CN209650407U - A kind of wheel undercarriage walking mechanism - Google Patents
A kind of wheel undercarriage walking mechanism Download PDFInfo
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- CN209650407U CN209650407U CN201920233632.0U CN201920233632U CN209650407U CN 209650407 U CN209650407 U CN 209650407U CN 201920233632 U CN201920233632 U CN 201920233632U CN 209650407 U CN209650407 U CN 209650407U
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Abstract
The utility model discloses a kind of wheel undercarriage walking mechanisms, including bottom plate, ratcheting mechanism, independent suspension and support component, vehicle frame positioned at bottom plate front end, positioned at the spud pile of bottom plate two sides of tail, ratcheting mechanism includes the rear-wheel positioned at the front-wheel of vehicle frame two sides and positioned at spud pile two sides, and front wheels and rear wheels are hub motor.The front wheels and rear wheels of the utility model are all made of hub motor, i.e. the control of realization four motorized wheels, flexible operation, while simplify walking mechanism structure obviously, and the figure of walking mechanism accordingly reduces, and weight also accordingly mitigates.
Description
Technical field
The utility model relates to a kind of walking mechanism, in particular to a kind of wheel undercarriage walking mechanism.
Background technique
With the concern both at home and abroad to the elderly and physical disabilities, the shifting for being suitble to such crowd to go on a journey has been researched and developed out
Dynamic device, facilitates such crowd independently to go on a journey.
The mobile device applied at present is mainly crawler travelling device and wheeled mobile device.US6668951B2 is used
The mode of left and right two pedrail mechanisms and a preceding flip-arm, front-wheel drive, torsion shaft is coaxial with main drive shaft, flip-arm exists
It plays a supportive role when robot obstacle detouring, substantially increases the terrain adaptability of robot.But crawler-type mobile platform turning resistance
Big and turning is relatively not flexible, while crawler belt can damage hard surfacing.
CN106214365B discloses a kind of vehicle of taking care of oneself equipped with retractable seat mechanism, disclosed in chassis walking
Mechanism is the four wheel mechanism of two-wheel drive, compact-sized, and the turning of opposing tracks formula mobile device is relatively flexible.But due to the chassis
Walking mechanism is two-wheel drive, and rear-wheel walking is still to drive by front-wheel, and whole walking, which still has, runs inflexible ask
Topic.
CN2717789 proposes a kind of robot platform of four-wheel drive, passes through a trapezoidal connecting rod respectively between front and back wheel
Mechanism is connected, and four are connected between wheel and motor by electromagnetic clutch, and biggish load-carrying, straight-line travelling and steering can be born
Flexibly, the various complex road conditions of indoor and outdoor be can be applied to, but such platform figure is big, car body weight.
Therefore the chassis walking mechanism of a kind of driving simple with structure, independent, flexible operation, lightweight is needed at present.
Utility model content
The utility model provides a kind of wheel undercarriage walking mechanism, and front and back is individually driven by using hub motor
Wheel, makes chassis walking mechanism structure flexible operation, structure is simple, while reducing the volume and weight of chassis walking mechanism.
Reach technical solution used by above-mentioned purpose are as follows:
A kind of wheel undercarriage walking mechanism, including bottom plate, ratcheting mechanism, the chassis walking mechanism further include being located at bottom plate
The vehicle frame of front end, positioned at the spud pile of bottom plate two sides of tail, the ratcheting mechanism includes being located at the front-wheel of vehicle frame two sides and being located at
The rear-wheel of spud pile two sides, the front wheels and rear wheels are hub motor.
This programme front wheels and rear wheels are all made of hub motor as driving motor, it can be achieved that four motorized wheels control, fortune
Row flexibly, while simplifies walking mechanism structure obviously, and the figure of walking mechanism accordingly reduces, and weight also accordingly mitigates.
Chassis walking mechanism further includes independent suspension, and independent suspension is fixed in the walking mechanism of chassis.Independent suspension includes
Elastic axis, spring, connecting rod.The independent suspension can ensure that hub motor is contacted with the good of ground, while improve user's seating
Comfort level.
Anti-tipping mechanism is installed in chassis walking mechanism tail portion, which is telescopic component.The anti-tipping mechanism makes
Chassis walking mechanism is adapted to different operating environment, and when encountering the gradient or scraggly place, anti-tipping mechanism stretches out, energy
It is enough that chassis is supported in time, can prevent chassis from toppling over so that chassis walking mechanism run in the process of moving it is more stable；
Work as road surface evenness, anti-tipping mechanism will be withdrawn, and reduce the duty volume of entire chassis walking mechanism, while reducing entire chassis row
The length for walking mechanism keeps walking mechanism operating in chassis more flexible.
The anti-tipping mechanism includes actuator, connecting rod, support rod, shock-absorbing front fork and wheel, the actuator and branch
Strut is connect with connecting rod, and shock-absorbing front fork one end is connect with support rod, and the other end is connect with wheel.The wheel is preferably complete
To wheel.
Two hub motor sizes of front component are identical, and two hub motor sizes of wheel assembly are identical, and front-wheel
The hub motor size of component is greater than the hub motor size of wheel assembly.The selection of front and back wheel is to meet wheel undercarriage row
Walk the obstacle performance of mechanism entirety, the wheel hub of more ditch performance, the requirement of grade climbing performance and performance in slope and front wheels and rear wheels
Motor will be accounted for from its torque, revolving speed, output power etc., and then the hub motor size of front component is selected to be greater than
The hub motor size of wheel assembly.
The front wheels and rear wheels of the utility model are all made of hub motor, i.e. independent four-wheel is dynamic, and independent four-wheel is dynamic to make vehicle with walking machine
Structure operation is more flexible, since hub motor is integrated motor, brake and retarder using the space of hub for vehicle wheel,
Simplify mechanical structure obviously, the reduction of overall space size and weight；Telescopic anti-tipping mechanism is installed in chassis tail portion,
It can ensure that stability, overturning-preventing and controllability that chassis walking mechanism is run under different operating environment.
Detailed description of the invention
Fig. 1 is the utility model wheel undercarriage walking mechanism overall structure diagram；
Fig. 2 is the utility model anti-tipping mechanism structural schematic diagram.
Specific embodiment
It is now practical to this in order to which the technical characteristics of the utility model, purpose and beneficial effect are more clearly understood
Novel technical solution carries out following detailed description, but should not be understood as the restriction to the enforceable range of the utility model.
As shown in Figs. 1-2, the utility model wheel undercarriage walking mechanism includes bottom plate 1, ratcheting mechanism, before being located at bottom plate 1
The vehicle frame 2 at end, positioned at the spud pile 3 of bottom plate two sides of tail, four independent suspensions and anti-tipping mechanism 9.
The ratcheting mechanism includes the rear-wheel 5 positioned at the front-wheel 4 of 2 two sides of vehicle frame and positioned at spud pile two sides, and front-wheel 4 is with after
Wheel 5 is hub motor.The selection of driving motor not only influences assistant robot overall dimensions and structure type in the prior art,
The control performance of robot is influenced simultaneously.The utility model uses hub motor as driving motor, since hub motor utilizes
The space of hub for vehicle wheel integrates motor, brake and retarder, simplifies mechanical structure obviously, overall space
Size and weight reduction.Four wheels are hub motor, and four motorized wheels control is achieved, so that chassis walking mechanism
Operation is more flexible, while selecting corresponding drive mode for different driving working condition requirement according to practical operation, it is possible to reduce
The waste of driving motor energy, and then improve the utilization rate of energy.
In order to meet the obstacle performance of vehicle, get over the requirement of ditch performance, grade climbing performance and performance in slope, front wheels and rear wheels
Hub motor to be accounted for from its torque, revolving speed, output power etc., and then select two preceding size of wheel it is identical, two
Size of wheel is identical after a, and preceding size of wheel is greater than rear size of wheel.
Independent suspension includes elastic axis 6, spring 7, connector 8.Positioned at the independent suspension of 2 two sides of vehicle frame, its spring 7 is arranged
On elastic axis 6, one end of elastic axis 6 and vehicle frame 2 are fixed, and the other end is fixed on vehicle frame by connecting rod 8；Positioned at spud pile
Its spring 7 of the independent suspension of 3 two sides is set on elastic axis 6, and one end of elastic axis 6 is fixed to bottom plate 1 and the connection of rear-wheel 5 fills
It sets, the other end is fixed on spud pile by connector 8.It is preceding when chassis walking mechanism mobile platform passes through up-and-down surfaced road
Wheel and rear-wheel stress make the component of connection independent suspension deformation occur, and power is passed through elastic axis 6 in deformation process and is conducted to connection
Rod piece 8, while spring 7 compresses, and absorbs and jolts caused by uneven road surface, and front wheels and rear wheels is made to keep patch ground, the steady row in chassis
It sails, improves the comfort level that user takes.
Chassis walking mechanism tail portion is installed by anti-tipping mechanism 9.Anti-tipping mechanism 9 includes actuator 10, two supports
Bar 11,12, two shock-absorbing front forks 13 of a connecting rod and two wheels 14；One end of actuator 10 is fixed on chassis, another
End is connected with connecting rod 12, and one end of support rod 11 is connected with connecting rod 12, and the other end is connected with shock-absorbing front fork one end, before damping
The fork other end is connect with wheel, and 12 both ends of connecting rod are connect with spud pile 3 respectively.Wheel 14 is omni-directional wheel.Anti-tipping mechanism 9 is
Telescopic component.When chassis walking mechanism is indoors in use, road conditions are preferable, recoverable anti-tipping mechanism reduces bulk, fortune
Turn more flexible；When chassis walking mechanism is in outdoor application, road conditions are relatively complicated, such as: flat road surface, climbing, platform
The road conditions such as rank, trench, when road surface is non-flat forms road surface, chassis walking mechanism center of gravity shifts, and stretches out overturning-preventing machine at this time
Structure can remain operational more stable, prevent from toppling over.
So far, although those skilled in the art will appreciate that showing for the utility model has been shown and described in detail herein
Example property embodiment still, still can be according to disclosed by the utility model in the case where not departing from the spirit and scope of the utility model
Content directly determines or derives many other variations or modifications for meeting the utility model principle.Therefore, the utility model
Range is understood that and regards as to cover all such other variations or modifications.
Claims (10)
1. a kind of wheel undercarriage walking mechanism, including bottom plate, ratcheting mechanism, which is characterized in that the chassis walking mechanism is also wrapped
The vehicle frame positioned at bottom plate front end is included, positioned at the spud pile of bottom plate two sides of tail, the ratcheting mechanism includes being located at vehicle frame two sides
Front-wheel and rear-wheel positioned at spud pile two sides, the front wheels and rear wheels are hub motor.
2. wheel undercarriage walking mechanism according to claim 1, which is characterized in that the chassis walking mechanism further includes only
Vertical suspension.
3. wheel undercarriage walking mechanism according to claim 2, which is characterized in that the independent suspension is fixed on chassis row
It walks in mechanism.
4. wheel undercarriage walking mechanism according to claim 2 or 3, which is characterized in that the independent suspension includes damping
Axis, spring and connector.
5. wheel undercarriage walking mechanism according to claim 1, which is characterized in that the installation of chassis walking mechanism tail portion
Anti-tipping mechanism.
6. wheel undercarriage walking mechanism according to claim 5, which is characterized in that the anti-tipping mechanism is flexible group
Part.
7. wheel undercarriage walking mechanism according to claim 5 or 6, which is characterized in that the anti-tipping mechanism includes causing
Dynamic device, connecting rod, support rod, shock-absorbing front fork and wheel, the actuator and support rod are connect with connecting rod, shock-absorbing front fork one
End is connect with support rod, and the other end is connect with wheel.
8. wheel undercarriage walking mechanism according to claim 7, which is characterized in that the wheel is omni-directional wheel.
9. wheel undercarriage walking mechanism according to claim 1, which is characterized in that two wheel hub electricity of the front component
Machine size is identical, and two hub motor sizes of wheel assembly are identical.
10. wheel undercarriage walking mechanism according to claim 9, which is characterized in that the hub motor of the front component
Size is greater than the hub motor size of wheel assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920233632.0U CN209650407U (en) | 2019-02-25 | 2019-02-25 | A kind of wheel undercarriage walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920233632.0U CN209650407U (en) | 2019-02-25 | 2019-02-25 | A kind of wheel undercarriage walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209650407U true CN209650407U (en) | 2019-11-19 |
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ID=68525037
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920233632.0U Active CN209650407U (en) | 2019-02-25 | 2019-02-25 | A kind of wheel undercarriage walking mechanism |
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| CN (1) | CN209650407U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873165A (en) * | 2021-01-21 | 2021-06-01 | 四川前立应急救援设备有限公司 | Multifunctional household robot |
-
2019
- 2019-02-25 CN CN201920233632.0U patent/CN209650407U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873165A (en) * | 2021-01-21 | 2021-06-01 | 四川前立应急救援设备有限公司 | Multifunctional household robot |
| CN112873165B (en) * | 2021-01-21 | 2024-04-02 | 四川前立应急救援设备有限公司 | Multifunctional household robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221114 Address after: 215000 No. 88, Keling Road, science and Technology City, high tech Zone, Suzhou, Jiangsu Patentee after: Suzhou Guoke medical technology development (Group) Co.,Ltd. Address before: 321300 8th floor, Jinzu building, headquarters center, Yongkang City, Jinhua City, Zhejiang Province Patentee before: YONGKANG GUOKE REHABILITATION ENGINEERING TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |