WO2019001100A1 - Mobile platform - Google Patents

Mobile platform Download PDF

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Publication number
WO2019001100A1
WO2019001100A1 PCT/CN2018/083456 CN2018083456W WO2019001100A1 WO 2019001100 A1 WO2019001100 A1 WO 2019001100A1 CN 2018083456 W CN2018083456 W CN 2018083456W WO 2019001100 A1 WO2019001100 A1 WO 2019001100A1
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WO
WIPO (PCT)
Prior art keywords
axle
swing arm
mobile platform
frame
suspension
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PCT/CN2018/083456
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French (fr)
Chinese (zh)
Inventor
赵凯
张莹
张忆非
李太亮
孙俊民
李鹏峰
于占泉
关红涛
Original Assignee
京东方科技集团股份有限公司
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Priority to CN201720762033.9U priority Critical patent/CN206870775U/en
Priority to CN201720762033.9 priority
Application filed by 京东方科技集团股份有限公司 filed Critical 京东方科技集团股份有限公司
Publication of WO2019001100A1 publication Critical patent/WO2019001100A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/02Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G9/00Resilient suspensions of a rigid axle or axle housing for two or more wheels
    • B60G9/02Resilient suspensions of a rigid axle or axle housing for two or more wheels the axle or housing being pivotally mounted on the vehicle, e.g. the pivotal axis being parallel to the longitudinal axis of the vehicle

Abstract

A mobile platform, comprising a vehicle frame; and at least one suspension. The suspension is installed beneath the mobile platform and comprises a shock absorber and a swing arm for use in axle installation. The swing arm is hingedly connected to the vehicle frame at a first location being an end region of a first side of the axle. The swing arm is further connected to the vehicle frame at a second location being a second side of the axle partially passing through the shock absorber such that when the swing arm swings the shock absorber can be compressed or extended. Adoption of the mobile platform of the present disclosure can reduce the risk of platform toppling during tight turns and can increase stability of the mobile platform while moving.

Description

移动平台mobile platform
相关申请Related application
本申请要求保护在2017年6月27日提交的申请号为201720762033.9的中国专利申请的优先权,该申请的全部内容以引用的方式结合到本文中。The present application claims the priority of the Chinese Patent Application No. PCT Application No.
技术领域Technical field
本公开涉及自动导引运输车领域,特别是一种移动平台。The present disclosure relates to the field of automated guided transport vehicles, and in particular to a mobile platform.
背景技术Background technique
随着移动机器人技术的不断发展,诸如自动导引运输车(AGV)的各种移动平台在制造业自动化领域和自动化仓储物流系统中得到了广泛的应用。其中,作为移动平台的示例,全方位移动AGV由于能够实现前后左右自旋转3个自由度运动及其复合运动而受到越来越广泛的关注。与传统AGV相比,全方位移动AGV可以沿任意方向平动,任意半径旋转,因此非常适合狭窄空间或对机动性要求高的场合。其中,全方位移动AGV的全方位运动与其设置的轮子有关,麦克纳姆轮(Mecanum wheel)为全方位移动AGV的全方位运动提供了可能。With the continuous development of mobile robot technology, various mobile platforms such as automatic guided transport vehicles (AGV) have been widely used in the field of manufacturing automation and automated warehouse logistics systems. Among them, as an example of the mobile platform, the omni-directional mobile AGV has received more and more attention because it can realize three degrees of freedom motion and its composite motion. Compared with the conventional AGV, the omni-directional mobile AGV can be moved in any direction and rotate at any radius, so it is very suitable for narrow spaces or where mobility is required. Among them, the omnidirectional movement of the omni-directional mobile AGV is related to the wheels it sets, and the Mecanum wheel offers the possibility of omnidirectional movement of the omnidirectional mobile AGV.
目前应用于诸如全方位移动AGV的各种移动平台的悬架多为非独立式悬架,非独立式悬架具有结构简单,成本低,强度高,容易保养,行车途中车轮位置变化小的优点。其中一种非独立式悬架的结构特点是两侧的车轮由一根整体式车桥相连,车轮连同车桥通过弹性悬挂系统悬挂在车架或车身下方。但这种由整体式车桥相连的非独立悬架由于一驱动轮驱动或晃动时容易带动整车晃动,从而舒适性和操纵稳定性较差。另一种非独立悬架的结构特点是车架与车轴之间通过一连接轴和供连接轴在其内上下运动的套筒连接,连接轴与套筒的设置方式使得车架与地面的距离较高,从而全方位移动平台的重心距离地面较高,这会增加全方位移动平台在拐弯时倾翻的几率。The suspensions currently used in various mobile platforms such as omnidirectional mobile AGVs are mostly non-independent suspensions. The non-independent suspension has the advantages of simple structure, low cost, high strength, easy maintenance, and small change in wheel position during driving. . One of the non-independent suspensions is characterized in that the wheels on both sides are connected by an integral axle, and the wheels, together with the axle, are suspended below the frame or body by an elastic suspension system. However, the non-independent suspension connected by the integral axle is easy to drive the whole vehicle to sway when driven or swayed by a driving wheel, so that the comfort and steering stability are poor. Another non-independent suspension is characterized in that the frame and the axle are connected by a connecting shaft and a sleeve for the connecting shaft to move up and down. The connecting shaft and the sleeve are arranged such that the distance between the frame and the ground The higher the center of gravity of the omni-directional mobile platform is higher than the ground, which increases the chance that the omni-directional mobile platform will tip over when cornering.
