CN108749502A - A kind of wheeled robot suspension frame structure - Google Patents
A kind of wheeled robot suspension frame structure Download PDFInfo
- Publication number
- CN108749502A CN108749502A CN201810489506.1A CN201810489506A CN108749502A CN 108749502 A CN108749502 A CN 108749502A CN 201810489506 A CN201810489506 A CN 201810489506A CN 108749502 A CN108749502 A CN 108749502A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- lower swing
- mounting base
- upper swing
- robot
- 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 15
- 239000003381 stabilizer Substances 0.000 claims abstract description 25
- 239000006096 absorbing agent Substances 0.000 claims abstract description 24
- 230000035939 shock Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 239000000203 mixture Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000013016 damping Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of wheeled robot suspension frame structure, is related to mechanical manufacturing field, and in particular to a kind of pleiotaxy robot Multi-link suspension structure.Tire is connected with wheel hub, upper swing arm mounting base, lower swing arm mounting base, transmission shaft connecting seat, shock absorber fixing axle, stabilizer bar fixing axle are designed on wheel hub, shock absorber is fixed on shock absorber fixing axle, upper swing arm is fixed on upper swing arm mounting base, lower swing arm is fixed on lower swing arm mounting base, stabilizer bar, which is located at below upper swing arm, is fixed on stabilizer bar fixing axle, and connecting rod is connected with upper swing arm, lower swing arm respectively by upper swing arm connecting rod, lower swing arm connecting rod.Simple in structure, the manufacturing cost of the robot of reduction improves damping effect when encountering obstacle, ensure that the whole machine balancing of robot, improves the cross-country effect of robot, is conducive to carry out operation of the robot in different road conditions.
Description
Technical field
The present invention relates to a kind of wheeled robot suspension frame structures, are related to mechanical manufacturing field, and in particular to a kind of pleiotaxy
Robot Multi-link suspension structure.
Background technology
Robot is advanced integral traffic control opinion, mechano-electronic, computer, material and bionic product, in industry, doctor
There is important use in the fields such as, agricultural, construction industry even military affairs, one is gradually approached to the concept of robot in the world
It causes, in general, people can receive this saying, i.e., robot is to realize various work(by self power and control ability
A kind of machine of energy.
In the inconvenient field of many manpowers by the way that manpower operation, wheeled robot can be replaced using different robots
Exactly such a robot that can be worked in the region that people's inconvenience reaches or can not reach, due to this kind of region landform
Often more complicated, road surface is uneven, relatively high to the suspension system requirement of wheeled robot, if excessively jolted, no
It works conducive to the equipment entrained by robot, larger impact especially is brought to the robot for carrying out camera shooting operation.
In order to improve machine task efficiency, people have made many optimizations to the suspension system of wheeled robot, such as in single-wheel
Suspension frame structure is installed, Aseismatic Design is made to chassis, but these excessively complexity, some for being designed with fail to the whole of robot
Body balance optimizes so that these design optimizations could not reach the desired effect of people.
Invention content
It is outstanding that in view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of pleiotaxy robot multi links
Frame structure, is not only simple in structure, and greatly improves the balance of wheeled robot at work, advantageous to improve machine
Task efficiency.
To achieve the above object, the present invention is using following technical scheme：It include tire 1, wheel hub 2, shock absorber 3, on
Swing arm 4, lower swing arm 5, stabilizer bar 6, upper swing arm connecting rod 7, lower swing arm connecting rod 8, connecting rod 9, upper swing arm mounting base 21, under
Swing arm mounting base 22, transmission shaft connecting seat 23, shock absorber fixing axle 24, stabilizer bar fixing axle 25, tire 1 and 2 phase of wheel hub
It connects, upper swing arm mounting base 21, lower swing arm mounting base 22, transmission shaft connecting seat 23, shock absorber fixing axle is designed on wheel hub 2
24, stabilizer bar fixing axle 25, shock absorber 3 are fixed on shock absorber fixing axle 24, and upper swing arm 4 is fixed on upper swing arm mounting base
21, lower swing arm 5 is fixed on lower swing arm mounting base 22, and stabilizer bar 6, which is located at 4 lower section of upper swing arm and is fixed on stabilizer bar, fixes
Axis 25, connecting rod 9 are connected with upper swing arm 4, lower swing arm 5 respectively by upper swing arm connecting rod 7, lower swing arm connecting rod 8.
Further, the upper swing arm 4 is made of two sections of individual front swing arms 41, rear-swing arms 42, and front swing arm 41 is shorter than
Rear-swing arm 42.
Further, the lower swing arm 5 is Global bifurcation structure, and lower swing arm 5 is made of front fork 51, back vent 52, front fork
51 are shorter than back vent 52.
Further, the upper swing arm 4 is shorter than lower swing arm 5.
