CN108045433A - A kind of wheeled robot - Google Patents
A kind of wheeled robot Download PDFInfo
- Publication number
- CN108045433A CN108045433A CN201711376220.4A CN201711376220A CN108045433A CN 108045433 A CN108045433 A CN 108045433A CN 201711376220 A CN201711376220 A CN 201711376220A CN 108045433 A CN108045433 A CN 108045433A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- chassis housing
- wheeled robot
- fixedly connected
- upper swing
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wheeled robots, including chassis housing, chassis housing is equipped with motor and steering link connected to it, chassis housing, which is equipped with, be connected with steering link, takes turns the suspension assembly that is rotated of tyre bead vertical axis for driving, and the center of line between the pivot of tire is overlapped with the center of chassis housing.Using wheeled robot provided by the invention, steering link is driven by motor tire to be driven to realize steering, and the center of the line of the pivot of tire is overlapped with the center of chassis housing, so that wheeled robot can be rotated along own axes.
Description
Technical field
The present invention relates to robotic technology field, more specifically to a kind of wheeled robot.
Background technology
At present, the driving form of wheeled robot is mostly connected directly using speed reducer with tire in the market, no suspension
Design；Its deficiency is：Road environment travels adaptability and chassis passability is poor, not steady enough during travelling, can not
Meet tire bounce and divertical motion requirement.
It is asked in conclusion how to efficiently solve wheeled robot and can not meet tire bounce and divertical motion demand etc.
Topic, is current those skilled in the art's urgent problem.
The content of the invention
In view of this, it is an object of the invention to provide a kind of wheeled robot, can not be met with solving wheeled robot
The problems such as tire is beated with divertical motion demand.
In order to achieve the above object, the present invention provides following technical solution：
A kind of wheeled robot, including chassis housing, the chassis housing is equipped with motor and the company of steering connected to it
Bar, the chassis housing, which is equipped with, be connected with the steering link, for the tyre bead vertical axis of taking turns to be driven to be rotated
Suspension assembly, the center of the line between the pivot of the tire are overlapped with the center of the chassis housing.
Preferably, the suspension assembly includes the lower swing arm of upper swing arm and setting in parallel, institute on the chassis housing
It states and scalable double universal joint is equipped between upper swing arm and the lower swing arm, the upper swing arm, the lower swing arm are respectively with hanging branch
Support is hinged, so that the vertical axis that the suspension strut can be formed along one end of the upper swing arm and the lower swing arm rotates, institute
It states suspension strut and is equipped with the flange installed tire and be fixedly connected with the scalable double universal joint, the suspension branch
Support is connected to drive vertical axis rotation described in lower edge at it with the steering link.
Preferably, damper is additionally provided on the chassis housing, one end of the damper is fixed with the chassis housing
Connection, the other end are fixedly connected with the lower swing arm.
Preferably, the upper swing arm and the lower swing arm are respectively with the suspension strut through goat's horn bulb hinged.
Preferably, the suspension strut is removably fixedly connected with the steering link.
Preferably, removably it is fixedly connected between the upper swing arm and the chassis housing.
Preferably, it is fixedly connected between the upper swing arm and the chassis housing through bolt.
Wheeled robot provided by the invention, including chassis housing, chassis housing is equipped with motor and connected to it turn
To connecting rod, chassis housing, which is equipped with, to be connected with steering link, for driving the suspension assembly that wheel tyre bead vertical axis is rotated,
The center of line between the pivot of tire is overlapped with the center of chassis housing.Using wheeled robot provided by the invention,
Steering link is driven by motor tire to be driven to realize steering, and the center of the line of the pivot of tire and chassis shell
The center of body overlaps, so that wheeled robot can be rotated along own axes.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
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, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram of suspension assembly provided in an embodiment of the present invention；
Fig. 2 is clamp body provided in an embodiment of the present invention and the main structure diagram of frame assembling.
It is marked in attached drawing as follows：
Damper 1, upper swing arm 2, lower swing arm 3, goat's horn bulb 4, suspension strut 5, flange 6, scalable double universal joint 7,
Steering link 8, motor 9, chassis housing 10.
Specific embodiment
The embodiment of the invention discloses a kind of wheeled robot, it can not meet tire bounce to solve wheeled robot and turn
The problems such as to motion requirement.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
- Fig. 2 is please referred to Fig.1, Fig. 1 is the structure diagram of suspension assembly provided in an embodiment of the present invention；Fig. 2 is the present invention
The clamp body that embodiment provides and the main structure diagram of frame assembling.
In a kind of specific embodiment, wheeled robot provided by the invention, including chassis housing 10, chassis housing
10 are equipped with motor 9 and steering link connected to it 8, and chassis housing 10, which is equipped with, to be connected with steering link 8, for band driving wheel
The suspension assembly that tyre bead vertical axis is rotated, the center of the line between the pivot of tire and the center of chassis housing 10
It overlaps.
Motor 9 is generally fixedly connected with steering link 8, to drive it flexible and then drive 8 tire on the drive wheels edge of steering link
Vertical axis is rotated, wherein, tire is fixed by suspension assembly, and equipped with vertical rotary shaft, it is wheeled in order to ensure
Robot can be rotated along itself pivot, the center of the line of the floor projection of the vertical rotary shaft of four tires with
The center of chassis housing 10 overlaps.
Using wheeled robot provided by the invention, steering link 8 is driven by motor 9 tire realization to be driven to turn
To, and the center of the line of the pivot of tire is overlapped with the center of chassis housing 10, so that wheeled robot being capable of edge
Own axes are rotated.
Specifically, suspension assembly includes the lower swing arm of upper swing arm and setting in parallel, on chassis housing 10 upper swing arm and
Scalable double universal joint 7 is equipped between lower swing arm, upper swing arm, lower swing arm are hinged respectively with suspension strut, so that suspension strut can
Along one end of upper swing arm and lower swing arm formed vertical axis rotate, suspension strut be equipped with for install tire and with it is scalable
The flange 6 that double universal joint 7 is fixedly connected, suspension strut are connected to rotate along vertical axis under its drive with steering link 8.
Including chassis housing 10, chassis housing 10 is equipped with upper swing arm 2 and the lower swing arm 3 of setting in parallel, chassis shell
On body 10 between upper swing arm 2 and lower swing arm 3 be equipped with scalable double universal joint 7, upper swing arm 2, lower swing arm 3 and respectively with suspension strut
5 is hinged, so that the vertical axis that suspension strut 5 can be formed along one end of upper swing arm 2 and lower swing arm 3 rotates, is set in suspension strut 5
Be useful for installation tire and the flange 6 that is fixedly connected with scalable double universal joint 7, suspension strut 5 be connected with steering link 8 with
It is rotated under its drive along vertical axis.
Upper swing arm 2 and lower swing arm 3 are fixedly connected respectively with chassis housing 10, are preferably removably fixedly connected, upper swing arm 2
It being arranged in parallel with lower swing arm 3, the one end of upper swing arm 2 and lower swing arm 3 away from chassis housing 10 is hinged with suspension strut 5 respectively, and
Vertical axes are formed, suspension strut 5 is rotated along vertical axes, to realize the steering of tire.It is set between upper swing arm 2 and lower swing arm 3
There is scalable double universal joint 7, be fixedly connected with 9 speed reducer assembly of motor, one end of scalable double universal joint 7, which is equipped with, to be passed
Moving axis, flange 6 are fixedly connected with transmission shaft.One end of steering link 8 is connected with motor 9, and the other end is fixed with suspension strut 5 to be connected
It connects, under its drive suspension strut 5 to be caused to be rotated along vertical axis.
Tire and wheel hub can be arranged on flange 6, and to realize fixation, suspension is adjusted by adjusting the length of steering link 8
The rotation angle of support 5, so that it meets the divertical motion requirement of wheeled robot.
Using base apparatus provided by the invention, upper swing arm 2 and lower swing arm 3 are hinged with suspension strut 5 respectively so that suspension
Support 5 can be rotated along the vertical axis that upper swing arm 2 and the connection of lower swing arm 3 are formed, and realized the rotation of suspension strut 5, and then met
The divertical motion demand of tire.
Specifically, being additionally provided with damper 1 on chassis housing 10, one end of damper 1 is fixedly connected with chassis housing 10, separately
One end is fixedly connected with lower swing arm 3.Lower swing arm 3 is fixedly connected respectively with suspension strut 5 and damper 1, and lower swing arm 3 is by tire
Vibration is transferred to damper 1, to realize damping, ensures the bounce requirement of tire.Its specific structure and connection relation can refer to
The prior art, within the scope of the present invention.
