CN209600194U - A kind of car-like robots independent suspension protective device - Google Patents
A kind of car-like robots independent suspension protective device Download PDFInfo
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- CN209600194U CN209600194U CN201821571809.XU CN201821571809U CN209600194U CN 209600194 U CN209600194 U CN 209600194U CN 201821571809 U CN201821571809 U CN 201821571809U CN 209600194 U CN209600194 U CN 209600194U
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- connecting rod
- damper
- car
- protective device
- robots
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Abstract
The utility model discloses a kind of car-like robots integral protective devices, and in particular to car-like robots independent suspension protection technique field.The car-like robots independent suspension protective device, including damper, Mecanum wheel, damper limit connecting rod and the suspension strut of chassis end.Damper limits connecting rod and is made of diagonal brace, connecting rod and reinforcement connecting rod, and damper is located above motor, is connected with connecting rod.The power of motor provider's protective device, is connected with Mecanum wheel.It is connected between diagonal brace and motor cabinet with connecting rod, constitutes parallelogram sturcutre.The utility model has an advantageous effect in that robot modularized degree is high, and degree of dependence is small；Parallelogram sturcutre remains wheel axis and ground level；Damper damping stroke is big, and passability is strong；Damper longitudinally has inclination angle；Damper limit connecting rod limits damper, and damper is avoided to bear instant impact.
Description
Technical field
The utility model relates to a kind of chassis of car-like robots to hang protective device, and especially a kind of car-like robots are only
Vertical suspension protective device.
Background technique
With the development of social economy and being constantly progressive for science and technology, robot gradually become in social life can not or
Scarce a part, wherein car-like robots become one of the dominant form that robot uses, since the range that robot is dabbled is got over
Come wider, therefore more stringent requirements are proposed to the ability of its adaptation to the ground, and semi-independent suspension and dependent suspension mechanism are over the ground
The features such as adhesive force in face is small, stationarity is poor, bearing capacity is small can all lead to the damage of car body, and then reduce the use year of car body
Limit, danger coefficient are consequently increased, and independent suspension protective device is just being particularly important at this time.
Summary of the invention
To solve the above problems, the purpose of the utility model car-like robots independent suspension protective device is: providing one
Kind can increase the car-like robots independent suspension protective device of the adhesive force on ground, stationarity on ground of jolting.
The utility model specifically adopts the following technical scheme that
A kind of car-like robots independent suspension protective device, including damper, Mecanum wheel, damper limit connecting rod and
Chassis suspension strut, damper limit connecting rod and are made of diagonal brace, reinforcement connecting rod and connecting rod, parallel four side that diagonal brace is constituted with connecting rod
Shape structure can remain wheel axis and ground level, reinforce connecting rod and be fixed on damper side, be connected with diagonal brace and connecting rod,
One of damper plays screw through being connected on diagonal brace with plug, and the other end of damper, which fills in play screw and run through, is fixed on connecting rod
On, it is located above motor cabinet, motor cabinet is then fixed on Mecanum wheel, chassis suspension strut, car-like robots independent suspension
Protective device is connected by chassis suspension strut with robot body.
Preferably, the independent suspension protective device structure is simple, small volume.
Preferably, the protective device keeps robot modularized degree high, and degree of dependence is small.
Preferably, the parallelogram sturcutre remains wheel axis and ground level.
Preferably, the damper damping stroke is big, and passability is strong.
Preferably, the rotating shaft position is isolated by thrust ball bearing.
Preferably, the damper longitudinally has inclination angle.
Preferably, the damper limit connecting rod limits damper.
The utility model has the advantages that
Car-like robots independent suspension protective device, including independently mounting shock absorber supports car-like robots four wheels
Tower, structure is simple, small volume, and bigger use space can be provided to robot other equipment, makes robot modularized journey
Degree is high, and degree of dependence is small between each module, and parallelogram sturcutre can remain wheel axis and ground level, damping stroke
Larger, good damping effect and robot passability is strong can be used in rotating shaft position between each connecting rod by comparing complicated landform
Thrust ball bearing isolation, to reduce frictional resistance, it is not easy to generate gap.
Damper is longitudinally having certain inclination angle, and angle is 15 °, and inclination angle can make a part of impact of collision of absorber
Power keeps robot more stable to protect other structures not damaged, and service life is longer, and robot is by lateral punching
When hitting, the dynamic loading that damper is subject to is very big, is easy to cause structural damage to it, using damper limit link mechanism to subtracting
Shake device is limited, and damper is avoided to bear instant impact, to form protective effect to damper.
Detailed description of the invention
Fig. 1 is for the main view of car-like robots independent suspension protective device in the utility model.
Fig. 2 is the side view of car-like robots independent suspension protective device in the utility model.
Wherein, the chassis 1- end suspension strut, 2- diagonal brace, 3- oil drum, 4- reinforce connecting rod, 5- damping spring, 6- slide bar, 7- wheat
Flange is taken turns, 8- wheat takes turns metal plate, and 9- screw, 10- bearing 5x10x4,11- nut, 12-6mm thrust ball bearing, 13-, which fills in, plays screw,
14- annular knurl aluminium column, 15- motor armor, 16- motor, 17- connecting rod, 18- annular knurl rubber wheel, 19- motor support frame, 20- gasket,
21- diagonal brace 1.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in further detail the utility model:
Car-like robots independent suspension protective device referring to figs. 1 and 2, including oil drum 3, damping spring 5 and slide bar 6
The damper of composition, wheat take turns the Mecanum that flange 7, wheat wheel metal plate 8, screw 9, bearing 10, nut 11, annular knurl aluminium column 14 are constituted
Wheel, the damper limit connecting rod and chassis suspension strut 1 for reinforcing connecting rod 4, connecting rod 17 and the composition of diagonal brace 2 form, and robot is complete
Suspension arrangement is connected by chassis suspension strut 1 with robot body, and diagonal brace 2 is by chassis suspension strut 1 and oil drum 3, damping
The damper and connecting rod 17 that spring 5 and slide bar 6 are constituted connect, and connecting rod 17 is connected with motor armor 15 again, connecting rod 17 with it is oblique
Support 2, motor armor 15 constitute parallelogram, it can help to tide over movement undefined position, and can increase maximum starting and lead
Gravitation.
When meeting with roadblock, motor armor 15 is for protecting motor not to be damaged；6 structure of oil drum 3, damping spring 5 and slide bar
At damper be located at the top of motor 16, for inhibiting concussion when rebound after spring shock-absorbing and from the impact on road surface, make
Robot traveling is more steady.
Preferably, connecting rod 17, motor armor 15 and diagonal brace 2 all be carbon fiber board, have tensile strength height, corrosion resistance,
The performances such as shock resistance, impact resistance.
Motor 16 is the power device of chassis wheel body, and used is RM3508 motor, easy to disassemble, easy to operate, can
To be replaced in motor damage.
Preferably, RM3508 motor is more powerful than the power of other motors, can not only be adjusted the speed by PWM, but also can lead to
Cross C car-like robots independent suspension protective device N control torque current.
The working principle of car-like robots independent suspension protective device are as follows: when wheat takes turns flange 7, wheat takes turns metal plate 8, screw 9, axis
Hold 10, nut 11, Mecanum wheel that annular knurl aluminium column 14 is constituted is when encountering roadblock, connecting rod 17 and oil drum 3,5 and of damping spring
The damper that slide bar 6 is constituted is played screw 13 relative to plug and is rotated, and can play screw 13 to the plug in chassis end suspension strut 1
Screw 13 is played with the plug on motor support frame 19 and generates downward radial force, and plug, which plays screw 13, to generate extruding to connecting rod 17
While the damper that power, connecting rod 17 and oil drum 3, damping spring 5 and slide bar 6 are constituted plays the rotation of screw 13 relative to plug, by
Squeeze, be guide rail with damper slide bar 6,5 forced compression of damping spring, hydraulic oil also can stress compressed, have Mecanum wheel
One upward buffer function when Mecanum wheel gets off above roadblock, connecting rod 17 and subtracts to play the effect of damping
Shake device is played screw 13 relative to plug and is rotated, and can play the plug mounted in the suspension strut of chassis end 1 screw 13 and mounted in motor support
Plug on frame 19 plays screw 13 and generates upward radial force, and plug plays screw 13 pairs of connecting rods 17 of meeting and generates drawing forces, and damper is opposite
While plug is played screw 13 and rotated, damping spring 5 can be upheld, and Mecanum wheel is made to have a downward buffer function, to rise
To the effect of damping.
Claims (3)
1. a kind of car-like robots independent suspension protective device characterized by comprising damper, by oil drum, damping spring and
Slide bar composition；Mecanum wheel, including wheat wheel flange, wheat take turns metal plate, screw, bearing, nut, annular knurl aluminium column, are connected to the motor,
Motor is as power mechanism driving Mecanum wheel rotation；Damper limits connecting rod, is made of diagonal brace, reinforcement connecting rod and connecting rod；
The parallelogram sturcutre that diagonal brace and connecting rod are constituted can remain wheel axis and ground level；Reinforce connecting rod and is fixed on damping
Device side, is connected with diagonal brace and connecting rod；Chassis suspension strut, car-like robots independent suspension protective device hang branch by chassis
Support is connected with robot body.
2. a kind of car-like robots independent suspension protective device as described in claim 1, which is characterized in that between each connecting rod
Rotating shaft position is isolated with thrust ball bearing.
3. a kind of car-like robots independent suspension protective device as described in claim 1, which is characterized in that damper is in longitudinal direction
There is certain inclination angle, angle is 15 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821571809.XU CN209600194U (en) | 2018-09-26 | 2018-09-26 | A kind of car-like robots independent suspension protective device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821571809.XU CN209600194U (en) | 2018-09-26 | 2018-09-26 | A kind of car-like robots independent suspension protective device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209600194U true CN209600194U (en) | 2019-11-08 |
Family
ID=68393503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821571809.XU Expired - Fee Related CN209600194U (en) | 2018-09-26 | 2018-09-26 | A kind of car-like robots independent suspension protective device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209600194U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591618A (en) * | 2020-04-08 | 2020-08-28 | 浙江勤泽美业环境科技有限公司 | Garbage overflow prompting and alarming garbage can |
| CN116062034A (en) * | 2023-01-06 | 2023-05-05 | 北京工业大学 | Mecanum wheel chassis carrying strain decoupling suspension |
-
2018
- 2018-09-26 CN CN201821571809.XU patent/CN209600194U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591618A (en) * | 2020-04-08 | 2020-08-28 | 浙江勤泽美业环境科技有限公司 | Garbage overflow prompting and alarming garbage can |
| CN116062034A (en) * | 2023-01-06 | 2023-05-05 | 北京工业大学 | Mecanum wheel chassis carrying strain decoupling 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: 20191108 Termination date: 20200926 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |