CN109986578A - A kind of service robot suspension - Google Patents
A kind of service robot suspension Download PDFInfo
- Publication number
- CN109986578A CN109986578A CN201910334331.1A CN201910334331A CN109986578A CN 109986578 A CN109986578 A CN 109986578A CN 201910334331 A CN201910334331 A CN 201910334331A CN 109986578 A CN109986578 A CN 109986578A
- Authority
- CN
- China
- Prior art keywords
- atmospheric pressure
- pressure pole
- wheel support
- fixing piece
- traveling wheel
- 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
- 239000000725 suspension Substances 0.000 title claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention provides a kind of air pressure push rod suspension, comprising: vehicle frame；Fixed pedestal, the fixed pedestal are fixed to above vehicle frame；Air pressure push rod fixing piece, described air pressure push rod fixing piece one is fixed to above vehicle frame, another is fixed to above traveling wheel support；Air pressure push rod, air pressure push rod one end are connected to the atmospheric pressure pole fixing piece on the vehicle frame, and other end is connected to the atmospheric pressure pole fixing piece on traveling wheel support；Atmospheric pressure pole connecting pin is installed among atmospheric pressure pole and atmospheric pressure pole fixing piece；Traveling wheel support, the traveling wheel support are connected to the fixed pedestal, and centre passes through a foundation seat connecting pin；Travel wheel, the travel wheel are fixed on the traveling wheel support；The traveling wheel support is expert at moved up into wheel in the case where, rotated clockwise around pedestal connecting pin, while atmospheric pressure pole is compressed, the traveling wheel support is expert at moved down into wheel in the case where, it is rotated counterclockwise around pedestal connecting pin, while atmospheric pressure pole is stretched.
Description
Technology neighborhood
The present invention relates to a kind of suspension, more particularly, to a kind of service robot suspension.
Background technique
Service robot is generally operational in the interior of ground even, is not considered generally when designing service robot chassis using outstanding
Extension system, but since current flooring more and more uses floor tile, and since floor tile installation out-of-flatness causes
Occur gap and protrusion between floor tile, service robot is made to occur hanging phenomenon of jolting and skid when walking, so as to cause
Service robot is unable to normal walking.Therefore, service robot installation suspension is necessary.
Summary of the invention
The object of the present invention is to provide a kind of suspension, driving wheel radius is smaller, and wheel surface is flat and smooth；It crosses a ridge
It is good with performance is crossed a pit, it is especially suitable for using indoors, mute performance is good.
To achieve the above object, the present invention provides a kind of atmospheric pressure pole motor suspension system, the suspension includes: solid
Determine pedestal, travel wheel, traveling wheel support, atmospheric pressure pole, atmospheric pressure pole fixing piece, atmospheric pressure pole connecting pin and pedestal connecting pin.Wherein,
The fixed pedestal is fixed to above vehicle frame；The atmospheric pressure pole fixing piece, one is fixed to above vehicle frame, another is fixed to
Above traveling wheel support；The atmospheric pressure pole, one end are connected to the atmospheric pressure pole fixing piece on the vehicle frame, and other end is connected to row
Atmospheric pressure pole connecting pin is installed with into the atmospheric pressure pole fixing piece on wheel support, and among atmospheric pressure pole and atmospheric pressure pole fixing piece；The row
Into wheel support, it is connected to the fixed pedestal, centre passes through a foundation seat connecting pin, and the traveling wheel support is expert at upward into wheel
In the case where movement, rotated clockwise around pedestal connecting pin, while atmospheric pressure pole is compressed, the traveling wheel support be expert at into
In the case that wheel moves down, rotated counterclockwise around pedestal connecting pin, while atmospheric pressure pole is stretched；The travel wheel is fixed
On to the traveling wheel support.
Preferably, the through-hole that atmospheric pressure pole fixing piece is connected on the right side of the traveling wheel support can increase by two groups of holes up and down, machine
When people's overall weight increases, atmospheric pressure pole fixing piece is placed in one group of hole topmost, and when robot overall weight is reduced, atmospheric pressure pole is fixed
Part is placed in bottom one group of hole.
Preferably, the atmospheric pressure pole can be centered on away from 120mm, stroke 20mm, cylinder diameter 15mm, pressure limit 30-300N.
It preferably, can be 3 inches in the size of the travel wheel.
