CN213799146U - Outdoor robot chassis with damping system - Google Patents
Outdoor robot chassis with damping system Download PDFInfo
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- CN213799146U CN213799146U CN202022247094.6U CN202022247094U CN213799146U CN 213799146 U CN213799146 U CN 213799146U CN 202022247094 U CN202022247094 U CN 202022247094U CN 213799146 U CN213799146 U CN 213799146U
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- guide rail
- module
- shock absorber
- fixing plate
- fixed
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- 238000013016 damping Methods 0.000 title abstract description 26
- 230000035939 shock Effects 0.000 claims abstract description 80
- 239000006096 absorbing agent Substances 0.000 claims abstract description 56
- 238000010521 absorption reaction Methods 0.000 claims abstract description 9
- 239000000428 dust Substances 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 8
- 230000000116 mitigating effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 230000002411 adverse Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses an outdoor robot chassis with a damping system, which comprises a bottom plate, a driving wheel module, a damping module and a guide module, wherein a guide rail and a slide block in the guide module and a damper in the damping module are vertically arranged in parallel; the motor mounting flange in the driving wheel module and the lower end of the guide rail fixing plate in the guide module are fixed together through screws, the driving module is connected with the lower end of the shock absorber, the bottom plate is connected with the upper end of the shock absorber, and the slider fixing plate in the guide module is fixed at the bottom of the bottom plate through screws. The utility model adopts the combined action of the guide rail, the slide block and the shock absorber, thereby solving the defects of small shock absorption stroke and poor shock resistance of the indoor AGV shock absorption system; compare in the independent suspension chassis, the utility model has the advantages of the shock attenuation is effectual, waterproof dustproof, arrange compactly, space utilization is high, can adapt to outdoor adverse circumstances requirement, simple structure, simple to operate.
Description
Technical Field
The utility model belongs to the technical field of wheeled robot and specifically relates to a take shock mitigation system's outdoor robot chassis.
Background
The robot chassis bears multiple functions of robot positioning, navigation, moving, obstacle avoidance and the like, and is essential important hardware of the robot. The performance of the chassis of the robot is good or bad, and the overall operation function of the robot is directly influenced. For the special robot industry, a wheel type chassis and a crawler type chassis are commonly used; wheeled chassis can be divided into indoor wheeled chassis and outdoor wheeled chassis, and tracked chassis is usually used in outdoor complex environments. For an indoor wheel type chassis, the robot is good in running environment and is not provided with a damping system; for a chassis with a damping system, such as an Automatic Guided Vehicle (AGV), the damping system is relatively simple, the damping is realized by adopting a mode of increasing and decreasing a damping spring on a guide rod provided with a linear bearing, the corresponding damping stroke and the external impact resistance are relatively low, the chassis is generally suitable for indoor flat road surfaces, and the driving wheels and universal wheels can be ensured to be simultaneously grounded. For an outdoor wheel type chassis, as the driving environment of the robot is severe, a damping system is generally required to be arranged; compared with the chassis with the damping system, the chassis without the damping system outdoors has relatively poor motion stability of the robot. For the chassis with the damping system outdoors, the AGV type damping system is adopted, and the requirement of complex road conditions is difficult to meet; in the existing industry, the chassis with the damping system is usually adopted in the outdoor environment, the damping system is complex in structure and high in cost, the occupied space of the chassis is large, the overall size of the robot is large, and the applicability to narrow spaces is poor. Therefore, the chassis with simple structure and good damping effect becomes a problem to be solved urgently for the outdoor inspection robot.
Disclosure of Invention
An object of the utility model is to provide a shock attenuation is effectual, waterproof dustproof, arrange compact, space utilization is high, can adapt to outdoor adverse circumstances requirement, simple structure's outdoor robot chassis.