另外,有些先进的全方位移动平台采用自助式调节悬架,通过各种传感器检测前方道路,计算机根据传感器检测到的信号控制悬架上下移动从而始终保持车架在一个水平面上。控制该种悬架上下移动的 上下移动装置多采用液压缸等零部件,造成车身较重,而且该种悬架结构复杂,成本高昂,目前应用该种悬架较少。In addition, some advanced omni-directional mobile platforms use a self-service adjustment suspension to detect the road ahead through various sensors. The computer controls the suspension to move up and down according to the signal detected by the sensor to keep the frame at a level. The upper and lower moving devices that control the up and down movement of the suspension mostly use hydraulic cylinders and the like to cause the vehicle body to be heavier, and the suspension structure is complicated and costly, and the suspension is currently applied less.
公开内容Public content
有鉴于此,本公开一实施例提供一种结构简单紧凑、操纵便捷且运行稳定性好的移动平台。该移动平台包括:一车架;以及至少一悬架,所述悬架设置于车架下方且包括减震器和用于安装车轴的摆臂。所述摆臂在所述车轴的第一侧的端部铰接于车架的第一位置,所述摆臂在所述车轴的第二侧的部分通过所述减震器与所述车架的第二位置连接,以便所述摆臂摆动时能够使所述减震器压缩或拉伸。In view of this, an embodiment of the present disclosure provides a mobile platform that is simple and compact in structure, convenient in operation, and stable in operation. The mobile platform includes: a frame; and at least one suspension disposed under the frame and including a shock absorber and a swing arm for mounting the axle. The swing arm is hinged to a first position of the frame at an end of the first side of the axle, and the portion of the swing arm passing the shock absorber and the frame at a portion of the second side of the axle The second position is coupled such that the damper can be compressed or stretched when the swing arm is swung.
作为示例,所述摆臂在所述车轴的所述第二侧的部分向所述第二侧延伸超出所述减震器而形成一伸出部,所述伸出部至少部分地位于所述车架的第三位置下方,当所述摆臂相对于所述车架的第一位置枢转运动时,所述伸出部能够通过弹性缓冲体与所述车架的第三位置接触。As an example, the portion of the swing arm that extends beyond the damper toward the second side at a portion of the second side of the axle forms a protrusion that is at least partially located in the vehicle Below the third position of the frame, when the swing arm is pivotally moved relative to the first position of the frame, the extension can be brought into contact with the third position of the frame by the elastic buffer.
作为示例,所述移动平台还包括四个车轮,所述悬架为四个,与各个车轮分别对应地设置。As an example, the mobile platform further includes four wheels, and the suspension is four, which are respectively disposed corresponding to the respective wheels.
作为示例,所述移动平台还包括用于设置驱动所述车轴的电动机的电动机支架,所述电动机支架固定连接于所述摆臂的轴向内侧。As an example, the mobile platform further includes a motor bracket for setting an electric motor that drives the axle, the motor bracket being fixedly coupled to an axially inner side of the swing arm.
作为示例,所述摆臂在所述车轴的所述第一侧的部分与在所述车轴的所述第二侧的部分之间的夹角为钝角。As an example, the angle between the portion of the swing arm on the first side of the axle and the portion on the second side of the axle is an obtuse angle.
作为示例,所述摆臂在所述车轴的所述第一侧的部分是倾斜向下的,所述摆臂在所述车轴的所述第二侧的部分是水平设置的,并且所述摆臂还包括在所述车轴的所述第一侧的部分与所述第二侧的部分之间的车轴安装部。As an example, the portion of the swing arm on the first side of the axle is obliquely downward, the portion of the swing arm on the second side of the axle is horizontally disposed, and the pendulum The arm also includes an axle mounting portion between the portion of the first side of the axle and the portion of the second side.
作为示例,所述弹性缓冲体为弹簧垫或橡胶垫或气垫,所述弹簧垫或橡胶垫或气垫固定设置在下列各项中的至少一个上:所述车架的第三位置处的下表面上;所述伸出部的上表面上。As an example, the elastic buffer body is a spring pad or a rubber pad or an air cushion fixedly disposed on at least one of the following: a lower surface at the third position of the frame Upper; on the upper surface of the protrusion.
作为示例,所述弹簧垫或橡胶垫或气垫的厚度为3mm-8mm。As an example, the spring pad or rubber pad or air cushion has a thickness of 3 mm to 8 mm.
作为示例,所述伸出部的至少在所述车架的第三位置下方的部分由弹性材料制成以作为所述弹性缓冲体。As an example, a portion of the projection at least below the third position of the frame is made of an elastic material as the elastic buffer.
作为示例,所述摆臂在所述车轴的所述第一侧的部分为镂空结构。As an example, the portion of the swing arm on the first side of the axle is a hollowed out structure.
