CN107399214A - A kind of omnidirectional's wheel suspension system - Google Patents
A kind of omnidirectional's wheel suspension system Download PDFInfo
- Publication number
- CN107399214A CN107399214A CN201710814075.7A CN201710814075A CN107399214A CN 107399214 A CN107399214 A CN 107399214A CN 201710814075 A CN201710814075 A CN 201710814075A CN 107399214 A CN107399214 A CN 107399214A
- Authority
- CN
- China
- Prior art keywords
- suspension basket
- suspension
- wheel
- guide rail
- bearing
- 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.)
- Withdrawn
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Classifications
-
- 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
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/124—Mounting of coil springs
- B60G2204/1242—Mounting of coil springs on a damper, e.g. MacPerson strut
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A kind of omnidirectional's wheel suspension system, including omni-directional wheel, DC servo motor, decelerator, hanger bracket, suspension basket, damper and spring etc., the omni-directional wheel is fixedly mounted on the outside of suspension basket, decelerator and DC servo motor are fixedly mounted on the inner side of suspension basket, the hanger bracket includes L-shaped installing plate, two pieces of risers, L-shaped installing plate is fixedly mounted on vehicle frame, two pieces of risers are stuck in suspension basket both sides, there is guide rail on riser, there is chute suspension basket both sides, guide rail and chute side spraying polytetrafluoroethylene (PTFE), the chute of suspension basket is slidably matched with guide rail, and it can be slided up and down along guide rail, damper and spring are installed between hanger bracket and suspension basket.The present invention has the characteristics that wheelbase and wheelspan simple in construction, that do not change wheel, is advantageous to improve the control accuracy of mobile platform, can be widely applied to various omni-directional wheel mobile platforms.
Description
Technical field
The present invention relates to a kind of suspension arrangement, is that one kind is used for logistics carrying and robot moving platform specifically
Omnidirectional's wheel suspension system.
Background technology
With the fast development of logistic storage industry and robot industry, increasing mobile platform (or logistic car) makes
With omni-directional wheel technology.In order that mobile platform has higher stability, mobile platform uses four wheel constructions more, and for four-wheel
For mobile platform, when being moved on the ground of injustice, always there is a wheel effectively to contact ground, it is hanging so as to occur
Or skidding, the direction of motion for causing mobile platform and movement velocity are difficult to control by this.
In order to ensure that four omni-directional wheels can be contacted effectively with ground, then at least must be hanged on a wheel
Hang, correlative study shows, wants to improve the control accuracy of mobile platform, optimal mode is that four wheels are respectively mounted independent hang
Hang.For the suspension arrangement of mobile platform compared with the suspension arrangement of automobile, structure is simply too much, and does not need steering mechanism.
At present, suspension arrangement wide variety used by mobile platform, Patents are also relatively more, and summing up substantially has two species
Type, one kind are wish-bone arm type suspension arrangements, and another kind is trailing arm type suspension arrangement.So-called wish-bone arm type and trailing arm type, be relative to
For the axis of omni-directional wheel, a little it is referred to as wish-bone arm type suspension for what pin joint was hung outside around omni-directional wheel wheel shaft, and around vertical
Directly in the referred to as trailing arm type suspension a little hung on omni-directional wheel wheel axial plane for pin joint.Using wish-bone arm type suspension arrangement,
When ground injustice, mobile platform wheelspan can be made to change, glance off omni-directional wheel, cause omnidirectional's foot wheel abrasion uneven；Adopt
With trailing arm type suspension arrangement, when ground injustice, it although omni-directional wheel deflection will not be caused, can change omnidirectional's axial position
Become, mobile platform wheelbase is changed, both the above hang can change the wheelspan or wheelbase of omni-directional wheel, cause to move
Platform courses precise decreasing.
The content of the invention
It is an object of the invention to provide a kind of omnidirectional's wheel suspension system for logistics carrying and robot moving platform,
The suspension arrangement does not change the wheelspan and wheelbase of omni-directional wheel, can improve the control accuracy of mobile platform.
To achieve the above object, the technical solution adopted by the present invention is：A kind of omnidirectional's wheel suspension system, including omni-directional wheel,
DC servo motor, decelerator, hanger bracket, suspension basket, baffle plate, bearing, damper and spring, the suspension basket include shell
Body, hollow shaft, bearing and back-up ring, hollow shaft both ends are machined with involute inner spline；The omni-directional wheel is fixedly mounted on suspension basket
Outside, omnidirectional's axle end is machined with involute outer spline, and the involute outer spline is matched somebody with somebody with the hollow shaft involute inner spline
Conjunction, decelerator and DC servo motor are fixedly mounted on the inner side of suspension basket, and reducer output shaft is involute outer spline, and this is gradually
The external splines that bursts at the seams coordinates with the hollow shaft involute inner spline；The hanger bracket includes L-shaped installing plate, two pieces of risers, L-shaped peace
Loading board is fixedly mounted on vehicle frame, and two pieces of risers are stuck in suspension basket both sides, there is guide rail on riser, and there is chute suspension basket both sides, led
Rail and chute side spraying polytetrafluoroethylene (PTFE), the chute is slidably matched with the guide rail, and can be slided up and down along guide rail, guide rail
Lower end is provided with baffle plate, and damper and spring are provided with by bearing between hanger bracket and suspension basket, and spring housing is mounted in damper
Outside.
Brief description of the drawings
Fig. 1 is a kind of structural representation of omnidirectional's wheel suspension system of the present invention；
Fig. 2 is the structural representation (top view) of suspension basket in the present invention；
Fig. 3 is the schematic three dimensional views of hanging scaffold structure in the present invention.
