CN212949961U - High mobile robot wheel body structure of stability and have its mobile robot - Google Patents
High mobile robot wheel body structure of stability and have its mobile robot Download PDFInfo
- Publication number
- CN212949961U CN212949961U CN202021396986.6U CN202021396986U CN212949961U CN 212949961 U CN212949961 U CN 212949961U CN 202021396986 U CN202021396986 U CN 202021396986U CN 212949961 U CN212949961 U CN 212949961U
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- wheel body
- supporting rod
- wheel
- body structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of the robot, the utility model provides a mobile robot wheel body structure that stability is high and have its mobile robot, mobile robot wheel body structure include the fixing base, be first bracing piece and second bracing piece, shaft and the wheel body that the y type was arranged. The utility model provides a mobile robot wheel body structure that stability is high forms y type structure through the first bracing piece of rigidity and elastic second bracing piece in order to connect wheel body and mobile robot main part, and the vibration that the wheel body transmission comes can fully be absorbed to y type structure to have the vibrations absorption function of vertical direction and horizontal direction concurrently, simple structure is durable, can improve mobile robot's the stability of traveling effectively.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to mobile robot wheel body structure that stability is high. The utility model discloses still relate to a mobile robot.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
Along with artificial intelligence technique's improvement, more and more mobile robot appears in people's life, however, present mobile robot's wheel body structure adopts the structure that the suspension support combines the wheel body mostly, and the shock attenuation effect is relatively poor, and when mobile robot walks on unevenness's road surface, can not fully absorb vibrations and make mobile robot take place to rock, causes unfavorable influence to mobile robot walking's stability, can make mobile robot take place to empty even.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problem of the poor walking stability of mobile robot among the prior art at least, this purpose is realized through following technical scheme:
the utility model discloses a first aspect provides a mobile robot wheel body structure that stability is high, mobile robot wheel body structure includes:
the fixing seat comprises a fixing seat body, a first fixing frame and a second fixing frame;
the first end of the first supporting rod is hinged with the first fixing frame, the second end of the first supporting rod is provided with a wheel axle hole, and the middle part of the first supporting rod is provided with a connecting hole;
the second supporting rod is an elastic rod, the first end of the second supporting rod is hinged with the second fixing frame, the second end of the second supporting rod is pivoted with the connecting hole, and the second supporting rod and the first supporting rod form a y-shaped structure;
an axle rotatably fitted in the axle hole of the first support rod;
the wheel body is fixedly connected with the wheel shaft.
The utility model provides a mobile robot wheel body structure that stability is high forms y type structure through the first bracing piece of rigidity and elastic second bracing piece in order to connect wheel body and mobile robot main part, and the vibration that the wheel body transmission comes can fully be absorbed to y type structure to have the vibrations absorption function of vertical direction and horizontal direction concurrently, simple structure is durable, can improve mobile robot's the stability of traveling effectively.
In addition, according to the utility model discloses a mobile robot wheel body structure that stability is high still can have following additional technical characterstic:
in some embodiments of the present invention, the first end of the second supporting rod is a first connecting end, and the first connecting end is hinged to the second fixing frame of the fixing base;
the second end of the second supporting rod is a second connecting end which is hinged with the connecting hole of the first supporting rod;
the second support bar further includes: the first end of the hydraulic rod is connected with the first connecting end, and the second end of the hydraulic rod is connected with the second connecting end;
the spring is sleeved on the hydraulic rod, the first end of the spring is abutted against the first connecting end, and the second end of the spring is abutted against the second connecting end.
In some embodiments of the present invention, the second fixing frame of the fixing base includes two second vertical plates vertically connected to the fixing base body, the second vertical plates are provided with second connecting holes, and a space for assembling the first connecting end is formed between the two second vertical plates.
In some embodiments of the present invention, the first connecting end includes a first connecting plate extending along an axial direction of the second support rod, the second connecting end includes two second connecting plates extending along the axial direction of the second support rod, and a space for assembling the first support rod is formed between the two second connecting plates.
In some embodiments of the present invention, the first support rod further comprises a concave pit disposed at the connecting hole.
In some embodiments of the present invention, the wheel body structure of the mobile robot further comprises a bearing disposed between the wheel shaft and the wheel shaft hole.
In some embodiments of the present invention, the fixing base body is provided with at least one bolt hole.
