CN113104128B - Wheel foot type robot suspension mechanism, axle module and chassis - Google Patents
Wheel foot type robot suspension mechanism, axle module and chassis Download PDFInfo
- Publication number
- CN113104128B CN113104128B CN202110469663.8A CN202110469663A CN113104128B CN 113104128 B CN113104128 B CN 113104128B CN 202110469663 A CN202110469663 A CN 202110469663A CN 113104128 B CN113104128 B CN 113104128B
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- pull rod
- actuator
- arm
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- 239000000725 suspension Substances 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000009193 crawling Effects 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 5
- 108090000623 proteins and genes Proteins 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a suspension mechanism, an axle module and a chassis of a wheel-foot robot, wherein the suspension mechanism comprises a front-back swinging part, an up-down movement part and a steering part; the back-and-forth swinging part is movably arranged on the robot chassis main body to swing back and forth; the up-and-down motion part is movably arranged on the back-and-forth swing part to move up and down; the up-and-down movement part extends out of the wheel axle; the steering part is hinged with the up-and-down movement 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 a plurality of axle modules are connected into a whole. The whole formed by connecting the back-and-forth swinging part, the up-and-down moving part and the steering part has the three-dimensional space movement capability, and can realize the compatibility of the high-speed running capability and the off-road vehicle capability of the wheeled robot.
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
Wheel-legged robots (wheel-legged robots) are one branch of current robots. The general structure is that wheels are additionally arranged at the tail ends of the legs of the wheel-foot type robot, so that the combination of rapid movement and foot-type walking is realized, and the wheel-foot type robot has some characteristics of the wheel-type robot and the foot-type robot.
However, most of the wheel-foot robots are simply combined, and the leg structure of the foot robot is not modified by the simple combination, and the multi-body connection structure of the foot robot determines that the natural structure is not enough in rigidity, so that the wheel-foot robot cannot run at high speed when performing wheel-type movement.
Accordingly, it would be desirable to provide a wheel-legged robot suspension, axle module, and chassis that combine high speed travel capability with off-road maneuverability of the legged robot.
Disclosure of Invention
In view of the above, the invention provides a suspension mechanism, an axle module and a chassis of a wheel-foot type robot, which can realize compatibility of high-speed running capability and off-road vehicle capability of the wheel type robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a wheel-foot type robot suspension mechanism comprises a front-back swinging part, an up-down moving part and a steering part;
the back-and-forth swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down motion part is movably arranged on the back-and-forth swing part to move up and down; the up-and-down movement part extends out of the wheel shaft;
the steering part is hinged with the up-and-down movement part to do steering movement.
By adopting the scheme, the invention has the beneficial effects that:
the whole formed by connecting the back-and-forth swinging part, the up-and-down moving part and the steering part has the movement capacity of a three-dimensional space.
Further, the back-and-forth 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 swing actuator is hinged with the swing frame to drive the swing frame to rotate around the first rotating shaft;
the up-and-down motion 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 arranged 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 axle is arranged on the first steering knuckle; the first steering actuator is connected with the first steering knuckle through the first steering pull rod so as to drive the first steering knuckle to rotate.
The beneficial effects that adopt the above-mentioned further technical scheme to produce are, the swinging arms is rotatory around first pivot makes first steering can carry out the motion of fore-and-aft direction, and first rocking arm and second rocking arm are rotatory around second pivot and third pivot respectively for first steering knuckle possesses the ability of up-and-down motion, in addition to self steering motion, makes first steering knuckle possess the ability of three-dimensional space motion.
Further, the first swing actuator is connected with the swing frame, the first lifting actuator is connected with the first rocker arm, the second lifting actuator is connected with the first rocker arm, the two ends of the first steering knuckle are connected with the first rocker arm and the second rocker arm, and the first steering actuator is connected with the first steering pull rod through a ball pin, a joint bearing or a ball hinge.
Further, the steering part comprises a second steering knuckle, a second steering 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 back-and-forth 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 swing driving arm positioned at one side of the first swing driving arm is arranged on the third swing actuator through the fifth rotating shaft; one end of the third upper swing pull rod and one end of the third lower swing pull rod below the third upper swing pull rod are hinged with the second swing driving arm, and the other ends of the third upper swing pull rod and the third lower swing pull rod are hinged with the second steering knuckle;
the up-and-down motion 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.
Further, the second upper swing link, the second lower swing link, the third upper swing link, and the third lower swing link are the same in length.
A wheel-foot robot axle module comprising two suspension mechanisms as described in any one of the above, the two suspension mechanisms being symmetrically connected as a whole.
By adopting the scheme, the invention has the beneficial effects that:
the up-down, front-back and steering functions are realized, so that the three-dimensional space motion capability is realized.
Further, 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 swing pull rod is hinged with a steering gear arm of the upper swing steering gear, and the other end of the first upper swing pull rod is hinged with an upper swing arm fixedly connected to the swing 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 gear arm of the lower swing steering gear, 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 a rudder arm of the steering engine is hinged with the first steering pull rod; steering 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, utilize this redundant first swing actuator can improve swing frame moment of rotation, and first steering actuator can improve the moment of rotation, turn to the connecting rod and can control steering action in step, the brake disc can prevent its rotation with the wheel lock dead, better realization function of crawling.
A wheel-foot robot chassis comprising at least two axle modules as described above; and a plurality of axle modules are connected into a whole.
By adopting the scheme, the invention has the beneficial effects that:
the crawling action similar to the crawling action of the multi-legged robot can be completed, the conventional wheeled vehicle chassis is based on the high-speed running capability gene, the suspension system of the crawling action has stronger off-road performance and maneuver performance after being designed, and the compatibility of the high-speed running capability and the off-road maneuvering capability of the wheeled robot is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a chassis of a wheel-foot robot according to the present invention;
FIG. 2 is a schematic view of a suspension mechanism of the wheel-foot robot of the portion A in FIG. 1;
FIG. 3 is a schematic view of the structure of the wheel-foot robot axle module of FIG. 1 at an oblique upper angle;
FIG. 4 is a schematic view of the structure of the wheel-foot robot axle module of FIG. 1 at an oblique lower angle;
FIG. 5 is a schematic view of another wheel-foot robot suspension of section A of FIG. 1;
fig. 6 is a schematic structural view of another wheel-foot robot axle module of the part B in fig. 1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
as shown in fig. 2, the embodiment of the invention discloses a suspension mechanism of a wheel-foot robot, which comprises a back-and-forth swinging part, an up-and-down moving part and a steering part;
the back-and-forth swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down motion part is movably arranged on the back-and-forth swing part to move up and down; the up-and-down movement part extends out of the wheel axle 13;
the steering part is hinged with the up-and-down movement part to do steering movement.
The whole body formed by connecting the back-and-forth swinging part, the up-and-down moving part and the steering part has the movement capacity of a three-dimensional space.
Specifically, the back-and-forth swinging part comprises a swinging frame 1 and a first swinging actuator 2; the swing frame 1 is arranged on the 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 movement 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 the 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 the second rotating shaft 8 and the third rotating shaft 9 respectively;
the steering section comprises a first steering knuckle 10, a first steering rod 11 and a first steering actuator 12; two ends of the first steering knuckle 10 are hinged with the first rocker arm 4 and the second rocker arm 5 respectively; 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 rod 11 to drive rotation thereof.
Specifically, the first swing actuator 2 and the swing frame 1, the first lifting actuator 6 and the first rocker arm 4, the second lifting actuator 7 and the first rocker arm 4, the two ends of the first steering knuckle 10 and the first rocker arm 4 and the second rocker arm 5, and the first steering actuator 12 and the first steering pull rod 11 are all connected through ball pins or joint bearings or ball hinges.
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, and the two suspension mechanisms are symmetrically connected into a whole.
The invention realizes the functions of up and down, front and back and steering, thereby having the motion capability of three-dimensional space.
Specifically, the steering device also comprises a steering connecting rod 14 and a brake disc 15;
the first swing actuator 2 includes a first upper swing actuator and a first lower swing actuator therebelow; 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 the first upper swing pull rod 22 is hinged with a steering gear arm of the upper swing steering gear 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 gear 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 gear arm of a lower swing steering gear 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 gear 24 rotates, the rotation moment 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 a steering arm of the steering engine is hinged with the first steering pull rod 11; steering 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 so as 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 can lock the wheels to not rotate when crawling, and the robot is a compound movement of crawling and wheeled walking when not locking the wheels to crawl.
As shown in fig. 1, the embodiment of the invention also discloses a chassis of the wheel-foot robot, which comprises at least two axle modules as above; the plurality of axle modules are connected into a whole.