In figure, 1-omni-directional wheel, 2-suspension basket, 3-bearing one, 4-damper, 5-spring, 6-bearing two, 7-outstanding
Hanger, 8-baffle plate, 9-decelerator, 10-DC servo motor, 201-housing, 202-hollow shaft, 203-normal thread
Hole, 204-chute, 205-involute inner spline, 206-bearing, 207-back-up ring, 701-L-shaped installing plate, 702-horizontal spiral shell
Pit, 703-lateral aperture, 704-upright opening, 705-riser, 706-guide rail.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment of the present invention is described further.
Referring to Fig. 1-Fig. 3, a kind of omnidirectional's wheel suspension system of the present invention, including omni-directional wheel 1, suspension basket 2, bearing 1, resistance
Buddhist nun's device 4, spring 5, bearing 26, hanger bracket 7, baffle plate 8, decelerator 9 and DC servo motor 10；The suspension basket 2 includes housing
201st, hollow shaft 202, bearing 206 and back-up ring 207, hollow shaft 202 are supported in housing 201 by two bearings 206, hollow shaft
202 both ends are machined with involute inner spline 205, and the omni-directional wheel 1 is fixedly mounted on the outside of suspension basket 2, omnidirectional's wheel shaft
End is machined with involute outer spline, and the involute outer spline coordinates with the hollow shaft involute inner spline, decelerator 9 and direct current
Servomotor 10 is fixedly mounted on the inner side of suspension basket 2, and reducer output shaft is involute outer spline, the involute outer spline with
The hollow shaft involute inner spline coordinates, and the top of suspension basket 2 has four perpendicular screwed holes 203 to be used for erection support 1；It is described
Hanger bracket 7 includes 701, two pieces of risers 705 of L-shaped installing plate, and L-shaped installing plate is fixedly mounted by lateral aperture 703 and upright opening 704
On the vehicle frame of mobile platform, L-shaped installing plate has four horizontal threaded bores 702 to be used for erection support 26, and two pieces of risers 705 block
Guide rail 706, three sides spraying polytetrafluoroethylene (PTFE) of guide rail 706, suspension are designed with the both sides of suspension basket 2, two pieces of risers
The both sides of case 2 are machined with chute 204, three sides spraying polytetrafluoroethylene (PTFE) of chute 204, the chute 204 and the guide rail
706 are slidably matched, and suspension basket 2 can slide up and down along guide rail 706, and two pieces of lower ends of riser 705 are provided with baffle plate 8；The hanger bracket 7
Damper 4 and spring 5 are provided with by bearing 1 and bearing 26 between suspension basket 2, spring 5 is sleeved on the outside of damper 4.
When a kind of omnidirectional's wheel suspension system of the present invention works, omni-directional wheel can only slide up and down along guide rail, will not change wheel
Wheelbase and wheelspan, be advantageous to improve mobile platform control accuracy, can be widely applied to various omni-directional wheel mobile platforms.
Claims (2)
1. a kind of omnidirectional's wheel suspension system, including omni-directional wheel (1), suspension basket (2), bearing one (3), damper (4), spring (5),
Bearing two (6), hanger bracket (7), baffle plate (8), decelerator (9) and DC servo motor (10), it is characterized in that：The hanger bracket
(7) L-shaped installing plate (701), two pieces of risers (705) are included, L-shaped installing plate is fixed by lateral aperture (703) and upright opening (704)
On the vehicle frame of mobile platform, L-shaped installing plate has four horizontal threaded bores (702), has guide rail (706) on two pieces of risers,
Three sides spraying polytetrafluoroethylene (PTFE) of guide rail (706), the both sides of suspension basket (2) are machined with chute (204), chute (204)
Three sides spray polytetrafluoroethylene (PTFE), and the chute (204) is slidably matched with the guide rail (706), two pieces of riser (705) lower ends
Baffle plate (8) is installed；Damping is provided with by bearing one (3) and bearing two (6) between the hanger bracket (7) and suspension basket (2)
Device (4) and spring (5), spring (5) are sleeved on outside damper (4).
A kind of 2. omnidirectional's wheel suspension system according to claim 1, it is characterised in that：Suspension basket (2) includes housing
(201), hollow shaft (202), bearing (206) and back-up ring (207), hollow shaft (202) are supported on housing by two bearings (206)
(201) in, the both ends of hollow shaft (202) are machined with involute inner spline (205), and omni-directional wheel (1) is fixedly mounted on suspension basket
(2) outside, omnidirectional's axle end are machined with involute outer spline, the involute outer spline and the hollow shaft involute inner spline
(205) cooperation, decelerator (9) and DC servo motor (10) are fixedly mounted on the inner side of suspension basket (2), and reducer output shaft is
Involute outer spline, the involute outer spline coordinate with the hollow shaft involute inner spline (205).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710814075.7A CN107399214A (en) | 2017-09-11 | 2017-09-11 | A kind of omnidirectional's wheel suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710814075.7A CN107399214A (en) | 2017-09-11 | 2017-09-11 | A kind of omnidirectional's wheel suspension system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107399214A true CN107399214A (en) | 2017-11-28 |
Family
ID=60388173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710814075.7A Withdrawn CN107399214A (en) | 2017-09-11 | 2017-09-11 | A kind of omnidirectional's wheel suspension system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107399214A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104093A (en) * | 2019-06-14 | 2019-08-09 | 哈尔滨工业大学 | A kind of all-terrain moving robot for material clamping |
-
2017
- 2017-09-11 CN CN201710814075.7A patent/CN107399214A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104093A (en) * | 2019-06-14 | 2019-08-09 | 哈尔滨工业大学 | A kind of all-terrain moving robot for material clamping |
| CN110104093B (en) * | 2019-06-14 | 2021-08-31 | 哈尔滨工业大学 | All-terrain mobile robot for clamping materials |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171128 |
|
| WW01 | Invention patent application withdrawn after publication |