CN114211923B - A wheeled chassis with adaptive suspension for robots - Google Patents
A wheeled chassis with adaptive suspension for robots Download PDFInfo
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- CN114211923B CN114211923B CN202111283647.6A CN202111283647A CN114211923B CN 114211923 B CN114211923 B CN 114211923B CN 202111283647 A CN202111283647 A CN 202111283647A CN 114211923 B CN114211923 B CN 114211923B
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a self-adaptive suspended wheel chassis of a robot, which comprises a chassis main body frame, a left-right linkage gear box mechanism, wheels with driving motors and a front-back linkage mechanism, wherein the left-right linkage gear box mechanism is arranged on the chassis main body frame; the two front and rear linkage mechanisms are respectively arranged at two sides of the chassis main body frame, each front and rear linkage mechanism is provided with a parallel four-bar structure and is respectively connected with the wheels through the parallel four-bar structure, so that the wheels of each front and rear linkage mechanism are linked; the left and right linkage gear box mechanisms are arranged on the chassis main body frame and are respectively connected with the two front and rear linkage mechanisms; when the front-back linkage mechanism on one side acts, the front-back linkage mechanism on the other side is driven to act through the left-right linkage gear box mechanism, so that synchronous linkage of wheels connected with the front-back linkage mechanisms on the two sides is realized. The wheel chassis can keep all wheels in contact with the ground when the chassis has a road condition with larger fluctuation drop, so that the stability of the chassis is enhanced, and the adaptability of the wheel chassis of the robot to multiple road conditions is improved.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a self-adaptive suspended wheel chassis of a robot.
Background
The chassis structure of the robot often determines the applicable environment of the robot, and the wheel chassis has higher running efficiency and stability and is widely applied. Currently, a wheeled robot chassis needs to improve the adaptability of the wheeled robot chassis to different road conditions through a suspension structure, the suspension is used for connecting wheels and the chassis and transmitting moment to alleviate the influence of ground fluctuation on the chassis, wherein common independent suspension is that each wheel set is provided with independent suspension, and the work of each wheel set is independent and does not influence each other.
The existing independent suspension is easy to suspend the wheels when facing the road condition with larger fluctuation drop, thereby causing the loss of the grabbing force, and the chassis is in an unstable state due to the suspension of the wheels when passing through. In addition, the existing robot wheel chassis adopting mechanical linkage suspension has the following defects:
1. the left-right linkage mechanism and the front-back linkage mechanism are mechanical connecting rods and are limited by the movable range of the connecting rods, so that the adaptability of the left-right linkage mechanism and the front-back linkage mechanism is poor;
2. The connecting rods of the left and right linkage mechanisms traverse the chassis, and the part of the movable mechanism occupies a larger space of the chassis.
3. The pure connecting rod linkage brings great limitation to the design of a suspension system of the device, and the pure connecting rod linkage needs to occupy a space with a certain height on the whole plane of the chassis, so that the ground clearance of the chassis is lower, and the chassis is easy to be clamped when climbing slopes and descending steps.
4. The complicated connecting rod is used for connecting and suspending, so that the probability of mechanical failure is increased, and the difficulty of assembly and maintenance is also increased linearly.
Therefore, the self-adaptive suspension wheel chassis of the robot needs to be provided, so that the stability of the chassis can be enhanced, and the adaptability of the robot chassis to multiple conditions can be improved.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings in the prior art and provide the self-adaptive suspended wheel chassis of the robot, which can enable all wheels to be in contact with the ground when the chassis is in a road condition with larger fluctuation fall, so that the stability of the chassis is enhanced, and the adaptability of the wheel chassis of the robot to multiple road conditions is improved.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a wheeled chassis that robot self-adaptation hung which characterized in that: comprises a chassis main body frame, a left-right linkage gear box mechanism, wheels with driving motors and a front-back linkage mechanism; the front and rear linkage mechanisms are respectively arranged at two sides of the chassis main body frame, each front and rear linkage mechanism is provided with a parallel four-bar structure and is respectively connected with the wheels through the parallel four-bar structure, so that the wheel linkage of each front and rear linkage mechanism is realized; the left and right linkage gear box mechanisms are arranged on the chassis main body frame and are respectively connected with the front and rear linkage mechanisms; when the front-back linkage mechanism on one side acts, the front-back linkage mechanism on the other side is driven to act through the left-right linkage gear box mechanism, so that synchronous linkage of wheels connected with the front-back linkage mechanisms on the two sides is realized.
