CN106945747A - Base apparatus and detection vehicle and robot with it - Google Patents
Base apparatus and detection vehicle and robot with it Download PDFInfo
- Publication number
- CN106945747A CN106945747A CN201710280688.7A CN201710280688A CN106945747A CN 106945747 A CN106945747 A CN 106945747A CN 201710280688 A CN201710280688 A CN 201710280688A CN 106945747 A CN106945747 A CN 106945747A
- Authority
- CN
- China
- Prior art keywords
- base apparatus
- pillar
- walking mechanism
- wheel
- wheel stand
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/02—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- 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
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/11—Leaf spring
Abstract
The invention discloses one kind for base apparatus, including fixed plate, the multiple walking mechanisms being arranged at below fixed plate and the multiple leaf springs being arranged in fixed plate, walking mechanism is at least provided with three, and the two ends of each leaf spring are rotated with a walking mechanism respectively to be connected.The base apparatus of the present invention, with two grades of damping effects, improves damping performance, and simple in construction and effect is good, so that detection vehicle or robot are more preferable, more adapt to different road surfaces, improves stationarity, the handling and security of detection vehicle or robot.The invention also discloses a kind of detection vehicle and robot with base apparatus.
Description
Technical field
The invention belongs to automotive field, specifically, the present invention relates to a kind of base apparatus and the spy with it
Measuring car and robot.
Background technology
Universal car, aims at aircraft carrier and makes earliest.This universal car can be with any direction walking and pivot stud, narrow
Battleship engine room inside is gone everywhere without any hindrance here in the same old way.Later this vehicle was updated and minimized, for as small-sized detection vehicle or
The chassis of person robot.Chassis is to detect an important feature in vehicle and robot, and the quality of its performance is directly influenced
Detect stationarity, control stability and the security of vehicle and robot.Universal car in the market is in order to be able to realizing 360 °
Comprehensive Turning travel, mainly uses universal wheel, but Universal wheel structure is more complicated, is more expensive to manufacture, the production cycle
It is longer, and the preferable road traveling of road conditions is only used for, shock resistance is poor, does not reach preferably traveling effect.
The content of the invention
It is contemplated that at least solving one of technical problem present in prior art.Therefore, the present invention provides a kind of bottom
Disk device and detection vehicle and robot with it, it is therefore an objective to improve damping performance.
To achieve these goals, the technical scheme taken of the present invention is：Base apparatus, including fixed plate, be arranged at it is solid
Multiple walking mechanisms and the multiple leaf springs being arranged in fixed plate below fixed board, walking mechanism is at least provided with three, respectively
The two ends of individual leaf spring rotate with a walking mechanism be connected respectively.
Middle part on the length direction of the leaf spring is fixedly connected with the fixed plate.
The walking mechanism and the leaf spring are respectively provided with four and rectangular distribution, the two ends of each leaf spring
It is connected respectively with a walking mechanism, each walking mechanism connects two leaf springs respectively.
The walking mechanism includes rotating the pillar being connected, the wheel stand of rotatable setting with the leaf spring, set
It is placed in the road wheel on pillar and for producing the steering motor for the power for rotating wheel stand and being arranged on wheel stand.
The steering motor is arranged at the inside of the pillar, and the wheel stand is the lower section for being vertically arranged at pillar,
The road wheel is the lower section for being rotatably arranged on wheel stand, in the rotation of the rotation centerline and road wheel of wheel stand
Heart line is perpendicular.
The walking mechanism also include the hub sleeve that is sheathed on the motor shaft of the steering motor and is connected with motor shaft and
The fixed cover for being sheathed on hub sleeve and being connected with the pillar, the wheel stand is connected with hub sleeve.
Clutch shaft bearing is provided between the bottom of the hub sleeve and the pillar and clutch shaft bearing is located at the interior of the fixed cover
Portion.
The walking mechanism also includes being connected with the fixed cover and the bearing plate below the hub sleeve, the hub
Second bearing is provided between set and bearing plate and second bearing is located at the inside of fixed cover.
Vehicle, including above-mentioned base apparatus are detected present invention also offers one kind.
Present invention also offers a kind of robot, including above-mentioned base apparatus.
The base apparatus of the present invention, with two grades of damping effects, improves damping performance, and simple in construction and effect
It is good, so that detection vehicle or robot are more preferable, more adapt to different road surfaces, the stationarity of raising detection vehicle or robot,
Handling and security.