The invention can finish crawling action similar to a multi-legged robot, has high-speed running capability genes based on a conventional wheeled vehicle chassis, has stronger off-road performance and maneuvering performance after a suspension system is designed, and realizes compatibility of the high-speed running capability and the off-road mobility of the wheeled robot.
Example 2:
as shown in fig. 2, the embodiment of the invention discloses a suspension mechanism of a wheel-foot robot, which comprises a back-and-forth swinging part, an up-and-down moving part and a steering part;
the back-and-forth swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down motion part is movably arranged on the back-and-forth swing part to move up and down; the up-and-down movement part extends out of the wheel axle 13;
the steering part is hinged with the up-and-down movement part to do steering movement.
The whole body formed by connecting the back-and-forth swinging part, the up-and-down moving part and the steering part has the movement capacity of a three-dimensional space.
Specifically, as shown in fig. 5, the steering section includes a second knuckle 101, a second tie rod 102, a steering drive rod 103, and a second steering actuator; the second steering actuator is connected with the second steering knuckle 101 through a second steering pull rod 102 and a steering driving rod 103 which are sequentially connected;
the back-and-forth 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 are hinged with a 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 a second steering knuckle 101; the second swing driving arm 108 located at one side of the first swing driving arm 104 is mounted on the third swing actuator through the fifth rotating 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 are hinged with a 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 a second steering knuckle 101;
the up-and-down movement 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 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, 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 and down, front and back and steering, thereby having the motion capability of three-dimensional space.
The robot is characterized by further comprising a brake disc arranged on an axle for mounting wheels, so that the robot locks the wheels to not rotate when crawling, and the robot is a composite movement of crawling and wheeled walking when crawling without locking the wheels.
As shown in fig. 1, the embodiment of the invention also discloses a chassis of the wheel-foot robot, which comprises at least two axle modules as above; the plurality of axle modules are connected into a whole.
The invention can finish crawling action similar to a multi-legged robot, has high-speed running capability genes based on a conventional wheeled vehicle chassis, has stronger off-road performance and maneuvering performance after a suspension system is designed, and realizes compatibility of the high-speed running capability and the off-road mobility of the wheeled robot.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 (6)
1. The wheel foot type robot suspension mechanism is characterized by comprising a front-back swinging part, an up-down moving part and a steering part;
the back-and-forth swinging part is movably arranged on the robot chassis main body to swing back and forth;
the up-and-down motion part is movably arranged on the back-and-forth swing part to move up and down; the up-and-down movement part extends out of the wheel shaft;
the steering part is hinged with the up-and-down movement part to perform steering movement;
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 back-and-forth 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 swing driving arm positioned at one side of the first swing driving arm is arranged on the third swing actuator through the fifth rotating shaft; one end of the third upper swing pull rod and one end of the third lower swing pull rod below the third upper swing pull rod are hinged with the second swing driving arm, and the other ends of the third upper swing pull rod and the third lower swing pull rod are hinged with the second steering knuckle;
the up-and-down motion 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.
2. The wheel-foot robot suspension of claim 1 wherein the first swing actuator and the swing frame, the first lift actuator and the first swing arm, the second lift actuator and the first swing arm, the first knuckle and the first and second swing arms, and the first steering actuator and the first steering rod are connected by a ball stud or a knuckle bearing or a ball hinge.
3. The wheel-foot robot suspension of claim 2 wherein the second upper swing link, the second lower swing link, the third upper swing link, and the third lower swing link are the same length.
4. A wheel-foot robot axle module comprising two suspension mechanisms according to claim 1, said suspension mechanisms being symmetrically connected as a unit.
5. The wheel-foot robot axle module of claim 4 further comprising a steering linkage 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 swing pull rod is hinged with a steering gear arm of the upper swing steering gear, and the other end of the first upper swing pull rod is hinged with an upper swing arm fixedly connected to the swing 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 gear arm of the lower swing steering gear, 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 a rudder arm of the steering engine is hinged with the first steering pull rod; steering 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.
6. A wheel-foot robot chassis comprising at least two axle modules according to claim 4; and a plurality of 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 |
Publications (2)
| Publication Number | Publication Date |
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| CN113104128A CN113104128A (en) | 2021-07-13 |
| CN113104128B true 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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| CN (1) | CN113104128B (en) |
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 |
|---|---|
| CN113104128A (en) | 2021-07-13 |
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