing plate is provided with a guide column, and the guide column stretches into the guide hole and can move in the guide hole under the action of the elastic part.
4. The suspension device of claim 2, wherein: the shock attenuation clamp plate is located on the mounting panel, linkage passes through the mounting panel is connected with mounting platform.
5. The suspension device of claim 4, wherein: the mounting panel is the U type frid that the opening is decurrent, hang the backup pad and be the ascending U type frid of opening, hang backup pad card income or partial card income in the mounting panel.
6. The suspension device of claim 1, wherein: be equipped with gasket, copper pad, axle collar in the pivot, the pivot is followed the outside of two curb plates of hanging the backup pad passes in proper order the gasket hang mounting hole on the curb plate of backup pad copper pad behind the mounting hole on the curb plate of connecting plate with the axle collar is connected.
7. The suspension device of claim 1, wherein: the driving part is symmetrically arranged at two ends of the hanging support plate through mounting flanges.
8. The suspension device of claim 1, wherein: the transmission portion includes:
the shaft sleeve is arranged on a driving shaft of the driving part and can rotate along with the driving shaft;
the bearing block is arranged on the mounting flange, and a bearing is arranged between the bearing block and the shaft sleeve;
the adapter flange, the adapter flange with the outer end of axle sleeve is connected, can pass through the axle sleeve follows the drive shaft rotates, the wheel is fixed to be located on the adapter flange.
9. A sports chassis, comprising:
a floor provided with a suspension arrangement according to any one of claims 1-8;
a mounting frame, which is arranged on the bottom plate, wherein,
the hanging device is characterized in that the hanging device is arranged on the bottom plate in a longitudinal mode through a mounting plate in the width direction of the bottom plate, a battery, a navigator and a controller are arranged on the mounting frame, the navigator is electrically connected with the controller, and universal wheels are arranged on the bottom plate.
10. A robot, characterized by: comprising the motion chassis of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920939229.XU CN210591277U (en) | 2019-06-21 | 2019-06-21 | Linkage, motion chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920939229.XU CN210591277U (en) | 2019-06-21 | 2019-06-21 | Linkage, motion chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210591277U true CN210591277U (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920939229.XU Active CN210591277U (en) | 2019-06-21 | 2019-06-21 | Linkage, motion chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210591277U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254154A (en) * | 2019-06-21 | 2019-09-20 | 上海灵至科技有限公司 | A kind of suspension arrangement, movement chassis and robot |
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2019
- 2019-06-21 CN CN201920939229.XU patent/CN210591277U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254154A (en) * | 2019-06-21 | 2019-09-20 | 上海灵至科技有限公司 | A kind of suspension arrangement, movement chassis and robot |
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