CN207345951U - A kind of caterpillar type robot hangs shock mitigation system - Google Patents
A kind of caterpillar type robot hangs shock mitigation system Download PDFInfo
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- CN207345951U CN207345951U CN201721433708.1U CN201721433708U CN207345951U CN 207345951 U CN207345951 U CN 207345951U CN 201721433708 U CN201721433708 U CN 201721433708U CN 207345951 U CN207345951 U CN 207345951U
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- wheel
- hinged
- arm
- damper
- bogie
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Abstract
The utility model discloses a kind of caterpillar type robot to hang shock mitigation system, including：Live axle, driving wheel, supporting shaft, bogie wheel, supporting wheel arm, expansion tightening wheel sliding sleeve, body, damper one, guide wheel shaft, directive wheel, directive wheel arm axle, guiding wheel arm, shock absorber bearing, expansion tightening wheel wheel shaft, expansion tightening wheel, crawler belt, bogie wheel arm axle and damper two.Caterpillar type robot suspension shock mitigation system can mitigate Uneven road well by the setting of damper and supporting wheel arm and be impacted caused by robot body, have good cushion performance.
Description
Technical field
The utility model belongs to robot field, specifically a kind of caterpillar type robot suspension shock mitigation system.
Background technology
For specialized robot, in order to obtain good walking effect, generally using crawler type walking mechanism, such as fire-fighting
Robot, sniffing robot and crusing robot etc., crawler type walking mechanism and contact area of ground are big, obstacle climbing ability is strong, but
It is when pavement behavior is bad or exists compared with multi-obstacle avoidance, significant shock can be caused, it is unfavorable that the normal work of robot is brought
Influence.Existing damping has more complicated, some installation inconvenience, does not apply to the caterpillar type robot of small volume.
The content of the invention
In order to solve the deficiencies in the prior art, the utility model provides a kind of new caterpillar type robot suspension damping system
System, suspension shock mitigation system caterpillar robot platform simple in structure, easy for installation, being adapted to small volume.
The technical solution adopted in the utility model is：A kind of caterpillar type robot hangs shock mitigation system, including：Live axle
（1）, driving wheel（2）, supporting shaft（3）, bogie wheel（4）, supporting wheel arm（5), expansion tightening wheel sliding sleeve（6）, body（7）, damper
One（8）, guide wheel shaft (10), directive wheel（11）, directive wheel arm axle（12）, be oriented to wheel arm（13）, shock absorber bearing（14）, expansion tightening wheel
Wheel shaft（15）, expansion tightening wheel（16）, crawler belt（17）, bogie wheel arm axle（18）With damper two（20）.
The driving wheel（2）It is connected by live axle (1) with main drive output, passing power, drives crawler belt（17）
Movement.Bogie wheel（4）3 groups are shared, is evenly arranged in driving wheel（2）With directive wheel（11）Between contact ground side.Bogie wheel
Arm（5）One end is hinged by bogie wheel arm axle (18) and body (7), and the other end passes through supporting shaft（3）With bogie wheel（4）Hinge
Connect, damper two（20）One end passes through shock absorber bearing（14）With body（7）It is hinged, the other end and supporting wheel arm（5）Caudal part is cut with scissors
Connect, make bogie wheel（4）Reach damping, supporting purpose.
Expansion tightening wheel（16）With tension wheel shaft（15）It is hinged, pass through expansion tightening wheel sliding sleeve（6）It can move up and down, reach automatic tensioning
Tight crawler belt（17）Purpose.
It is oriented to wheel arm（13）It is designed to " ┫ " shape, one end and body（7）It is hinged, pass through directive wheel arm axle above the other end
(12) and body（7）Hinged, lower section passes through supporting shaft（3）With bogie wheel（4）It is hinged.Damper one（8）One end passes through damping
Device seat（14）With body（7）It is hinged.The other end is with being oriented to wheel arm（13）It is hinged.Achieve the purpose that to guide crawler belt and reduce impact.
The beneficial effects of the utility model are：The caterpillar type robot hangs shock mitigation system and passes through damper and supporting wheel arm
Setting can mitigate Uneven road well and impacted caused by robot body, there is good cushion performance, and be oriented to
The combination of wheel and damper can effectively alleviate the frontal impact during robot runs at high speed, so that body is protected, Er Qiejie
Structure caterpillar robot platform that is simple, easy for installation, being adapted to small volume.
Brief description of the drawings
Fig. 1 forms structure diagram for the utility model.
Embodiment
Connection with figures is described further the utility model below.
As shown in Figure 1, a kind of caterpillar type robot suspension shock mitigation system, including：Live axle（1）, driving wheel（2）, branch
Hold wheel shaft（3）, bogie wheel（4）, supporting wheel arm（5), expansion tightening wheel sliding sleeve（6）, body（7）, damper one（8）, guide wheel shaft
(10), directive wheel（11）, directive wheel arm axle（12）, be oriented to wheel arm（13）, shock absorber bearing（14）, expansion tightening wheel wheel shaft（15）, tensioner
Wheel（16）, crawler belt（17）, bogie wheel arm axle（18）With damper two（20）.
