CN107414785A - Chassis structure and the robot for including it - Google Patents
Chassis structure and the robot for including it Download PDFInfo
- Publication number
- CN107414785A CN107414785A CN201710830928.6A CN201710830928A CN107414785A CN 107414785 A CN107414785 A CN 107414785A CN 201710830928 A CN201710830928 A CN 201710830928A CN 107414785 A CN107414785 A CN 107414785A
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- China
- Prior art keywords
- chassis
- discrete
- postbrachium
- wheel
- spring
- 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
- 210000000245 forearm Anatomy 0.000 claims abstract description 28
- 239000000725 suspension Substances 0.000 claims abstract description 22
- 239000006096 absorbing agent Substances 0.000 claims description 14
- 230000035939 shock Effects 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000009193 crawling Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Present disclose provides a kind of chassis structure.The chassis structure includes chassis body, wherein, chassis body includes an at least discrete forearm and an at least discrete postbrachium, and each discrete forearm connects a front-wheel by respective forearm suspension assembly；Each discrete postbrachium connects a trailing wheel by swinging hanging component after respective one.In the disclosure, by setting discrete forearm and postbrachium, and each arm to be connected to front-wheel or trailing wheel, the space between two-wheeled is saved, and each wheel independently can rotate and drive chassis body, add application scenario.
Description
Technical field
This disclosure relates to mechanical structure, further to a kind of chassis structure, and the robot comprising the chassis structure.
Background technology
As a kind of commonly used function, walking mechanism has had in various machineries to be widely applied enough.Using
At most most ripe can substantially be divided into wheeled, crawler type or sufficient formula etc..
In existing technology, if being applied to amusement robot, the problem of being respectively present and shortcoming are as follows：
One kind is more common in various automobile engineering mechanically for Conventional drum, typically there is wheel arranged in pairs, wheel portion structure
There is suspension connection between chassis body.Provided with deflecting roller, there is differential mechanism to realize flexibly between driving wheel and turn.Technical comparing into
Ripe, comfortableness and flexibility are all relatively better.Shortcoming is that (wheel intermediate structure is continuous to overall bridge structure, among two side wheels
Space it is substantially completely occupied) presence, the limitation of existing hang, have many limits to the profile of amusement robot
System.
One kind is crawler type, more applied in various engineering machinery and military vehicle, tank.Advantage is there be powerful grab
Soil fertility and more terrain adaptabilities etc., technology also comparative maturity.The shortcomings that crawler type is applied herein is also apparent from：Road pavement has broken
Bad property；, mechanical efficiency it is low, high energy consumption；Speed and very flexible in the case of same power；Maintenance cost is high.
One kind is walked for sufficient formula, and sufficient formula walking mechanism is used for various robots.Sufficient formula structure type is more, and structure is respectively not
It is identical.But have the following disadvantages on the whole：Control is complicated, efficiency is low, and high energy consumption, system are unstable.
In the application of machine Class A amusement robot, it is desirable to which running gear has enough flexibilities, comfortableness, has higher
Energy utilization rate, and can the venue application outside multiple indoor room.Require to be different from common car class formation in profile and have one
Fixed bionic shape.Often wheel independently separates and middle part can not have structure connection.It will be evident that traditional structure can not meet these
Demand.In addition, small scale robot four-wheel stand-alone configuration can not also be applied to large scale equipment due to stressing conditions etc..
Existing robot chassis technology does not depart from classical automobile chassis structures design still, following technology still be present and lacks
Fall into：
(1) in large-scale manned amusement robot application, existing most robot chassis are all too small, can not be applied to height
The heavy-duty machines people of load-carrying；
(2) structure between the side wheel of prior art two is continuous that can not meet that amusement should in application and profile many-side
Use scene.
Disclosure
(1) technical problems to be solved
In view of this, the purpose of the disclosure is to provide a kind of chassis body or robot, with solve it is above-described extremely
One item missing technical problem.
