CN107225926A - Suspension - Google Patents
Suspension Download PDFInfo
- Publication number
- CN107225926A CN107225926A CN201710447002.9A CN201710447002A CN107225926A CN 107225926 A CN107225926 A CN 107225926A CN 201710447002 A CN201710447002 A CN 201710447002A CN 107225926 A CN107225926 A CN 107225926A
- Authority
- CN
- China
- Prior art keywords
- linking arm
- chassis
- shock absorber
- wheel
- flexibly connected
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
- B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
- B60G2206/011—Modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/50—Electric vehicles; Hybrid vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of suspension, including chassis, link block, power plant module, shock absorber and Mecanum wheel, link block includes the upper linking arm and lower linking arm be arrangeding in parallel, one end of upper linking arm and one end of lower linking arm are flexibly connected with chassis, the other end of the other end of upper linking arm and lower linking arm is connected with side connector, shock absorber two ends are movably connected with chassis and link block respectively, and the shaft end of power plant module is connected through side connector with Mecanum wheel.Suspension provided by the present invention, transmission is accurate, easy to loading and unloading, stable, has the advantages that simple in construction, easy to operate, stable.
Description
Technical field
The invention belongs to mobile robot technology field, and in particular to a kind of suspension.
Background technology
Suspension is the important component of mobile robot chassis platform, directly influences the operation of robot motion
Stability and security, often as one of fine or not standard for evaluating mobile robot performance.Suspension most widely used at present
System, the compromise value that its parameter is taken into account mobile robot all properties and determined, is changed greatly in speed, load and surface conditions
When be difficult to meet high performance requirement.
The content of the invention
Present invention aim to address above mentioned problem, there is provided a kind of simple, suspension that reliable, stability is high.
In order to solve the above technical problems, the technical scheme is that：A kind of suspension, including chassis, link block,
Power plant module, shock absorber and Mecanum wheel, link block include the upper linking arm and lower linking arm be arrangeding in parallel, upper linking arm
One end and one end of lower linking arm be flexibly connected with chassis, the other end and the side of the other end of upper linking arm and lower linking arm connect
Fitting is connected, and shock absorber two ends are movably connected with chassis and link block respectively, the shaft end of power plant module through side connector with
Mecanum wheel is connected.
Preferably, one end of the shock absorber is flexibly connected with chassis, the other end of shock absorber and lower linking arm activity phase
Even；Power plant module includes motor, and motor shaft is connected through chassis side rails with driving wheel, and driving wheel passes through timing belt and driven pulley phase
Even, driven pulley is connected by universal joint with Mecanum wheel.
Preferably, the driving wheel is arranged in parallel with driven pulley and is connected by timing belt.
Preferably, one end of the shock absorber is flexibly connected with chassis, the other end of shock absorber and lower linking arm activity phase
Even；Power plant module includes motor, and motor is connected through chassis with drive bevel gear, drive bevel gear and driven wheel of differential phase interworking
Close, driven wheel of differential is connected by universal joint with Mecanum wheel.
Preferably, the drive bevel gear and the orthogonal arrangement of driven wheel of differential, motor driving drive bevel gear are rotated,
Drive bevel gear is tightly engaged with driven wheel of differential.
Preferably, one end of the shock absorber is flexibly connected with chassis, and the other end and the activity of side connector of shock absorber connect
Connect；Upper linking arm includes on first linking arm on linking arm and second, and lower linking arm includes connecting under first time linking arm and second
Connect arm；Power plant module includes motor, and motor is arranged on the connector of side, and the rotating shaft of motor passes through side connector and Mecanum wheel
It is connected；Shock absorber one end is flexibly connected with chassis, and the other end of shock absorber is flexibly connected with side connector.
Preferably, under linking arm is parallel arrangement, first time linking arm and second on linking arm and second on described first
Linking arm is parallel arrangement；Linking arm on first, linking arm, first time linking arm and second time linking arm can be together on second
Moved up and down around chassis.
Preferably, the end on the chassis is inclined upwardly with the part that upper linking arm and lower linking arm are connected.
