CN113104128A - Wheel-foot type robot suspension mechanism, axle module and chassis - Google Patents
Wheel-foot type robot suspension mechanism, axle module and chassis Download PDFInfo
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- CN113104128A CN113104128A CN202110469663.8A CN202110469663A CN113104128A CN 113104128 A CN113104128 A CN 113104128A CN 202110469663 A CN202110469663 A CN 202110469663A CN 113104128 A CN113104128 A CN 113104128A
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- 239000000725 suspension Substances 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 230000009193 crawling Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 108090000623 proteins and genes Proteins 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000002498 deadly effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention discloses a wheel-foot type robot suspension mechanism, an axle module and a chassis, wherein the suspension mechanism comprises a front-back swing part, an up-down movement part and a steering part; the front-back swinging part is movably arranged on the robot chassis main body to swing back and forth; the up-and-down moving part is movably arranged on the front-and-back swinging part to move up and down; the up-and-down moving part extends out of the wheel shaft; the steering part is hinged with the up-and-down moving part to perform steering movement; the axle module comprises two suspension mechanisms which are symmetrically connected into a whole; the chassis comprises at least two axle modules, and the axle modules are connected into a whole. The whole formed by connecting the front-back swing part, the up-down movement part and the steering part has the movement capability of a three-dimensional space, and the compatibility of the high-speed driving capability and the off-road maneuvering capability of the wheeled robot can be realized.
Description
Technical Field
The invention relates to the technical field of robot mechanisms, in particular to a wheel-foot type robot suspension mechanism, an axle module and a chassis.
Background
A wheel-foot robot (wheel-leg robot) is one branch of the current robots. The general structure is that wheels are additionally arranged at the tail ends of legs of the wheel-foot type robot, so that the combination of rapid movement and foot type walking is realized, and some characteristics of the wheel type robot and the foot type robot can be achieved.
However, most of the wheel-foot type robot structures are only simple combinations, the leg structures of the wheel-foot type robot are not changed by the simple combinations, and the natural structural rigidity of the wheel-foot type robot is insufficient due to the multi-body connection structure of the wheel-foot type robot, so that the wheel-foot type robot cannot run at high speed during wheel type movement.
Therefore, it is an urgent need to solve the problems of the art to provide a wheel-foot type robot suspension mechanism, an axle module and a chassis having both high-speed traveling capability and cross-country maneuverability of a foot type robot.
Disclosure of Invention
In view of this, the invention provides a wheel-legged robot suspension mechanism, an axle module and a chassis, which can realize compatibility between high-speed traveling capability and off-road maneuvering capability of a wheeled robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a wheel-foot type robot suspension mechanism comprises a front-back swing part, an up-down movement part and a steering part;
the front-back swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down moving part is movably arranged on the front-and-back swinging part to move up and down; the up-and-down moving part extends out of the wheel shaft;
the steering part is hinged with the up-and-down moving part to perform steering movement.
By adopting the scheme, the invention has the beneficial effects that:
the whole body formed by connecting the front-back swinging part, the up-down moving part and the steering part has the movement capability of a three-dimensional space.
Further, the front and rear swinging part comprises a swinging frame and a first swinging actuator; the swing frame is arranged on the robot chassis main body through a first rotating shaft; the first swinging actuator is hinged with the swinging frame to drive the swinging frame to rotate around the first rotating shaft;
the up-and-down moving part comprises a first rocker arm, a second rocker arm, a first lifting actuator and a second lifting actuator; the first rocker arm and the second rocker arm connected below the first rocker arm are respectively installed on the swing frame through a second rotating shaft and a third rotating shaft; the first lifting actuator and the second lifting actuator are symmetrically hinged to two sides of the first rocker arm or the second rocker arm so as to drive the first rocker arm and the second rocker arm to rotate around the second rotating shaft and the third rotating shaft respectively;
the steering part comprises a first steering knuckle, a first steering pull rod and a first steering actuator; two ends of the first steering knuckle are hinged with the first rocker arm and the second rocker arm respectively; the wheel shaft is arranged on the first steering knuckle; the first steering actuator is connected with the first steering knuckle through the first steering pull rod to drive the first steering actuator to rotate.