It in technical solution of the present invention, provides, by the use of atmospheric pressure pole, the flat of body in robot kinematics can be maintained
Weighing apparatus guarantees the stability that robot advances.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, above-mentioned and other mesh of the invention
, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label usual generation
Table same parts.
Fig. 1 shows the perspective view of atmospheric pressure pole suspension according to an embodiment of the invention.
Fig. 2 shows the schematic diagrames of atmospheric pressure pole suspension according to an embodiment of the invention.
Fig. 3 a-3c shows the schematic diagram that robot according to the present invention realized uneven ground.
Fig. 4 shows travel wheel and passes through motor and synchronous belt driving structure schematic diagram.
Fig. 5 shows the whole robot figure of atmospheric pressure pole suspension according to an embodiment of the invention.
Description of symbols:
1- travel wheel, 2- fixed pedestal, 3- pedestal connecting pin, 4- atmospheric pressure pole fixing piece, 5-atmospheric pressure pole connecting pins,
6- vehicle frame, 7- atmospheric pressure pole, 8- traveling wheel support, 9- driven wheel, the driven wheel support of 10-, 11- synchronous belt, 12- pressure
Bearing up pulley, 13- motor.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.
Fig. 1 shows the perspective view of atmospheric pressure pole suspension according to an embodiment of the invention；Fig. 2 shows bases
The schematic diagram of the atmospheric pressure pole suspension of one embodiment of the present of invention；Fig. 3 a-3c shows robot realization according to the present invention
Cross the schematic diagram on uneven ground；Fig. 4 shows the entirety of atmospheric pressure pole suspension according to an embodiment of the invention
Robot figure.
The present invention provides a kind of atmospheric pressure pole suspension, the suspension includes: fixed pedestal, travel wheel, traveling
Wheel support, atmospheric pressure pole, atmospheric pressure pole fixing piece, atmospheric pressure pole connecting pin and pedestal connecting pin.Wherein, the fixed pedestal is solid
Determine to vehicle frame；The atmospheric pressure pole fixing piece, one is fixed to above vehicle frame, another is fixed on traveling wheel support
Face；The atmospheric pressure pole, one end are connected to the atmospheric pressure pole fixing piece on the vehicle frame, and other end is connected on traveling wheel support
Atmospheric pressure pole fixing piece, and atmospheric pressure pole connecting pin is installed among atmospheric pressure pole and atmospheric pressure pole fixing piece；The traveling wheel support, connection
To the fixed pedestal, centre passes through a foundation seat connecting pin, the traveling wheel support is expert at moved up into wheel in the case where,
It is rotated clockwise around pedestal connecting pin, while atmospheric pressure pole is compressed, the traveling wheel support is expert to be moved down into wheel
In the case of, it is rotated counterclockwise around pedestal connecting pin, while atmospheric pressure pole is stretched；The travel wheel is fixed to the travel wheel
On bracket.
Preferably, the through-hole of atmospheric pressure pole fixing piece even is connected on the right side of the traveling wheel support can increase by two groups up and down
Hole, when robot overall weight increases, atmospheric pressure pole fixing piece is placed in one group of hole topmost, when robot overall weight is reduced, gas
Compression bar fixing piece is placed in bottom one group of hole.
With further reference to Fig. 3 a, there are two driven wheels for machine human organism front and back connection, and when road surface evenness, driven wheel is outstanding
Sky is landed by travel wheel, carries out forward-reverse or turning；Referring to Fig. 3 b, when travel wheel encounters barrier, travel wheel and traveling
Wheel support and the affiliated part of traveling wheel support are rotated clockwise around atmospheric pressure pole connecting pin, and atmospheric pressure pole is compressed, and is broken the barriers；
Referring to Fig. 3 c, when driven wheel encounters barrier, travel wheel and traveling wheel support and the affiliated part of traveling wheel support are around atmospheric pressure pole
Connecting pin rotates counterclockwise, and atmospheric pressure pole is stretched, and breaks the barriers.
Referring to Fig. 1, there are three air pressure joint element for bar installation positions on the traveling wheel support.When load is greater than 60kg, gas
Compression bar is connected to uppermost hole location；When load is less than 40kg, atmospheric pressure pole is connected to nethermost hole location；When being supported on
Between 40kg-60kg, atmospheric pressure pole is connected to intermediate hole location.