The purpose of the utility model is realized like this:
the utility model provides a take shock mitigation system's outdoor robot chassis, the characteristic is: including bottom plate and a plurality of identical drive system assembly, every drive system assembly includes: drive wheel module, shock attenuation module, direction module, wherein:
the drive wheel module includes: the guide rail; the motor shaft end connecting flange is fixed in the middle of the wheel hub of the driving wheel. The motion process of the driving wheel module is as follows: the motor drives the motor shaft end connecting flange to move through the flat key, and the motor shaft end connecting flange drives the driving wheel to move;
the shock attenuation module includes: the shock absorber comprises a shock absorber, a shock absorber upper mounting block, a shock absorber lower mounting block, a pin shaft and a locking nut, wherein the upper end of the shock absorber of which the outer wall is sleeved with a spring is fixed on the shock absorber upper mounting block through the pin shaft and the locking nut, and the lower end of the shock absorber is fixed on the shock absorber lower mounting block through the pin shaft and the locking nut;
the guide module includes: the guide rail is fixed in the middle of the guide rail fixing plate, the left end and the right end of the sliding block are clamped in sliding grooves in the left end and the right end of the guide rail in a holding mode, so that the guide rail and the sliding block can slide relatively, the sliding block is fixed on the inner wall of a vertical plate of the L-shaped sliding block fixing plate, and the guide rail and the sliding block are arranged vertically to ensure that the shock absorber moves in the vertical direction; the upper end of the guide rail fixing plate is provided with a wire binding hole for fixing a motor wire, and a vertical plate of the sliding block fixing plate is provided with a wire outlet, so that the motor wire can penetrate from the inside of the guide rail fixing plate to the upper part of the bottom plate conveniently; the lower end of the guide rail fixing plate is provided with a motor hole for the tail end of the motor to extend into, the dust cover is fixed at the lower end of the guide rail fixing plate, and the dust cover and the guide rail fixing plate form a motor cavity together, so that rainwater and dust are prevented from entering the motor, the guide rail and the sliding block to influence the rotation of the motor and the smoothness of the guide rail and the sliding block;
the guide rail, the sliding block and the shock absorber are vertically arranged in parallel; the motor mounting flange in the driving wheel module and the lower end of the guide rail fixing plate in the guide module are fixed together through screws, the upper shock absorber mounting block in the shock absorption module is fixed on the outer side wall of the vertical plate of the slide block mounting plate in the guide module through screws, and the lower shock absorber mounting block in the shock absorption module and the guide rail fixing plate in the guide module are fixed together through screws; and a transverse plate of a slide block fixing plate in the guide module is fixed at the bottom of the bottom plate through screws.
The left side and the right side of the guide rail fixing plate are respectively provided with a wire blocking plate, the guide rail and the sliding block can be wrapped in the wire blocking plates which are oppositely arranged, the motor wire is separated from the guide rail and the sliding block, and the motor wire is prevented from being damaged when the guide rail and the sliding block slide up and down.
The utility model discloses a theory of operation is:
the motor is fixed on a motor mounting flange, an output shaft of the motor is fixed with the driving wheel through a motor shaft end connecting flange, the motor mounting flange is fixed on the guide rail fixing plate, the lower end of the shock absorber is fixed on a shock absorber lower mounting block through a pin shaft and a locking nut, and the shock absorber lower mounting block is fixed on the guide rail fixing plate; the upper end of the shock absorber is fixed on the shock absorber through a pin shaft and a locking nut, the mounting block is fixed on the slider mounting plate on the shock absorber, the guide rail, the slider and the shock absorber are vertically arranged in parallel, and the top end of the slider mounting plate is fixed on the bottom plate. The damping process of the whole chassis is as follows: when meetting jolting uneven road surface (supposing to meet the step), the drive wheel receives upwards impact, strike and transmit on motor mounting flange through the motor, motor mounting flange transmits again on the guide rail fixed plate, the lower extreme of guide rail fixed plate passes through the bumper shock absorber down the lower extreme that the snubber shock absorber was connected to the installation piece, so strike the lower extreme that can transmit the bumper shock absorber, finally alleviate through the spring on the bumper shock absorber and strike, the slider fixed plate of being connected with the bumper shock absorber upper end then can be because of the buffering of spring, thereby reduce and strike, the effect of final reflection is exactly that the robot body on the bottom plate that links to each other with the slider fixed plate can not feel obvious impact. The main functions of the guide rail and the sliding block which are respectively connected with the upper end and the lower end of the shock absorber are as follows: on the one hand, the damper is guaranteed to move smoothly in the vertical direction, and on the other hand, the influence caused by impact in other directions is counteracted through the rigidity of the guide rail and the sliding block.