Preferably, the upper linking arm in the link block can move up and down with lower linking arm around chassis.
Preferably, bearing is installed, the shaft end of power plant module passes through again through bearing in the side connector intermediate throughholes
Shaft coupling is connected with Mecanum wheel.
The beneficial effects of the invention are as follows：
1st, suspension provided by the present invention use motion module connecting base plate and Mecanum wheel, good damping result,
Chassis front and back end raises up, and increases the wheelbase of front and back wheel.
2nd, suspension provided by the present invention is arranged symmetrically on chassis, can each be worked independently, and is braked or is transported
OK, make working condition more stable efficiently.
3rd, suspension provided by the present invention can save the construction cycle, and versatility preferably, efficiently avoid selectivity
Use function, improve the competitiveness of this product.
4th, designed by suspension provided by the present invention chassis, power plant module, link block, shock absorber and Mike receives
Nurse wheel is the relatively independent unit that organically combines, can greatly reduce mobile robot fault rate in itself and shorten the later stage and used
Maintenance, the time of care and maintenance, reduce the expenditure of labor intensity and part fund indirectly in journey.
5th, suspension provided by the present invention is Modular Structure Design, when suspension needs to change efficiently, soon
Speed, can meet the demand of different occasions.
Brief description of the drawings
Fig. 1 is the front view of suspension in the embodiment of the present invention one；
Fig. 2 is the structure chart of suspension in the embodiment of the present invention one；
Fig. 3 is the front view of universal joint in the embodiment of the present invention one；
Fig. 4 is the top view of universal joint in the embodiment of the present invention one；
Fig. 5 is the front view of suspension in the embodiment of the present invention two；
Fig. 6 is the top view of suspension in the embodiment of the present invention two；
Fig. 7 is the sectional view of suspension in the embodiment of the present invention two；
Fig. 8 is the front view of suspension in the embodiment of the present invention three；
Fig. 9 is the structure chart of suspension in the embodiment of the present invention three；
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings：
Embodiment one
As depicted in figs. 1 and 2, suspension is received including chassis 1, link block 2, power plant module 3, shock absorber 4 and Mike
Nurse wheel 5, link block 2 includes the upper linking arm 201 and lower linking arm 202 be arrangeding in parallel, one end of upper linking arm 201 and lower company
The one end for connecing arm 202 is flexibly connected with chassis 1, and the other end of the other end of upper linking arm 201 and lower linking arm 202 is connected with side
Part 203 is connected, and the two ends of shock absorber 4 are movably connected with chassis 1 and link block 2 respectively, and the shaft end of power plant module 3 is connected through side
Part 203 is connected with Mecanum wheel 5.
The face corresponding with chassis 1 of side connector 203 is parallel, and side connector 203 is with chassis 1 and upper linking arm 201 with
Linking arm 202 is constituted in parallelogram sturcutre, the intermediate throughholes of side connector 203 and is provided with bearing, and the shaft end of power plant module 3 is worn
Bearing is crossed again by shaft coupling with Mecanum wheel 5 to be connected.
Upper linking arm 201 in link block 2 can move up and down with lower linking arm 202 around chassis 1, in upper linking arm
201 and lower linking arm 202 up and down motion during, the spring in shock absorber 4 compresses and stretching motion within the specific limits, from
And reach the effect of vibration damping.
One end of shock absorber 4 is flexibly connected with chassis 1 in the present embodiment, the other end of shock absorber 4 and lower linking arm 202
It is flexibly connected.
Power plant module 3 includes motor 3101, and the fuselage of motor 3101 is fixedly connected with chassis 1, and the rotating shaft of motor 3101 is worn
The side plate for crossing chassis 1 is connected with driving wheel 3102, and driving wheel 3102 is connected by timing belt with driven pulley 3103, driven pulley 3103
It is connected with the side plate through chassis 1 with suspension connector 205, suspension connector 205 is flexibly connected with universal joint 204.
Bearing is installed, universal joint 204 is connected through bearing with Mecanum wheel 5 in the middle through-hole of side connector 203.
Driving driving wheel 3102 is rotated when motor 3101 is rotated, and driving wheel 3102 is driven during rotating by timing belt
Driven pulley 3103 is rotated, and driven pulley 3103 drives Mecanum wheel 5 to rotate by universal joint 204 again.According to motor 3101 not
Same rotating speed, Mecanum wheel 5 can realize Omni-mobile.Compared with common wheel, Mecanum wheel 5 can realize translational motion.
The wheel face of driving wheel 3102 and driven pulley 3103 is parallel to each other, and correspondence wheel face is at grade.Driving wheel 3102
It is connected with driven pulley 3103 by timing belt, timing belt moves phenomenon without friction in the rotation process of motor 3101, so as to realize flat
Surely, quickly transmission.
As shown in Figure 3 and Figure 4, universal joint is prior art, is a kind of device of conventional intermediate transmission, by power plant module
Motion in 3 is delivered to Mecanum wheel 5.
Embodiment two
As shown in figure 5 and figure 7, suspension is compared with the embodiment one shown in Fig. 1 in the present embodiment, and difference is
Power plant module 3 in the present embodiment includes motor 3201, and motor 3201 is connected through chassis 1 with drive bevel gear 3202, actively
Bevel gear 3202 cooperates with driven wheel of differential 3203, and driven wheel of differential 3203 passes through universal joint 204 and the phase of Mecanum wheel 5
Even.The driving of motor 3201 drive bevel gear 3202 is rotated, and drives driven wheel of differential 3203 to rotate when drive bevel gear 3202 is rotated,
Driven wheel of differential 3203 drives Mecanum wheel 5 to rotate by universal joint 204.
Drive bevel gear 3202 and the orthogonal arrangement of driven wheel of differential 3203, the driving drive bevel gear 3202 of motor 3201
Rotate, drive bevel gear 3202 is tightly engaged with driven wheel of differential 3203.
Compared to the V belt translation of above-described embodiment, the advantage of Bevel Gear Transmission is to be driven in accuracy height, transmission process
It can brake at any time according to actual needs, it is easy to control, accurate, with good, reliable controllability.
Embodiment three
As shown in Figure 8 and Figure 9, suspension is compared with the embodiment one shown in Fig. 1 in the present embodiment, and difference is
One end of shock absorber 4 in the present embodiment is flexibly connected with chassis 1, and the other end and the activity of side connector 203 of shock absorber 4 connect
Connect；Upper linking arm 201 includes on first linking arm 2302 on linking arm 2301 and second, and lower linking arm 202 connects under including first
Connect arm 2303 and second time linking arm 2304；Power plant module 3 includes motor 3301, and motor 3301 is arranged on side connector 203,
Motor 3301 is located between first time linking arm 2303 and second time linking arm 2304.
The rotating shaft of motor 3301 is connected through side connector 203 by shaft coupling with Mecanum wheel 5；The one end of shock absorber 4
It is flexibly connected with chassis 1, the other end of shock absorber 4 is flexibly connected with side connector 203.
One end of linking arm 2302 is connected with the top movable on chassis 1 on one end of linking arm 2301 and second on first,
The other end of linking arm 2301 is connected with the top movable of side connector 203 on first；The other end of linking arm 2302 on second
It is connected with the lower removable of side connector 203；One end of first time linking arm 2303 and one end of second time linking arm 2304 with
The lower removable connection on chassis 1, the other end of first time linking arm 2303 and the other end of second time linking arm 2304 and side company
Fitting 203 is flexibly connected.
Linking arm 2302 is is arranged in parallel on linking arm 2301 and second on first, under first time linking arm 2303 and second
Linking arm 2304 is parallel arrangement；Linking arm 2302, first time linking arm 2303 and second on linking arm 2301, second on first
Lower linking arm 2304 can move up and down around chassis 1 together.
Protector is installed around motor 3301, the damage of motor 3301 can be avoided in motion process.