Brief description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the structural representation of base apparatus of the present invention；
Fig. 2 is the front view of base apparatus of the present invention；
Fig. 3 is the structural representation of leaf spring；
Fig. 4 is the structural representation of pillar；
Fig. 5 is the sectional view of walking mechanism；
Marked in figure：
1st, fixed plate；2nd, leaf spring；3rd, cover plate；4th, pillar；5th, steering motor；6th, fixed cover；7th, hub sleeve；71st, sleeve
Portion；72nd, connecting portion；8th, wheel stand；9th, road wheel；10th, middle control case；11st, battery；12nd, control device；13rd, bearing plate；
14th, clutch shaft bearing；15th, second bearing.
Embodiment
Below against accompanying drawing, by the description to embodiment, the embodiment to the present invention makees further details of
Explanation, it is therefore an objective to help those skilled in the art to the present invention design, technical scheme have more complete, accurate and deep reason
Solution, and contribute to it to implement.
As shown in Figures 1 to 5, the invention provides a kind of base apparatus, including fixed plate 1, it is arranged at the lower section of fixed plate 1
Multiple walking mechanisms and multiple leaf springs 2 for being arranged in fixed plate 1, walking mechanism is at least provided with three, each steel plate
The two ends of spring 2 rotate with a walking mechanism be connected respectively.
Specifically, as shown in Figures 1 to 5, the preferably rectangular flat board of fixed plate 1, walking mechanism is arranged at fixed plate 1
Lower section and walking mechanism has turning function, by controlling walking mechanism to turn to adjust the travel direction of base apparatus.Pass through
Leaf spring 2 is set, enables walking mechanism to be moved up and down relative to fixed plate 1 when base apparatus is travelled, accordingly
It will be arranged to leave gap between the top of walking mechanism and fixed plate 1, to avoid walking mechanism from producing shock with fixed plate 1.
As shown in figure 1, in the present embodiment, walking mechanism and leaf spring 2 are respectively provided with four and rectangular distribution, respectively
Individual walking mechanism is located at a corner of fixed plate 1 respectively, the length direction of each leaf spring 2 respectively with fixed plate 1
One side is parallel, and the two ends of each leaf spring 2 are rotated with a walking mechanism respectively to be connected, each walking mechanism difference
The end of two leaf springs 2 is connected, the axis that leaf spring 2 rotates the end being connected with walking mechanism is equal with fixed plate 1
OK.Middle part on the length direction of leaf spring 2 is fixedly connected with fixed plate 1, and leaf spring 2 is by by screw bolt and nut
The fastener of composition is fixedly connected with fixed plate 1, and the middle part of leaf spring 2, which is set, allows the through hole that bolt is passed through, fixed plate 1
On the through hole and the through hole that also are provided with allowing bolt to pass through be mounting hole, set the mounting hole to be passed through by bolt, be easy to adjust steel plate
Installation site of the spring 2 in fixed plate 1, facilitates the installation of all leaf springs 2 and walking mechanism.
As shown in Figure 1 to Figure 3, the structure of leaf spring 2 is a kind of bullet as well known in the skilled person
Property element, if it is by the spring beam for the approximately equi-strength that dry plate is wide but alloy spring piece of Length discrepancy is combined.
Middle position of the fixed plate 1 on the length direction of leaf spring 2 be fixedly connected with leaf spring 2 and leaf spring 2 top
Face is in contact with fixed plate 1, and fixed plate 1 leaves gap with the two ends on the length direction of leaf spring 2, so that leaf spring 2
To damping effect.
As shown in Figure 1, Figure 4 and Figure 5, walking mechanism includes rotating the pillar 4 being connected, rotatable setting with leaf spring 2
Wheel stand 8, be arranged on pillar 4 and for produce make wheel stand 8 rotate power steering motor 5 and be arranged at car
Road wheel 9 on wheel support 8.Pillar 4 is to be vertically arranged at the lower section of fixed plate 1 and the length direction of pillar 4 and the phase of fixed plate 1
Vertically, pillar 4 is the structure of inner hollow, and steering motor 5 is fixedly installed on the inside of pillar 4, and wheel stand 8 is to be vertically arranged
In the lower section of pillar 4, road wheel 9 is the lower section for being rotatably arranged on wheel stand 8, the rotation centerline of wheel stand 8 with
The rotation centerline (namely axis of road wheel 9) of road wheel 9 is perpendicular, the length direction of wheel stand 8 and the length of pillar 4
Direction is parallel and end axis perpendicular with leaf spring 2.When steering motor 5 is operated, produce power and power is transferred to
Wheel stand 8, and then wheel stand 8 and road wheel 9 thereon are rotated, and then change the direction of motion of base apparatus.