(2) technical scheme
According to the one side of the disclosure, there is provided a kind of chassis structure, including chassis body, wherein,
The chassis body includes an at least discrete forearm and an at least discrete postbrachium,
Each discrete forearm connects a front-wheel by respective forearm suspension assembly；
Each discrete postbrachium connects a trailing wheel by swinging hanging component after respective one.
In some embodiments of the present disclosure, chassis body is in crawl shape structure, the discrete forearm and and discrete
Postbrachium is the leg-like structures stretched out, and the front-wheel or trailing wheel are respectively tire, to support and drive chassis body.
In some embodiments of the present disclosure, the forearm suspension assembly includes QL, the first spring assembly and preceding
Portion's shock absorber, the QL leads to the front-wheel to be connect, and first spring assembly and anterior shock absorber are articulated with described
Between discrete forearm and QL.
In some embodiments of the present disclosure, in addition to steering mechanism, steering mechanism include steering linkage and steering motor,
The preceding wheel case is connected to the steering linkage, and the steering motor is configured to drive steering linkage to drive front-drive direction.
In some embodiments of the present disclosure, the postbrachium suspension assembly includes L-shaped swing rod and rotating shaft, the L-shaped swing rod
One end is connected to the trailing wheel, and middle part is connected to the discrete postbrachium by rotating shaft.
In some embodiments of the present disclosure, the postbrachium suspension assembly also includes second spring and rear portion shock absorber, its
Described in second spring and rear portion shock absorber, the other end of the L-shaped swing rod passes through the second spring and rear portion vibration damping respectively
Device is connected to discrete postbrachium.
In some embodiments of the present disclosure, the postbrachium suspension assembly also includes servomotor and reductor, described to watch
Take motor to be connected with the trailing wheel machine driving, to drive trailing wheel to export power.
In some embodiments of the present disclosure, the chassis body also includes power supply, be chassis structure driving and/or turn
To the offer energy.
In some embodiments of the present disclosure, first spring assembly or second spring are respectively hydraulic spring grease cup, compression
Spring or gas spring.
According to another aspect of the present disclosure, there is provided a kind of robot, including：
Superstructure and any of the above-described kind of chassis structure, wherein, the chassis structure also includes being located at chassis upper
Rotary disk, the rotary disk carries out revolution driving by single-revolution coil motor, and the superstructure is arranged on the rotary disk,
Driven and turned round by the rotary disk.
(3) beneficial effect
Pass through above-mentioned technical proposal, disclosure chassis structure and the beneficial effect comprising its robot are：
(1) by setting discrete forearm and postbrachium, and each arm to be connected to front-wheel or trailing wheel, save between two-wheeled
Space, and each wheel independently can rotate and drive chassis body, improve application scenario；
(2) this kind of chassis overall structure is especially in the application scenario of large-scale manned amusement robot (chassis is integrally larger)
In, there is good effect.
Brief description of the drawings
Fig. 1 is the chassis structure schematic perspective view of the embodiment of the present disclosure.
Fig. 2 is the robot overall structure diagram of the embodiment of the present disclosure.
Embodiment
According to the basic conception of the disclosure, there is provided a kind of chassis structure includes discrete forearm and discrete postbrachium, each arm
Connect front-wheel or trailing wheel.Each take turns and arm before and after, this separated structure, Ke Yiling are connected to by forearm or postbrachium suspension assembly
Control chassis living or the steering flexibility ratio of the robot comprising chassis.
For the purpose, technical scheme and advantage of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the disclosure is described in further detail.
Fig. 1 is the chassis structure schematic perspective view of the embodiment of the present disclosure.As shown in figure 1, the embodiment of the present disclosure is provided as one
Kind chassis structure, including chassis body 1, wherein, the chassis body 1 is discrete including an at least discrete forearm 16 and at least one
Formula postbrachium 17, each discrete forearm 16 connect a front-wheel 2 by respective forearm suspension assembly；After each discrete
Arm 17 connects a trailing wheel 7 by swinging hanging component after respective one.Compared to crawler type, the disclosure is had more using wheeled construction
The advantages of energy-conservation is flexibly light.In various exhibition Entertainment Scenes, the situation for destroying road surface is not had.Moreover, relative to sufficient formula
Walking mechanism, wheeled construction has higher efficiency, easy to control, and speed is also faster.
Wherein, for chassis body 1, preferably its profile is in shape of crawling, to reduce overall center of gravity.The chassis body 1
Material can be Steel material.Discrete forearm 16 and the leg-like structures with discrete postbrachium 17 for stretching, front-wheel 2 or trailing wheel 7 divide
Not Wei tire, to support and drive chassis 1 overall.
In certain embodiments, discrete postbrachium 17 is occurs in pairs, for as actuating arm, trailing wheel to be connected in actuating arm
After 17, discrete postbrachium 17 is driven to by the frictional force of trailing wheel 17 and ground, drives chassis body 1 to move.After each discrete
Arm 17 also can each self-adjusting driving force, the quantity of preferable discrete postbrachium 17 is 2.Discrete postbrachium 17 can be with chassis master
Both are combined together by the integral molding of body 1 by being fixedly connected with mode.
In one specific embodiment, chassis body 1 to crawl shape, can be 4 separated leg-like structures discrete before
Arm 16 and discrete postbrachium 17, every independent leg-like structures have a set of tire (i.e. front-wheel 2 or trailing wheel).Every tire passes through
Each independent suspension frame structure is connected in leg structure.Two trailing wheels are driving wheel, each driving wheel one motor and deceleration
Device combination driving.Decelerator is used to reduce rotating speed and increase torque.
The embodiment of the present disclosure can include in brake gear, and brake modes are rear wheel brake, and rear wheel portion includes three groups of brakings
Mode (Motor torque is braked, disc brake braking and drum brake braking).Wherein drum brake is used as parking braking with parking brake bracing wire connection.Disc brake
System can drive to master cylinder by motor (electric pushrod), then drive to the mode of wheel cylinder to realize braking.Phase
For general robot or the chassis structure of automobile, the embodiment of the present disclosure uses four-wheel independently distinct mode.
While stability is ensured, limitation of the structure to profile is greatly reduced, the location and shape of four-wheel can be more flexible
Arrangement.For the arrangement leaving space of the device of such as amusement robot.
The forearm suspension assembly includes QL, the first spring assembly 3 and anterior shock absorber in certain embodiments
4, QL leads to the front-wheel to be connect, and the first spring assembly 3 and anterior shock absorber 4 are articulated with the He of discrete forearm 16
Between QL.The material of forearm suspension assembly can be metal material, preferably Steel material.
In certain embodiments, chassis structure can also also include steering linkage 6 and steering motor 5, and the front-wheel 2 is arranged
In in steering linkage 6, the steering motor is configured to drive steering linkage to drive front-drive direction.
In certain embodiments, the postbrachium suspension assembly includes L-shaped swing rod 8 and rotating shaft 9, and described one end of L-shaped swing rod 8 connects
The trailing wheel 7 is connected to, middle part is connected to the vertical postbrachium by rotating shaft.
In certain embodiments, the postbrachium suspension assembly also includes second spring 11 and rear portion shock absorber 12, wherein institute
Second spring 11 and rear portion shock absorber 10 are stated, the other end of the L-shaped swing rod is subtracted by the second spring 11 and rear portion respectively
The device 10 that shakes is connected to discrete postbrachium.
In certain embodiments, the postbrachium suspension assembly also includes motor 14 and decelerator 12, the servo electricity
Machine connects after the deceleration of decelerator 12 with trailing wheel 7, to drive trailing wheel 7 to export power.
In certain embodiments, the chassis body 1 also includes power supply 15, is carried for the driving and/or steering of chassis structure
Energy supply source.The power supply 15 can be lithium battery, and power supply 15 can also be replaced with internal combustion engine and hydraulic station.
In certain embodiments, first spring assembly or second spring are respectively hydraulic spring grease cup, compression spring or gas
Spring.
A kind of principle of the chassis body of specific embodiment can be in the following manner：
Such as Fig. 1, chassis body 1 is steel construction, undertakes main support and stress effect.Front-wheel 2 hangs group by forearm
Part is connected in main structure, between forearm suspension assembly and chassis body 1 by the first spring assembly 3 and anterior shock absorber 4 (such as
Damper) support, play a part of vibration damping and buffering.Steering motor 5 and matching decelerator, output crank pass through steering linkage 6
Steering swing arm is connected to, wheel tyre bead steering axes is pulled, is turned to so as to realize.Right side structure is arranged symmetrically.
In rear leg section, trailing wheel 7 is connected on L-shaped swing rod 8, and agent structure is connected to by rotating shaft 9 in the middle part of L-shaped swing rod
On.The other end of L-shaped swing rod 8 is connected with rear portion shock absorber 10 and second spring 11 plays buffer shock-absorbing effect.In addition, trailing wheel 7 is
Driving wheel, servomotor connect after the deceleration of decelerator 12 with trailing wheel 7.Wherein, servomotor can use the shape of wheel hub motor
Formula.
Moreover, Middle face is designed with rotary disk 13 on chassis, driven by rotary tray motor 14, it is possible to achieve the revolution on top
Action.Above-mentioned rotary tray motor 14 can also be by the way of hydraulic motor.
Tray bottom is equipped with high-capacity lithium battery 15, the energy module as complete machine.
According to another embodiment of the disclosure, a kind of robot is also provided, as shown in Fig. 2 the robot is tied including a top
Structure and a chassis structure,
The wherein chassis structure is various types of chassis structures of above-mentioned by the agency of, in addition, being and robot upper part
Structure (including but is not limited to body part, head etc.) connection, also includes the revolution positioned at chassis upper in the chassis structure
Disk 13, the rotary disk 13 carry out revolution driving by single-revolution coil motor, and the superstructure is arranged on the rotary disk 13,
Turned round by the rotary disk 13 driving.
For various walking mechanisms in small scale robot, the disclosure is had more using steel construction and ripe tire construction
High load-carrying.Wheel portion structure is connected in main body by resilient suspension, and traveling is more steady, is adapted to various road surfaces.It is not multiple
Miscellaneous distressed structure, traveling are relatively reliable.
It is overall for chassis by the scheme of above-described embodiment, by setting discrete forearm and postbrachium, save two-wheeled
Between space, and each wheel independently can rotate and drive chassis body；For containing the integrally-built robot in this kind of chassis, having
Good application effect.
In the disclosure, element or step not listed in the claims is not excluded the presence of for "comprising" or " comprising ".
Word "a" or "an" before element does not exclude the presence of multiple such elements.
" on ", " under ", " interior " in the disclosure, " outer " are only used for relative reference plane and represent relative between all parts
Position relationship, the upper and lower and internal and external relation represented in practice is not used in, positive sequence adjustment or inverted order can also adjusted according to specific needs
Whole mutual alignment.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description to the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The disclosure of shield requires features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the disclosure.
Particular embodiments described above, the purpose, technical scheme and beneficial effect of the disclosure are carried out further in detail
Describe in detail bright, it should be understood that the foregoing is only the specific embodiment of the disclosure, be not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution and improvements done etc., the protection of the disclosure should be included in
Within the scope of.
Claims (10)
1. a kind of chassis structure, including chassis body, wherein,
The chassis body includes an at least discrete forearm and an at least discrete postbrachium,
Each discrete forearm connects a front-wheel by respective forearm suspension assembly；
Each discrete postbrachium connects a trailing wheel by swinging hanging component after respective one.
2. chassis structure according to claim 1, wherein, the chassis body is in shape structure of crawling, before the discrete
Arm and the leg-like structures with discrete postbrachium for stretching, the front-wheel or trailing wheel are respectively tire, to support and drive chassis master
Body.
3. chassis structure according to claim 1, wherein, the forearm suspension assembly includes QL, the first spring
Component and anterior shock absorber, the QL leads to the front-wheel to be connect, first spring assembly and anterior shock absorber hinge
It is connected between the discrete forearm and QL.