The part that the both ends on chassis 1 are connected with upper linking arm 201 and lower linking arm 202 is inclined upwardly, and its side is similar
In concave structure, acclivitous both ends increase the wheelbase of Mecanum wheel 5 before and after suspension, add parallel four side
Angle and the amplitude of fluctuation of side connector 203 and Mecanum wheel 5 that shape structure is swung, can be effectively prevented from motion process
The impact of middle generation, adding the buffering before and after chassis makes motion more steady.
In the present embodiment motor 3301 is directly connected to Mecanum wheel 5 by shaft coupling, it is to avoid moved in transmission process
The loss of power, makes transmission more convenient, fast and more precisely, is also easier to manipulation.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (10)
1. a kind of suspension, it is characterised in that：Including chassis, link block, power plant module, shock absorber and Mecanum wheel,
Link block includes one end and chassis of the upper linking arm and lower linking arm be arrangeding in parallel, one end of upper linking arm and lower linking arm
Be flexibly connected, the other end of the other end of upper linking arm and lower linking arm is connected with side connector, shock absorber two ends respectively with bottom
Disk and link block are movably connected, and the shaft end of power plant module is connected through side connector with Mecanum wheel.
2. suspension according to claim 1, it is characterised in that：One end of the shock absorber is flexibly connected with chassis,
The other end of shock absorber is flexibly connected with lower linking arm；Power plant module includes motor, and motor shaft passes through chassis side rails and driving wheel
It is connected, driving wheel is connected by timing belt with driven pulley, and driven pulley is connected by universal joint with Mecanum wheel.
3. suspension according to claim 2, it is characterised in that：The driving wheel is arranged in parallel and passed through with driven pulley
Timing belt is connected.
4. suspension according to claim 1, it is characterised in that：One end of the shock absorber is flexibly connected with chassis,
The other end of shock absorber is flexibly connected with lower linking arm；Power plant module includes motor, and motor shaft passes through chassis side rails and initiative taper
Gear is connected, and drive bevel gear cooperates with driven wheel of differential, and driven wheel of differential is connected by universal joint with Mecanum wheel.
5. suspension according to claim 4, it is characterised in that：The drive bevel gear and driven wheel of differential hang down mutually
Straight arrangement, motor driving drive bevel gear is rotated, and drive bevel gear is tightly engaged with driven wheel of differential.
6. suspension according to claim 1, it is characterised in that：One end of the shock absorber is flexibly connected with chassis,
The other end of shock absorber is flexibly connected with side connector；Upper linking arm includes on first linking arm, lower company on linking arm and second
Connecing arm includes first time linking arm and second time linking arm；Power plant module includes motor, and motor is arranged on the connector of side, motor
Rotating shaft be connected through side connector with Mecanum wheel；Shock absorber one end is flexibly connected with chassis, the other end of shock absorber with
Side connector is flexibly connected.
7. suspension according to claim 6, it is characterised in that：Linking arm is with linking arm on second on described first
Parallel arrangement, first time linking arm and second time linking arm are parallel arrangement；Linking arm on first, linking arm, first on second
Lower linking arm and second time linking arm can move up and down around chassis together.
8. the suspension according to claim 1 or 6, it is characterised in that：The end on the chassis and upper linking arm and under
The connected part of linking arm is inclined upwardly.
9. suspension according to claim 1, it is characterised in that：Upper linking arm and lower connection in the link block
Arm can move up and down around chassis.