In some embodiments of the present invention, the wheel body structure of the mobile robot includes two wheel bodies, the two wheel bodies are respectively fixedly connected to the first end and the second end of the wheel shaft, and the axial middle portion of the wheel shaft is rotatably assembled in the wheel shaft hole of the first supporting rod.
In some embodiments of the present invention, the wheel body includes a wear layer, a fixing layer, a damping layer and a connecting layer, which are sequentially arranged from outside to inside along the radial direction of the wheel body.
A second aspect of the present invention provides a mobile robot, the mobile robot including:
a robot main body;
mobile robot wheel body structure, mobile robot wheel body structrual installation be in the bottom of robot main part, mobile robot wheel body structure is according to the utility model discloses the high mobile robot wheel body structure of stability that the first aspect provided.
The utility model discloses the mobile robot that the second aspect provided have with the utility model discloses the high mobile robot wheel body structure of stability that the first aspect provided is the same beneficial effect, no longer gives unnecessary details here.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
fig. 1 schematically shows a structural schematic diagram of a wheel body structure of a mobile robot with high stability according to an embodiment of the present invention;
fig. 2 schematically shows a structural schematic diagram of a wheel body structure of a mobile robot with high stability according to an embodiment of the present invention;
the reference symbols in the drawings denote the following:
10: fixing base body, 11: first mount, 12: second mount, 121: second vertical plate, 12: bolt holes;
20: first support rod, 21: first end of first support bar, 22: second end of first support rod, 23: a pit;
30: second support bar, 31: first connection terminal, 311: first connection plate, 32: second connection end, 321: second connecting plate, 33: spring, 34: a hydraulic lever;
40: wheel shaft, 41: a bearing;
50: wheel body, 51: wear-resistant layer, 52: anchor layer, 53: damper layer, 54: a connecting layer;
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "second" and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, an element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "inner", "side", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to fig. 2, a first aspect of the present invention provides a mobile robot wheel body structure with high stability, where the mobile robot wheel body structure includes:
the fixing seat comprises a fixing seat body 10, a first fixing frame 11 and a second fixing frame 12;
the first end 21 of the first supporting rod is hinged with the first fixing frame 11, the second end 22 of the first supporting rod is provided with a wheel shaft 40 hole, and the middle part of the first supporting rod 20 is provided with a connecting hole;
the second supporting rod 30, the second supporting rod 30 is an elastic rod, a first end of the second supporting rod 30 is hinged with the second fixing frame 12, a second end of the second supporting rod 30 is pivoted with the connecting hole, and the second supporting rod 30 and the first supporting rod 20 form a y-shaped structure;
an axle 40, the axle 40 being rotatably fitted in the axle hole of the first support rod 20;
The utility model provides a mobile robot wheel body structure that stability is high forms y type structure through the first bracing piece 20 of rigidity and elastic second bracing piece 30 and in order to connect wheel body 50 and mobile robot main part, and the vibration that wheel body 50 transmission came can fully be absorbed to y type structure to have vertical direction and horizontal direction's vibrations absorption function concurrently, simple structure is durable, can improve mobile robot's stability of traveling effectively.
In some embodiments of the present invention, the first end of the second supporting rod 30 is a first connecting end 31, and the first connecting end 31 is hinged to the second fixing frame 12 of the fixing base;
the second end of the second support rod 30 is a second connecting end 32, and the second connecting end 32 is hinged with the connecting hole of the first support rod 20;
the second support rod 30 further comprises a hydraulic rod 34, a first end of the hydraulic rod 34 is connected with the first connection end 31, and a second end of the hydraulic rod 34 is connected with the second connection end 32;
and the spring 33 is sleeved on the hydraulic rod 34, a first end of the spring 33 is abutted with the first connecting end 31, and a second end of the spring 33 is abutted with the second connecting end 32.
Through setting up spring 33 and absorbing vibrations, hydraulic stem 34 is as supporting, and when the wheel body was through unsmooth road surface, the wheel body atress drove first bracing piece 20 upward movement, and then compresses second bracing piece 30, and the spring 33 of second bracing piece 30 absorbs vibrations, guarantees mobile robot's driving stability.