与现有技术相比,本公开的移动平台的有益效果在于:摆臂在车轴的一侧的端部铰接于车架的第一位置,摆臂在车轴的另一侧的部分通过减震器与车架的第二位置连接,可以降低移动平台高度,使得移动平台的重心降低,降低急转弯时移动平台倾倒的风险,并且摆臂的端部与车架的铰接方式为非刚性连接,可提高移动平台的运动稳定性。Compared with the prior art, the mobile platform of the present disclosure has the beneficial effects that the swing arm is hinged to the first position of the frame at one end of the axle, and the swing arm passes the shock absorber on the other side of the axle. The connection with the second position of the frame can reduce the height of the moving platform, reduce the center of gravity of the mobile platform, reduce the risk of the mobile platform falling during sharp turns, and the hinged end of the swing arm and the frame are non-rigidly connected. Improve the motion stability of mobile platforms.
附图说明DRAWINGS
图1为根据本公开的一个实施例的移动平台的结构示意图;1 is a schematic structural diagram of a mobile platform according to an embodiment of the present disclosure;
图2为图1的A向局部结构示意图;Figure 2 is a schematic view showing the partial structure of the A direction of Figure 1;
图3为图1的B向局部结构示意图。3 is a schematic view showing a partial structure of the B direction of FIG. 1.
具体实施方式Detailed ways
下面结合附图和具体实施例对本公开的移动平台作进一步详细描述,但不作为对本公开的限定。The mobile platform of the present disclosure is further described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the disclosure.
参考图1,本公开一实施例公开了一种移动平台,包括:车架1;悬架,悬架设置于车架1下方,悬架包括减震器2和用于安装车轴3的摆臂4。其中,减震器2可以选用液压式减震器或气动式减震器等,减震器2的选择可以根据移动平台的整体设计而定。Referring to FIG. 1 , an embodiment of the present disclosure discloses a mobile platform, including: a frame 1 ; a suspension, the suspension is disposed under the frame 1 , and the suspension includes a shock absorber 2 and a swing arm for mounting the axle 3 4. Among them, the shock absorber 2 can be selected from a hydraulic shock absorber or a pneumatic shock absorber, and the selection of the shock absorber 2 can be determined according to the overall design of the mobile platform.
参考图2和图3,摆臂4的位于车轴3的第一侧的端部铰接于车架1的第一位置12,从而摆臂4的位于车轴3的第一侧的端部可以相对于车架1的第一位置12枢转运动,摆臂4的位于车轴3的第二侧的部分通过减震器2与车架1的第二位置13连接。具体地,为了实现摆臂4能够相对于车架1枢转运动,以便所述摆臂1摆动时能够使所述减震器2压缩或拉伸,例如,摆臂4在车轴3的第二侧的部分与减震器2的靠下的端部可以铰接或固定连接,减震器2的靠上的端部与车架1的第二位置13的连接方式为铰接方式。当然,也可以采取其他方式实现减震器2与车架1在第二位置13的连接,只要能够实现摆臂4的枢转运动并且在进行该枢转运动时能够使所述减震器2压缩或拉伸即可。注意,作为示例,如图2所示,所述第一位置12是处于移动平台纵向(前后方向)车轴3外侧的位置,所述第二位置13是处于移动平台纵向(前后方向)车轴3内侧的位置。当然,所述第一位置12和第二位置13也可以调换,而不影响本公开的实现。Referring to Figures 2 and 3, the end of the swing arm 4 on the first side of the axle 3 is hinged to the first position 12 of the frame 1 such that the end of the swing arm 4 on the first side of the axle 3 can be opposite to The first position 12 of the frame 1 is pivotally moved, and the portion of the swing arm 4 on the second side of the axle 3 is connected to the second position 13 of the frame 1 via the damper 2. Specifically, in order to realize pivotal movement of the swing arm 4 relative to the frame 1, the shock absorber 2 can be compressed or stretched when the swing arm 1 is swung, for example, the swing arm 4 is in the second of the axle 3 The side portion is hinged or fixedly connected to the lower end of the damper 2, and the upper end of the damper 2 is connected to the second position 13 of the frame 1 in an articulated manner. Of course, the connection of the damper 2 to the frame 1 at the second position 13 can also be achieved in other ways, as long as the pivoting movement of the swing arm 4 can be achieved and the damper 2 can be made during this pivoting movement. Compress or stretch. Note that, as an example, as shown in FIG. 2, the first position 12 is a position outside the longitudinal (front-rear direction) axle 3 of the moving platform, and the second position 13 is inside the longitudinal (front-rear direction) axle 3 of the moving platform. s position. Of course, the first position 12 and the second position 13 can also be reversed without affecting the implementation of the present disclosure.
具体地,摆臂4在车轴3的第一侧的端部为筒状,车架1的第一位置12处具有两个向下伸出的板状件,每个板状件具有安装孔,将摆臂4的筒状的端部安装到两个板状件之间,并通过螺钉10穿过两个板状件的安装孔和摆臂4的筒状端部的开口,以将摆臂4在车轴3的第一侧的端部与车架1的第一位置12铰接。类似地,减震器2的两端与车架1的第二位置13和摆臂4在车轴3的第二侧的连接方式可以与之类似,即如图3所示,减震器2的两端分别为筒状(或设置为包含套筒),车架1的第二位置13和摆臂4在车轴3的第二侧的部分分别具有两个相互平行地伸出的板状件,每个板状件具有安装孔,将减震器2两端的筒状部分分别通过螺钉10铰接到两对板状件之间。当然,图3中摆臂4在车轴3的第二侧的部分也可以与减震器2的下端固定连接,而不是诸如铰接的活动连接。在这种连接方式下,摆臂4相对于车架1做枢转运动时,摆臂4在车轴3的第一侧的端部围绕第一位置12处的枢轴(例如螺钉10)旋转,从而会带动摆臂4在车轴3的第二侧的部分上下运动,进而使连接在该摆臂4在车轴3的第二侧的部分上的减震器2压缩或拉伸。另外,为了使摆臂4与车架1的第一位置12的铰接效果更好,可以在螺钉10和摆臂4的筒状端部之间设置轴承。Specifically, the swing arm 4 has a cylindrical shape at the end of the first side of the axle 3, and the first position 12 of the frame 1 has two downwardly projecting plate members, each of which has a mounting hole. The cylindrical end of the swing arm 4 is mounted between the two plate members, and passes through the mounting holes of the two plate members and the opening of the cylindrical end of the swing arm 4 through the screw 10 to swing the arm 4 is hinged to the first position 12 of the frame 1 at the end of the first side of the axle 3 . Similarly, the two ends of the damper 2 can be connected to the second position 13 of the frame 1 and the swing arm 4 on the second side of the axle 3, that is, as shown in FIG. 3, the damper 2 The two ends are respectively cylindrical (or arranged to include a sleeve), and the second position 13 of the frame 1 and the portion of the swing arm 4 on the second side of the axle 3 respectively have two plate-like members extending parallel to each other. Each of the plate members has a mounting hole, and the cylindrical portions at both ends of the damper 2 are respectively hinged by screws 10 between the two pairs of plate members. Of course, the portion of the swing arm 4 on the second side of the axle 3 in Fig. 3 can also be fixedly coupled to the lower end of the damper 2, rather than a movable connection such as a hinge. In this connection, when the swing arm 4 is pivotally moved relative to the frame 1, the swing arm 4 is rotated about the pivot (eg, the screw 10) at the first position 12 at the end of the first side of the axle 3, Thereby, the swing arm 4 is moved up and down on the second side of the axle 3, so that the damper 2 connected to the swing arm 4 on the second side of the axle 3 is compressed or stretched. In addition, in order to make the swinging effect of the swing arm 4 and the first position 12 of the frame 1 better, a bearing can be provided between the screw 10 and the cylindrical end of the swing arm 4.
其中,车轴3的第一侧指的是车轴3的朝向移动平台在纵向上的外侧的一侧;而车轴3的第一侧指的是车轴3的指向移动平台纵向内侧的一侧。另外,摆臂4在车轴3的第一侧和第二侧分别是:与车架1在第一位置12直接铰接的称为摆臂4在车轴3的第一侧,与车架1在第二位置13通过减震器2铰接的称为摆臂4在车轴3的第二侧。其中,图1示出了前后摆臂4在车轴3的第一侧部分均位于移动平台的纵向外侧,前后摆臂4在车轴3的第二侧部分均位于移动平台的纵向内侧。当然,也可以根据实际情况,将至少前后摆臂4之一在车轴3的第一侧部分设置于移动平台的纵向内侧,将至少前后摆臂4之一在车轴3的第二侧部分设置于移动平台的纵向外侧。Here, the first side of the axle 3 refers to the side of the axle 3 that faces the outer side in the longitudinal direction of the moving platform; and the first side of the axle 3 refers to the side of the axle 3 that is directed to the longitudinal inner side of the moving platform. In addition, the swing arm 4 is respectively on the first side and the second side of the axle 3: a swing arm 4 is directly coupled to the frame 1 at the first position 12, and the swing arm 4 is on the first side of the axle 3, and the frame 1 is in the first The two positions 13 are hinged by the damper 2 and are referred to as swing arms 4 on the second side of the axle 3. 1 shows that the front and rear swing arms 4 are located on the longitudinal outer side of the moving platform at the first side portion of the axle 3, and the front and rear swing arms 4 are located on the longitudinal inner side of the moving platform at the second side portion of the axle 3. Of course, at least one of the front and rear swing arms 4 may be disposed on the longitudinal inner side of the moving platform on the first side portion of the axle 3 according to the actual situation, and at least one of the front and rear swing arms 4 may be disposed on the second side portion of the axle 3 The longitudinal outer side of the mobile platform.
本公开的移动平台中,摆臂4在车轴3的第一侧的端部直接铰接于车架1的第一位置12,摆臂4在车轴3的第二侧的部分通过减震器2与车架1的第二位置13连接,可以降低移动平台的总高度,使得移动平台的重心降低,降低急转弯时移动平台倾倒的风险,并且摆臂4的端部与车架1的铰接方式为非刚性连接,可提高移动平台的运动稳 定性。In the mobile platform of the present disclosure, the swing arm 4 is directly hinged to the first position 12 of the frame 1 at the end of the first side of the axle 3, and the portion of the swing arm 4 at the second side of the axle 3 passes through the damper 2 The second position 13 of the frame 1 is connected, which can reduce the total height of the moving platform, reduce the center of gravity of the moving platform, reduce the risk of the mobile platform falling when the sharp turn is made, and the end of the swing arm 4 and the frame 1 are hinged. Non-rigid connection for improved motion stability of the mobile platform.