Further, the preferred arcuate structure of 6 shape of stabilizer bar.
Further, the shock absorber 3 and 2 angle of wheel hub are 10 ° -15 °.
The operation principle of the present invention：Robot is when encountering obstacle since the effect of multi link, two side wheel tires 1 first pass around
Shock absorber 3 has filtered most of longitudinal vibrations, and vibrations when upper swing arm 4, lower swing arm 5 can reduce steering simultaneously make tire 1 return rapidly
Position, stabilizer bar 6 can be increased when robot encounters inclination obstacle grabs the whole machine balancing that ground effect ensures robot, reduces machine
The rollover situation of device people.
After adopting the above technical scheme, the present invention has the beneficial effect that：It is simple in structure, the manufacturing cost of the robot of reduction,
Damping effect when encountering obstacle is improved, ensure that the whole machine balancing of robot, the cross-country effect of robot is improved, has
Conducive to robot different road conditions carry out operation.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the structural schematic diagram of upper swing arm 4 in Fig. 1；
Fig. 4 is the structural schematic diagram of lower swing arm 5 in Fig. 1.
Reference sign：Tire 1, wheel hub 2, shock absorber 3, upper swing arm 4, lower swing arm 5, stabilizer bar 6, upper swing arm connect
Extension bar 7, lower swing arm connecting rod 8, connecting rod 9, upper swing arm mounting base 21, lower swing arm mounting base 22, transmission shaft connecting seat 23, shock absorber
Fixing axle 24, stabilizer bar fixing axle 25, front swing arm 41, rear-swing arm 42, front fork 51, back vent 52.
Specific implementation mode
Embodiment 1
Shown in Fig. 1-Fig. 4, present embodiment the technical solution adopted is that：It by tire 1, wheel hub 2, shock absorber 3, on
Swing arm 4, lower swing arm 5, stabilizer bar 6, upper swing arm connecting rod 7, lower swing arm connecting rod 8, connecting rod 9, upper swing arm mounting base 21, under
Swing arm mounting base 22, transmission shaft connecting seat 23, shock absorber fixing axle 24, stabilizer bar fixing axle 25 form, tire 1 and wheel hub
2 are connected, and upper swing arm mounting base 21, lower swing arm mounting base 22, transmission shaft connecting seat 23, shock absorber are designed on wheel hub 2 and is fixed
Axis 24, stabilizer bar fixing axle 25, shock absorber 3 are fixed on shock absorber fixing axle 24, and upper swing arm 4 is fixed on upper swing arm mounting base
21, lower swing arm 5 is fixed on lower swing arm mounting base 22, and stabilizer bar 6, which is located at 4 lower section of upper swing arm and is fixed on stabilizer bar, fixes
Axis 25, connecting rod 9 are connected with upper swing arm 4, lower swing arm 5 respectively by upper swing arm connecting rod 7, lower swing arm connecting rod 8.
Further, the upper swing arm 4 is made of two sections of individual front swing arms 41, rear-swing arms 42, and front swing arm 41 is shorter than
Rear-swing arm 42.
Further, the lower swing arm 5 is Global bifurcation structure, and lower swing arm 5 is made of front fork 51, back vent 52, front fork
51 are shorter than back vent 52.
Further, the upper swing arm 4 is shorter than lower swing arm 5.
Further, the preferred arcuate structure of 6 shape of stabilizer bar.
Further, the shock absorber 3 and 2 angle of wheel hub are 10 ° -15 °.
The operation principle of the present invention：Robot is when encountering obstacle since the effect of multi link, two side wheel tires 1 first pass around
Shock absorber 3 has filtered most of longitudinal vibrations, and vibrations when upper swing arm 4, lower swing arm 5 can reduce steering simultaneously make tire 1 return rapidly
Position, stabilizer bar 6 can be increased when robot encounters inclination obstacle grabs the whole machine balancing that ground effect ensures robot, reduces machine
The rollover situation of device people.
After adopting the above technical scheme, the present invention has the beneficial effect that：It is simple in structure, the manufacturing cost of the robot of reduction,
Damping effect when encountering obstacle is improved, ensure that the whole machine balancing of robot, the cross-country effect of robot is improved, has
Conducive to robot different road conditions carry out operation.
Embodiment 2
This specific embodiment difference from Example 1 is drive axle-free connecting seat 23, and tire 1 is by being arranged separately in wheel hub 2
On motor driven, the mobility of structure design energy hoisting machine people.Other structures and connection type and 1 phase of embodiment
Together.