The swing frame rotates around the first rotating shaft to enable the first steering knuckle to move in the front-back direction, the first rocker arm and the second rocker arm rotate around the second rotating shaft and the third rotating shaft respectively to enable the first steering knuckle to have the capability of moving up and down, and the steering movement of the swing frame enables the first steering knuckle to have the capability of moving in a three-dimensional space.
Further, first swing actuator with between the swing span, first carry the actuator with between the first rocking arm, the second carry the actuator with between the first rocking arm, the both ends of first knuckle with first rocking arm with between the second rocking arm, and first steering actuator with all through bulb round pin or joint bearing or ball hinged joint between the first steering linkage.
Further, the steering part comprises a second steering knuckle, a second steering pull rod, a steering drive rod and a second steering actuator; the second steering actuator is connected with the second steering knuckle through the second steering pull rod and the steering driving rod which are sequentially connected;
the front-back swinging part comprises a first swinging driving arm, a fourth rotating shaft, a second swinging actuator, a second upper swinging pull rod, a second lower swinging pull rod, a second swinging driving arm, a fifth rotating shaft, a third swinging actuator, a third upper swinging pull rod and a third lower swinging pull rod; the first swing driving arm is arranged on the second swing actuator through the fourth rotating shaft; one end of the second upper swing pull rod and one end of the second lower swing pull rod below the second upper swing pull rod are hinged with the first swing driving arm, and the other ends of the second upper swing pull rod and the second lower swing pull rod are hinged with the second steering knuckle; the second swinging driving arm positioned on one side of the first swinging driving arm is arranged on the third swinging actuator through the fifth rotating shaft; one end of each of the third upper swing pull rod and the third lower swing pull rod below the third upper swing pull rod is hinged with the second swing driving arm, and the other end of each of the third upper swing pull rod and the third lower swing pull rod is hinged with the second steering knuckle;
the up-and-down movement part comprises a lifting rod, a control arm and a third lifting actuator; one end of the control arm is hinged with the second steering knuckle, and the other end of the control arm is hinged on the robot chassis main body; the third lifting actuator is connected with the control arm through the lifting rod.
Furthermore, the length of the second upper swing pull rod, the length of the second lower swing pull rod, the length of the third upper swing pull rod and the length of the third lower swing pull rod are the same.
A wheel-foot type robot axle module comprises two suspension mechanisms, wherein the two suspension mechanisms are symmetrically connected into a whole.
By adopting the scheme, the invention has the beneficial effects that:
the functions of up-down, front-back and steering are realized, so that the device has the motion capability of a three-dimensional space.
Furthermore, the steering device also comprises a steering connecting rod and a brake disc;
the first swing actuator comprises a first upper swing actuator and a first lower swing actuator below the first upper swing actuator; the first upper swing actuator comprises an upper swing steering engine, a first upper swing pull rod and an upper swing arm; one end of the first upper swinging pull rod is hinged with a steering engine arm of the upper swinging steering engine, and the other end of the first upper swinging pull rod is hinged with an upper swinging arm fixedly connected to the swinging frame; the first lower swing actuator comprises a lower swing steering engine, a lower swing pull rod and a lower swing arm; one end of the lower swing pull rod is hinged with a steering engine arm of the lower swing steering engine, and the other end of the lower swing pull rod is hinged with a lower swing arm fixedly connected to the swing frame;
the first steering actuator is a steering engine, and an engine steering arm of the steering engine is hinged with the first steering pull rod; the steering engine arms of the two steering engines are connected through the steering connecting rod;
the brake disc is mounted on the axle for mounting a wheel.
Adopt the beneficial effect that above-mentioned further technical scheme produced to be, utilize this redundant first swing actuator to improve swing span turning moment, and first steering actuator can improve swing moment, turns to the action about the connecting rod can be synchronous, and the brake disc can be deadly with the wheel lock and prevent its rotation, better realization function of crawling.
A wheel-foot robot chassis comprising at least two axle modules as described above; the axle modules are connected into a whole.
By adopting the scheme, the invention has the beneficial effects that:
the chassis of the conventional wheeled vehicle has a high-speed driving capability gene, and a suspension system of the chassis of the conventional wheeled vehicle is designed to have stronger cross-country performance and maneuvering performance, so that the high-speed driving capability and the cross-country maneuvering capability of the wheeled robot are compatible.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a wheel-foot robot chassis provided by the invention;
FIG. 2 is a schematic structural diagram of a wheel-foot type robot suspension mechanism in a part A of FIG. 1;
FIG. 3 is a schematic diagram of a wheel-foot robot bridge module shown in section B of FIG. 1 at an oblique upper angle;
FIG. 4 is a schematic view of a wheel-foot robot bridge module shown in section B of FIG. 1 at a lower oblique angle;
FIG. 5 is a schematic structural diagram of another wheel-foot type robot suspension mechanism shown in part A of FIG. 1;
fig. 6 is a schematic structural diagram of another wheel-foot type robot axle module shown in part B of fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 2, the embodiment of the invention discloses a wheel-foot type robot suspension mechanism, which comprises a front-back swing part, an up-down movement part and a steering part;
the front-back swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down moving part is movably arranged on the front-and-back swinging part to move up and down; the up-down moving part extends out of the wheel shaft 13;
the steering part is hinged with the up-and-down moving part to perform steering movement.
The whole formed by connecting the front-back swing part, the up-down movement part and the steering part has the movement capability of a three-dimensional space.
Specifically, the front-back swinging part comprises a swinging frame 1 and a first swinging actuator 2; the swing frame 1 is arranged on a robot chassis main body through a first rotating shaft 3; the first swing actuator 2 is hinged with the swing frame 1 to drive the swing frame to rotate around a first rotating shaft 3;
the up-and-down moving part comprises a first rocker arm 4, a second rocker arm 5, a first lifting actuator 6 and a second lifting actuator 7; the first rocker arm 4 and a second rocker arm 5 connected below the first rocker arm are respectively arranged on the swing frame 1 through a second rotating shaft 8 and a third rotating shaft 9; the first lifting actuator 6 and the second lifting actuator 7 are symmetrically hinged to two sides of the first rocker arm 4 or the second rocker arm 5 so as to drive the first rocker arm 4 and the second rocker arm 5 to rotate around a second rotating shaft 8 and a third rotating shaft 9 respectively;
the steering part comprises a first steering knuckle 10, a first steering pull rod 11 and a first steering actuator 12; two ends of the first steering knuckle 10 are respectively hinged with the first rocker arm 4 and the second rocker arm 5; the wheel axle 13 is arranged on the first steering knuckle 10; the first steering actuator 12 is connected to the first steering knuckle 10 via a first steering linkage 11 to drive it in rotation.
Specifically, the first swing actuator 2 is connected with the swing frame 1, the first lifting actuator 6 is connected with the first rocker arm 4, the second lifting actuator 7 is connected with the first rocker arm 4, two ends of the first steering knuckle 10 are connected with the first rocker arm 4 and the second rocker arm 5, and the first steering actuator 12 is connected with the first steering pull rod 11 through a ball pin or a knuckle bearing or a ball hinge.
As shown in fig. 3 and 4, the embodiment of the invention also discloses a wheel-foot type robot axle module, which comprises two suspension mechanisms as above, wherein the two suspension mechanisms are symmetrically connected into a whole.
The invention realizes the functions of up-down, front-back and steering, thereby having the motion capability of three-dimensional space.