As preferred, the road wheel 9 of walking mechanism is the wheel with wheel hub motor, and road wheel 9 both can be as turning
Use, can be used again as driving wheel to wheel, so that base apparatus can be realized during voluntarily travel and travelling
Turn to.The structure of wheel with wheel hub motor as well known in the skilled person, will not be repeated here.
As shown in Figure 1, Figure 4 and Figure 5, walking mechanism also include cover plate 3, be sheathed on the motor shaft of steering motor 5 and with
The hub sleeve 7 of motor shaft connection and the fixed cover 6 for being sheathed on hub sleeve 7 and being connected with pillar 4, wheel stand 8 are connected with hub sleeve 7.
Pillar 4 is both ends open, the rectangular configuration of inner hollow, and steering motor 5 is arranged in the inner chamber of pillar 4, the bottom tool of pillar 4
There is a through hole for allowing the motor shaft of steering motor 5 to pass through, cover plate 3 is fixedly connected with the upper end of pillar 4 and by the upper end open of pillar 4
Closing.4 side walls of pillar 4 all process mounting groove, be easy to use bolt and steering motor 5 is attached on pillar 4, mounting groove is simultaneously
To run through the open slot set along the side wall of pillar 4, to play thermolysis.Fixed cover 6 is fixedly connected with the lower end of pillar 4,
Fixed cover 6 is both ends open, the cylindrical structural of inner hollow, the bottom with diameter greater than pillar 4 of the upper end open of fixed cover 6
The diameter of the set through hole and upper end open of fixed cover 6 and through hole set by the bottom of pillar 4 are coaxial.
As shown in figure 5, walking mechanism also includes being connected with fixed cover 6 and positioned at the bearing plate 13 of the lower section of hub sleeve 7, it is fixed
The upper end open of set 6 is closed by pillar 4, and the lower ending opening of fixed cover 6 is closed by bearing plate 13, and bearing plate 13 is annular
Structure, the center of bearing plate 13, which has, allows the through hole that hub sleeve 7 is passed through, and wheel stand 8 is located at the lower section of bearing plate 13.Hub
Clutch shaft bearing 14 is provided between set 7 and the bottom of pillar 4 and clutch shaft bearing 14 is located at the inside of fixed cover 6, hub sleeve 7 and bearing pressure
Second bearing 15 is provided between plate 13 and second bearing 15 is located at the inside of fixed cover 6.As preferred, hub sleeve 7 includes insertion
The sleeve part 71 that is sheathed on the motor shaft of steering motor 5 and it is welded to connect in the centre bore of fixed cover 6 and with sleeve part 71
Connecting portion 72, connecting portion 72 and the centre bore through bearing plate 13 are fixedly connected with the wheel stand 8 of lower section, the He of sleeve part 71
Connecting portion 72 is cylindrical structural and the connection of both coaxial weldings, sleeve part 71 and be one end open, the structure of inner hollow,
It is connected by key in the centre bore in the motor shaft insertion sleeve portion 71 of steering motor 5 and with sleeve part 71, accordingly in sleeve part 71
Inwall and motor shaft outer wall on set allow key be embedded in keyway.The upper end of connecting portion 72 and the lower end welding of sleeve part 71 connect
Connect, the lower end of connecting portion 72 is fixedly connected with the upper end of wheel stand 8.The motor shaft of steering motor 5 passes through key and sleeve part 71
It is fixedly connected, gap is left between the lower surface of motor shaft and the upper surface of connecting portion 72.
As shown in figure 5, the upper end outside wall surface of sleeve part 71 is provided with the first groove for allowing clutch shaft bearing 14 to be embedded in, sleeve part
71 lower end outer wall face is provided with the second groove for allowing second bearing 15 to be embedded in, and clutch shaft bearing 14 and second bearing 15 are preferably to push away
Power ball bearing, clutch shaft bearing 14 is clipped between the internal face at the bottom surface of pillar 4 and first groove, and second bearing 15 is clipped in bearing
Between internal face at pressing plate 13 and second groove, the setting of clutch shaft bearing 14 and second bearing 15 makes the upper surface of hub sleeve 7 not
The surface of shell of steering motor 5 can be pushed up, hub sleeve 7 is turned to flexibly, fixes reliable and does not produce play, and lift chassis dress
When putting, the wheel stand 8 and road wheel 9 of hub sleeve 7 and connection will not be made to come off.