In some embodiments of the present invention, the second fixing frame 12 of the fixing base includes two second vertical plates 121 connected to the fixing base body 10 perpendicularly, the second vertical plates 121 are provided with second connecting holes, a space for assembling the first connecting end 31 is formed between the two second vertical plates 121, and the reliability of connection is improved by setting the two vertical plates to clamp the first connecting end 31.
In some embodiments of the present invention, the first connection end 31 includes the first connection plate 311 extending along the axial direction of the second support rod 30, the second connection end 32 includes two second connection plates 321 extending along the axial direction of the second support rod 30, and a space for assembling the first support rod 20 is formed between the two second connection plates 321, so that the reliability of connection is improved by providing the two second connection plates 321 to clamp the first support rod 20.
In some embodiments of the present invention, the first support rod 20 further comprises a concave pit 23 disposed at the connecting hole. The reliability of the assembly is improved by providing the recesses 23 at both ends of the coupling hole.
In some embodiments of the present invention, the wheel body structure of the mobile robot further includes a bearing 41 disposed between the axle 40 and the axle 40 hole. The friction between the axle 40 and the bore of the axle 40 is reduced by the provision of the bearing 41.
In some embodiments of the present invention, at least one bolt hole 12 is formed on the fixing base body 10. During assembly, bolts penetrate through the bolt holes 12 to assemble the wheel body structure of the mobile robot with the robot body.
In some embodiments of the present invention, the wheel body structure of the mobile robot includes two wheel bodies 50, the two wheel bodies 50 are respectively fixedly connected to the first end and the second end of the wheel shaft 40, and the axial middle portion of the wheel shaft 40 is rotatably assembled in the wheel shaft hole of the first supporting rod 20. Stability of mobile robot traveling is improved by providing two wheels 50
In some embodiments of the present invention, the wheel body 50 includes a wear-resistant layer 51, a fixed layer 52, a shock-absorbing layer 53 and a connecting layer 54 sequentially arranged from outside to inside along the radial direction of the wheel body 50. Wearing layer 51 adopts wear-resisting rubber material, and fixed layer 52 adopts plastics or metal material, and buffer layer 53 adopts elastic material, and articulamentum 54 adopts metal material, can bond or fix through the joint with the glue between each layer. The wheel body 50 with the multilayer structure has good wear resistance and stable operation.
The second aspect of the present invention provides a mobile robot, including:
a robot main body;
mobile robot wheel body structure, mobile robot wheel body structural mounting are in the bottom of robot main part, and mobile robot wheel body structure is according to the utility model discloses the high mobile robot wheel body structure of stability that the first aspect provided.
The utility model discloses the mobile robot that the second aspect provided have with the utility model discloses the high mobile robot wheel body structure of stability that the first aspect provided is the same beneficial effect, no longer gives unnecessary details here.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a high mobile robot wheel body structure of stability which characterized in that, mobile robot wheel body structure includes:
the fixing seat comprises a fixing seat body, a first fixing frame and a second fixing frame;
the first end of the first supporting rod is hinged with the first fixing frame, the second end of the first supporting rod is provided with a wheel axle hole, and the middle part of the first supporting rod is provided with a connecting hole;
the second supporting rod is an elastic rod, the first end of the second supporting rod is hinged with the second fixing frame, the second end of the second supporting rod is pivoted with the connecting hole, and the second supporting rod and the first supporting rod form a y-shaped structure;
an axle rotatably fitted in the axle hole of the first support rod;
the wheel body is fixedly connected with the wheel shaft.
2. The wheel body structure of the mobile robot with high stability according to claim 1, wherein the first end of the second support rod is a first connecting end, and the first connecting end is hinged to the second fixing frame of the fixing seat; the second end of the second supporting rod is a second connecting end which is hinged with the connecting hole of the first supporting rod;
the second support bar further includes: the first end of the hydraulic rod is connected with the first connecting end, and the second end of the hydraulic rod is connected with the second connecting end;
the spring is sleeved on the hydraulic rod, the first end of the spring is abutted against the first connecting end, and the second end of the spring is abutted against the second connecting end.
3. The high-stability wheel body structure of the mobile robot according to claim 2, wherein the second fixing frame of the fixing seat comprises two second vertical plates vertically connected with the fixing seat body, the second vertical plates are provided with second connecting holes, and a space for assembling the first connecting end is formed between the two second vertical plates.