Therefore, compared with the prior art, the utility model, have following advantage:
(1) the utility model adopts the combined action of the guide rail, the slide block and the shock absorber, and has the characteristics of large shock absorption stroke, good rigidity, shock resistance and the like; the defects of small damping stroke and poor impact resistance of an indoor AGV damping system are overcome;
(2) the guide rail, the sliding block and the shock absorber are vertically arranged in parallel, the axial space of the motor is fully utilized, the whole driving system is compact in arrangement, the space utilization rate is high, the bottom space of the chassis can be fully liberated, and the precondition is provided for the small and light integral structure of the robot;
(3) the chassis system is internally provided with structures such as a wire blocking plate, a wiring hole, a dustproof cover and the like, so that the wiring, the water resistance and the dust resistance are fully considered while the shock resistance is considered, and the chassis system can meet the outdoor severe environment requirement;
(4) the whole chassis with the damping system is simple in structure and convenient to machine and install, and the defect that the independent suspension chassis is complex in structure and troublesome to machine and install is overcome.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention, in fig. 1: 100 is a bottom plate; 200 is a driving wheel module; 300 is a damping module; 400 is a guide module;
fig. 2 is a schematic structural diagram of a driving module, and in fig. 2: 201 is a driving wheel, 202 is a motor shaft end connecting flange, 203 is a motor mounting flange, and 204 is a motor;
fig. 3 is a schematic structural view of a shock absorber, and in fig. 3: 301 is a shock absorber, 302 is a shock absorber upper fixing block, 303 is a shock absorber lower fixing block, 304 is a pin shaft, and 305 is a locking nut;
fig. 4 is a schematic structural view of a guide module, and in fig. 4: 401 is a guide rail fixing plate, 401-1 is a wire blocking plate of a track fixing plate, 401-2 is a wire binding hole of the guide rail fixing plate, 402 is a guide rail, 403 is a sliding block, 404 is a sliding block fixing plate, 404-1 is a wire outlet hole of the sliding block fixing plate, and 405 is a dust cover;
fig. 5 is an assembly view of the driving wheel module, the damping module and the guide module. In fig. 5: 200 is a driving wheel module; 300 is a damping module; 400 is a guidance module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
An outdoor robot chassis with a shock absorbing system comprises a bottom plate 100 and a plurality of identical drive system assemblies, wherein each drive system assembly comprises: drive wheel module 200, shock attenuation module 300, direction module 400, wherein:
the driving wheel module 200 includes: the guide rail guide; the motor shaft end connecting flange 202 is fixed in the middle of the hub of the driving wheel 201. The motion process of the driving wheel module 200 is as follows: the motor 204 drives the motor shaft end connecting flange 202 to move through a flat key, and the motor shaft end connecting flange 202 drives the driving wheel 201 to move;
the shock-absorbing module 300 includes: the shock absorber 301, the shock absorber upper mounting block 302, the shock absorber lower mounting block 303, the pin 304 and the lock nut 305, wherein the upper end of the shock absorber 301, the outer wall of which is sleeved with the spring 306, is fixed on the shock absorber upper mounting block 302 through the pin 304 and the lock nut 305, and the lower end of the shock absorber 301 is fixed on the shock absorber lower mounting block 303 through the pin 304 and the lock nut 305;
the guide module 400 includes: the shock absorber comprises a guide rail 402, a sliding block 403, a guide rail fixing plate 401, a sliding block fixing plate 404 and a dust cover 405, wherein the guide rail 402 is fixed in the middle of the guide rail fixing plate 401, the left end and the right end of the sliding block 403 are clamped in sliding grooves 402-1 at the left end and the right end of the guide rail 402, so that the guide rail 402 and the sliding block 403 can slide relatively, the sliding block 403 is fixed on the inner wall of a vertical plate 404-2 of the L-shaped sliding block fixing plate 404, and the guide rail 402 and the sliding block 403 are vertically arranged to ensure that the shock absorber 301 moves in the vertical direction; a wire binding hole 401-2 for fixing a motor wire is arranged at the upper end of the guide rail fixing plate 401, and a wire outlet 404-1 is arranged on a vertical plate of the sliding block fixing plate 404, so that the motor wire can penetrate through the guide rail fixing plate 401 to the upper part of the bottom plate 100 conveniently; a motor hole 401-3 for allowing the tail end of the motor 204 to extend into is formed in the lower end of the guide rail fixing plate 401, a dust cover 405 is fixed to the lower end of the guide rail fixing plate 401, and the dust cover 405 and the guide rail fixing plate 401 form a motor cavity together, so that rainwater and dust are prevented from entering the motor 204, the guide rail 402 and the slider 403, and the rotation of the motor 204 and the smoothness of the guide rail 402 and the slider 403 are influenced;
the guide rail 402, the slider 403 and the damper 301 are vertically arranged in parallel; the motor mounting flange 203 in the driving wheel module 200 and the lower end of the guide rail fixing plate 401 in the guide module 400 are fixed together by screws, the upper shock absorber mounting block 302 in the shock absorption module 300 is fixed on the outer side wall of the vertical plate 404-2 of the slider mounting plate 404 in the guide module 400 by screws, and the lower shock absorber mounting block 303 in the shock absorption module 300 and the guide rail fixing plate 401 in the guide module 400 are fixed together by screws; the transverse plate 404-3 of the slider fixing plate 404 in the guide module 400 is fixed to the bottom of the base plate 100 by screws.