In the scheme, the front-back linkage mechanism is adopted to enable wheels on the same side to be linked, and the left-right linkage gear box mechanism drives the front-back linkage mechanism on the other side to act, so that synchronous linkage of the wheels respectively connected with the front-back linkage mechanisms on the two sides is realized. The wheel chassis can keep all wheels in contact with the ground when the chassis has a road condition with larger fluctuation drop through the structure, so that the stability of the chassis is enhanced, and the adaptability of the wheel chassis of the robot to multiple road conditions is improved.
Specifically, the front-back linkage mechanism comprises two triangular arms, a wheel set swing arm, a shock absorber, a holding ring and a longitudinal push rod for transmitting thrust in a horizontal direction in a back-and-forth motion mode; the two triangular arms are respectively hinged with the two ends of the longitudinal push rod; one end of the shock absorber is hinged with the triangular arm, and the other end of the shock absorber is hinged with the wheel set swing arm; the holding ring is arranged on the triangular arm and is connected with the left-right linkage gear box; the wheel set swing arm is connected with a wheel with a driving motor and hinged with the chassis main body frame; when the front-rear linkage mechanism moves, the wheels transmit the impact to the shock absorber through the wheel group swing arms, and the shock absorber absorbs a part of the impact and transmits the force to the triangular arms, so that the triangular arms rotate and transmit the motion to the other triangular arms through the parallel sliding of the longitudinal push rods, and the wheel linkage of the front-rear linkage mechanism is realized.
The chassis main body frame, the longitudinal push rod and the two triangular arms form a parallel four-bar structure of the front-back linkage mechanism. The structure adopts a mode of four turning points, so that the linkage stability can be improved.
Each triangular arm is composed of two triangular clamping pieces in pairs, and the ends of the holding ring and the longitudinal push rod are arranged between the two triangular clamping pieces.
The wheel set swing arm is of a frame structure formed by connecting plates through mortise and tenon joints; the wheel set swing arm is provided with a mounting hole in interference fit with the flange bearing and is used for mounting the wheel set swing arm and a motor of the wheel through the flange bearing.
The triangular arm is further provided with a triangular arm linkage plate, and the holding ring is detachably connected with the triangular arm linkage plate and is arranged on the triangular arm through the triangular arm linkage plate.
The holding ring is provided with a tangential plane and a through hole, and is connected with the triangular arm linkage plate through the tangential plane; a slot communicated with the through hole is formed in the side part of the holding ring opposite to the tangential plane, and a threaded hole is formed through the slot; when the clamping ring is used, the left-right linkage gear box mechanism is connected with the clamping ring through the through hole, and then bolts penetrate through the threaded holes and are screwed up to compress the grooves, so that the clamping ring and the left-right linkage gear box mechanism are installed.
The left-right linkage gear box mechanism comprises a bevel gear, a transmission bevel gear, a transverse optical axis, a box body and a longitudinal optical axis; the box body is arranged on the chassis main body frame and is provided with a flange bearing, one end of a transverse optical axis at two sides is connected with the holding ring, and the other end of the transverse optical axis passes through the flange bearing to be connected with the bevel gear; the longitudinal optical axis passes through the flange bearing and is connected with the transmission bevel gear, and the transmission bevel gear is respectively meshed with bevel gears on two sides;
When the triangular arm of the front-back linkage mechanism on one side rotates, the holding ring and the transverse optical axis held by the holding ring are driven to rotate, and at the moment, the transverse optical axis on the other side rotates in the opposite direction through the meshing connection of the transmission bevel gears and the bevel gears on the two sides respectively, so that the front-back linkage mechanism on the other side is driven to act.
The holding ring provided by the invention can be suitable for transverse optical axes with various diameters, and after the transverse optical axes are penetrated in the holding ring, bolts are adopted to penetrate through threaded holes and are screwed up to compress the grooves of the holding ring, so that the fastening and the mounting of the holding ring and the transverse optical axes are realized.
The connecting end of the transverse optical axis and the bevel gear is provided with a flat key groove, the bevel gear is provided with a flat key pin, and the bevel gear is connected with the transverse optical axis and transmits torque through the flat key pin and the flat key groove in a matched connection mode; the step of the bevel gear is provided with a threaded hole, and the locking screw compresses the flat key pin through the threaded hole to realize axial positioning of the bevel gear.
The left and right linkage gear box mechanism further comprises a limiting ring; the limiting ring is arranged on the box body and fixed on the longitudinal optical axis, so that the axial positioning of the longitudinal optical axis is realized.
The motion process of the self-adaptive suspension wheel chassis of the robot comprises the following steps:
When the wheel at the right front is lifted, the swing arm of the wheel set provided with the wheel rotates upwards to compress the shock absorber connected with the swing arm, and the shock absorber pushes the triangular arm connected with the shock absorber to rotate. The triangle arms at the front and back same sides are linked through the longitudinal push rod, namely, the triangle arm at the right back side rotates downwards to compress the shock absorber connected with the triangle arms, then the swing arm of the wheel set connected with the triangle arms is pushed to rotate downwards, namely, the wheel at the right back side is driven to move downwards, and the wheel linkage of the front and back linkage mechanism is realized.
Meanwhile, the rotation of the triangular arm is synchronous with the holding ring fixed in the middle of the triangular arm, namely the triangular arm drives the right lateral optical axis to rotate anticlockwise (seen from the right side of the vehicle body). The left lateral optical axis rotates clockwise through the transmission of the bevel gear and the transmission bevel gear in the left and right linkage gear box mechanism. At this time, the rotation of the left lateral optical axis drives the left front holding ring connected with the left front holding ring to rotate, and the left front triangular arm rotates downwards along with the rotation, so as to compress the shock absorber, and the wheels of the left front wheel set swing arm move downwards. The rotation of the left front triangle arm drives the wheel of the left rear wheel set swing arm to move upwards in the same way.
Therefore, when the right front wheel is lifted, the left rear wheel set swing arm rotates upward, the right rear wheel set swing arm and the left front wheel set swing arm rotate downward, and vice versa.
Working principle: the shock absorber is fixed on the movable triangular arm, and when the wheel set swing arms cross the obstacle or go down the step one by one, through the movement process, even if the shock absorbers arranged on all the wheel set swing arms are not compressed, the four wheels can be kept to be attached to the ground. The mechanical linkage structure is matched with the compression of the shock absorber, and the movable stroke of the wheel set swing arm is larger.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. The self-adaptive suspended wheel chassis of the robot can keep all wheels in contact with the ground when the chassis has a road condition with a large fluctuation drop, so that the stability of the chassis is enhanced, and the adaptability of the wheel chassis of the robot to multiple road conditions is improved.
2. The left-right linkage gear box mechanism is of a self-adaptive structure, adopts a bevel gear and a transverse optical axis to transmit torque, and greatly saves the occupation of the chassis main body frame space. The linkage range of other schemes is limited by the occupied space of the middle connecting rod, and the invention not only ensures that the whole volume of the left-right linkage gear box mechanism is unchanged, but also ensures that the linkage range of the left-right linkage gear box mechanism is larger, and the invention adapts to the capability of rough road conditions relative to the transmission mode of the pure connecting rod because of the rotation of the bevel gear and the transverse optical axis during the left-right linkage.