Specifically, the steering linkage mechanism further comprises a steering linkage 14 and a brake disc 15;
the first swing actuator 2 comprises a first upper swing actuator and a first lower swing actuator below the first upper swing actuator; the first upper swing actuator comprises an upper swing steering engine 21, a first upper swing pull rod 22 and an upper swing arm 23; one end of a first upper swing pull rod 22 is hinged with a steering engine arm of an upper swing steering engine 21, the other end of the first upper swing pull rod 22 is hinged with an upper swing arm 23 fixedly connected to the swing frame 1, and when the upper swing steering engine 21 rotates, the rotation moment drives the swing frame 1 to rotate through the first upper swing pull rod 22 and the upper swing arm 23; the first lower swing actuator comprises a lower swing steering engine 24, a lower swing pull rod 25 and a lower swing arm 26; one end of a lower swing pull rod 25 is hinged with a steering engine arm of a lower swing steering engine 24, the other end of the lower swing pull rod 25 is hinged with a lower swing arm 26 fixedly connected to the swing frame 1, and when the lower swing steering engine 24 rotates, the rotating torque drives the swing frame 1 to rotate through the lower swing pull rod 25 and the lower swing arm 26;
the first steering actuator 12 is a steering engine, and an engine steering arm of the steering engine is hinged with the first steering pull rod 11; the steering engine arms of the two steering engines are connected through a steering connecting rod 14; when the power output shaft of the steering engine rotates, the steering arm of the steering engine drives the first steering pull rod 11 to drive the first steering knuckle 10 to realize the steering function.
The brake disc 15 is mounted on an axle for mounting the wheel. Therefore, the robot locks the wheels to not rotate when crawling, and is a combined motion of crawling and wheeled walking when crawling without locking the wheels.
As shown in fig. 1, an embodiment of the present invention further discloses a wheel-foot robot chassis, including at least two axle modules as above; the axle modules are connected into a whole.
The invention can complete the crawling action similar to a multi-legged robot, and based on the conventional wheeled vehicle chassis, the chassis has the high-speed driving capability gene, and after the suspension system is designed, the chassis has stronger cross-country performance and maneuvering performance, thereby realizing the compatibility of the high-speed driving capability and the cross-country maneuvering capability of the wheeled robot.
Example 2:
as shown in fig. 2, the embodiment of the invention discloses a wheel-foot type robot suspension mechanism, which comprises a front-back swing part, an up-down movement part and a steering part;
the front-back swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down moving part is movably arranged on the front-and-back swinging part to move up and down; the up-down moving part extends out of the wheel shaft 13;
the steering part is hinged with the up-and-down moving part to perform steering movement.
The whole formed by connecting the front-back swing part, the up-down movement part and the steering part has the movement capability of a three-dimensional space.
Specifically, as shown in fig. 5, the steering portion includes a second knuckle 101, a second steering link 102, a steering drive rod 103, and a second steering actuator; the second steering actuator is connected with a second steering knuckle 101 through a second steering pull rod 102 and a steering driving rod 103 which are sequentially connected;
the front-back swinging part comprises a first swinging driving arm 104, a fourth rotating shaft 105, a second swinging actuator, a second upper swinging pull rod 106, a second lower swinging pull rod 107, a second swinging driving arm 108, a fifth rotating shaft 109, a third swinging actuator, a third upper swinging pull rod 1010 and a third lower swinging pull rod 1011; the first swing driving arm 104 is mounted on the second swing actuator through a fourth rotating shaft 105; one end of a second upper swing pull rod 106 and one end of a second lower swing pull rod 107 below the second upper swing pull rod 106 are hinged with the first swing driving arm 108, and the other ends of the second upper swing pull rod 106 and the second lower swing pull rod 107 are hinged with the second steering knuckle 101; a second swing driving arm 108 located at one side of the first swing driving arm 104 is installed on the third swing actuator through a fifth rotation shaft 109; one end of a third upper swing pull rod 1010 and one end of a third lower swing pull rod 1011 below the third upper swing pull rod 1010 are hinged with the second swing driving arm 108, and the other ends of the third upper swing pull rod 1010 and the third lower swing pull rod 1011 are hinged with the second steering knuckle 101;
the up-and-down moving part comprises a lifting rod 1012, a control arm 1013 and a third lifting actuator; one end of the control arm 1013 is hinged with the second steering knuckle 101, and the other end is hinged on the robot chassis main body; the third lift actuator is connected to the control arm 1013 via a lift rod 1012.
Specifically, the second upper swing link 106, the second lower swing link 107, the third upper swing link 1010, and the third lower swing link 1011 have the same length.
As shown in fig. 6, an embodiment of the present invention further discloses a wheel-foot type robot axle module, which includes two suspension mechanisms as above, and the two suspension mechanisms are symmetrically connected into a whole.
The invention realizes the functions of up-down, front-back and steering, thereby having the motion capability of three-dimensional space.
The robot also comprises a brake disc arranged on a wheel shaft for mounting the wheels, so that the robot locks the wheels to rotate when crawling, and is a combined motion of crawling and wheeled walking when crawling without locking the wheels.
As shown in fig. 1, an embodiment of the present invention further discloses a wheel-foot robot chassis, including at least two axle modules as above; the axle modules are connected into a whole.
The invention can complete the crawling action similar to a multi-legged robot, and based on the conventional wheeled vehicle chassis, the chassis has the high-speed driving capability gene, and after the suspension system is designed, the chassis has stronger cross-country performance and maneuvering performance, thereby realizing the compatibility of the high-speed driving capability and the cross-country maneuvering capability of the wheeled robot.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A wheel-foot type robot suspension mechanism is characterized by comprising a front-back swing part, an up-down movement part and a steering part;
the front-back swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down moving part is movably arranged on the front-and-back swinging part to move up and down; the up-and-down moving part extends out of the wheel shaft;
the steering part is hinged with the up-and-down moving part to perform steering movement.
2. The wheel-foot robot suspension mechanism according to claim 1, wherein the fore-and-aft swinging part comprises a swinging frame and a first swinging actuator; the swing frame is arranged on the robot chassis main body through a first rotating shaft; the first swinging actuator is hinged with the swinging frame to drive the swinging frame to rotate around the first rotating shaft;
the up-and-down moving part comprises a first rocker arm, a second rocker arm, a first lifting actuator and a second lifting actuator; the first rocker arm and the second rocker arm connected below the first rocker arm are respectively installed on the swing frame through a second rotating shaft and a third rotating shaft; the first lifting actuator and the second lifting actuator are symmetrically hinged to two sides of the first rocker arm or the second rocker arm so as to drive the first rocker arm and the second rocker arm to rotate around the second rotating shaft and the third rotating shaft respectively;
the steering part comprises a first steering knuckle, a first steering pull rod and a first steering actuator; two ends of the first steering knuckle are hinged with the first rocker arm and the second rocker arm respectively; the wheel shaft is arranged on the first steering knuckle; the first steering actuator is connected with the first steering knuckle through the first steering pull rod to drive the first steering actuator to rotate.
3. The wheel-foot robot suspension mechanism according to claim 2, wherein the first swing actuator and the swing frame, the first lifting actuator and the first rocker arm, the second lifting actuator and the first rocker arm, two ends of the first steering knuckle and the first rocker arm and the second steering knuckle and the first steering link are connected through a ball pin, a knuckle bearing or a ball hinge.
4. The suspension mechanism of a wheeled-foot robot as claimed in claim 1,
the steering part comprises a second steering knuckle, a second steering pull rod, a steering driving rod and a second steering actuator; the second steering actuator is connected with the second steering knuckle through the second steering pull rod and the steering driving rod which are sequentially connected;
the front-back swinging part comprises a first swinging driving arm, a fourth rotating shaft, a second swinging actuator, a second upper swinging pull rod, a second lower swinging pull rod, a second swinging driving arm, a fifth rotating shaft, a third swinging actuator, a third upper swinging pull rod and a third lower swinging pull rod; the first swing driving arm is arranged on the second swing actuator through the fourth rotating shaft; one end of the second upper swing pull rod and one end of the second lower swing pull rod below the second upper swing pull rod are hinged with the first swing driving arm, and the other ends of the second upper swing pull rod and the second lower swing pull rod are hinged with the second steering knuckle; the second swinging driving arm positioned on one side of the first swinging driving arm is arranged on the third swinging actuator through the fifth rotating shaft; one end of each of the third upper swing pull rod and the third lower swing pull rod below the third upper swing pull rod is hinged with the second swing driving arm, and the other end of each of the third upper swing pull rod and the third lower swing pull rod is hinged with the second steering knuckle;
the up-and-down movement part comprises a lifting rod, a control arm and a third lifting actuator; one end of the control arm is hinged with the second steering knuckle, and the other end of the control arm is hinged on the robot chassis main body; the third lifting actuator is connected with the control arm through the lifting rod.
5. The wheel-foot robot suspension mechanism according to claim 4, wherein the second upper swing link, the second lower swing link, the third upper swing link and the third lower swing link have the same length.
6. A wheel and foot robotic axle module comprising two suspension mechanisms according to claim 3 or claim 5, the two suspension mechanisms being symmetrically connected together.
7. The wheel-foot robotic axle module of claim 6, further comprising a steering link and a brake disc;
the first swing actuator comprises a first upper swing actuator and a first lower swing actuator below the first upper swing actuator; the first upper swing actuator comprises an upper swing steering engine, a first upper swing pull rod and an upper swing arm; one end of the first upper swinging pull rod is hinged with a steering engine arm of the upper swinging steering engine, and the other end of the first upper swinging pull rod is hinged with an upper swinging arm fixedly connected to the swinging frame; the first lower swing actuator comprises a lower swing steering engine, a lower swing pull rod and a lower swing arm; one end of the lower swing pull rod is hinged with a steering engine arm of the lower swing steering engine, and the other end of the lower swing pull rod is hinged with a lower swing arm fixedly connected to the swing frame;
the first steering actuator is a steering engine, and an engine steering arm of the steering engine is hinged with the first steering pull rod; the steering engine arms of the two steering engines are connected through the steering connecting rod;
the brake disc is mounted on the axle for mounting a wheel.
8. A wheel-foot robot chassis comprising at least two axle modules according to claim 7; the axle modules are connected into a whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110469663.8A CN113104128B (en) | 2021-04-28 | 2021-04-28 | Wheel foot type robot suspension mechanism, axle module and chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110469663.8A CN113104128B (en) | 2021-04-28 | 2021-04-28 | Wheel foot type robot suspension mechanism, axle module and chassis |
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| CN113104128A true CN113104128A (en) | 2021-07-13 |
| CN113104128B CN113104128B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110469663.8A Active CN113104128B (en) | 2021-04-28 | 2021-04-28 | Wheel foot type robot suspension mechanism, axle module and chassis |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3161172A (en) * | 1959-04-23 | 1964-12-15 | Kaessbohrer Fahrzeug Karl | Six driven wheel vehicle with front and rear wheels articulated about a transverse axis |
| US4200165A (en) * | 1978-07-03 | 1980-04-29 | Dana Corporation | Integral swing arm |
| US6144180A (en) * | 1999-07-09 | 2000-11-07 | Chen; Chun-Ta | Mobile robot |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN103661669A (en) * | 2012-09-26 | 2014-03-26 | 中国人民解放军第二炮兵工程大学 | Wheel-legged robot chassis suspension device |
| CN112092553A (en) * | 2020-09-30 | 2020-12-18 | 李汉舟 | Chassis with zero turning radius and strong shock resistance |
| CN212667480U (en) * | 2020-06-23 | 2021-03-09 | 江西小马机器人有限公司 | Steering mechanism of wheeled robot chassis |
-
2021
- 2021-04-28 CN CN202110469663.8A patent/CN113104128B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3161172A (en) * | 1959-04-23 | 1964-12-15 | Kaessbohrer Fahrzeug Karl | Six driven wheel vehicle with front and rear wheels articulated about a transverse axis |
| US4200165A (en) * | 1978-07-03 | 1980-04-29 | Dana Corporation | Integral swing arm |
| US6144180A (en) * | 1999-07-09 | 2000-11-07 | Chen; Chun-Ta | Mobile robot |
| CN103661669A (en) * | 2012-09-26 | 2014-03-26 | 中国人民解放军第二炮兵工程大学 | Wheel-legged robot chassis suspension device |
| CN102963455A (en) * | 2012-11-12 | 2013-03-13 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN212667480U (en) * | 2020-06-23 | 2021-03-09 | 江西小马机器人有限公司 | Steering mechanism of wheeled robot chassis |
| CN112092553A (en) * | 2020-09-30 | 2020-12-18 | 李汉舟 | Chassis with zero turning radius and strong shock resistance |
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| Publication number | Publication date |
|---|---|
| CN113104128B (en) | 2024-03-22 |
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