CN208216448U - A kind of all-terrain moving robot Combined vehicle body suspension arrangement - Google Patents

Abstract

The utility model relates to a combined vehicle body suspension device for an all-terrain mobile robot, which comprises a chassis, wheel driving devices installed on the left and right sides of the chassis, and a combined body shock absorber installed on the chassis; the combined body shock absorber includes an automatic The XZ direction shock absorber module, the YZ direction shock absorber module, and the vehicle body mounting frame module are connected in sequence from bottom to top; the XZ direction shock absorber module includes a fixed support frame, an XZ direction support frame, a first shock absorber and an XZ direction connection Rod, the second shock absorber; the YZ direction shock absorber module includes the YZ direction support frame, the third shock absorber and several YZ direction connecting rods; the body mounting frame module includes the body mounting plate, the body panel connecting rod, the fourth shock absorber Vibrators, leaf springs. The utility model is convenient for installation and disassembly, can effectively slow down the vibration of the vehicle body from multiple directions of X, Y and Z, improve the stability of the robot movement, and restrain the turning inertia brought to the vehicle body when the mobile robot turns.

Description

A combined body suspension device for an all-terrain mobile robot

technical field

The utility model relates to the technical field of robots, in particular to a combined vehicle body suspension device for an all-terrain mobile robot.

Background technique

In wheeled all-terrain mobile robot drives, the drive wheels and chassis are usually rigidly connected. When the robot walks on the complex outdoor ground, the unevenness of the ground will cause the robot to vibrate. Use the body suspension device or wheel suspension device to slow down the robot body and slow down the vibration of the robot.

For example, China Patent No. 201610103764.2 discloses an omnidirectional wheel suspension device for a ground mobile robot, which includes a drive mechanism, a transmission shaft, an omnidirectional wheel, a suspension base, and two suspension rocker arms with equal connection lengths and arranged in parallel. Both ends of the arm are hingedly connected to the suspension base and the driving mechanism; an elastic support component is arranged between the chassis main body and one of the hinge points of the driving mechanism. The elastic support component in the suspension device can only realize shock absorption in a single direction, the shock absorption effect is obvious, and complex terrain cannot be used.

As disclosed in Chinese Patent No. 201610021805.3, a suspension device for a wheeled mobile robot includes: a chassis, a first through hole for passing through a wheel is opened in the middle of the chassis, and the front end of the first through hole is fixed on the chassis A spring guide rod fixing seat is provided, and a supporting seat is fixedly arranged on the chassis at the rear end of the first through hole. When this suspension device is damped, because the spring and the guide rod are used in conjunction, it can only weaken the active force in the vertical direction, the damping effect is poor, and the damping mode is single.

In summary, it can be seen that the body suspension or wheel shock absorber cannot effectively slow down the vibration of the body from the X, Y, and Z directions at the same time because the robot body is mounted on it, nor can it effectively suppress the turning caused by the mobile robot when turning. inertia. At present, there is an urgent need for a body suspension device capable of damping vibrations of a mobile robot from multiple directions.

Contents of the invention

In order to avoid and solve the above-mentioned technical problems, the utility model proposes a combined vehicle body suspension device for an all-terrain mobile robot.

The technical problem to be solved by the utility model adopts the following technical solutions to realize:

A combined body suspension device for an all-terrain mobile robot comprises a chassis, wheel drive devices installed on the left and right sides of the chassis, and a combined body shock absorber installed on the chassis.

As a further improvement of the utility model, the chassis includes two L-shaped wheel fixing plates symmetrically distributed, two beams respectively connected to the L-shaped wheel fixing plates and forming a rectangular frame, and a bottom plate installed in the rectangular frame. Two L-shaped wheel fixing plates are distributed on the left and right sides, and the two ends of any beam are respectively connected with the two L-shaped wheel fixing plates, and the combined body shock absorber is placed in the formed rectangular frame.

As a further improvement of the present utility model, there are four wheel driving devices installed at four directions of the chassis, the left front, the left rear, the right front, and the right rear. Servo motors, wheels connected to the servo motors.

Four wheel driving devices are installed on two L-shaped wheel fixing plates by positioning holes and bolts.

As a further improvement of the present utility model, the combined vehicle body shock absorber includes an XZ-direction shock absorber module, a YZ-direction shock absorber module, and a vehicle body mounting frame module connected in sequence from bottom to top.

As a further improvement of the utility model, the XZ-direction shock absorbing device module includes two symmetrically distributed fixed support frames, two XZ-direction support frames located between the two fixed support frames, and the two ends are respectively hinged on the fixed support frames. The first shock absorber on the frame and the XZ-direction support frame, several XZ-direction connecting rods, and two second shock absorbers at the third points of the adjacent XZ-direction support frame are respectively hinged at both ends.

As a further improvement of the present invention, there are two first shock absorbers on the fixed support frame and they are connected at the third point of the fixed support frame and the XZ direction support frame.

As a further improvement of the utility model, the XZ-direction connecting rods are installed at the front and rear ends of the fixed support frame and the XZ-direction support frame, and the XZ-direction connecting rods at either end are two distributed up and down and arranged obliquely upwards.

As a further improvement of the utility model, the YZ-direction shock absorbing device module includes a third shock absorber and several YZ-direction support frames and two YZ-direction support frames, the two ends of which are respectively hinged on the YZ-direction support frame and the XZ-direction support frame. to the connecting rod.

As a further improvement of the present utility model, the third shock absorber is connected at the midpoint of the YZ-direction support frame and the XZ-direction support frame.

As a further improvement of the utility model, the YZ-direction connecting rods are installed on the same side of the YZ-direction support frame and the XZ-direction support frame, and the YZ-direction connection rods on the same side are distributed forward and backward and arranged obliquely forward and upward.

As a further improvement of the present utility model, the vehicle body mounting frame module includes a vehicle body mounting plate, a body plate connecting rod that is symmetrically distributed on the body mounting plate and whose two ends are respectively hinged on the body mounting plate and the YZ direction support frame, and the second Four shock absorbers, leaf springs hinged at both ends to the left and right body panel connecting rods.

As a further improvement of the utility model, the body panel connecting rods are divided into two groups distributed front and rear, and each group is two.

The beneficial effects of the utility model are:

The utility model has reasonable structural design and simple operation. It adopts a modularized combined body shock absorber, which is convenient for installation and disassembly, so that the all-terrain mobile robot is suitable for walking in indoor and outdoor environments. The shock absorbing device module can effectively slow down the vibration of the vehicle body from multiple directions of X, Y, and Z, improve the stability of the robot's movement, and can effectively suppress the turning inertia brought to the vehicle body when the mobile robot turns.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is the three-dimensional structure schematic diagram of the combined vehicle body damping device in the utility model;

Fig. 3 is the front view of the combined vehicle body damping device in the utility model;

Fig. 4 is the right side view of the combined vehicle body damping device in the utility model;

Fig. 5 is a top view of the combined vehicle body shock absorber in the utility model.

Detailed ways

In order to make the technical means realized by the utility model, creation feature, purpose and effect easy to be understood, the utility model is further elaborated below.

As shown in Figures 1 to 5, a combined body suspension device for an all-terrain mobile robot includes a chassis 1, wheel drive devices 2 installed on the left and right sides of the chassis 1, and a combined body shock absorber installed on the chassis 1 3.

The chassis 1 includes two symmetrically distributed L-shaped wheel fixing plates 11, two beams 12 respectively connected to the L-shaped wheel fixing plates 11 and forming a rectangular frame, and a bottom plate 13 installed in the rectangular frame. During use, two L-shaped wheel fixing plates are distributed on the left and right sides, and the two ends of any beam 12 are respectively connected with the two L-shaped wheel fixing plates 11, and the combined body shock absorber 3 is placed in the formed rectangular frame .

There are four wheel driving devices 2 and they are installed at the front left, rear left, front right and rear right of the chassis 1. The wheel driving devices 2 include servo motors 21 installed inside the L-shaped wheel fixing plate 11, A wheel 22 connected to a servo motor 21. When in use, the servo motor 21 starts to provide the rotation speed of the wheels 22, and the off-road capability of the entire vehicle body suspension is improved by means of four-wheel drive.

Four wheel drive units 2 are installed on two L-shaped wheel fixing plates 11 by positioning holes and bolts.

Described combined vehicle body shock absorber 3 comprises XZ to shock absorber module 31, YZ to shock absorber module 32, vehicle body mounting frame module 33 that are connected successively from bottom to top.

The XZ-direction damping device module 31 includes two symmetrically distributed fixed support frames 311, two XZ-direction support frames 312 located between the two fixed support frames 311, and the two ends are respectively hinged on the fixed support frames 311 and XZ The first shock absorber 313 on the support frame 312, several XZ direction connecting rods 314, and two second shock absorbers 315 at the third points of the adjacent XZ direction support frame 312 are respectively hinged at both ends. The XZ-direction support frame 312 is located above the fixed support frame 311 and is parallel to the fixed support frame 311. In use, the second shock absorber 315 can reduce the force between the XZ direction and the supporting frame 312 .

There are two first shock absorbers 313 on the fixed support frame 311 and they are connected at the third points of the fixed support frame 311 and the XZ direction support frame 312 . When in use, the first shock absorber 313 can fully play a shock-absorbing effect on the XZ direction of the support frame 312 by placing the first shock absorber 313 in three parts.

The XZ-direction connecting rods 314 are mounted on the front and rear ends of the fixed support frame 311 and the XZ-direction support frame 312 , and the XZ-direction connecting rods 314 at either end are two distributed up and down and arranged obliquely upwards. When in use, the connecting rod 314 in the XZ direction is combined with the first shock absorber 313 to reduce the force on the ground that the robot receives in the XZ direction.

The YZ-direction damping device module 32 includes two YZ-direction support frames 321, a third shock absorber 322 hinged on the YZ-direction support frame 321 and the XZ-direction support frame 312 at both ends, and several YZ-direction connecting rods 323.

The third shock absorber 322 is connected at the midpoint of the YZ direction support frame 321 and the XZ direction support frame 312 .

The YZ direction connecting rods 323 are installed on the same side of the YZ direction supporting frame 321 and the XZ direction supporting frame 312, and the YZ direction connecting rods 323 on the same side are distributed forward and backward and arranged obliquely forward and upward. When in use, the connecting rod 323 in the YZ direction is combined with the third shock absorber 322 to reduce the acting force in the YZ direction received by the robot.

The vehicle body mounting frame module 33 includes a vehicle body mounting plate 331, a body plate connecting rod 332 that is symmetrically distributed on the vehicle body mounting plate 331 and whose two ends are respectively hinged on the vehicle body mounting plate 331 and the YZ direction support frame 321, and the fourth reducer. Shock device 334, the leaf spring 333 that two ends are respectively hinged on the left side and the right side body panel connecting rod 332. During use, the active force between the vehicle body mounting plate 331 and the chassis 1 can be eliminated by the cooperation of the plate spring 333 and the vehicle body panel connecting rod 332.

The body panel connecting rods 332 are divided into two groups distributed front and rear, and each group is two.

The working principle of the present utility model is further elaborated below:

When working, the robot moves under the action of the wheel drive device 2. When the ground fluctuates greatly and the situation is complicated, the force from the ground is transmitted to the fixed support frame 311 through the chassis 1. Since the direction of the force received is changeable, through The first shock absorber 313 and the connecting rod 314 in the XZ direction, the relative positions of the fixed support frame 311 and the support frame 312 in the XZ direction will change, and reduce the ground force along the XZ direction; through the second shock absorber 315, It is also possible to further reduce the force between the adjacent XZ-direction support frames 312; through the third shock absorber 322 and the YZ-direction connecting rod 323, the relative position changes between the YZ-direction support frame 321 and the XZ-direction support frame 312, and the reduction along the The ground force in the YZ direction; the reduced ground force is further reduced when it passes through the leaf spring 333 and the connecting rod 332 of the body panel, and the shock absorption effect is realized through the multi-layer reduction method, and at the same time, the suspension device of the entire body is guaranteed With high strength and matching deflection.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the industry should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions are only the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model There will also be various changes and improvements, and these changes and improvements all fall within the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (8)

1. a kind of all-terrain moving robot Combined vehicle body suspension arrangement, it is characterised in that: including chassis (1), be mounted on bottom Wheel driver (2) at left and right sides of disk (1), the Combined vehicle body damping device (3) being mounted on chassis (1)；

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 installation frame module (33).

2. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 1, 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 support frame (312) to support frame (312), both ends On the first damper (313) and several XZ to connecting rod (314), both ends be respectively hinged at adjacent XZ to support frame (312) two the second dampers (315) at two-third point.

3. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 2, 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 frame (312) at three branches.

4. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 2, 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 support frame (312) to connecting rod (314), at either end XZ is in upper and lower two for being distributed and being arranged obliquely to connecting rod (314).

5. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 2, it is characterised in that: institute State YZ to damping device module (32) include two YZ to support frame (321), both ends be respectively hinged at YZ to support frame (321) and Third damper (322) of the XZ on support frame (312) and several YZ are to connecting rod (323).

6. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 5, it is characterised in that: institute It states third damper (322) and is connected to YZ to support frame (321) and XZ to the midpoint of support frame (312).

7. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 5, it is characterised in that: same YZ of one YZ on support frame (321) is two for being distributed in front and back and being arranged forward diagonally upward to connecting rod (323).

8. a kind of all-terrain moving robot Combined vehicle body suspension arrangement according to claim 5, 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 support frame (321) (334), both ends are respectively hinged at the leaf spring (333) in left and right side car body panel connecting rod (332).