根据本公开的一个方面,如图2和图3所示,摆臂4在车轴3的第二侧的部分向第二侧延伸超出减震器2而形成一伸出部5,伸出部5至少部分地位于车架1的第三位置下方,其中,车架1的第三位置可以是车架1的靠近第二位置13处向下延伸的位置。当摆臂4在第一侧的端部在其铰接处相对于车架1的第一位置12枢转运动时,伸出部5能够通过弹性缓冲体与车架1的第三位置接触。从而,当摆臂4的枢转运动超过减震器2的行程极限时,弹性缓冲体和减震器2可以起到双重减震的效果。According to an aspect of the present disclosure, as shown in FIGS. 2 and 3, the portion of the swing arm 4 on the second side of the axle 3 extends beyond the damper 2 toward the second side to form a projection 5, the projection 5 being at least Partially located below the third position of the frame 1, wherein the third position of the frame 1 may be a position of the frame 1 that extends downwards near the second position 13. When the swing arm 4 is pivotally moved at its hinge at its hinge relative to the first position 12 of the frame 1, the extension 5 can be brought into contact with the third position of the frame 1 by the elastic buffer. Thus, when the pivotal movement of the swing arm 4 exceeds the stroke limit of the damper 2, the elastic cushion body and the damper 2 can exert a double shock absorbing effect.
具体地,如图2和图3所示,例如,在移动平台垂直于车轴3向左(此处的术语“左”以图示的左右相对方向来定义,并非限定为正左方)运行过程中,以图1中箭头A和B所在位置的车轮(图2-3中未示出)为例,当车轮遇到障碍物上升,摆臂4围绕车轴3的第一侧的铰接处逆时针旋转,压缩减震器2。在减震器2的弹性和阻尼的共同作用下,可以降低移动平台的重心以及移动平台整体的阶跃响应幅度,从而减小移动平台受到的冲击,保持相对平稳。如果障碍物过大,致使减震器2压缩行程超越设定的悬架的第一工作行程极限,这时摆臂4的伸出部5通过弹性缓冲体与车架1的第三位置接触。由于弹性缓冲体具有弹性和阻尼,因此,此时是减震器2和弹性缓冲体共同工作可以达到双重减震,并且可以降低移动平台受到的冲击,此时悬架处于第二工作行程。悬架的工作行程包括两部分,当悬架在第一工作行程内枢转运动时,减震器2起弹簧和阻尼作用,可以实现第一级减震效果;当悬架超过第一工作形成极限时,在第二工作行程内枢转运动时,减震器2和弹性缓冲体共同发挥减震阻尼作用,也就是双重减震,可以实现第二级减震效果。利用第一级减震和第二级减震,实现了悬架的二级减震设计,能够保证车辆运行平稳。在移动平台向左运行过程中,遇到低洼处,在减震器2的弹簧的作用下,摆臂4顺时针摆动,车轮降低快速接触地面,从而保持移动平台平稳运动。Specifically, as shown in FIG. 2 and FIG. 3, for example, the moving platform is perpendicular to the axle 3 to the left (the term "left" is defined herein in the left-right opposite direction, not limited to the left-hand side). For example, taking the wheel at the position of arrows A and B in FIG. 1 (not shown in FIG. 2-3) as an example, when the wheel encounters an obstacle rise, the swing arm 4 is counterclockwise around the hinge of the first side of the axle 3 Rotate and compress the shock absorber 2. Under the combined action of the elasticity and damping of the shock absorber 2, the center of gravity of the mobile platform and the step response amplitude of the mobile platform as a whole can be reduced, thereby reducing the impact on the mobile platform and maintaining relatively stable. If the obstacle is too large, the compression stroke of the damper 2 exceeds the first working stroke limit of the set suspension, at which time the extension 5 of the swing arm 4 comes into contact with the third position of the frame 1 via the elastic buffer. Since the elastic buffer body has elasticity and damping, at this time, the shock absorber 2 and the elastic buffer body work together to achieve double shock absorption, and the impact on the moving platform can be reduced, and the suspension is at the second working stroke. The working stroke of the suspension includes two parts. When the suspension pivots in the first working stroke, the shock absorber 2 acts as a spring and a damping force, which can achieve the first stage damping effect; when the suspension exceeds the first work formation At the limit, when the pivoting movement in the second working stroke, the shock absorber 2 and the elastic buffer body jointly exert the damping effect, that is, double damping, and the second-stage damping effect can be achieved. The first stage damping and the second stage damping are used to realize the secondary damping design of the suspension, which can ensure the smooth running of the vehicle. During the operation of the mobile platform to the left, a low squat is encountered. Under the action of the spring of the damper 2, the swing arm 4 swings clockwise, and the wheel is lowered to quickly contact the ground, thereby keeping the moving platform moving smoothly.
示例性地,弹性缓冲体为弹簧垫或橡胶垫或气垫,弹簧垫或橡胶垫或气垫固定设置在下列各项中的至少一个上:车架1的第三位置处的下表面上;伸出部5的上表面上。从而,当摆臂4相对于车架1的第一位置12枢转运动时,在悬架的第二工作行程内,伸出部5能够通 过弹簧垫或橡胶垫或气垫与车架1的第三位置接触。Illustratively, the elastic buffer body is a spring pad or a rubber pad or an air cushion, and the spring pad or rubber pad or air cushion is fixedly disposed on at least one of the following: the lower surface at the third position of the frame 1; On the upper surface of the portion 5. Thus, when the swing arm 4 is pivotally moved relative to the first position 12 of the frame 1, the extension 5 can pass the spring pad or rubber pad or air cushion to the frame 1 during the second working stroke of the suspension. Three-position contact.
示例性地,弹簧垫或橡胶垫或气垫的厚度为3mm-8mm,例如为5mm。如图2和图3所示,当摆臂4的伸出部5的上表面与车架1的第三位置的下表面距离为5mm时,弹簧垫或橡胶垫或气垫的厚度也为5mm时,当摆臂4做枢转运动时,悬架可以直接在前述的第二工作行程内运行,起到双重减震。另外,当弹簧垫或橡胶垫或气垫的两侧面分别与车架1的第三位置处的下表面和伸出部5的上表面紧密接触时,即使摆臂4与车架1的铰接处的配合精度(诸如因为制造或者磨损的原因)不够高导致除了枢转运动外还发生相对滑动的情况,弹簧垫或橡胶垫或气垫也会与车架1的第三位置和伸出部5摩擦,限制摆臂4的滑动,从而能够使移动平台平稳运行。Illustratively, the spring pad or rubber pad or air cushion has a thickness of from 3 mm to 8 mm, for example 5 mm. As shown in FIGS. 2 and 3, when the distance between the upper surface of the projecting portion 5 of the swing arm 4 and the lower surface of the third position of the frame 1 is 5 mm, the thickness of the spring pad or the rubber pad or the air cushion is also 5 mm. When the swing arm 4 is pivotally moved, the suspension can be directly operated in the aforementioned second working stroke to achieve double shock absorption. In addition, when the two sides of the spring pad or the rubber pad or the air cushion are in close contact with the lower surface at the third position of the frame 1 and the upper surface of the protrusion 5, respectively, even if the swing arm 4 is engaged with the hinge of the frame 1 Accuracy (such as due to manufacturing or wear) is not high enough to cause a relative slip in addition to the pivoting motion, and the spring pad or rubber pad or air cushion will also rub against the third position and the extension 5 of the frame 1, limiting the pendulum The sliding of the arm 4 enables smooth operation of the mobile platform.
示例性地,弹性缓冲体的另一种设置方式为,伸出部5的至少在车架1的第三位置下方的部分由弹性材料制成,以作为弹性缓冲体,弹性缓冲体与伸出部5固定连接。采用这种设置方式的弹性缓冲体,当悬架处在第二工作行程时,弹性缓冲体的弯折变形可以实现更好的减震效果。Illustratively, another arrangement of the elastic buffer body is such that at least a portion of the extension 5 below the third position of the frame 1 is made of an elastic material as an elastic buffer, an elastic buffer body and an extension The part 5 is fixedly connected. With the elastic buffer body of this arrangement, when the suspension is at the second working stroke, the bending deformation of the elastic buffer body can achieve a better shock absorption effect.
参考图1,在实施例中,悬架为四个,与各个车轮分别对应地设置。其中,如果车轮为麦克纳姆轮(Mecanum),则移动平台可以实现全方位移动。每个悬架上设置车轴3,车轴3的外端设置车轮,车轴3的内端通过联轴器与驱动车轮的电动机11的输出轴连接,也就是说电动机11可以设置为四个,分别与车轮对应设置。四个车轮独立运行,在遇到上文提到的障碍物和低洼处时可以重复上述运动,独立进行减震,减震器2和弹性缓冲体的减震动作相互不影响,克服了非独立悬架中一驱动轮驱动或晃动时容易带动整体移动平台晃动的缺点,提高了移动平台的稳定性和操纵性,所以对路面适应能力提高。Referring to Fig. 1, in the embodiment, four suspensions are provided corresponding to the respective wheels. Among them, if the wheel is a Mecanum, the mobile platform can move in all directions. An axle 3 is disposed on each suspension, and an outer end of the axle 3 is provided with a wheel, and an inner end of the axle 3 is connected to an output shaft of the motor 11 for driving the wheel through a coupling, that is, the motor 11 can be set to four, respectively The wheel corresponds to the setting. The four wheels operate independently, and the above motion can be repeated when encountering the obstacles and low-lying points mentioned above, and the shock absorption is independently performed. The shock absorption actions of the shock absorber 2 and the elastic buffer body do not affect each other, and the non-independent is overcome. When a driving wheel is driven or shaken in the suspension, it is easy to drive the sway of the whole moving platform, and the stability and maneuverability of the mobile platform are improved, so the adaptability to the road surface is improved.
