CN218858085U

CN218858085U - Mecanum wheel chassis with shock attenuation suspension function

Info

Publication number: CN218858085U
Application number: CN202222385913.2U
Authority: CN
Inventors: 朱海龙; 王灏炜; 杨维; 张志泽
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-04-14
Anticipated expiration: 2032-12-30

Abstract

The invention relates to a Mecanum wheel chassis with a shock absorption suspension function, belonging to the technical field of chassis frames; the Mecanum wheel chassis with the shock absorption suspension function comprises a vehicle body bottom plate, suspension assemblies, a motor and Mecanum wheels, wherein the suspension assemblies are mounted at four corners of the vehicle body bottom plate, and the Mecanum wheels connected with the motor are mounted on the suspension assemblies; the suspension assembly is arranged between the motor and the bottom plate, so that when the road condition with a convex ground exists, the suspension assembly is compressed to ensure the contact between the Mecanum wheels and the ground and reduce the vibration amplitude of the bottom plate of the vehicle body; when the road condition that the ground is sunken is met, the suspension assembly enables the Mecanum wheels to adapt to the sunken ground, and the contact between the Mecanum wheels and the ground is guaranteed, so that the condition that a robot cannot normally run due to the fact that component force in a certain direction is suddenly reduced or disappears caused by the fact that a certain wheel is tilted and does not contact with the ground is reduced, and the effect of buffering and shock absorption is achieved.

Description

Mecanum wheel chassis with shock attenuation suspension function

Technical Field

The utility model relates to a mecanum wheel chassis with shock attenuation suspension function belongs to chassis frame technical field.

Background

With the development and popularization of robot technology, mecanum wheel robots are applied to various environments and terrains, especially to some rugged and rugged terrains. The mecanum wheel chassis used at present are mostly hard-connected and cannot adapt to the change of terrain, and the motor can be idle in the condition, however, due to the characteristics of the mecanum wheel, under the condition of lacking one wheel to rub the ground, the robot cannot run according to a set route, and even cannot move at all. Therefore, it is urgent to design a chassis with independent suspension shock absorption for a mecanum wheel robot.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems in the background art, the suspension assembly is arranged between the motor and the bottom plate, so when the road condition with a raised ground exists, the suspension assembly is compressed to ensure the contact between the Mecanum wheel and the ground and slow down the vibration amplitude of the bottom plate of the vehicle body; when the road condition that the ground is sunken is met, the suspension assembly enables the Mecanum wheels to adapt to the sunken ground, and the contact between the Mecanum wheels and the ground is guaranteed, so that the condition that a robot cannot normally run due to the fact that component force in a certain direction is suddenly reduced or disappears caused by the fact that a certain wheel is tilted and does not contact with the ground is reduced, and the effect of buffering and shock absorption is achieved.

In order to overcome the problem that exists among the background art, for solving above-mentioned problem, the utility model discloses a following technical scheme realizes:

the Mecanum wheel chassis with the damping suspension function comprises a vehicle body bottom plate, suspension assemblies, a motor and Mecanum wheels, wherein the suspension assemblies are mounted at four corners of the vehicle body bottom plate, and the Mecanum wheels connected with the motor are mounted on the suspension assemblies.

Preferably, the suspension assembly comprises an upper support, a lower support, a motor mounting panel, an upper connecting rod, a lower connecting rod and a buffer spring, the upper support and the lower support are respectively mounted on the upper side and the lower side of the bottom plate of the vehicle body, an upper supporting rod is fixedly mounted on the upper support, the upper connecting rod and the lower connecting rod are symmetrically hinged to the lower support, the end portions of the upper connecting rod and the lower connecting rod are hinged to the motor mounting panel, mecanum wheels connected with motors are mounted on the motor mounting panel, the lower supporting rod is mounted between the upper connecting rods corresponding to each other, and the buffer spring is mounted between the upper supporting rod and the lower supporting rod.

The beneficial effects of the utility model are that:

the utility model installs the suspension assembly between the motor and the bottom plate, therefore, when meeting the road condition with a convex ground, the suspension assembly is compressed to ensure the contact between the Mecanum wheel and the ground and slow down the vibration amplitude of the bottom plate of the vehicle body; when the road condition that the ground is sunken is met, the suspension assembly enables the Mecanum wheels to adapt to the sunken ground, and the contact between the Mecanum wheels and the ground is guaranteed, so that the condition that a robot cannot normally run due to the fact that component force in a certain direction is suddenly reduced or disappears caused by the fact that a certain wheel is tilted and does not contact with the ground is reduced, and the effect of buffering and shock absorption is achieved.

Drawings

FIG. 1 is a schematic view of a Mecanum wheel chassis structure with shock absorbing suspension capability;

FIG. 2 is a schematic view of a partial structure of the present invention;

FIG. 3 is an enlarged view of the partial structure of the present invention;

fig. 4 is a schematic structural view of the buffer spring of the present invention.

The reference numbers in the figures are: the suspension device comprises a vehicle body bottom plate 1, a suspension assembly 2, a motor 3, a mecanum wheel 4, an upper right support 5, a lower left support 6, a lower right support 7, an upper right connecting rod 8, a lower right connecting rod 9, a motor mounting panel 10, an upper left support 11, an upper left supporting rod 12, a buffer spring 13, a lower left connecting rod 14, a lower left supporting rod 15 and an upper left connecting rod 16.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the following will make a detailed description of a preferred embodiment of the present invention with reference to the accompanying drawings to facilitate understanding of the skilled person.

As shown in fig. 1-3, the mecanum wheel chassis with a shock absorption suspension function includes a vehicle body bottom plate 1, a suspension assembly 2, a motor 3, and mecanum wheels 4, the suspension assembly 2 is installed at four corners of the vehicle body bottom plate 1, and the mecanum wheels 4 connected with the motor 3 are installed on the suspension assembly 2.

Suspension assembly 2 includes upper bracket, lower carriage, motor installation panel, upper connecting rod, lower connecting rod, buffer spring, upper bracket and lower carriage are installed respectively to automobile body bottom plate 1 upper and lower both sides, and fixed mounting has upper strut 12 on the upper bracket, and the symmetry articulates on the lower carriage has upper connecting rod and lower connecting rod, and upper connecting rod and lower connecting rod tip all articulate motor installation panel 10, install mecanum wheel 4 of connecting motor 3 on the motor installation panel 10, install lower support rod 15 between the upper connecting rod that corresponds each other, install buffer spring 13 between upper strut 12 and the lower support rod 15.

In this embodiment, the suspension assembly 2 is composed of a left upper bracket 11, a right upper bracket 5, a left lower bracket 6, a right lower bracket 7, a left upper link 16, a right upper link 8, a left lower link 14, a right lower link 9, a buffer spring 13, a motor mounting panel 10, an upper support rod 12, and a lower support rod 15. The left upper bracket 11 and the right upper bracket 5 are both connected with the vehicle body bottom plate 1 and are arranged on the upper side of the vehicle body bottom plate 1; the left lower bracket 6 and the right lower bracket 7 are connected with the vehicle body bottom plate 1 and are arranged on the lower side of the vehicle body bottom plate 1; the left upper connecting rod 16 and the left lower connecting rod 14 are arranged on the left lower bracket 6, and the mounting positions can rotate; the right upper connecting rod 8 and the right lower connecting rod 9 are arranged on the right lower bracket 7, and the mounting positions can rotate; the motor mounting panel 10 is connected with the left upper connecting rod 16, the right upper connecting rod 8, the left lower connecting rod 14 and the right lower connecting rod 9, and the mounting position can rotate; the motor 3 is arranged on the motor mounting panel 10; an upper support rod 12 is arranged between the left upper bracket 11 and the right upper bracket 5, and a lower support rod 15 is arranged between the left upper connecting rod 16 and the right upper connecting rod 8; the buffer spring 13 is constrained to the upper support rod 12 and the lower support rod 15, and is mounted to rotate around the upper support rod 12 and the lower support rod 15, respectively.

When the mechanism meets ground protrusions, the buffer spring 13 can be compressed by moving upwards to different degrees according to different ground protrusions, the buffer spring 13 is compressed and shortened, and when the buffer spring 13 is compressed to a certain degree, the compression is stopped, so that the Mecanum wheel 4 is ensured to be in contact with the ground; due to the weight of the robot, the shock absorption is not the longest state but has a tendency of extension, when the ground is sunken, the buffer spring 13 extends to enable the Mecanum wheel 4 to adapt to the sunken ground, so that the contact between the Mecanum wheel and the ground is ensured, the condition that the robot cannot normally run due to the fact that the component force in a certain direction is suddenly reduced or disappears because a certain wheel tilts and is not in contact with the ground is reduced, and the shock absorption effect is achieved.

In this embodiment, the buffer spring includes an upper support and a lower support, which are respectively provided with hinges, and the upper support and the lower support are respectively mounted on the upper support rod 12 and the lower support rod 15 through the hinges. In other embodiments, the buffer spring may also be designed to be adjustable, as shown in fig. 4, the first bolt 18 and the second bolt 19 are integrally used as main bodies, the first bolt 18 and the second bolt 19 are provided with limiting heads 17 for limiting the buffer spring, one side of the buffer spring is limited, the first bolt 18 is provided with a bolt hole for connecting the second bolt 19 along the bolt end face, the second bolt 19 is screwed to rotate, the distance between the two limiting heads can be adjusted, but the buffer spring always generates a restoring force, so that the restoring force is adjustable, and the buffer spring is suitable for various road conditions.

Except the above embodiment, the upper right bracket 5 is evenly distributed with mounting holes at different heights along the vertical direction, and the upper support rod 12 can change the relative distance between the two ends of the buffer spring through being mounted at different mounting hole positions, so as to change the restoring force of the buffer spring, so that the structure has higher adaptability, and further runs on different complex road surfaces.

The utility model discloses a mount the suspension assembly between motor and bottom plate, therefore when meeting the protruding road conditions in ground, buffer spring is compressed in order to guarantee the contact of mecanum wheel and ground, and slow down the vibration range of automobile body bottom plate; when the robot meets the road condition that the ground is sunken, the buffer spring is not in the longest state, so that the shock absorber extends to enable the Mecanum wheel to adapt to the sunken ground, the contact between the Mecanum wheel and the ground is ensured, the condition that the robot cannot normally run due to the fact that component force in a certain direction is suddenly reduced or disappears caused by the fact that a certain wheel of the Mecanum wheel chassis is tilted and does not contact with the ground is reduced, and the buffer shock absorption effect is achieved.

Finally, the above preferred embodiments are only intended to illustrate the technical solution of the invention and not to limit it, while the invention has been described in detail by the above preferred embodiments, it should be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention defined by the claims.

Claims

1. The utility model provides a mecanum wheel chassis with shock attenuation suspension function which characterized in that: the Mecanum wheel chassis with the damping suspension function comprises a vehicle body bottom plate, suspension assemblies, a motor and Mecanum wheels, wherein the suspension assemblies are mounted at four corners of the vehicle body bottom plate, and the Mecanum wheels connected with the motor are mounted on the suspension assemblies.

2. A mecanum wheel chassis with shock absorbing suspension functionality as claimed in claim 1 wherein: the suspension assembly comprises an upper support, a lower support, a motor mounting panel, an upper connecting rod, a lower connecting rod and a buffer spring, wherein the upper support and the lower support are respectively mounted on the upper side and the lower side of a bottom plate of the vehicle body, an upper supporting rod is fixedly mounted on the upper support, the lower support is symmetrically hinged with the upper connecting rod and the lower connecting rod, the end parts of the upper connecting rod and the lower connecting rod are hinged with the motor mounting panel, mecanum wheels connected with motors are mounted on the motor mounting panel, the lower supporting rod is mounted between the upper connecting rods corresponding to each other, and the buffer spring is mounted between the upper supporting rod and the lower supporting rod.