CN108394486A - Safety protection robot four-wheel drive structure - Google Patents
Safety protection robot four-wheel drive structure Download PDFInfo
- Publication number
- CN108394486A CN108394486A CN201810049336.5A CN201810049336A CN108394486A CN 108394486 A CN108394486 A CN 108394486A CN 201810049336 A CN201810049336 A CN 201810049336A CN 108394486 A CN108394486 A CN 108394486A
- Authority
- CN
- China
- Prior art keywords
- wheel
- safety protection
- group
- robot
- protection robot
- 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.)
- Withdrawn
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
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
A kind of safety protection robot four-wheel drive structure is turned to two wheels of the same side by the same driving device to realize, for this robot respectively independently driven compared with four-wheel, its production cost is lower；Just safety protection robot can be made to walk forward when left and right driving device drives left and right wheel group synchronized while driving forwards; and when one in left and right driving device drives forwards, another back-drives and achieves that robot spins and realize in situ left-hand rotation or right-hand rotation; so that robot can still turn to walking in relatively narrow place, therefore the more reasonable structure of the present invention, security patrol range are wide.
Description
Technical field
The present invention relates to a kind of safety protection robots.
Background technology
Currently, it is used for the wheel driving structure of safety protection robot, mainly there is the following two kinds：
It is respectively independent that one is four wheels, and drives a wheel to realize using a motor, the power ratio of this structure
Relatively sufficient, steering angle very little can simultaneously spin in situ, but of high cost and homonymy wheel can have nonsynchronous disadvantage, moreover,
Wheel is difficult to shock-absorbing, causes robot to shake when walking bigger；
Another kind is the structure with the driving of bridge band, front-wheel steer using trailing wheel, as our the common automobile chassis methods of operation,
This structure is more complicated；And be unable to original place and spin, the turning radius in turning is big, is then turned in relatively narrow place tired
Difficulty causes the patrol range of safety protection robot to be subject to certain restrictions.
For this purpose, applicant developed a kind of robots of achievable wheel or so differential walking.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of more reasonable structure, production cost is relatively low, pacifies
The wide safety protection robot four-wheel drive structure of patrol range is protected, can realize that wheel or so differential is walked.
In order to solve above-mentioned technical problem, the present invention uses following technical proposals：
A kind of safety protection robot four-wheel drive structure comprising sole, the revolver group being made of the near front wheel and left rear wheel, by the right side
The right wheel group of front-wheel and off hind wheel composition, and respectively drive the left and right driving device that left and right wheel group moves forward or back；It is described
The near front wheel, left rear wheel, off-front wheel and off hind wheel respectively include wheel and wheel shaft, and the wheel shaft is mounted on by hanger bracket group respectively
On sole；The left and right driving device is including driving motor, the drive sprocket on the motor shaft of the driving motor,
The driven sprocket being attached separately on the front and rear wheel wheel shaft of same wheel group, and it is wound on the drive sprocket and driven chain of same wheel group
Driving chain on wheel.
In the improvement project to above-mentioned safety protection robot four-wheel drive structure, divide on the left and right side of the sole
The hold-down mechanism that She You be used for tensing on the chain of left and right driving device.
In the improvement project to above-mentioned safety protection robot four-wheel drive structure, the hold-down mechanism uses contact roller.
In the improvement project to above-mentioned safety protection robot four-wheel drive structure, the hold-down mechanism is by contact roller and incites somebody to action
Make the tensioning impeller composition that contact roller is pressed on always on the driving chain.
In the improvement project to above-mentioned safety protection robot four-wheel drive structure, hanger bracket group is used by hinged parallel four
The swinging structure that side shape is constituted；The hanger bracket group includes four suspension arms, is arranged into after this four suspension arms are separated flat
The forward and backward connecting plate of row quadrangle and four respectively by corresponding position suspension arm and being hinged of being hinged together of connecting plate
Axis；The wheel shaft is mounted in the preceding connecting plate；Connecting plate is fixedly installed on the sole after described；In the hanger bracket group
Middle part be equipped with shock-damping structure.
In the improvement project to above-mentioned safety protection robot four-wheel drive structure, the shock-damping structure includes shock absorber, and one
End is respectively hinged at the upper and lower fixed seat of shock absorber upper and lower end, and the lower fixed seat lower end is mounted on two opposite suspension arms
Between；Fixed seat upper end is fixed on the sole.