The driving wheel（2）Pass through live axle（1）It is connected with main drive output, passing power, drives crawler belt（17）
Movement.Bogie wheel（4）3 groups are shared, is evenly arranged in driving wheel（2）With directive wheel（11）Between contact ground side.Bogie wheel
Arm（5）One end passes through bogie wheel arm axle（18）And body（7）Hinged, the other end passes through supporting shaft（3）With 2 bogie wheels（4）
It is hinged, damper two（20）One end passes through shock absorber bearing（14）With body（7）It is hinged, the other end and supporting wheel arm（5）Caudal part
It is hinged, make bogie wheel（4）Reach damping, supporting purpose.
Expansion tightening wheel（16）With tension wheel shaft（15）It is hinged, pass through expansion tightening wheel sliding sleeve（6）It can move up and down, reach automatic tensioning
Tight crawler belt（17）Purpose.
It is oriented to wheel arm（13）It is designed to " ┫ " shape, one end and body（7）It is hinged, pass through directive wheel arm axle above the other end
(12) and body（7）Hinged, lower section passes through supporting shaft（3）With close directive wheel（11）Bogie wheel（4）It is hinged.Damper one
（8）One end passes through shock absorber bearing（14）With body（7）It is hinged.The other end is with being oriented to wheel arm（13）It is hinged.Reach guiding crawler belt simultaneously
Reduce the purpose of impact.
The course of work of the utility model is：Driving wheel（2）Power is obtained from main drive part by live axle (1),
Then crawler belt is passed through（17）Pass to directive wheel（11）Movement, so as to drive body（7）Move together.In robot ambulation process
In, if road surface is uneven, pass through bogie wheel（4）Damper one is passed into vibrations（8）With damper two（20）, due to damping
The effect of device, greatly reduces the vibrations that robot is subject to, so as to ensure robot stabilized operation.Meanwhile expansion tightening wheel（16）It is logical
Cross expansion tightening wheel sliding sleeve（6）It can move up and down, when running into rough road surface, automatic tension crawler belt can be played（17）Mesh
's.
It is described in the utility model to be not limited to embodiment the embodiment described, as long as those skilled in the art's root
According to the utility model others embodiment, the scope of the technological innovation and protection of the utility model is also belonged to.
Claims (1)
1. a kind of caterpillar type robot hangs shock mitigation system, it is characterized in that：The suspension shock mitigation system includes：Live axle（1）, drive
Driving wheel（2）, supporting shaft（3）, bogie wheel（4）, supporting wheel arm（5), expansion tightening wheel sliding sleeve（6）, body（7）, damper one（8）、
Guide wheel shaft (10), directive wheel（11）, directive wheel arm axle（12）, be oriented to wheel arm（13）, shock absorber bearing（14）, expansion tightening wheel wheel shaft
（15）, expansion tightening wheel（16）, crawler belt（17）, bogie wheel arm axle（18）With damper two（20）；The driving wheel（2）Pass through driving
Wheel shaft (1) is connected with main drive output, bogie wheel（4）3 groups are shared, is evenly arranged in driving wheel（2）With directive wheel（11）It
Indirect tread surface side；Support wheel arm（5）One end is hinged by bogie wheel arm axle (18) and body (7), and the other end passes through supporting
Wheel shaft（3）With bogie wheel（4）It is hinged, damper two（20）One end passes through shock absorber bearing（14）With body（7）It is hinged, the other end with
Support wheel arm（5）Caudal part is hinged；Expansion tightening wheel（16）With tension wheel shaft（15）It is hinged；It is oriented to wheel arm（13）For " ┫ " shape, one
End and body（7）It is hinged, pass through directive wheel arm axle (12) and body above the other end（7）It is hinged, pass through supporting below the other end
Wheel shaft（3）With close directive wheel（11）Bogie wheel（4）It is hinged；Damper one（8）One end passes through shock absorber bearing（14）With body
（7）Hinged, the other end is with being oriented to wheel arm（13）It is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721433708.1U CN207345951U (en) | 2017-11-01 | 2017-11-01 | A kind of caterpillar type robot hangs shock mitigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721433708.1U CN207345951U (en) | 2017-11-01 | 2017-11-01 | A kind of caterpillar type robot hangs shock mitigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345951U true CN207345951U (en) | 2018-05-11 |
Family
ID=62353115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721433708.1U Expired - Fee Related CN207345951U (en) | 2017-11-01 | 2017-11-01 | A kind of caterpillar type robot hangs shock mitigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345951U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109303993A (en) * | 2018-09-07 | 2019-02-05 | 武汉科技大学 | Crawler type fire-fighting robot |
| CN110775175A (en) * | 2019-11-15 | 2020-02-11 | 北京邮电大学 | Enhancement mode kristetty suspension |
-
2017
- 2017-11-01 CN CN201721433708.1U patent/CN207345951U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109303993A (en) * | 2018-09-07 | 2019-02-05 | 武汉科技大学 | Crawler type fire-fighting robot |
| CN110775175A (en) * | 2019-11-15 | 2020-02-11 | 北京邮电大学 | Enhancement mode kristetty suspension |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180511 Termination date: 20181101 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |