CN108382146A - A kind of all-terrain moving robot Combined vehicle body suspension arrangement - Google Patents
A kind of all-terrain moving robot Combined vehicle body suspension arrangement Download PDFInfo
- Publication number
- CN108382146A CN108382146A CN201810217620.9A CN201810217620A CN108382146A CN 108382146 A CN108382146 A CN 108382146A CN 201810217620 A CN201810217620 A CN 201810217620A CN 108382146 A CN108382146 A CN 108382146A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- supporting rack
- connecting rod
- damping device
- suspension arrangement
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/02—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only
- B60G11/08—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only arranged substantially transverse to the longitudinal axis of the vehicle
-
- 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
- B60G2202/11—Leaf spring
- B60G2202/114—Leaf spring transversally arranged
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of all-terrain moving robot Combined vehicle body suspension arrangements, including chassis, the wheel driver at left and right sides of chassis, the Combined vehicle body damping device on chassis；Combined vehicle body damping device includes that the XZ being sequentially connected from bottom to top installs frame module to damping device module, YZ to damping device module, vehicle body；XZ to damping device module include fixing support rack, XZ to supporting rack, the first damper and XZ to connecting rod；YZ to damping device module include YZ to supporting rack, third damper and several YZ to connecting rod；It includes vehicle body mounting plate, car body panel connecting rod, leaf spring that vehicle body, which installs frame module,.The present invention is convenient to be installed on dismounting, can improve the stability of robot motion effectively to slowing down vehicle body vibrations from X, Y, Z multiple directions, inhibit the turning inertia brought to vehicle body when mobile robot turning.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of all-terrain moving robot Combined vehicle body suspension
Device.
Background technology
In wheeled all-terrain moving robot driving device, driving wheel and chassis are typically rigidly connected.Work as machine
For people when walking on outdoor complicated ground, being uneven for ground can cause the vibrations of robot.Using vehicle body suspension arrangement or
The robot automobile body that wheel suspension assembly slows down slows down robot vibrations.
It is as outstanding in disclosed a kind of ground mobile robot omni-directional wheel in 201610103764.2 patent of invention of China Patent No.
Hang device, including driving mechanism, transmission shaft, omni-directional wheel, suspension matrix, two connection lengths are equal and the suspension of parallel arrangement is shaken
Arm, the both ends for hanging rocking arm are all made of the mode of articulated connection and are connect with suspension matrix, driving mechanism；The chassis body with
It is provided with resilient support assemblies between one of driving mechanism hinge joint.Resilient support assemblies are merely able in the suspension arrangement
Realize that damping effect is apparent, can not use complicated landform to the damping on single direction.
As disclosed a kind of wheeled mobile robot suspension arrangement in China Patent No. 201610021805.3, including：Bottom
Disk is provided in the middle part of the chassis for the first through hole across wheel, on the chassis of the first through hole front end fixation set
It is equipped with spring guide fixed seat, support base is fixedly installed on the chassis of the first through hole rear end.The suspension arrangement exists
When carrying out damping, since spring and guide rod are used cooperatively, it can only play to the reaction force attenuation on vertical direction, damping effect
Difference, damping modes are single.
In summary it can be seen, vehicle body suspension arrangement or shakeproof device for wheel due to robot automobile body on frame and cannot simultaneously from
X, Y, Z-direction effectively slow down vehicle body vibrations, can not effectively inhibit the turning brought to vehicle body when mobile robot turning
Inertia.Currently, being badly in need of a kind of vehicle body suspension arrangement that can be realized from multiple directions to mobile robot damping.
Invention content
In order to avoid with solve above-mentioned technical problem, the present invention proposes a kind of all-terrain moving robot Combined vehicle body
Suspension arrangement.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of all-terrain moving robot Combined vehicle body suspension arrangement, including chassis, at left and right sides of chassis
Wheel driver, the Combined vehicle body damping device on chassis.
As a further improvement on the present invention, the chassis include symmetrical two L-type wheel fixed plates, two points
It is not connected with L-type wheel fixed plate and constitutes the crossbeam of rectangular frame, the bottom plate in rectangular frame.Two L-type wheels
Fixed plate is distributed in the left and right sides, and the both ends of any one crossbeam are connected with two L-type wheel fixed plates respectively, and Combined vehicle body subtracts
Shake device is then placed in the rectangular frame to be formed.
As a further improvement on the present invention, the wheel driver be four and mounted on chassis it is left front, left back,
Before right and after right at four orientation, the wheel driver include be mounted on servo motor on the inside of L-type wheel fixed plate, with
The connected wheel of servo motor.
Four wheel drivers are mounted on by location hole and bolt in two L-type wheel fixed plates.
As a further improvement on the present invention, the Combined vehicle body damping device includes the XZ being sequentially connected from bottom to top
Frame module is installed to damping device module, vehicle body to damping device module, YZ.
As a further improvement on the present invention, the XZ includes that two fixations being symmetric are propped up to damping device module
Support, two XZ between two fixing support racks are respectively hinged at fixing support rack and XZ to branch to supporting rack, both ends
The first damper on support and several XZ are respectively hinged at adjacent XZ at supporting rack two-third point to connecting rod, both ends
Two the second dampers.
As a further improvement on the present invention, the first damper on the fixing support rack is two and is connected to fixation
Supporting rack and XZ are at three branches of support.
As a further improvement on the present invention, the XZ is mounted on fixing support rack and XZ to before supporting rack to connecting rod
Both ends afterwards, XZ at either end to connecting rod be in upper and lower two for being distributed and being arranged obliquely.
As a further improvement on the present invention, the YZ to damping device module include with two YZ to supporting rack, both ends
YZ is respectively hinged to third damper on supporting rack of supporting rack and XZ and several YZ to connecting rod.
As a further improvement on the present invention, the third damper is connected to YZ to supporting rack and XZ into supporting rack
At point.
As a further improvement on the present invention, the YZ is mounted on YZ to supporting rack and XZ to the same of supporting rack to connecting rod
Side, the YZ of the same side to connecting rod be in front and back distribution and be arranged forward diagonally upward two.
As a further improvement on the present invention, vehicle body installation frame module include vehicle body mounting plate, symmetrical point
Cloth is on vehicle body mounting plate and both ends are respectively hinged at the car body panel connecting rod and the 4th of vehicle body mounting plate and YZ on supporting rack
Damper, both ends are respectively hinged at the leaf spring in left and right side car body panel connecting rod.
As a further improvement on the present invention, it is two that the car body panel connecting rod, which is front and back two groups and every group be distributed,.
The beneficial effects of the invention are as follows：
Structure of the invention reasonable design, it is easy to operate, using modular Combined vehicle body damping device, it is convenient to install
In dismounting, make all-terrain moving robot be suitable for it is indoor walk with outdoor environment, by XZ to damping device module, YZ to subtracting
Apparatus module is shaken, can effectively be shaken to slowing down vehicle body from X, Y, Z multiple directions, improve the stability of robot motion, and
The turning inertia brought to vehicle body when mobile robot turning can be effectively inhibited.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of Combined vehicle body damping device in the present invention；
Fig. 3 is the front view of Combined vehicle body damping device in the present invention；
Fig. 4 is the right view of Combined vehicle body damping device in the present invention；
Fig. 5 is the vertical view of Combined vehicle body damping device in the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 5, a kind of all-terrain moving robot Combined vehicle body suspension arrangement, including chassis 1, installation
In the wheel driver 2 of 1 left and right sides of chassis, mounted on the One On The Chassis Combined vehicle body damping device 3.
The chassis 1 include symmetrical two L-type wheel fixed plates 11, two respectively with L-type wheel fixed plate 11
It is connected and constitutes crossbeam 12, the bottom plate 13 in rectangular frame of rectangular frame.In use, two L-type wheel fixed plates
It is distributed in the left and right sides, the both ends of any one crossbeam 12 are connected with two L-type wheel fixed plates 11 respectively, Combined vehicle body damping
Device 3 is then placed in the rectangular frame to be formed.
Behind left front, left back, the right preceding and right side of the wheel driver 2 for four and mounted on chassis 1 at four orientation,
The wheel driver 2 includes the servo motor 21 for being mounted on 11 inside of L-type wheel fixed plate, is connected with servo motor 21
Wheel 22.In use, the startup of servo motor 21 is supplied to 22 rotating speed of wheel, by way of four-wheel drive, improve entire vehicle body
The cross-country power of suspension arrangement.
Four wheel drivers 2 are mounted on by location hole and bolt in two L-type wheel fixed plates 11.