Drawings
FIG. 1 is a schematic view of a wheeled chassis of the present invention with an adaptive suspension for a robot;
FIG. 2 is a partial schematic view of a front-to-rear linkage of the present invention;
FIG. 3 is a schematic illustration I of the attachment of the triangle arm to the clamp ring of the present invention;
FIG. 4 is a second schematic view of the connection of the triangle arm and the clamp ring of the present invention;
FIG. 5 is a schematic illustration III of the attachment of the triangle arm to the clamp ring of the present invention;
FIG. 6 is a schematic illustration of the installation of the swing arm of the wheelset of the present invention;
FIG. 7 is a schematic illustration of a left and right ganged gearbox mechanism of the present invention;
FIG. 8 is a schematic view of the bevel gear of the present invention attached to a transverse optical axis;
Wherein 1 is a chassis main body frame, 2 is a front-back linkage mechanism, 2.1 is a longitudinal push rod, 2.2 is a triangular arm, 2.3 is a wheel set swing arm, 2.3.1 is a plate, 2.4 is a shock absorber, 2.5 is a holding ring, 2.5.1 is a through hole, 2.5.2 is a slot, 2.5.3 is a threaded hole, 2.6 is a plugging bolt, 2.7 is a triangular arm linkage plate, 2.8 is a fixed bolt, 3 is a wheel, 4 is a left-right linkage gearbox mechanism, 4.1 is a bevel gear, 4.1.1 is a flat key pin, 4.2 is a transverse optical axis, 4.3 is a limit ring, 4.4 is a box body, 4.5 is a flange bearing II, 4.6 is a longitudinal optical axis, 4.7 is a transmission bevel gear, 5 is a threaded optical axis, 6 is a flange bearing I, 7 is a bolt, and 8 is a locking screw.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
Examples
As shown in fig. 1 to 8, the self-adaptive suspension wheel chassis of the robot comprises a chassis main body frame 1, a left-right linkage gear box mechanism 4, wheels 3 with driving motors and front-rear linkage mechanisms 2, wherein the two front-rear linkage mechanisms 2 are respectively arranged on two sides of the chassis main body frame 1, each front-rear linkage mechanism 2 is provided with a parallel four-bar structure and is respectively connected with the wheels 3 through the parallel four-bar structure, so that the wheels 3 of each front-rear linkage mechanism 2 are linked. The left and right linkage gear box mechanisms 4 are arranged on the chassis main body frame 1 and are respectively connected with the two front and rear linkage mechanisms 2; when the front-back linkage mechanism 2 on one side acts, the front-back linkage mechanism 2 on the other side is driven to act through the left-right linkage gear box mechanism 4, so that synchronous linkage of the wheels 3 connected with the front-back linkage mechanisms 2 on the two sides is realized.
Specifically, the front-back linkage mechanism 2 comprises two triangular arms 2.2, a wheel set swing arm 2.3, a shock absorber 2.4, a holding ring 2.5 and a longitudinal push rod 2.1 for transmitting thrust force in a horizontal direction by moving forwards and backwards, wherein the two triangular arms 2.2 are respectively hinged with two ends of the longitudinal push rod 2.1 through a stopper bolt 2.6, one end of the shock absorber 2.4 is hinged with the triangular arms 2.2, and the other end is hinged with the wheel set swing arm 2.3. The holding ring 2.5 is arranged on the triangular arm 2.2 and connected with the left and right linkage gear box 4, and the wheel set swing arm 2.3 is connected with the wheel 3 with the driving motor and hinged with the chassis main body frame 1 through the threaded optical axis 5; during movement, the wheels 3 transmit impact to the shock absorber 2.4 through the wheel group swing arms 2.3, and transmit force to the triangular arms 2.2 after absorbing part of the impact through the shock absorber 2.4, so that the triangular arms 2.2 rotate and transmit the movement of the triangular arms to the other triangular arms 2.2 through parallel sliding of the longitudinal push rods 2.1, and the wheels 3 of the front-rear linkage mechanism are linked.
The chassis main body frame 1, the longitudinal push rod 2.1 and the two triangular arms 2.2 form a parallel four-bar structure of a front-back linkage mechanism. Each triangular arm 2.2 is composed of two triangular clamping pieces in pairs, and the holding ring 2.5 and the end part of the longitudinal push rod 2.1 are arranged between the two triangular clamping pieces.
The wheel set swing arm 2.3 is of a frame structure formed by connecting plates 2.3.1 through mortise and tenon joints, and the wheel set swing arm 2.3 is provided with a mounting hole in interference fit with a flange bearing I6 and used for mounting a motor of the wheel 3 through the flange bearing I6.