4. chassis structure according to claim 3, wherein, in addition to steering mechanism, steering mechanism include steering motor and
Steering linkage, the front-wheel are connected to the steering linkage, and the steering motor is configured to drive steering linkage to rotate before driving
Dynamic direction.
5. chassis structure according to claim 1, wherein, the postbrachium suspension assembly includes L-shaped swing rod and rotating shaft, described
L-shaped swing rod one end is connected to the trailing wheel, and middle part is connected to the discrete postbrachium by rotating shaft.
6. chassis structure according to claim 5, wherein, the postbrachium suspension assembly also includes second spring and rear portion subtracts
Shake device, wherein the second spring and rear portion shock absorber, the other end of the L-shaped swing rod is respectively by the second spring with after
Portion's shock absorber is connected to discrete postbrachium.
7. chassis structure according to claim 1, wherein, the postbrachium suspension assembly also includes servomotor and deceleration
Machine, the servomotor are connected with the trailing wheel machine driving, to drive trailing wheel to export power.
8. chassis structure according to claim 1, wherein, the chassis body also includes power supply, is the drive of chassis structure
Dynamic and/or steering provides the energy.
9. the chassis structure according to claim 3 or 6, wherein, first spring assembly or second spring are respectively liquid
Pressing spring, compression spring or gas spring.
10. a kind of robot, including：Superstructure and any described chassis structures of claim 1-9, wherein, the bottom
Dish structure also include positioned at chassis upper rotary disk, the rotary disk by single-revolution coil motor carry out revolution driving, it is described on
Portion's structure setting is driven by the rotary disk and turned round on the rotary disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830928.6A CN107414785A (en) | 2017-09-14 | 2017-09-14 | Chassis structure and the robot for including it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830928.6A CN107414785A (en) | 2017-09-14 | 2017-09-14 | Chassis structure and the robot for including it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414785A true CN107414785A (en) | 2017-12-01 |
Family
ID=60433038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710830928.6A Pending CN107414785A (en) | 2017-09-14 | 2017-09-14 | Chassis structure and the robot for including it |
Country Status (1)
| Country | Link |
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| CN (1) | CN107414785A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993382A (en) * | 2020-09-04 | 2020-11-27 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
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| US4269432A (en) * | 1978-05-24 | 1981-05-26 | Toyo Kogyo Co., Ltd. | Independent wheel suspension for motor vehicles |
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| CN103661662A (en) * | 2013-11-21 | 2014-03-26 | 徐工集团工程机械股份有限公司道路机械分公司 | Walking type chassis of symmetrical type multi-freedom-degree four-wheel all-wheel-drive walking type excavator |
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| CN105644648A (en) * | 2016-01-07 | 2016-06-08 | 厦门理工学院 | Multi-degree-of-freedom deformable chassis |
| CN105799503A (en) * | 2016-05-24 | 2016-07-27 | 杭州伯坦科技工程有限公司 | Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method |
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| CN207344569U (en) * | 2017-09-14 | 2018-05-11 | 智造未来（北京）机器人系统技术有限公司 | Chassis structure and the robot for including it |
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2017
- 2017-09-14 CN CN201710830928.6A patent/CN107414785A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4269432A (en) * | 1978-05-24 | 1981-05-26 | Toyo Kogyo Co., Ltd. | Independent wheel suspension for motor vehicles |
| CN102514624A (en) * | 2011-12-02 | 2012-06-27 | 北京航空航天大学 | Engineering machine balancing rocker arm chassis travelling device |
| CN103661662A (en) * | 2013-11-21 | 2014-03-26 | 徐工集团工程机械股份有限公司道路机械分公司 | Walking type chassis of symmetrical type multi-freedom-degree four-wheel all-wheel-drive walking type excavator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111993382A (en) * | 2020-09-04 | 2020-11-27 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
| CN111993382B (en) * | 2020-09-04 | 2024-05-10 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
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