CN110104092A - A kind of wheel of composite hanger swing arm six walking robot chassis - Google Patents
A kind of wheel of composite hanger swing arm six walking robot chassis Download PDFInfo
- Publication number
- CN110104092A CN110104092A CN201910426116.4A CN201910426116A CN110104092A CN 110104092 A CN110104092 A CN 110104092A CN 201910426116 A CN201910426116 A CN 201910426116A CN 110104092 A CN110104092 A CN 110104092A
- Authority
- CN
- China
- Prior art keywords
- wheel
- swing arm
- bracket
- groups
- fixed
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
-
- 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
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
Abstract
A kind of wheel of composite hanger swing arm six walking robot chassis, it belongs to robotic technology field, to solve the problem of the single obstacle detouring for not adapting to a variety of landform of existing robot chassis performance.The present invention includes bracket, two groups of front components, two groups of wheel assemblies, two groups of front wheel damping devices and two groups of rear wheel damping devices；Two groups of front components are symmetricly set on the side of bracket, and every group of front component includes front-wheel swing arm, directive wheel, preceding Mecanum wheel, traveling wheel, shaft and two front-wheel drive motors；Shaft is fixed on the middle position of front-wheel swing arm, shaft passes through on one group of front wheel damping device bracket, Mecanum wheel and traveling wheel before the both ends of front-wheel swing arm are respectively arranged with, preceding Mecanum wheel and traveling wheel pass through a front-wheel drive motor driven respectively, it takes turns in each of front and is provided with directive wheel in swing arm, the axis horizontal setting of directive wheel.The present invention be suitable for cement, sandstone, meadow, with step road surface walking.
Description
Technical field
The present invention relates to a kind of robot chassis, and in particular to a kind of wheel of composite hanger swing arm six walking robot chassis,
Belong to robotic technology field.
Background technique
Current existing robot chassis can be in flat landform such as the wheeled chassis of Mecanum there are many form
Extremely flexible avoiding obstacles.Caterpillar chassis can be modified crawler belt hangs inside on the basis of single crawler belt
Design, at the same part body use combination crawler type design, can more adaptation to the ground shape and carry out obstacle detouring.It is general
Leading to the wheeled main pattern by improving suspended structure design sticks on each wheel more using articulated suspension
Ground is closed, increasing friction force promotes obstacle performance.And existing robot chassis performance is single, does not adapt to a variety of landform
Obstacle detouring.
Summary of the invention
The present invention does not adapt to a variety of landform obstacle detourings to solve the problem of that existing robot chassis performance is single, and
A kind of wheel of composite hanger swing arm six walking robot chassis is provided.
The technical solution adopted by the present invention to solve the above technical problem is:
It includes bracket, two groups of front components, two groups of wheel assemblies, two groups of front wheel damping devices and two groups of rear wheel shock-absorbing dresses
It sets；
Two groups of front components are symmetricly set on the side of bracket, and every group of front component includes front-wheel swing arm, directive wheel, preceding wheat
Ke Namu wheel, traveling wheel, shaft and two front-wheel drive motors；
Shaft is fixed on the middle position of front-wheel swing arm, and shaft is rack-mount by one group of front wheel damping device, preceding
Before Mecanum wheel and traveling wheel before the both ends of wheel swing arm are respectively arranged with, preceding Mecanum wheel and traveling wheel pass through one respectively
Wheel drive motor driven takes turns be provided with directive wheel in swing arm in each of front, the axis horizontal setting of directive wheel, and directive wheel is perpendicular
Histogram is arranged to shaft is higher than；
Two groups of wheel assemblies are symmetricly set on the other side of bracket, every group of wheel assembly packet by one group of rear wheel damping device
Include rear Mecanum wheel and rear wheel drive motor；
Mecanum wheel passes through the rear wheel drive motor driven that is fixed on rear wheel damping device afterwards.