The triangular arm 2.2 is also provided with a triangular arm linkage plate 2.7, and the holding ring 2.5 is detachably connected with the triangular arm linkage plate 2.7 and is arranged on the triangular arm 2.2 through the triangular arm linkage plate 2.7. The holding ring 2.5 is provided with a tangential plane and a through hole 2.5.1, and the holding ring 2.5 is connected with the triangle arm linkage plate 2.7 through the tangential plane and by adopting a fixing bolt 2.8; a groove 2.5.2 communicated with the through hole 2.5.1 is formed in the side part opposite to the tangential plane of the holding ring 2.5, and a threaded hole 2.5.3 is formed in the groove 2.5.2 in a penetrating manner; when the clamping ring 2.5 is used, the left-right linkage gear box mechanism 4 is connected with the clamping ring 2.5 through the through hole 2.5.1, and then the bolt 7 passes through the threaded hole 2.5.3 and is screwed to compress the slot 2.5.2, so that the clamping ring 2.5 and the left-right linkage gear box mechanism 4 are mounted.
The left-right linkage gear box mechanism 4 comprises a bevel gear 4.1, a transmission bevel gear 4.7, a transverse optical axis 4.2, a box body 4.4 and a longitudinal optical axis 4.6, wherein the box body 4.4 is arranged on a chassis main body frame 1 and is provided with a flange bearing II 4.5, one end of the transverse optical axis 4.2 on two sides is connected with a holding ring 2.5, the other end of the transverse optical axis is connected with the bevel gear 4.1 through the flange bearing II 4.5, the longitudinal optical axis 4.6 is connected with the transmission bevel gear 4.7 through the flange bearing II 4.5, and the transmission bevel gear 4.7 is respectively connected with the bevel gears 4.1 on two sides in a meshed manner. When the triangular arm 2.2 of the front-back linkage mechanism 2 on one side rotates, the holding ring 2.5 and the transverse optical axis 4.2 held by the holding ring 2.5 are driven to rotate, and at the moment, the transverse optical axis 4.2 on the other side rotates in the opposite direction by being respectively meshed and connected with the bevel gears 4.1 on the two sides through the transmission bevel gears 4.7, so that the front-back linkage mechanism 2 on the other side is driven to act.
In order to improve the stability of connection between the transverse optical axis 4.2 and the bevel gear 4.1, a flat key groove is formed in the connection end of the transverse optical axis 4.2 and the bevel gear 4.1, a flat key pin 4.1.1 is arranged on the bevel gear 4.1, and the bevel gear 4.1 is connected with the transverse optical axis 4.2 through the flat key pin 4.1.1 and the flat key groove in a matched connection mode and transmits torque. In addition, a threaded hole is formed in the step of the bevel gear 4.1, and the locking screw 8 presses the flat key pin 4.1.1 through the threaded hole to realize axial positioning of the bevel gear 4.1. The left-right linkage gearbox mechanism 4 further comprises a limiting ring 4.3, and the limiting ring 4.3 is arranged on the box body 4.4 and fixed on the longitudinal optical axis 4.6 to realize axial positioning of the longitudinal optical axis 4.6.
The motion process of the self-adaptive suspension wheel chassis of the robot comprises the following steps:
when the right front wheel 3 is lifted, the wheel set swing arm 2.3 on which the wheel 3 is mounted rotates upwards, compressing the shock absorber 2.4 connected with the swing arm, and the shock absorber 2.4 pushes the triangle arm 2.2 connected with the swing arm to rotate. The triangle arms 2.2 on the same side at the front and the back are linked through the longitudinal push rod 2.1, namely the triangle arm 2.2 on the right rear side rotates downwards to compress the shock absorber 2.4 connected with the triangle arm 2.2, then the wheel group swing arm 2.3 connected with the triangle arm is pushed to rotate downwards, namely the wheel 3 on the right rear side is driven to move downwards, and the wheel 3 linkage of the front and the rear linkage mechanism 3 is realized.
At the same time, the rotation of the triangle arm 2.2 is synchronous with the holding ring 2.5 fixed in the middle, namely, the triangle arm 2.2 drives the right lateral optical axis 4.2 to rotate anticlockwise (seen from the right side of the vehicle body). The left lateral optical axis 4.2 rotates clockwise through the transmission of the bevel gear 4.1 and the transmission bevel gear 4.7 in the left-right linkage gear box mechanism 4. At this time, the rotation of the left lateral optical axis 4.2 drives the left front holding ring 2.5 connected with the left front holding ring to rotate, the left front triangle arm 2.2 rotates downwards along with the rotation, the shock absorber 2.4 is compressed, and the wheels 3 of the left front wheel set swing arm 2.3 move downwards. The rotation of the left front triangle arm 2.2 drives the wheel 3 of the left rear wheel set swing arm 2.3 to move upwards in the same manner.