示例性地,参考图2,悬架还包括用于设置驱动车轴3的电动机11的电动机支架6,电动机支架6固定连接于摆臂4的轴向内侧,从而电动机11也设置在摆臂4的轴向内侧,从而节省了车架1下方的中间部位,为移动平台的控制系统的设置节省空间。并且,如图1所示,节省下来的车架1下方的中间部位也可以设置为电动机11提供动力的电池7以及控制电动机11的电机驱动器8。为了使移动平台精确的运行,移动平台上还设置有距离传感器9,所述距离传感器9可以是多个。 示例性地,所述距离传感器9可以分布在移动平台的车架1的各侧上,以便控制移动平台尤其是全方位移动平台在空间中处于适当的位置,例如避免与各侧的障碍物接触或碰撞。Illustratively, referring to FIG. 2, the suspension further comprises a motor bracket 6 for arranging an electric motor 11 for driving the axle 3, the motor bracket 6 being fixedly coupled to the axially inner side of the swing arm 4, so that the electric motor 11 is also disposed at the swing arm 4. The axially inner side saves the intermediate part below the frame 1 and saves space for the setting of the control system of the mobile platform. Further, as shown in FIG. 1, the intermediate portion below the saved frame 1 may be provided with a battery 7 that powers the motor 11 and a motor driver 8 that controls the motor 11. In order to operate the mobile platform accurately, a distance sensor 9 is also provided on the mobile platform, and the distance sensor 9 may be plural. Illustratively, the distance sensors 9 may be distributed on each side of the frame 1 of the mobile platform in order to control the mobile platform, in particular the omnidirectional mobile platform, in a suitable position in space, for example to avoid contact with obstacles on each side. Or collision.
如图2和图3所示,在一个实施例中,摆臂4为在车轴3的第一侧的部分与第二侧的部分之间的夹角为钝角,即角度大于90度的近似L形。当然,该夹角也可以是直角或锐角。但是,相对于呈直角或锐角的摆臂4来说,呈钝角的摆臂4的结构可以节省材料,并且在摆臂4的枢转运动中,可以保证车轴3在其第一侧的铰接处和减震器2与车架1的第二位置13连接处之间运动。As shown in FIGS. 2 and 3, in one embodiment, the swing arm 4 has an obtuse angle between the portion on the first side of the axle 3 and the portion on the second side, that is, an angle L greater than 90 degrees. shape. Of course, the angle can also be a right angle or an acute angle. However, the structure of the swing arm 4 having an obtuse angle can save material with respect to the swing arm 4 having a right angle or an acute angle, and in the pivotal movement of the swing arm 4, the hinge of the axle 3 on the first side thereof can be ensured. The movement between the damper 2 and the second position 13 of the frame 1 is moved.
示例性地,如图2和图3所示,摆臂4在车轴3的第一侧的部分是倾斜向下的,摆臂4在车轴3的第二侧的部分是水平方向的,并且摆臂4还包括在车轴3的第一侧的部分与第二侧的部分之间的车轴安装部,摆臂4为纵向摆臂,其与车轴3的轴向方向相垂直。摆臂4的结构有角度,在车轴3的第二侧的部分是水平方向,配合悬架的减震器2和弹性缓冲体,一定程度的摆动不影响轴间距,可以控制移动平台的运行精度,提高操纵的准确性。Illustratively, as shown in FIGS. 2 and 3, the portion of the swing arm 4 on the first side of the axle 3 is inclined downward, and the portion of the swing arm 4 on the second side of the axle 3 is horizontal, and the pendulum The arm 4 further includes an axle mounting portion between a portion of the first side of the axle 3 and a portion of the second side, the swing arm 4 being a longitudinal swing arm that is perpendicular to the axial direction of the axle 3 . The structure of the swing arm 4 is angled, and the portion on the second side of the axle 3 is horizontal, and the shock absorber 2 and the elastic buffer body of the suspension are matched, and a certain degree of swing does not affect the shaft spacing, and the running accuracy of the mobile platform can be controlled. Improve the accuracy of manipulation.
示例性地,摆臂4在车轴3的第一侧的部分为镂空结构,可以在保证摆臂4的强度的基础上节省材料。Illustratively, the portion of the swing arm 4 on the first side of the axle 3 is a hollow structure, which can save material on the basis of ensuring the strength of the swing arm 4.
以上实施例仅为本公开的示例性实施例,不用于限制本公开,本公开的保护范围由权利要求书限定。本领域技术人员可以在本公开的实质和保护范围内对本公开做出各种修改或等同替换,这种修改或等同替换也应视为落在本公开的保护范围内。The above embodiments are merely exemplary embodiments of the present disclosure, and are not intended to limit the disclosure, and the scope of the disclosure is defined by the claims. A person skilled in the art can make various modifications or equivalents to the present disclosure within the spirit and scope of the disclosure, and such modifications or equivalents are also considered to fall within the scope of the present disclosure.

Claims (11)

  1. 一种移动平台,包括:A mobile platform that includes:
    一车架;以及a frame; and
    至少一悬架,设置于车架下方且包括减震器和用于安装车轴的摆臂,At least one suspension, disposed under the frame and including a shock absorber and a swing arm for mounting the axle,
    其中,所述摆臂在所述车轴的第一侧的端部铰接于车架的第一位置,所述摆臂在所述车轴的第二侧的部分通过所述减震器与所述车架的第二位置连接,以便所述摆臂摆动时能够使所述减震器压缩或拉伸。Wherein the swing arm is hinged to a first position of the frame at an end of the first side of the axle, and the swing arm passes the shock absorber and the vehicle at a portion of the second side of the axle The second position of the frame is coupled such that the damper can be compressed or stretched when the swing arm is swung.
  2. 根据权利要求1所述的移动平台,其中,所述摆臂在所述车轴的所述第二侧的部分向所述第二侧延伸超出所述减震器而形成一伸出部,所述伸出部至少部分地位于所述车架的第三位置下方,当所述摆臂相对于所述车架的第一位置枢转运动时,所述伸出部能够通过弹性缓冲体与所述车架的第三位置接触。The mobile platform according to claim 1, wherein a portion of the swing arm on the second side of the axle extends beyond the damper toward the second side to form a protrusion, the extension The outlet is at least partially located below the third position of the frame, the protrusion being capable of passing the elastic buffer body and the vehicle when the swing arm is pivotally moved relative to the first position of the frame The third position of the frame is in contact.