4. The wheel structure of a mobile robot with high stability according to claim 3, wherein the first connecting end comprises a first connecting plate extending along the axial direction of the second supporting rod, the second connecting end comprises two second connecting plates extending along the axial direction of the second supporting rod, and a space for assembling the first supporting rod is formed between the two second connecting plates.
5. The wheel structure of a mobile robot with high stability according to claim 1, wherein the first supporting rod further comprises a concave pit arranged at the connecting hole.
6. The high-stability mobile robot wheel body structure according to claim 1, further comprising a bearing disposed between the wheel shaft and the wheel shaft hole.
7. The wheel body structure of the mobile robot with high stability according to any one of claims 1 to 6, wherein the fixing seat body is provided with at least one bolt hole.
8. The high-stability mobile robot wheel body structure according to any one of claims 1 to 6, wherein the mobile robot wheel body structure comprises two wheel bodies, the two wheel bodies are fixedly connected with a first end and a second end of the wheel shaft respectively, and an axial middle part of the wheel shaft is rotatably fitted in the wheel shaft hole of the first supporting rod.
9. The high-stability mobile robot wheel body structure according to any one of claims 1 to 6, wherein the wheel body comprises a wear-resistant layer, a fixed layer, a shock-absorbing layer and a connecting layer which are sequentially arranged from outside to inside along a radial direction of the wheel body.
10. A mobile robot, characterized in that the mobile robot comprises:
a robot main body;
the wheel body structure of the mobile robot, which is installed at the bottom of the robot main body, is the wheel body structure of the mobile robot with high stability according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021396986.6U CN212949961U (en) | 2020-07-15 | 2020-07-15 | High mobile robot wheel body structure of stability and have its mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021396986.6U CN212949961U (en) | 2020-07-15 | 2020-07-15 | High mobile robot wheel body structure of stability and have its mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212949961U true CN212949961U (en) | 2021-04-13 |
Family
ID=75393016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021396986.6U Active CN212949961U (en) | 2020-07-15 | 2020-07-15 | High mobile robot wheel body structure of stability and have its mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212949961U (en) |
-
2020
- 2020-07-15 CN CN202021396986.6U patent/CN212949961U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20110266727A1 (en) | Double path mount for cab suspension with tilting function | |
| US5997109A (en) | Undercarriage assembly for a belted work machine | |
| US8066435B2 (en) | Strut sliding bearing | |
| US4613152A (en) | Composite transverse beam and spring system for an automobile | |
| KR101479594B1 (en) | Insulator of suspension | |
| CN201220584Y (en) | Non-through shaft type balance suspension system | |
| CN212949961U (en) | High mobile robot wheel body structure of stability and have its mobile robot | |
| KR20100006075A (en) | Shock absorber mount bracket for vehicle | |
| CN204726173U (en) | A kind of caravan independent suspension | |
| CN212579778U (en) | Reinforcing guard plate for automobile chassis component | |
| CN114655321A (en) | Suspension system and vehicle | |
| CN210337485U (en) | Composite air suspension for spool bridge | |
| RU123731U1 (en) | TOP BRACKET OF THE FRONT SUSPENSION OF THE CAR | |
| CN2791117Y (en) | Elastic vibration-absorbing running system for soil shifter | |
| KR100820484B1 (en) | Mounting structure of shock absorber for vehicle | |
| KR20000013586U (en) | Front wheel suspension | |
| CN111661183B (en) | Triangular crawler wheel and engineering vehicle | |
| CN209381719U (en) | Car high-performance safety and shock-absorption device installation top plate | |
| CN218430748U (en) | Swing arm type independent suspension steering axle | |
| CN218084979U (en) | Upper control arm structure and suspension system | |
| CN220594570U (en) | Lower swing arm assembly for beach vehicle | |
| CN219667865U (en) | Axle body structure of trailer axle | |
| RU90381U1 (en) | TOP BRACKET OF THE FRONT SUSPENSION OF THE CAR | |
| CN219029007U (en) | Mecanum wheel for mobile equipment | |
| CN212827859U (en) | Widened pick-up engine mounting beam |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231220 Address after: 100600 District C, Qiankun Building, Chaoyang District, Beijing Patentee after: Beijing Weimo Zhuoran Technology Co.,Ltd. Address before: Room 1-6, building 1, yard 3, Binhui North 1st Street, Tongzhou District, Beijing Patentee before: Teslan Technology Group Co.,Ltd. |