As preferred, the material of wheel stand 8 is spring steel plate, is made of, by bending and molding, to adopt spring steel plate
The wheel stand 8 being made of spring steel plate can play first order cushioning effect, and leaf spring 2 plays second level cushioning effect.
The upper end of wheel stand 8 sets 2 through holes, convenient to be bolted with hub sleeve 7.
As depicted in figs. 1 and 2, base apparatus of the invention also includes the middle control case 10 being arranged in fixed plate 1 and set
The controller and battery 11 being placed in control case 10, walking mechanism and leaf spring 2 are distributed in the surrounding of middle control case 10, electric power storage
Pond 11 is used for the steering motor 5 for walking mechanism and the power supply power of road wheel 9 of built-in wheel hub motor, control device and battery
11st, steering motor 5 and the wheel hub motor being arranged on road wheel 9 are electrical connection, and steering motor 5 is preferably direct current generator.In
The preferably rectangular structure of case 10 is controlled, the side and bottom surface of middle control case 10 all machined waist type groove, convenient to install fixed battery 11
And control device, and thermolysis can be played.Control device sends instruction, is operated by controlling the wheel hub motor of road wheel 9, can
Advance and stop so that base apparatus is realized, by controlling steering motor 5 to operate so that hub sleeve 7 rotates and driven by hub sleeve 7
Wheel stand 8 and road wheel 9 realize the steering in the range of 360 °, and base apparatus can be made to realize the steering in traveling.Work as chassis
Device is travelled at rugged road surface, can carry out damping by the leaf spring 2 and wheel stand 8 of the lower section of fixed plate 1.
The base apparatus of the present invention uses said structure, and with two grades of damping effects, this simple in construction and effect is good.Gu
Fixed board 1 is directly connected with 4 leaf springs 2, plays second level damping effect, and coupling part is that have waist type groove, is allowed to and pillar 4
During connection, the relative position of 4 leaf springs 2 of convenient regulation, it is to avoid because of interference caused by size and position error.Knot
Structure is in symmetry shape, and uniform force is less prone to flop phenomenon.Each the vertical distribution on 2 faces of the earrings on pillar 4, is tied
Structure is simple, and positioning is reliable.Steering motor 5 is bolted in pillar 4 by 4, and drawing is all machined with 4 sides of pillar 4
Groove, conveniently tightens bolt and motor radiating.Hub sleeve 7 is welded by two pieces of cylindrical steels, and its inner surface has keyway, and steering motor
5 are bonded and connect, and the protrusion axle upper and lower ends of hub sleeve 7 are respectively mounted thrust ball bearing, make the round platform of plane and steering motor 5 on hub sleeve 7
There are 2mm distances on surface, and the thrust ball bearing of lower section is fixed by bearing plate 13, during work, turns to flexibly fixed reliability and does not produce
Play.Hub sleeve 7 and steering motor 5 are connect by being bonded, and there are 2 screwed holes lower surface, for being connected with wheel stand 8, wheel branch
Frame 8 plays the first order cushioning effect of whole base apparatus by spring steel plate bending and molding.
As shown in figure 1, when road wheel 9 carries out one-directional rotation, the steering motor 5 rotates 0~360 ° and realizes 360 ° entirely
Orientation pivot stud.When the road wheel 9 carries out positive and negative Double-directional rotary, the steering motor 5 rotates 0~180 ° and can be achieved 360 °
Comprehensive pivot stud, turns to whole base apparatus more flexible.
Vehicle is detected present invention also offers one kind, includes the base apparatus of said structure.The specific knot of this base apparatus
Structure can refer to Fig. 1 to Fig. 5, will not be repeated here.Because the detection vehicle of the present invention includes the base apparatus in above-described embodiment,
So it has all advantages of above-mentioned base apparatus.
Present invention also offers the base apparatus of a kind of robot, including said structure.The concrete structure of this base apparatus
Fig. 1 be can refer to Fig. 5, be will not be repeated here.Because the detection vehicle of the present invention includes the base apparatus in above-described embodiment, institute
There are all advantages of above-mentioned base apparatus with it.