Further, upper swing arm 2 and lower swing arm 3 are hinged through goat's horn bulb 4 with suspension strut 5 respectively.Certainly, in other realities
It applies in example, suitable articulated manner can also be selected as needed, details are not described herein.
Specifically, suspension strut 5 is removably fixedly connected with steering link 8.Preferably screw etc. is fixedly connected, thus
It sets, with easy disassembly.
In a kind of specific embodiment, upper swing arm 2 and removably it is fixedly connected between chassis housing 10.Preferably pass through
Bolt is fixedly connected.
In a kind of specific embodiment, when robot keeps straight on, four-wheel is parallel with direction of advance, if any deviation straight line rail
Road can be adjusted by the differential of left and right wheels, make to travel, it is necessary to when turning to by predetermined rectilinear orbit, robot first stops
Get off, the thrust that push-rod electric machine 9 generates allows tire to rotate by a certain angle (setting value is 45 °), intersects at the axis of its four-wheel
Origin, at this time robot can realize that 360 ° rotate in place at any angle.
Push-rod electric machine 9 is fixed on chassis housing 10, and using oscillating bearing, spin-ended bearing will turn at the both ends of push-rod electric machine 9
It links together to connecting rod 8 and push-rod electric machine 9, one end of steering link 8 is connected with suspension strut, and suspension strut can be around goat's horn
Bulb central point is rotated.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little elements, but also including other elements that are not explicitly listed or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except also there are other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (7)
1. a kind of wheeled robot, which is characterized in that including chassis housing, the chassis housing is equipped with motor and is connected thereto
Steering link, the chassis housing be equipped be connected with the steering link, for drive it is described take turns tyre bead vertical axis into
The suspension assembly of row rotation, the center of the line between the pivot of the tire are overlapped with the center of the chassis housing.
2. wheeled robot according to claim 1, which is characterized in that the suspension assembly includes upper swing arm and put down with it
The lower swing arm that row is set is equipped with scalable double universal joint, institute on the chassis housing between the upper swing arm and the lower swing arm
State upper swing arm, the lower swing arm is hinged respectively with suspension strut so that the suspension strut can along the upper swing arm and it is described under
The vertical axis rotation that one end of swing arm is formed, the suspension strut be equipped with to install tire and with the scalable duplex
The flange that universal joint is fixedly connected, the suspension strut are connected to drive vertical axis described in lower edge at it with the steering link
Rotation.
3. wheeled robot according to claim 2, which is characterized in that damper, institute are additionally provided on the chassis housing
The one end for stating damper is fixedly connected with the chassis housing, and the other end is fixedly connected with the lower swing arm.
4. wheeled robot according to claim 3, which is characterized in that the upper swing arm and the lower swing arm respectively with institute
Suspension strut is stated through goat's horn bulb hinged.
5. wheeled robot according to claim 4, which is characterized in that the suspension strut and the steering link are removable
That unloads is fixedly connected.
6. wheeled robot according to claim 5, which is characterized in that removable between the upper swing arm and the chassis housing
That unloads is fixedly connected.
7. wheeled robot according to claim 6, which is characterized in that through spiral shell between the upper swing arm and the chassis housing
Bolt is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711376220.4A CN108045433A (en) | 2017-12-19 | 2017-12-19 | A kind of wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711376220.4A CN108045433A (en) | 2017-12-19 | 2017-12-19 | A kind of wheeled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108045433A true CN108045433A (en) | 2018-05-18 |
Family
ID=62130058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711376220.4A Pending CN108045433A (en) | 2017-12-19 | 2017-12-19 | A kind of wheeled robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108045433A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239336A (en) * | 2019-06-21 | 2019-09-17 | 深圳市安泽智能机器人有限公司 | Chassis system and robot |
| CN111634333A (en) * | 2020-06-15 | 2020-09-08 | 清华大学 | Electric vehicle chassis suitable for autonomous driving and electronic control system and vehicle having the same |
| CN113022695A (en) * | 2019-12-24 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Flexible steering four-wheel drive platform truck |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2759965B1 (en) * | 1997-02-24 | 1999-05-14 | Sled 3000 | MOTORIZED VEHICLE ON ICE |
| JP2001090723A (en) * | 1999-09-22 | 2001-04-03 | Koyo Seiko Co Ltd | Drive shaft with constant velocity joint of double cardan type |
| CN101876351A (en) * | 2009-04-30 | 2010-11-03 | 常州超宇机械制造有限公司 | Constant-speed transmission shaft with telescopic middle shaft |
| CN102470747A (en) * | 2009-07-10 | 2012-05-23 | F·波尔希名誉工学博士公司 | Propulsion device for motor vehicles with portal axles of electric machines |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
| CN204978246U (en) * | 2015-08-24 | 2016-01-20 | 昆明理工大学 | Modular tractor |
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
| CN205292782U (en) * | 2015-12-24 | 2016-06-08 | 武汉科技大学 | Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles |
| CN205589293U (en) * | 2016-04-13 | 2016-09-21 | 玉环县世纪星汽车转向器材厂 | Direction machine cross universal coupling |
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
-
2017
- 2017-12-19 CN CN201711376220.4A patent/CN108045433A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2759965B1 (en) * | 1997-02-24 | 1999-05-14 | Sled 3000 | MOTORIZED VEHICLE ON ICE |
| JP2001090723A (en) * | 1999-09-22 | 2001-04-03 | Koyo Seiko Co Ltd | Drive shaft with constant velocity joint of double cardan type |
| CN101876351A (en) * | 2009-04-30 | 2010-11-03 | 常州超宇机械制造有限公司 | Constant-speed transmission shaft with telescopic middle shaft |
| CN102470747A (en) * | 2009-07-10 | 2012-05-23 | F·波尔希名誉工学博士公司 | Propulsion device for motor vehicles with portal axles of electric machines |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
| CN204978246U (en) * | 2015-08-24 | 2016-01-20 | 昆明理工大学 | Modular tractor |
| CN205292782U (en) * | 2015-12-24 | 2016-06-08 | 武汉科技大学 | Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles |
| CN205589293U (en) * | 2016-04-13 | 2016-09-21 | 玉环县世纪星汽车转向器材厂 | Direction machine cross universal coupling |
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239336A (en) * | 2019-06-21 | 2019-09-17 | 深圳市安泽智能机器人有限公司 | Chassis system and robot |
| CN113022695A (en) * | 2019-12-24 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Flexible steering four-wheel drive platform truck |
| CN111634333A (en) * | 2020-06-15 | 2020-09-08 | 清华大学 | Electric vehicle chassis suitable for autonomous driving and electronic control system and vehicle having the same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108045433A (en) | A kind of wheeled robot | |
| CN108099523A (en) | Wheeled robot and its base apparatus | |
| US5761965A (en) | Industrial robot with articulated hollow robot arms | |
| US8016509B2 (en) | Robotic joint | |
| CN102887058B (en) | Speed reducing type electric drive system in integrated McPherson hanger bracket wheel | |
| CN115001384A (en) | Photovoltaic board that can twist is cleaned robot | |
| CN107719513A (en) | A kind of cross-country vehicle chassis component and robot assembly | |
| CN106627745B (en) | The steering motor is located in the lower arm of the MacPherson suspension. The wire-controlled four-wheel independent steering system | |
| CN106741146A (en) | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor | |
| US4932489A (en) | Steering and drive means for robot vehicle | |
| CN111729790A (en) | A mobile painting robot | |
| CN107984497A (en) | A kind of transmission device of wheeled robot | |
| CN110482404A (en) | A kind of car door rotary hanger | |
| CN107380284B (en) | Multi-link suspension wheel and single-section crawler-type running mechanism of robot | |
| TW201904832A (en) | Automatic guided vehicle | |
| CN106741142A (en) | Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar | |
| JP7110603B2 (en) | steering device | |
| JPH0767223A (en) | Overhead line traveling device | |
| CN108016518A (en) | A kind of new-type wheat wheel creeper truck | |
| CN106272376A (en) | Robot and arm structure thereof | |
| CN210116378U (en) | Omnidirectional wheel walking device | |
| CN219295614U (en) | Steering structure of four-wheel handle | |
| CN112543706A (en) | Wheels and their moving equipment | |
| CN214396244U (en) | Mecanum wheel | |
| CN213890077U (en) | Mechanical arm for assembling tire and hub |
Legal Events
| 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 |
Application publication date: 20180518 |
|
| RJ01 | Rejection of invention patent application after publication |