Compared with prior art, beneficial effects of the present invention：Since two wheels of the same side are by the same driving device
It is turned to realize, for this robot respectively independently driven compared with four-wheel, its production cost is lower；When left and right driving fills
It sets and drives left and right wheel group synchronized while can just safety protection robot be made to walk forward when driving forwards, and when left and right driving fills
One in setting drive forwards, another back-drive achieve that robot spin and realize in situ left-hand rotation or turn right, from
And make robot that can still turn to walking in relatively narrow place, therefore the more reasonable structure of the present invention, security patrol range are wide.
The present invention is described in further detail with specific implementation mode below in conjunction with the accompanying drawings：
【Description of the drawings】
Fig. 1 is the stereoscopic schematic diagram of the embodiment of the present invention；
Fig. 2 is the wheel portion stereoscopic schematic diagram of the present invention；
Fig. 3 is the section components decomposition diagram one of Fig. 2；
Fig. 4 is the assembling schematic diagram of the hanger bracket group and wheel of the present invention；
Fig. 5 is the dismounting schematic diagram of the hanger bracket group part of the present invention；
【Specific implementation mode】
The present invention is a kind of safety protection robot four-wheel drive structure, as shown in Figures 1 to 4, including sole 1, by 21 He of the near front wheel
The revolver group 2 that left rear wheel 22 forms, the right wheel group 3 being made of off-front wheel 31 and off hind wheel 32 respectively drive left and right wheel group 2,3
The left and right driving device 5,6 and battery 9 of forward or backward；Described the near front wheel 21, left rear wheel 22, off-front wheel 31 and off hind wheel
32 respectively include wheel and wheel shaft, and the wheel shaft is mounted on by hanger bracket group 4 on sole 1；The left and right driving device 5,
6 include driving motor 561, and the drive sprocket 562 on the motor shaft of the driving motor 561 is attached separately to same wheel group
Front and rear wheel wheel shaft on driven sprocket 563, and the biography that is wound on the drive sprocket 562 and driven sprocket 563 of same wheel group
Dynamic chain 564, in this way when left driving device 5 drives the left front and rear wheel 21,22 of revolver group 2 to walk forward simultaneously, right driving device
The right front and rear wheel 31,32 of 6 drive right wheel groups 3 is walked forward simultaneously, and when left and right driving device 5,6 is synchronized while forward,
Can just safety protection robot be made to walk forward, and one in the left and right driving device 5,6 drives forwards, another is to rear-guard
It is dynamic to achieve that robot spins in situ, and realize or turn right so that robot can still turn in relatively narrow place
Walking, therefore the more reasonable structure of the present invention, security patrol range are wide；In addition, since two wheels of the same side are by same
Driving device realizes advance, retreats that for this robot respectively independently driven compared with four-wheel, its structure is simpler, raw
It is lower to produce cost.
Preferably, it is respectively equipped on the left and right side of the sole 1 for drawing the chain of left and right driving device 5,6
Tight hold-down mechanism 7, here, it uses contact roller.Due to after chain long-time use it is possible that loosen, for this purpose, it is preferred that
Ground will bear against the contact roller on chain and be set as elastic adjustable mode, and at this moment hold-down mechanism by contact roller and will make contact roller begin
The tensioning impeller being pressed on eventually on the driving chain（It is not shown in figure）Composition, tensioning impeller can be spring, pneumatic bomb
Spring etc..
Hanger bracket group 4 can be various structures, such as platy structure, and at this moment wheel shaft is nested into hanger bracket group by bearing
On, then by hanger bracket group fixed on sole.In the present embodiment, as shown in figure 5, hanger bracket group is used by hinged parallel
The swinging structure that quadrangle is constituted；The hanger bracket group 4 includes four suspension arms 41, is put after this four suspension arms 41 are separated
Arrange into parallelogram forward and backward connecting plate 42,43 and four respectively by corresponding position suspension arm 41 and connecting plate cut with scissors
Pick up the articulated shaft 44 come；The wheel shaft is mounted in the preceding connecting plate 42；Connecting plate 43 is fixedly installed to the chassis after described
On frame 1；It is equipped with shock-damping structure 8 straight up at the middle part of the hanger bracket group 4, the upper end is withstood on the sole 1, in this way
When wheel encounters the ground of protrusion when walking, wheel can be with positioned at that two articulated shafts 44 of 43 upper/lower terminal of rear connecting plate
The trend up swung is generated for the fulcrum of swing, at this moment by the effect of shock-damping structure 8, so that it may encounter bumps to greatly reduce
Vibrations when uneven ground, to improve stationarity when robot patrol.
In the present embodiment, as shown in figure 5, the shock-damping structure 8 is by pressure type damping, mounted in the upper of hanger bracket group 4
Face, at this moment shock-damping structure 8 includes the upper and lower fixed seat that shock absorber 81 and one end are respectively hinged at 81 upper and lower end of shock absorber
82,83,83 lower end of the lower fixed seat is mounted between two opposite suspension arms 41；82 upper end of fixed seat is fixed to
On the sole 1.Here, shock absorber 81 is spring shock absorber.Certainly, shock-damping structure 8 can also use tensile force type damping（Such as
Tension spring）, at this point, it is located at the lower part of hanger bracket group 4, the other end is connected to positioned at hanger bracket group chassis rack position below
On.
It is aobvious for those skilled in the art by the disclosure although the present invention is described in detail with reference to above example
And be clear to, and in the case where not departing from the principle of the present invention and scope that the claim limits, it can be right
The present invention makes a variety of changes or changes.Therefore, the detailed description of the embodiment of the present disclosure is only used for explaining, rather than for limiting
The present invention, but it is defined by the subject-matter of the claims the range of protection.
Claims (6)
1. a kind of safety protection robot four-wheel drive structure, which is characterized in that including sole（1）, by the near front wheel（21）With it is left back
Wheel（22）The revolver group of composition（2）, by off-front wheel（31）And off hind wheel（32）The right wheel group of composition（3）, and respectively drive it is left,
Right wheel group（2、3）The left and right driving device of forward or backward（5、6）；Described the near front wheel（21）, left rear wheel（22）, off-front wheel
（31）And off hind wheel（32）Wheel and wheel shaft are respectively included, the wheel shaft passes through hanger bracket group respectively（4）Mounted on sole（1）
On；The left and right driving device（5、6）It include driving motor（561）, it is mounted in the driving motor（561）Motor shaft on
Drive sprocket（562）, the driven sprocket that is attached separately on the front and rear wheel wheel shaft of same wheel group（563）, and it is wound on same wheel group
Drive sprocket（562）And driven sprocket（563）On driving chain（564）.
2. safety protection robot four-wheel drive structure according to claim 1, which is characterized in that in the sole（1）'s
It is respectively equipped on left and right side for by left and right driving device（5、6）Chain tense hold-down mechanism（7）.
3. safety protection robot four-wheel drive structure according to claim 2, which is characterized in that the hold-down mechanism（7）
Using contact roller.
4. safety protection robot four-wheel drive structure according to claim 2, which is characterized in that the hold-down mechanism（7）
It is formed by contact roller and by the tensioning impeller for making contact roller be pressed on always on the driving chain.
5. safety protection robot four-wheel drive structure according to claim 1,2,3 or 4, which is characterized in that the hanger bracket
Group（4）Using the swinging structure being made of hinged parallelogram；The hanger bracket group（4）Including four suspension arms（41）,
By this four suspension arms（41）The forward and backward connecting plate of parallelogram is arranged into after separating（42、43）And four respectively will
Suspension arm on corresponding position（41）The articulated shaft being hinged together with connecting plate（44）；The wheel shaft is mounted on the preceding connecting plate
（42）In；Connecting plate after described（43）It is fixedly installed to the sole（1）On；In the hanger bracket group（4）Middle part be equipped with subtract
Shake structure（8）.
6. safety protection robot four-wheel drive structure according to claim 5, which is characterized in that the shock-damping structure（8）Packet
Include shock absorber（81）, one end is respectively hinged at shock absorber（81）The upper and lower fixed seat of upper and lower end（82、83）, the lower fixed seat
（83）Lower end is mounted on two opposite suspension arms（41）Between；Fixed seat（82）Upper end is fixed to the sole（1）
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049336.5A CN108394486A (en) | 2018-01-18 | 2018-01-18 | Safety protection robot four-wheel drive structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049336.5A CN108394486A (en) | 2018-01-18 | 2018-01-18 | Safety protection robot four-wheel drive structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108394486A true CN108394486A (en) | 2018-08-14 |
Family
ID=63094664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810049336.5A Withdrawn CN108394486A (en) | 2018-01-18 | 2018-01-18 | Safety protection robot four-wheel drive structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108394486A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199264A (en) * | 2018-11-08 | 2019-01-15 | 钟发财 | A kind of multifunctional wiping floor-washing robot device |
| CN109202853A (en) * | 2018-11-12 | 2019-01-15 | 国网四川省电力公司电力科学研究院 | A kind of power construction safety supervision robot |
| CN113134822A (en) * | 2021-04-28 | 2021-07-20 | 湖北云眸科技有限公司 | Auxiliary power system for security robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2908728A1 (en) * | 2006-11-16 | 2008-05-23 | Skf Ab | DEVICE FOR FASTENING THE WHEEL PIVOT OF A MOTOR VEHICLE. |
| CN101209653A (en) * | 2006-12-26 | 2008-07-02 | 陈晓音 | Electric vehicle for hunting |
| DE102011088182A1 (en) * | 2011-12-09 | 2013-06-13 | Bayerische Motoren Werke Aktiengesellschaft | Axle of a two-lane motor vehicle with a wishbone |
| CN103438326A (en) * | 2013-08-29 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Tracked self-adaptation pipeline crawler |
| CN105857429A (en) * | 2016-04-20 | 2016-08-17 | 中北大学 | Stair climbing robot with planetary gear train |
| CN207773299U (en) * | 2018-01-18 | 2018-08-28 | 中山市百佳大谷电子科技有限公司 | Safety protection robot four-wheel drive structure |
-
2018
- 2018-01-18 CN CN201810049336.5A patent/CN108394486A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2908728A1 (en) * | 2006-11-16 | 2008-05-23 | Skf Ab | DEVICE FOR FASTENING THE WHEEL PIVOT OF A MOTOR VEHICLE. |
| CN101209653A (en) * | 2006-12-26 | 2008-07-02 | 陈晓音 | Electric vehicle for hunting |
| DE102011088182A1 (en) * | 2011-12-09 | 2013-06-13 | Bayerische Motoren Werke Aktiengesellschaft | Axle of a two-lane motor vehicle with a wishbone |
| CN103438326A (en) * | 2013-08-29 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Tracked self-adaptation pipeline crawler |
| CN105857429A (en) * | 2016-04-20 | 2016-08-17 | 中北大学 | Stair climbing robot with planetary gear train |
| CN207773299U (en) * | 2018-01-18 | 2018-08-28 | 中山市百佳大谷电子科技有限公司 | Safety protection robot four-wheel drive structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199264A (en) * | 2018-11-08 | 2019-01-15 | 钟发财 | A kind of multifunctional wiping floor-washing robot device |
| CN109202853A (en) * | 2018-11-12 | 2019-01-15 | 国网四川省电力公司电力科学研究院 | A kind of power construction safety supervision robot |
| CN113134822A (en) * | 2021-04-28 | 2021-07-20 | 湖北云眸科技有限公司 | Auxiliary power system for security robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108394487A (en) | Has the safety protection robot of shock-absorbing function | |
| CN207773299U (en) | Safety protection robot four-wheel drive structure | |
| US9527543B2 (en) | Leaning vehicle | |
| CN108394486A (en) | Safety protection robot four-wheel drive structure | |
| US4003443A (en) | Multiple wheel motorcycle suspension and drive system | |
| US2446731A (en) | Bicycle | |
| CA2540957A1 (en) | Track drive system | |
| CA2779895A1 (en) | All-terrain vehicle | |
| CN206475960U (en) | A kind of crawler belt wheel assembly that creeper truck is plucked for field | |
| US10005506B2 (en) | Suspension arrangements for vehicles | |
| CN207773303U (en) | Has the safety protection robot of shock-absorbing function | |
| CN101659275B (en) | Small four-wheel trailer | |
| CN208802068U (en) | A kind of new vehicle | |
| CN105059081A (en) | Hanging system of wheel type paver | |
| CN211519767U (en) | Shock-absorbing mechanism of scooter | |
| CN211417489U (en) | Front double-wheel self-return balancing assembly universal plate deformable device of reverse tricycle | |
| CN206634128U (en) | The rocker structure of front-wheel and the front-wheel of two front wheels motorcycle wave leaning device | |
| WO2022068444A1 (en) | Spring suspension for scooter | |
| CN211710571U (en) | Connecting piece of transversely-dragging type independent suspension system | |
| CN213057356U (en) | Swing vehicle with middle motor and belt pulley transmission mechanism | |
| CN210257981U (en) | All-terrain vehicle engine mounting bracket with four-point connection system | |
| CN101195343A (en) | Front wheel independent suspension four-wheel driven electric vehicle | |
| CN206634127U (en) | The front-wheel of two front wheels motorcycle waves leaning device | |
| CN207985022U (en) | A kind of automobile-used shock-absorbing support frame of motor | |
| CN112061286A (en) | Swing vehicle with middle motor and belt pulley transmission mechanism |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180814 |