In technical solution of the present invention, the suspension that compressible atmospheric pressure pole adjusts travel wheel height is provided, by this
The use of suspension can maintain the balance of body in robot kinematics, ensure that the stability that robot advances.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, the present invention is not limited thereto.For those skilled in the art, do not depart from spirit of the invention and
In the case where essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (3)
1. a kind of service robot suspension, which is characterized in that the suspension includes:
Vehicle frame (6)；
Fixed pedestal (2), the fixed pedestal (2) are fixed to vehicle frame (6) above；
Atmospheric pressure pole fixing piece (4), the atmospheric pressure pole fixing piece (4) one are fixed to vehicle frame (6) above, another is fixed to row
Above into wheel support (8)；
Atmospheric pressure pole (7), described atmospheric pressure pole (7) one end are connected to the atmospheric pressure pole fixing piece (4) on the vehicle frame (6), other end
The atmospheric pressure pole fixing piece (4) being connected on traveling wheel support (8)；Gas is installed among atmospheric pressure pole (7) and atmospheric pressure pole fixing piece (4)
Compression bar connecting pin (5)；
Traveling wheel support (8), the traveling wheel support (8) are connected to the fixed pedestal (2), and centre passes through a foundation seat and connects
It sells (3)；
Travel wheel (1), the travel wheel (1) are fixed on the traveling wheel support (8)
The traveling wheel support (8) rotates clockwise in the case where travel wheel (1) is moved up around pedestal connecting pin (3),
Atmospheric pressure pole (7) is compressed simultaneously, and the traveling wheel support (8) connects in the case where travel wheel (1) is moved down around pedestal
Outbound (3) rotates counterclockwise, while atmospheric pressure pole (7) is stretched.
Travel wheel (1) is driven by motor (13) and synchronous belt (11).
2. suspension as described in claim 1, which is characterized in that connect atmospheric pressure pole on the right side of the traveling wheel support (8)
The through-hole of fixing piece (4) has three groups of holes, and when robot overall weight increases, atmospheric pressure pole fixing piece (4) is placed in one group of hole topmost,
When robot overall weight is reduced, atmospheric pressure pole fixing piece (4) is placed in bottom one group of hole.
3. suspension as described in claim 1, which is characterized in that in the travel wheel (1) having a size of 3 inches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910334331.1A CN109986578A (en) | 2019-04-24 | 2019-04-24 | A kind of service robot suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910334331.1A CN109986578A (en) | 2019-04-24 | 2019-04-24 | A kind of service robot suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109986578A true CN109986578A (en) | 2019-07-09 |
Family
ID=67132938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910334331.1A Pending CN109986578A (en) | 2019-04-24 | 2019-04-24 | A kind of service robot suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986578A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0403203D0 (en) * | 2003-02-27 | 2004-03-17 | Pi Hsiang Machinery Mfg Co | Wheel bracket mechanism for an electric wheelchair equipped with auxiliary wheels |
| CN204674692U (en) * | 2015-06-12 | 2015-09-30 | 北京云迹科技有限公司 | Suspension sheave and wheeled robot |
| CN107856734A (en) * | 2017-10-20 | 2018-03-30 | 武汉科技大学 | A kind of adjustable high-clearance hydraulic platform of podium level |
| CN109305245A (en) * | 2018-11-09 | 2019-02-05 | 洛阳圣瑞智能机器人有限公司 | It is a kind of can obstacle detouring suspension wheel moving platform |
| CN210148105U (en) * | 2019-04-24 | 2020-03-17 | 北京海风智能科技有限责任公司 | Suspension system of service robot |
-
2019
- 2019-04-24 CN CN201910334331.1A patent/CN109986578A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0403203D0 (en) * | 2003-02-27 | 2004-03-17 | Pi Hsiang Machinery Mfg Co | Wheel bracket mechanism for an electric wheelchair equipped with auxiliary wheels |
| CN204674692U (en) * | 2015-06-12 | 2015-09-30 | 北京云迹科技有限公司 | Suspension sheave and wheeled robot |
| CN107856734A (en) * | 2017-10-20 | 2018-03-30 | 武汉科技大学 | A kind of adjustable high-clearance hydraulic platform of podium level |
| CN109305245A (en) * | 2018-11-09 | 2019-02-05 | 洛阳圣瑞智能机器人有限公司 | It is a kind of can obstacle detouring suspension wheel moving platform |
| CN210148105U (en) * | 2019-04-24 | 2020-03-17 | 北京海风智能科技有限责任公司 | Suspension system of service robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190709 |
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| WD01 | Invention patent application deemed withdrawn after publication |