Compared with the prior art, the invention has the following beneficial effects:
Two groups of front components are arranged in the present invention, can be with by Mecanum wheel before being arranged in front-wheel swing arm and walking road
The rugged topography for adapting to Uneven road, is arranged two directive wheels, by the guiding of directive wheel, the present invention can be made to cross over step,
Mecanum wheel after two preceding Mecanum wheels and two is arranged in the present invention, and each wheel is increased by a motor driven
Obstacle climbing ability of the invention, flexibly turns to the present invention.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention；
Fig. 2 is top view of the invention, and arrow direction is direction of travel of the present invention in figure；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
Fig. 4 is partial enlarged view at the I of Fig. 1；
Fig. 5 is partial enlarged view at the II of Fig. 3；
Fig. 6 is bottom view of the invention；
Fig. 7 is side view of the invention；
Fig. 8 is the right view of Fig. 7.
Specific embodiment
Specific embodiment 1: illustrate present embodiment in conjunction with Fig. 1, Fig. 2, Fig. 6 and Fig. 8, present embodiment it include
1, two group of bracket, 2, two groups of front component wheel assembly, 3, two groups of front wheel damping devices 4 and two groups of rear wheel damping devices 5；
Two groups of front components 2 are symmetricly set on the side of bracket 1, and every group of front component 2 includes front-wheel swing arm 2-1, guiding
Take turns 2-2, preceding Mecanum wheel 2-3, traveling wheel 2-4, shaft 2-5 and two front-wheel drive motor 2-6；
Shaft 2-5 is fixed on the middle position of front-wheel swing arm 2-1, and shaft 2-5 is mounted on by one group of front wheel damping device 4
On bracket 1, Mecanum wheel 2-3 and traveling wheel 2-4, preceding Mecanum wheel 2-3 before the both ends of front-wheel swing arm 2-1 are respectively arranged with
Pass through a front-wheel drive motor 2-6 driving respectively with traveling wheel 2-4, is taken turns on swing arm 2-1 in each of front and be provided with directive wheel 2-
The axis horizontal of 2, directive wheel 2-2 are arranged, and directive wheel 2-2 is being vertically higher than shaft 2-5 setting；
Two groups of wheel assemblies 3 are symmetricly set on the other side of bracket 1, every group of rear wheels by one group of rear wheel damping device 5
Part 3 includes rear Mecanum wheel 3-1 and rear wheel drive motor 3-2；
Mecanum wheel 3-1 is driven by the rear wheel drive motor 3-2 being fixed on rear wheel damping device 5 afterwards.
When Uneven road, two preceding Mecanum wheel 2-3 and two traveling wheel 2-4 are rotated around shaft 2-5, guarantee it
In two wheels and ground face contact, reduce a part of vibration, and vibration is further absorbed by front wheel damping device 4, make
Front component 2 is more steady when the present invention walks, and Mecanum wheel 3- after two preceding Mecanum wheel 2-2 and two is arranged
1, it is of the invention flexible to realize by changing revolving speed and the direction of rotation of preceding Mecanum wheel 2-2 and rear Mecanum wheel 3-1
It turns to, to realize the light avoidance in small space.
Specific embodiment 2: illustrate present embodiment in conjunction with Fig. 3-Fig. 5, every group of front wheel damping device of present embodiment
4 include fixed plate 4-2, two front wheel damper 4-1 and two slide bushing assembly 4-3；
One end of each front wheel damper 4-1 is fixed on the bracket 1, and the other end of each front wheel damper 4-1 is solid
It is scheduled on fixed plate 4-2, fixed on fixed plate 4-2 there are two slide bushing assembly 4-3, each slide bushing assembly 4-3 to be slidably arranged in branch
Fixed plate 4-2 can be made to move up and down on frame 1, the shaft 2-5 is rotatably arranged on fixed plate 4-2.
Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: illustrate present embodiment in conjunction with Fig. 4 and Fig. 5, each sliding sleeve group of present embodiment
Part 4-3 includes 431, eight connecting shaft 432 and 16 idler wheels 433 of two boards；
One of plate 431 is fixed on fixed plate 4-2, is connected between two boards 431 by four connecting shafts 432, and
Four connecting shafts 432 are disposed in parallel relation to one another, connecting shaft 432 there are two settings on every block of plate 431, and the connection on two boards 431
Axis 432 is parallel to each other, idler wheel 433 there are two settings in each connecting shaft 432, and the idler wheel in each connecting shaft 432 connects with bracket 1
It touches and two boards 431 can be made to move up and down.