The Combined vehicle body damping device 3 include the XZ that is sequentially connected from bottom to top to damping device module 31, YZ to
Damping device module 32, vehicle body install frame module 33.
The XZ includes two fixing support racks 311 being symmetric, is located at two fixations to damping device module 31
Two XZ between supporting rack 311 are respectively hinged at fixing support rack 311 and XZ on supporting rack 312 to supporting rack 312, both ends
The first damper 313 and several XZ be respectively hinged at adjacent XZ on supporting rack 312 three points to connecting rod 314, both ends
Two the second dampers 315 at point.The XZ is located at the top of fixing support rack 311 to supporting rack 312 and is supported with fixed
Frame 311 is to be arranged in parallel.In use, the second damper 315 can cut down XZ to the active force between supporting rack 312.
The first damper 313 on the fixing support rack 311 is two and is connected to fixing support rack 311 and XZ to branch
At three branches of support 312.In use, the first damper 313 in such a way that three points are placed, enables to XZ in support 312
The effect of damping can be fully played everywhere.
The XZ is mounted on fixing support rack 311 and XZ to the rear and front end of supporting rack 312, either end to connecting rod 314
The XZ at place is to connecting rod 314 in upper and lower two for being distributed and being arranged obliquely.In use, XZ combines first to connecting rod 314
Damper 313 can cut down the ground force that robot is subject to upwards in XZ.
The YZ includes being respectively hinged at YZ to support to supporting rack 321, both ends with two YZ to damping device module 32
The third damper 322 of frame 321 and XZ on supporting rack 312 and several YZ are to connecting rod 323.
The third damper 322 is connected to YZ to supporting rack 321 and XZ to the midpoint of supporting rack 312.
The YZ is mounted on YZ to supporting rack 321 and XZ to the same side of supporting rack 312 to connecting rod 323, the same side
YZ is to connecting rod 323 in front and back two for being distributed and being arranged forward diagonally upward.In use, YZ combines third to connecting rod 323
Damper 322 can cut down the active force on the directions YZ that robot is subject to.
Vehicle body installation frame module 33 includes vehicle body mounting plate 331, symmetrical is distributed on vehicle body mounting plate 331
And both ends are respectively hinged at the car body panel connecting rod 332 and the 4th damper of vehicle body mounting plate 331 and YZ on supporting rack 321
334, both ends are respectively hinged at the leaf spring 333 in left and right side car body panel connecting rod 332.In use, passing through leaf spring 333 and vehicle
Body connecting rod 332 coordinates, and can eliminate the active force between vehicle body mounting plate 331 and chassis 1.
The car body panel connecting rod 332 is that two groups and every group of front and back distribution are two.
The operation principle of the present invention is further elaborated below：
When work, robot moves under the action of wheel driver 2, when the ground big and situation that fluctuates is complicated
When, the active force from ground is transmitted to through chassis 1 on fixing support rack 311, since the force direction being subject to is changeable, is passed through
First damper 313 and XZ can become to connecting rod 314, fixing support rack 311 and XZ to the relative position of supporting rack 312
Change, and cuts down the ground force on the directions XZ；It is acted on by the second damper 315, additionally it is possible to further cut down adjacent XZ
Active force between supporting rack 312；By third damper 322 and YZ to connecting rod 323, YZ to supporting rack 321 and XZ to
The relative position of supporting rack 312 changes, and cuts down the ground force on the directions YZ；Ground force after abatement is being passed through
When leaf spring 333 and car body panel connecting rod 332, further cut down, by way of multilayer abatement, realizes cushioning effect, simultaneously also
It ensure that entire vehicle body suspension arrangement has high intensity and matched amount of deflection.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (9)
1. a kind of all-terrain moving robot Combined vehicle body suspension arrangement, it is characterised in that：Including chassis (1), it is mounted on bottom
Wheel driver (2) at left and right sides of disk (1), the Combined vehicle body damping device (3) on chassis (1).
2. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 1, it is characterised in that：Institute
It includes that the XZ being sequentially connected from bottom to top is filled to damping device module (31), YZ to damping to state Combined vehicle body damping device (3)
Set module (32), vehicle body installation frame module (33).
3. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 2, it is characterised in that：Institute
XZ is stated to include two fixing support racks being symmetric (311), be located at two fixing support racks to damping device module (31)
(311) two XZ between are respectively hinged at fixing support rack (311) and XZ to supporting rack (312) to supporting rack (312), both ends
On the first damper (313) and several XZ be respectively hinged at adjacent XZ to supporting rack to connecting rod (314), both ends
(312) two the second dampers (315) at two-third point.
4. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 3, it is characterised in that：Institute
The first damper (313) on fixing support rack (311) is stated to be two and be connected to fixing support rack (311) and XZ to support
(312) at three branches.
5. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 3, it is characterised in that：Institute
It states XZ and is mounted on the rear and front end of fixing support rack (311) and XZ to supporting rack (312) to connecting rod (314), at either end
XZ is to connecting rod (314) in upper and lower two for being distributed and being arranged obliquely.
6. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 3, it is characterised in that：Institute
State YZ to damping device module (32) include two YZ to supporting rack (321), both ends be respectively hinged at YZ to supporting rack (321) and
Third dampers (322) of the XZ on supporting rack (312) and several YZ are to connecting rod (323).
7. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 6, it is characterised in that：Institute
It states third damper (322) and is connected to YZ to supporting rack (321) and XZ to the midpoint of supporting rack (312).
8. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 6, it is characterised in that：Together
YZs of one YZ on supporting rack (321) is to connecting rod (323) in front and back two for being distributed and being arranged forward diagonally upward.
9. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 6, it is characterised in that：Institute
Vehicle body installation frame module (33) is stated to include vehicle body mounting plate (331), symmetrical be distributed on vehicle body mounting plate (331) and two
End is respectively hinged at the car body panel connecting rod (332) and the 4th damper of vehicle body mounting plate (331) and YZ on supporting rack (321)
(334), both ends are respectively hinged at the leaf spring (333) in left and right side car body panel connecting rod (332).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810217620.9A CN108382146B (en) | 2018-03-16 | 2018-03-16 | Combined vehicle body suspension device of all-terrain mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810217620.9A CN108382146B (en) | 2018-03-16 | 2018-03-16 | Combined vehicle body suspension device of all-terrain mobile robot |
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| Publication Number | Publication Date |
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| CN108382146A true CN108382146A (en) | 2018-08-10 |
| CN108382146B CN108382146B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810217620.9A Active CN108382146B (en) | 2018-03-16 | 2018-03-16 | Combined vehicle body suspension device of all-terrain mobile robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588265A (en) * | 2019-08-15 | 2019-12-20 | 大连理工江苏研究院有限公司 | Omnidirectional mobile robot chassis with suspension device |
| CN110605947A (en) * | 2019-09-23 | 2019-12-24 | 安徽工程大学 | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm |
| CN111891017A (en) * | 2020-07-29 | 2020-11-06 | 同济大学 | Shock-proof type welding type following transfer robot system |
| CN112373260A (en) * | 2020-11-26 | 2021-02-19 | 广东博智林机器人有限公司 | Damping chassis system and mobile device |
| CN114715309A (en) * | 2022-05-07 | 2022-07-08 | 常州工学院 | Heavy load AGV differential drive module that area hung |
| CN115320304A (en) * | 2022-08-11 | 2022-11-11 | 辽宁工程技术大学 | Hybrid multi-point position automobile shock absorption suspension device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110605947A (en) * | 2019-09-23 | 2019-12-24 | 安徽工程大学 | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm |
| CN110605947B (en) * | 2019-09-23 | 2024-03-12 | 安徽工程大学 | All-terrain independent suspension mobile robot for farm based on ROS scheduling system |
| CN111891017A (en) * | 2020-07-29 | 2020-11-06 | 同济大学 | Shock-proof type welding type following transfer robot system |
| CN112373260A (en) * | 2020-11-26 | 2021-02-19 | 广东博智林机器人有限公司 | Damping chassis system and mobile device |
| CN114715309A (en) * | 2022-05-07 | 2022-07-08 | 常州工学院 | Heavy load AGV differential drive module that area hung |
| CN115320304A (en) * | 2022-08-11 | 2022-11-11 | 辽宁工程技术大学 | Hybrid multi-point position automobile shock absorption suspension device |
| CN115320304B (en) * | 2022-08-11 | 2024-05-24 | 辽宁工程技术大学 | Hybrid multi-point-position automobile damping suspension device |
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| Publication number | Publication date |
|---|---|
| CN108382146B (en) | 2023-06-16 |
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