10. suspension according to claim 1, it is characterised in that：Axle is installed in the side connector intermediate throughholes
Hold, the shaft end of power plant module is connected by shaft coupling with Mecanum wheel again through bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710447002.9A CN107225926A (en) | 2017-06-14 | 2017-06-14 | Suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710447002.9A CN107225926A (en) | 2017-06-14 | 2017-06-14 | Suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107225926A true CN107225926A (en) | 2017-10-03 |
Family
ID=59935945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710447002.9A Pending CN107225926A (en) | 2017-06-14 | 2017-06-14 | Suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107225926A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN108706047A (en) * | 2018-06-25 | 2018-10-26 | 汕头大学 | A kind of unpowered weeding trolley based on using solar energy |
| CN109774396A (en) * | 2019-01-15 | 2019-05-21 | 浙江大学 | A kind of mobile robot independent suspension structure |
| CN110182009A (en) * | 2019-06-04 | 2019-08-30 | 广东嘉腾机器人自动化有限公司 | The AGV trolley of AGV driving mechanism and the application mechanism |
| CN110253597A (en) * | 2019-06-26 | 2019-09-20 | 深圳信息职业技术学院 | Fighter robot |
| CN110329146A (en) * | 2019-07-10 | 2019-10-15 | 哈尔滨理工大学 | A kind of mobile warning board apparatus |
| WO2019214102A1 (en) * | 2018-05-08 | 2019-11-14 | Huang Xiao Cui | Damping device for robot base |
| CN111546848A (en) * | 2020-04-07 | 2020-08-18 | 重庆工业职业技术学院 | New energy automobile suspension device |
| CN114425935A (en) * | 2021-12-30 | 2022-05-03 | 电子科技大学 | Active roll system for keeping vehicle body horizontal on cross slope |
| WO2022105624A1 (en) * | 2020-11-20 | 2022-05-27 | 大连交通大学 | Independent suspension apparatus capable of maintaining specific track width |
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| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
| CN206066423U (en) * | 2016-08-27 | 2017-04-05 | 唐火红 | A kind of self-travel type both arms industrial robot device based on AGV |
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| CN205220269U (en) * | 2015-11-04 | 2016-05-11 | 上海电器科学研究所（集团）有限公司 | Liftable self -adaptation topography AGV dolly chassis |
| CN105599559A (en) * | 2015-12-16 | 2016-05-25 | 上海大学 | Variable-impedance Mecanum wheel posture keeping mechanism |
| CN105644643A (en) * | 2016-02-25 | 2016-06-08 | 四川阿泰因机器人智能装备有限公司 | Omnidirectional wheel suspension device for ground mobile robot |
| CN206066423U (en) * | 2016-08-27 | 2017-04-05 | 唐火红 | A kind of self-travel type both arms industrial robot device based on AGV |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| WO2019214102A1 (en) * | 2018-05-08 | 2019-11-14 | Huang Xiao Cui | Damping device for robot base |
| CN108706047A (en) * | 2018-06-25 | 2018-10-26 | 汕头大学 | A kind of unpowered weeding trolley based on using solar energy |
| CN108706047B (en) * | 2018-06-25 | 2023-06-20 | 汕头大学 | Unpowered weeding trolley based on solar energy utilization |
| CN109774396A (en) * | 2019-01-15 | 2019-05-21 | 浙江大学 | A kind of mobile robot independent suspension structure |
| CN110182009A (en) * | 2019-06-04 | 2019-08-30 | 广东嘉腾机器人自动化有限公司 | The AGV trolley of AGV driving mechanism and the application mechanism |
| CN110253597A (en) * | 2019-06-26 | 2019-09-20 | 深圳信息职业技术学院 | Fighter robot |
| CN110329146A (en) * | 2019-07-10 | 2019-10-15 | 哈尔滨理工大学 | A kind of mobile warning board apparatus |
| CN110329146B (en) * | 2019-07-10 | 2022-09-13 | 哈尔滨理工大学 | Remove warning sign device |
| CN111546848A (en) * | 2020-04-07 | 2020-08-18 | 重庆工业职业技术学院 | New energy automobile suspension device |
| CN111546848B (en) * | 2020-04-07 | 2021-03-16 | 重庆工业职业技术学院 | New energy automobile suspension device |
| WO2022105624A1 (en) * | 2020-11-20 | 2022-05-27 | 大连交通大学 | Independent suspension apparatus capable of maintaining specific track width |
| CN114425935A (en) * | 2021-12-30 | 2022-05-03 | 电子科技大学 | Active roll system for keeping vehicle body horizontal on cross slope |
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Application publication date: 20171003 |