The invention discloses a two-stage damping mechanism of an omni-directional moving chassis. The two-stage damping mechanism comprises a chassis keel and wheel group modules. The wheel group modules are arranged at the four corners of the chassis keel respectively, and each wheel group module comprises a power motor, Mecanum wheels and a second-stage damping mechanism. Two fan-shaped carbon platesare arranged on the two sides of the second-stage damping mechanism, first-stage damping is fixed to the fan-shaped carbon plates, the upper end of the first-stage damping is connected with a door-shaped frame, and the door-shaped frame is matched with a pin shaft, a spring, a guide wheel, a spring seat and a linear bearing to form second-stage damping. According to the omni-directional moving chassis, self-shock of the Mecanum wheels can be effectively filtered out through the first-stage damping, the requirement for stability of the chassis in most application scenes is met, and the omni-directional moving chassis can adapt to various complex and severe terrains through a second-stage damping mechanism formed by the first-stage dampingand the second-stage damping.
本发明公开了一种全向移动底盘的二级减震机构,包括底盘龙骨和轮组模块。底盘龙骨的四角分别设置有轮组模块,该轮组模块包括动力电机、麦克纳姆轮和二级减震机构。二级减震机构两侧设有两个扇形碳板,扇形碳板上固定有第一级减震,该第一级减震上端与一个门型框架相连,门型框架与销轴、弹簧、导轮、弹簧座,直线轴承配合组成第二级减震。本发明的第一级减震能有效过滤掉麦克纳姆轮的自震,满足大部分应用场景内对底盘平稳性的要求,而与第二级减震一起组成的二级减震机构,解决了全向移动底盘适应各种复杂、恶劣地形的问题。
Two-stage damping mechanism of omni-directional moving chassis
一种全向移动底盘的二级减震机构
2020-05-12
Patent
Electronic Resource
Chinese
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