Eight connecting shaft 432 and 16 idler wheels 433 are set, so that two boards 431 is moved up and down along bracket 1, purpose
Be in order to before absorbing Mecanum wheel 2-3 or two traveling wheel 2-4 due to ground injustice break away ground leap fall when production
Raw vibration.
Facilitate two groups of front components 2 that can move up and down absorption vibration.
Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 4: illustrate present embodiment in conjunction with Fig. 1 and Fig. 3, every group of rear wheel shock-absorbing dress of present embodiment
Setting 5 includes swing rod 5-2, motor fixing seat 5-3 and two rear wheel shock-absorbing device 5-1；
One end of swing rod 5-2 is hinged with fixed frame and can swing along direction of travel, and two rear wheel shock-absorbing device 5-1 are respective
One end is hinged with bracket 1 respectively, and two respective other ends of rear wheel shock-absorbing device 5-1 are hinged with swing rod 5-2 respectively, motor fixing seat
5-3 is fixed on swing rod 5-2, and the rear wheel drive motor 3-2 is fixed on motor fixing seat 5-3.
Vibration when walking is absorbed by two front wheel damper 4-1, can make the present invention more smoothly walking.
Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 5: illustrate present embodiment in conjunction with Fig. 1 and Fig. 7, present embodiment it further include two sets anti-
The mechanism that topples 6, every set overturn-preventing mechanism 6 include cylinder 6-1, flake bearing 6-2, idler wheel 6-3, balance staff 6-5 and two pieces of overturn-preventings
Plate 6-4；
Cylinder 6-1 is fixed on bracket 1, and the actuating station of cylinder 6-1 is provided with flake bearing 6-2, two pieces of anti-dumping cladding plate 6-4
It is set side by side and hinged with bracket 1 respectively, is provided with idler wheel 6-3 between two pieces of anti-dumping cladding plate 6-4, on every piece of anti-dumping cladding plate 6-4
It is machined with long hole 641, balance staff is provided in long hole 641, balance staff is arranged on flake bearing 6-2, and cylinder 6-1 driving balance staff can make
Two pieces of anti-dumping cladding plate 6-4 are swung backward around two pieces of anti-dumping cladding plate 6-4 axis hinged with bracket 1.
The gas tank full of certain air pressure can be set on bracket of the present invention to provide power for cylinder 6-1.When walking has
When the road surface of certain slope, cylinder 6-1 of the present invention pushes two pieces of anti-dumping cladding plate 6-4 expansion, has idler wheel 6-3 and ground certain
Distance, prevent to topple.
Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 6: illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, present embodiment it further include two groups anti-
Shield wheel 7, the quantity of every group of guard sheaver 7 are 2, and every group of guard sheaver 7 is symmetricly set on the two sides of two groups of front components 2, and every group anti-
Shield wheel 7 is rotatably arranged on bracket 1.
When walking relatively narrow road surface, prevents from colliding bracket 1 of the invention, play a protective role to the present invention.
Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 7: illustrating present embodiment in conjunction with Fig. 2, Mecanum wheel 2-3 is arranged before present embodiment
In the front of traveling wheel 2-4.Other compositions and connection relationship are same as the specific embodiment one.
Claims (7)
1. walking robot chassis is taken turns in a kind of composite hanger swing arm six, it is characterised in that: it includes bracket (1), two groups of front wheels
Part (2), two groups of wheel assemblies (3), two groups of front wheel damping devices (4) and two groups of rear wheel damping devices (5)；
Two groups of front components (2) are symmetricly set on the side of bracket (1), every group of front component (2) include front-wheel swing arm (2-1),
Directive wheel (2-2), preceding Mecanum wheel (2-3), traveling wheel (2-4), shaft (2-5) and two front-wheel drive motors (2-6)；
Shaft (2-5) is fixed on the middle position of front-wheel swing arm (2-1), and shaft (2-5) passes through one group of front wheel damping device (4) peace
On bracket (1), the both ends of front-wheel swing arm (2-1) are respectively arranged with preceding Mecanum wheel (2-3) and traveling wheel (2-4), preceding
Mecanum wheel (2-3) and traveling wheel (2-4) take turns swing arm respectively by front-wheel drive motor (2-6) driving in each of front
It is provided on (2-1) directive wheel (2-2), the axis horizontal setting of directive wheel (2-2), and directive wheel (2-2) is in vertical direction height
It is arranged in shaft (2-5)；
Two groups of wheel assemblies (3) are symmetricly set on the other side of bracket (1), every group of rear-wheel by one group of rear wheel damping device (5)
Component (3) includes rear Mecanum wheel (3-1) and rear wheel drive motor (3-2)；
Mecanum wheel (3-1) is driven by the rear wheel drive motor (3-2) being fixed on rear wheel damping device (5) afterwards.
2. walking robot chassis is taken turns in a kind of composite hanger swing arm six according to claim 1, it is characterised in that: before every group
Taking turns damping device (4) includes fixed plate (4-2), two front wheel dampers (4-1) and two slide bushing assemblies (4-3)；
One end of each front wheel damper (4-1) is fixed on the bracket (1), the other end of each front wheel damper (4-1)
It is fixed on fixed plate (4-2), fixed there are two slide bushing assembly (4-3) in fixed plate (4-2), each slide bushing assembly (4-3) is sliding
On bracket (1) fixed plate (4-2) can move up and down for dynamic setting, and the shaft (2-5) is rotatably arranged on fixed plate (4-2)
On.
3. walking robot chassis is taken turns in a kind of composite hanger swing arm six according to claim 2, it is characterised in that: Mei Gesuo
Stating slide bushing assembly (4-3) includes two boards (431), eight connecting shafts (432) and 16 idler wheels (433)；
One of plate (431) is fixed on fixed plate (4-2), between two boards (431) even by four connecting shafts (432)
It connects, and four connecting shafts (432) are disposed in parallel relation to one another, on every piece of plate (431) there are two settings connecting shaft (432), and two boards
(431) connecting shaft (432) on is parallel to each other, and there are two idler wheel (433), each connecting shafts for setting on each connecting shaft (432)
(432) idler wheel on contacts with bracket (1) and two boards (431) can be made to move up and down.
4. walking robot chassis, feature are taken turns in a kind of composite hanger swing arm six according to claim 1 to 3
Be: every group of rear wheel damping device (5) includes swing rod (5-2), motor fixing seat (5-3) and two rear wheel shock-absorbing devices (5-1)；
One end of swing rod (5-2) is hinged with fixed frame and can swing along direction of travel, and two rear wheel shock-absorbing devices (5-1) are respective
One end respectively with bracket (1) hingedly, two respective other ends of rear wheel shock-absorbing device (5-1) respectively with swing rod (5-2) hingedly, motor
Fixing seat (5-3) is fixed on swing rod (5-2), and the rear wheel drive motor (3-2) is fixed on motor fixing seat (5-3).
5. walking robot chassis is taken turns in a kind of composite hanger swing arm six according to claim 1, it is characterised in that: it is also wrapped
Kuo Liangtao overturn-preventing mechanism (6), every set overturn-preventing mechanism (6) include cylinder (6-1), flake bearing (6-2), idler wheel (6-3), pendulum
Axis (6-5) and two pieces of anti-dumping cladding plates (6-4)；
Cylinder (6-1) is fixed on bracket (1), and the actuating station of cylinder (6-1) is provided with flake bearing (6-2), two pieces of overturn-preventings
Plate (6-4) be set side by side and respectively with bracket (1) hingedly, be provided with idler wheel (6-3) between two pieces of anti-dumping cladding plates (6-4), every piece
It is machined on anti-dumping cladding plate (6-4) long hole (641), balance staff is provided in long hole (641), balance staff is arranged at flake bearing (6-2)
On, cylinder (6-1) driving balance staff can make two pieces of anti-dumping cladding plates (6-4) hinged around two pieces of anti-dumping cladding plates (6-4) and bracket (1)
Axis is swung backward.
6. walking robot chassis is taken turns in a kind of composite hanger swing arm six according to claim 1, it is characterised in that: it is also wrapped
Two groups of guard sheavers (7) are included, the quantity of every group of guard sheaver (7) is 2, and every group of guard sheaver (7) is symmetricly set on two groups of front components
(2) two sides, every group of guard sheaver (7) are rotatably arranged on bracket (1).
7. walking robot chassis is taken turns in a kind of composite hanger swing arm six according to claim 1, it is characterised in that: preceding Mike
Na Mu takes turns (2-3) and is arranged in the front of traveling wheel (2-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910426116.4A CN110104092A (en) | 2019-05-21 | 2019-05-21 | A kind of wheel of composite hanger swing arm six walking robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910426116.4A CN110104092A (en) | 2019-05-21 | 2019-05-21 | A kind of wheel of composite hanger swing arm six walking robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110104092A true CN110104092A (en) | 2019-08-09 |
Family
ID=67491495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910426116.4A Pending CN110104092A (en) | 2019-05-21 | 2019-05-21 | A kind of wheel of composite hanger swing arm six walking robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110104092A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845874A (en) * | 2020-06-19 | 2020-10-30 | 莆田学院 | Overturn-preventing transfer trolley |
| CN111889273A (en) * | 2020-08-13 | 2020-11-06 | 长春工业大学 | High-adaptability automatic tree brushing machine |
| CN112441258A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | A trailing arm suspension mechanism and planet car for planet car |
| CN114454961A (en) * | 2022-03-07 | 2022-05-10 | 重庆警察学院 | Heavy-load climbing robot chassis system for police |
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| CN1145867A (en) * | 1995-09-19 | 1997-03-26 | 邬大勋 | Motorbicycle supporter with dynamic balance function |
| CN106218339A (en) * | 2016-08-03 | 2016-12-14 | 山东建筑大学 | Damping and stabilizing mechanism for omni-directional moving platform |
| CN108032918A (en) * | 2017-12-13 | 2018-05-15 | 哈尔滨莫迪科技有限责任公司 | A kind of liftable wheel, which is carried out, combines full landform chassis |
| CN108407564A (en) * | 2018-01-26 | 2018-08-17 | 北京启创远景科技有限公司 | A kind of shock-proof cart wheel carrier of robot car |
| CN108877302A (en) * | 2018-07-27 | 2018-11-23 | 张睿仪 | A kind of historical knowledge learning tool |
| CN108909876A (en) * | 2018-07-27 | 2018-11-30 | 哈尔滨玄智科技有限公司 | A kind of omnidirectional's obstacle detouring climbs bottom of the building disk |
| CN109132887A (en) * | 2018-08-31 | 2019-01-04 | 扬州达安运输有限公司 | A kind of cargo handling machinery boom with telescopic adjustment function |
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2019
- 2019-05-21 CN CN201910426116.4A patent/CN110104092A/en active Pending
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|---|---|---|---|---|
| CN1145867A (en) * | 1995-09-19 | 1997-03-26 | 邬大勋 | Motorbicycle supporter with dynamic balance function |
| CN106218339A (en) * | 2016-08-03 | 2016-12-14 | 山东建筑大学 | Damping and stabilizing mechanism for omni-directional moving platform |
| CN108032918A (en) * | 2017-12-13 | 2018-05-15 | 哈尔滨莫迪科技有限责任公司 | A kind of liftable wheel, which is carried out, combines full landform chassis |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845874A (en) * | 2020-06-19 | 2020-10-30 | 莆田学院 | Overturn-preventing transfer trolley |
| CN111845874B (en) * | 2020-06-19 | 2024-04-02 | 莆田学院 | Anti-overturning transfer trolley |
| CN111889273A (en) * | 2020-08-13 | 2020-11-06 | 长春工业大学 | High-adaptability automatic tree brushing machine |
| CN112441258A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | A trailing arm suspension mechanism and planet car for planet car |
| CN114454961A (en) * | 2022-03-07 | 2022-05-10 | 重庆警察学院 | Heavy-load climbing robot chassis system for police |
| CN114454961B (en) * | 2022-03-07 | 2022-11-11 | 重庆警察学院 | Heavy-load climbing robot chassis system for police |
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Application publication date: 20190809 |
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