The left side and the right side of the guide rail fixing plate 401 are respectively provided with a wire blocking plate 401-1, the guide rail 402 and the sliding block 403 can be wrapped in the wire blocking plates 401-1 which are oppositely arranged, and the motor wire is separated from the guide rail 402 and the sliding block 403, so that the motor wire is prevented from being damaged when the guide rail 402 and the sliding block 403 slide up and down.
The above-mentioned embodiments are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.
Claims (2)
1. The utility model provides a take shock mitigation system's outdoor robot chassis which characterized in that: including bottom plate and a plurality of identical drive system assembly, every drive system assembly includes: drive wheel module, shock attenuation module, direction module, wherein:
the drive wheel module includes: the guide rail; the motor shaft end connecting flange is fixed in the middle of a hub of the driving wheel;
the shock attenuation module includes: the shock absorber comprises a shock absorber, a shock absorber upper mounting block, a shock absorber lower mounting block, a pin shaft and a locking nut, wherein the upper end of the shock absorber of which the outer wall is sleeved with a spring is fixed on the shock absorber upper mounting block through the pin shaft and the locking nut, and the lower end of the shock absorber is fixed on the shock absorber lower mounting block through the pin shaft and the locking nut;
the guide module includes: the guide rail is fixed in the middle of the guide rail fixing plate, the left end and the right end of the sliding block are clamped in sliding grooves in the left end and the right end of the guide rail in a holding mode, so that the guide rail and the sliding block can slide relatively, the sliding block is fixed on the inner wall of a vertical plate of the L-shaped sliding block fixing plate, and the guide rail and the sliding block are vertically arranged; the upper end of the guide rail fixing plate is provided with a wire binding hole which plays a role of fixing a motor wire, and a vertical plate of the sliding block fixing plate is provided with a wire outlet; the lower end of the guide rail fixing plate is provided with a motor hole for the tail end of the motor to extend into, the dust cover is fixed at the lower end of the guide rail fixing plate, and the dust cover and the guide rail fixing plate form a motor cavity together;
the guide rail, the sliding block and the shock absorber are vertically arranged in parallel; the motor mounting flange in the driving wheel module and the lower end of the guide rail fixing plate in the guide module are fixed together through screws, the upper shock absorber mounting block in the shock absorption module is fixed on the outer side wall of the vertical plate of the slide block mounting plate in the guide module through screws, and the lower shock absorber mounting block in the shock absorption module and the guide rail fixing plate in the guide module are fixed together through screws; and a transverse plate of a slide block fixing plate in the guide module is fixed at the bottom of the bottom plate through screws.
2. The outdoor robot chassis with the shock absorbing system of claim 1, wherein: the left side and the right side of the guide rail fixing plate are respectively provided with a wire blocking plate, and the guide rail and the sliding block can be wrapped in the wire blocking plates which are oppositely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022247094.6U CN213799146U (en) | 2020-10-12 | 2020-10-12 | Outdoor robot chassis with damping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022247094.6U CN213799146U (en) | 2020-10-12 | 2020-10-12 | Outdoor robot chassis with damping system |
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| Publication Number | Publication Date |
|---|---|
| CN213799146U true CN213799146U (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022247094.6U Active CN213799146U (en) | 2020-10-12 | 2020-10-12 | Outdoor robot chassis with damping system |
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| Country | Link |
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| CN (1) | CN213799146U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313060A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | AGV shielding shock attenuation hangs |
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2020
- 2020-10-12 CN CN202022247094.6U patent/CN213799146U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313060A (en) * | 2021-11-22 | 2022-04-12 | 北京特种机械研究所 | AGV shielding shock attenuation hangs |
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