The above is merely illustrative of the technical solution of the present invention and unrestricted, and those of ordinary skill in the art are to this hair
The other modifications or equivalent replacement that bright technical solution is made, as long as it does not depart from the spirit and scope of the technical scheme of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (6)
1. a kind of wheeled robot suspension frame structure, it is characterised in that：It includes tire (1), wheel hub (2), shock absorber (3), upper pendulum
Arm (4), lower swing arm (5), stabilizer bar (6), upper swing arm connecting rod (7), lower swing arm connecting rod (8), connecting rod (9), upper swing arm
Mounting base (21), lower swing arm mounting base (22), transmission shaft connecting seat (23), shock absorber fixing axle (24), stabilizer bar are fixed
Axis (25), tire (1) are connected with wheel hub (2), and upper swing arm mounting base (21), lower swing arm mounting base are designed on wheel hub (2)
(22), transmission shaft connecting seat (23), shock absorber fixing axle (24), stabilizer bar fixing axle (25), shock absorber (3), which is fixed on, to be kept away
Device fixing axle (24) is shaken, upper swing arm (4) is fixed on upper swing arm mounting base (21), and lower swing arm (5) is fixed on lower swing arm mounting base
(22), stabilizer bar (6), which is located at below upper swing arm (4), is fixed on stabilizer bar fixing axle (25), and connecting rod (9) passes through upper pendulum
Arm connecting rod (7), lower swing arm connecting rod (8) are connected with upper swing arm (4), lower swing arm (5) respectively.
2. a kind of wheeled robot suspension frame structure according to claim 1, it is characterised in that：The upper swing arm (4) by
Two sections of individual front swing arms (41), rear-swing arm (42) composition, front swing arm (41) are shorter than rear-swing arm (42).
3. a kind of wheeled robot suspension frame structure according to claim 1, it is characterised in that：The lower swing arm (5) is
Global bifurcation structure, lower swing arm (5) are made of front fork (51), back vent (52), front fork) (51) be shorter than back vent (52).
4. a kind of wheeled robot suspension frame structure according to claim 1, it is characterised in that：The upper swing arm (4) is short
In lower swing arm (5).
5. a kind of wheeled robot suspension frame structure according to claim 1, it is characterised in that：The stabilizer bar
(6) the preferred arcuate structure of shape.
6. a kind of wheeled robot suspension frame structure according to claim 1, it is characterised in that：The shock absorber (3) with
Wheel hub (2) angle is 10 ° -15 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489506.1A CN108749502A (en) | 2018-05-21 | 2018-05-21 | A kind of wheeled robot suspension frame structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489506.1A CN108749502A (en) | 2018-05-21 | 2018-05-21 | A kind of wheeled robot suspension frame structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108749502A true CN108749502A (en) | 2018-11-06 |
Family
ID=64008648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810489506.1A Pending CN108749502A (en) | 2018-05-21 | 2018-05-21 | A kind of wheeled robot suspension frame structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108749502A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110024999A1 (en) * | 2009-07-31 | 2011-02-03 | Honda Motor Co., Ltd. | Friction control apparatus for vehicle suspension |
| CN202345322U (en) * | 2011-10-26 | 2012-07-25 | 隆鑫通用动力股份有限公司 | Vehicle suspension system |
| CN204955992U (en) * | 2015-09-17 | 2016-01-13 | 北京长城华冠汽车科技股份有限公司 | Suspension assembly and car |
| CN105667233A (en) * | 2016-03-25 | 2016-06-15 | 西华大学 | FSC (Formula Student China) formula car carbon fiber suspension and adhesion technology thereof |
| CN107297996A (en) * | 2016-04-14 | 2017-10-27 | 福特全球技术公司 | Rear wheel suspension for motor vehicles |
| CN107813667A (en) * | 2016-09-14 | 2018-03-20 | 上汽通用五菱汽车股份有限公司 | A kind of independent rear suspension component |
-
2018
- 2018-05-21 CN CN201810489506.1A patent/CN108749502A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110024999A1 (en) * | 2009-07-31 | 2011-02-03 | Honda Motor Co., Ltd. | Friction control apparatus for vehicle suspension |
| CN202345322U (en) * | 2011-10-26 | 2012-07-25 | 隆鑫通用动力股份有限公司 | Vehicle suspension system |
| CN204955992U (en) * | 2015-09-17 | 2016-01-13 | 北京长城华冠汽车科技股份有限公司 | Suspension assembly and car |
| CN105667233A (en) * | 2016-03-25 | 2016-06-15 | 西华大学 | FSC (Formula Student China) formula car carbon fiber suspension and adhesion technology thereof |
| CN107297996A (en) * | 2016-04-14 | 2017-10-27 | 福特全球技术公司 | Rear wheel suspension for motor vehicles |
| CN107813667A (en) * | 2016-09-14 | 2018-03-20 | 上汽通用五菱汽车股份有限公司 | A kind of independent rear suspension component |
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| 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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181106 |