The present invention is exemplarily described above in association with accompanying drawing.Obviously, the present invention is implemented not by above-mentioned side
The limitation of formula.As long as employ the improvement for the various unsubstantialities that method of the present invention design and technical scheme are carried out；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. base apparatus, it is characterised in that：Including fixed plate, the multiple walking mechanisms being arranged at below fixed plate and it is arranged at solid
Multiple leaf springs in fixed board, walking mechanism at least provided with three, the two ends of each leaf spring respectively with a vehicle with walking machine
Structure rotates connection.
2. base apparatus according to claim 1, it is characterised in that：Pars intermedia on the length direction of the leaf spring
Position is fixedly connected with the fixed plate.
3. base apparatus according to claim 1, it is characterised in that：The walking mechanism and the leaf spring are respectively provided with
Four and rectangular distribution, the two ends of each leaf spring are connected with a walking mechanism respectively, each walking mechanism difference
Connect two leaf springs.
4. according to any described base apparatus of claims 1 to 3, it is characterised in that：The walking mechanism includes and the steel
Flat spring rotates the pillar connected, the wheel stand of rotatable setting, is arranged on pillar and revolves wheel stand for generation
The steering motor of the power turned and the road wheel being arranged on wheel stand.
5. base apparatus according to claim 4, it is characterised in that：The steering motor is arranged at the interior of the pillar
Portion, the wheel stand is the lower section for being vertically arranged at pillar, and the road wheel is to be rotatably arranged under wheel stand
Side, the rotation centerline of wheel stand and the rotation centerline of road wheel are perpendicular.
6. the base apparatus according to claim 4 or 5, it is characterised in that：The walking mechanism is also described including being sheathed on
The hub sleeve being connected on the motor shaft of steering motor and with motor shaft and the fixed cover for being sheathed on hub sleeve and being connected with the pillar,
The wheel stand is connected with hub sleeve.
7. base apparatus according to claim 6, it is characterised in that：It is provided between the bottom of the hub sleeve and the pillar
Clutch shaft bearing and clutch shaft bearing are located at the inside of the fixed cover.
8. base apparatus according to claim 7, it is characterised in that：The walking mechanism also includes connecting with the fixed cover
Connect and the bearing plate below the hub sleeve, provided with second bearing and second bearing position between the hub sleeve and bearing plate
In the inside of fixed cover.
9. vehicle is detected, including base apparatus, it is characterised in that：The base apparatus is any described bottom of claim 1 to 8
Disk device.
10. robot, including base apparatus, it is characterised in that：The base apparatus is any described bottom of claim 1 to 8
Disk device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280688.7A CN106945747B (en) | 2017-04-26 | 2017-04-26 | Chassis device and have its detection vehicle and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280688.7A CN106945747B (en) | 2017-04-26 | 2017-04-26 | Chassis device and have its detection vehicle and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106945747A true CN106945747A (en) | 2017-07-14 |
| CN106945747B CN106945747B (en) | 2023-10-13 |
Family
ID=59476949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280688.7A Active CN106945747B (en) | 2017-04-26 | 2017-04-26 | Chassis device and have its detection vehicle and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945747B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657309A (en) * | 2018-06-28 | 2018-10-16 | 苏州冠卓自动化科技有限公司 | A kind of dolly chassis for clean room environment monitoring |
| CN109795552A (en) * | 2019-03-20 | 2019-05-24 | 宋鸿 | A kind of improved cultivator |
| CN110370883A (en) * | 2019-08-21 | 2019-10-25 | 广州极飞科技有限公司 | Mould group of walking and unmanned vehicle |
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| AU5897580A (en) * | 1979-06-04 | 1980-12-11 | Rankin, N.A. | Suspension of truck cabin to chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657309A (en) * | 2018-06-28 | 2018-10-16 | 苏州冠卓自动化科技有限公司 | A kind of dolly chassis for clean room environment monitoring |
| CN109795552A (en) * | 2019-03-20 | 2019-05-24 | 宋鸿 | A kind of improved cultivator |
| CN110370883A (en) * | 2019-08-21 | 2019-10-25 | 广州极飞科技有限公司 | Mould group of walking and unmanned vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106945747B (en) | 2023-10-13 |
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