  3. 根据权利要求1所述的移动平台,其中,所述移动平台还包括四个车轮,所述悬架为四个,与各个车轮分别对应地设置。The mobile platform according to claim 1, wherein the mobile platform further comprises four wheels, and the suspension is four, respectively disposed corresponding to the respective wheels.
  4. 根据权利要求1所述的移动平台,其中,所述移动平台还包括用于设置驱动所述车轴的电动机的电动机支架,所述电动机支架固定连接于所述摆臂的轴向内侧。The mobile platform according to claim 1, wherein said moving platform further comprises a motor bracket for setting an electric motor for driving said axle, said motor bracket being fixedly coupled to an axially inner side of said swing arm.
  5. 根据权利要求2所述的移动平台,其中,所述摆臂的在所述车轴的第一侧的部分与在所述车轴的所述第二侧的部分之间的夹角为钝角。The mobile platform of claim 2, wherein an angle between a portion of the swing arm on a first side of the axle and a portion on the second side of the axle is an obtuse angle.
  6. 根据权利要求5所述的移动平台,其中,所述摆臂在所述车轴的所述第一侧的部分是倾斜向下的,所述摆臂在所述车轴的所述第二侧的部分是水平设置的,并且所述摆臂还包括在所述车轴的所述第一侧的部分与所述第二侧的部分之间的车轴安装部。The mobile platform according to claim 5, wherein a portion of the swing arm on the first side of the axle is obliquely downward, and a portion of the swing arm on the second side of the axle It is horizontally disposed, and the swing arm further includes an axle mounting portion between the portion of the first side of the axle and the portion of the second side.
  7. 根据权利要求2所述的移动平台,其中,所述弹性缓冲体为弹簧垫、橡胶垫或气垫,所述弹簧垫、橡胶垫或气垫固定设置下列各项中的至少一个上:所述车架的第三位置处的下表面上;所述伸出部的上表面上。The mobile platform according to claim 2, wherein the elastic buffer body is a spring pad, a rubber pad or an air cushion, and the spring pad, the rubber pad or the air cushion is fixedly disposed on at least one of the following: the frame On the lower surface at the third position; on the upper surface of the projection.
  8. 根据权利要求7所述的移动平台,其中,所述弹簧垫、橡胶垫或气垫的厚度为3mm-8mm。The mobile platform of claim 7, wherein the spring pad, rubber pad or air cushion has a thickness of from 3 mm to 8 mm.
  9. 根据权利要求2所述的移动平台,其中,所述伸出部的至少在所述车架的第三位置下方的部分由弹性材料制成以作为所述弹性缓冲体。The mobile platform according to claim 2, wherein a portion of the projection at least below the third position of the frame is made of an elastic material as the elastic buffer.
  10. 根据权利要求6所述的移动平台,其中,所述摆臂在所述车轴的所述第一侧的部分为镂空结构。The mobile platform of claim 6, wherein the portion of the swing arm on the first side of the axle is a hollow structure.
  11. 根据权利要求5所述的移动平台,其中,所述摆臂在车轴的第一侧部分位于移动平台的纵向外侧。The mobile platform of claim 5 wherein the swing arm is located longitudinally outward of the mobile platform at a first side portion of the axle.
PCT/CN2018/083456 2017-06-27 2018-04-18 Mobile platform WO2019001100A1 (en)

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CN206870775U (en) * 2017-06-27 2018-01-12 京东方科技集团股份有限公司 Mobile platform
CN110370870A (en) * 2018-09-12 2019-10-25 天津京东深拓机器人科技有限公司 A kind of swing shock absorption device, damping wheel group and vehicle

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EP1657471A2 (en) * 2004-11-10 2006-05-17 Isringhausen GmbH & Co. KG Method for damping the vibrations in a suspension system and such a suspension
CN202911836U (en) * 2012-10-24 2013-05-01 武汉汉迪机器人科技有限公司 Omni-directional moving platform
CN204055214U (en) * 2014-09-19 2014-12-31 扬州万方电子技术有限责任公司 The traveling gear of novel bomb truck
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US6648352B2 (en) * 2001-12-26 2003-11-18 Case, Llc Skid steer loader suspension
EP1657471A2 (en) * 2004-11-10 2006-05-17 Isringhausen GmbH & Co. KG Method for damping the vibrations in a suspension system and such a suspension
CN202911836U (en) * 2012-10-24 2013-05-01 武汉汉迪机器人科技有限公司 Omni-directional moving platform
CN204055214U (en) * 2014-09-19 2014-12-31 扬州万方电子技术有限责任公司 The traveling gear of novel bomb truck
CN106741299A (en) * 2016-12-21 2017-05-31 深圳若步智能科技有限公司 A kind of merchandising machine people's body structure based on Mecanum wheel
CN106872987A (en) * 2017-03-15 2017-06-20 桂林理工大学 Obstacle detecting device and omnidirectional's car
CN206870775U (en) * 2017-06-27 2018-01-12 京东方科技集团股份有限公司 Mobile platform

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