Thus, when the front right wheel 3 is lifted, the rear left wheelset swing arm 2.3 rotates upward, the rear right wheelset swing arm 2.3 and the front left wheelset swing arm 2.3 rotate downward, and vice versa.
Working principle: the shock absorber 2.4 is fixed on the movable triangular arm 2.2, and when the wheel set swing arms 2.3 surmount the obstacle or go down the step one by one, through the movement process, even if the shock absorbers 2.4 arranged on all the wheel set swing arms 2.3 are not compressed, the four wheels 3 can be kept to be attached to the ground. The mechanical linkage structure is matched with the compression of the shock absorber 2.4, and the movable stroke of the wheel set swing arm 2.3 is larger.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a wheeled chassis that robot self-adaptation hung which characterized in that: comprises a chassis main body frame, a left-right linkage gear box mechanism, wheels with driving motors and a front-back linkage mechanism; the front and rear linkage mechanisms are respectively arranged at two sides of the chassis main body frame, each front and rear linkage mechanism is provided with a parallel four-bar structure and is respectively connected with the wheels through the parallel four-bar structure, so that the wheel linkage of each front and rear linkage mechanism is realized; the left and right linkage gear box mechanisms are arranged on the chassis main body frame and are respectively connected with the front and rear linkage mechanisms; when the front and back linkage mechanism on one side acts, the front and back linkage mechanism on the other side is driven to act through the left and right linkage gear box mechanism, so that synchronous linkage of wheels respectively connected with the front and back linkage mechanisms on the two sides is realized;
The front-back linkage mechanism comprises two triangular arms, a wheel set swing arm, a shock absorber, a holding ring and a longitudinal push rod for transmitting thrust in a horizontal direction in a front-back motion mode; the two triangular arms are respectively hinged with the two ends of the longitudinal push rod; one end of the shock absorber is hinged with the triangular arm, and the other end of the shock absorber is hinged with the wheel set swing arm; the holding ring is arranged on the triangular arm and is connected with the left-right linkage gear box; the wheel set swing arm is connected with a wheel with a driving motor and hinged with the chassis main body frame; when the front-rear linkage mechanism moves, the wheels transmit the impact to the shock absorber through the wheel group swing arms, and the shock absorber absorbs a part of the impact and transmits the force to the triangular arms, so that the triangular arms rotate and transmit the motion to the other triangular arms through the parallel sliding of the longitudinal push rods, and the wheel linkage of the front-rear linkage mechanism is realized.
2. The robotic adaptively suspended wheeled chassis of claim 1, wherein: the chassis main body frame, the longitudinal push rod and the two triangular arms form a parallel four-bar structure of the front-back linkage mechanism.
3. The robotic adaptively suspended wheeled chassis of claim 1, wherein: each triangular arm is composed of two triangular clamping pieces in pairs, and the ends of the holding ring and the longitudinal push rod are arranged between the two triangular clamping pieces.
4. The robotic adaptively suspended wheeled chassis of claim 1, wherein: the wheel set swing arm is of a frame structure formed by connecting plates through mortise and tenon joints; the wheel set swing arm is provided with a mounting hole in interference fit with the flange bearing and is used for mounting the wheel set swing arm and a motor of the wheel through the flange bearing.
5. The robotic adaptively suspended wheeled chassis of claim 1, wherein: the triangular arm is further provided with a triangular arm linkage plate, and the holding ring is detachably connected with the triangular arm linkage plate and is arranged on the triangular arm through the triangular arm linkage plate.
6. The robotic adaptively suspended wheeled chassis of claim 5, wherein: the holding ring is provided with a tangential plane and a through hole, and is connected with the triangular arm linkage plate through the tangential plane; a slot communicated with the through hole is formed in the side part of the holding ring opposite to the tangential plane, and a threaded hole is formed through the slot; when the clamping ring is used, the left-right linkage gear box mechanism is connected with the clamping ring through the through hole, and then bolts penetrate through the threaded holes and are screwed up to compress the grooves, so that the clamping ring and the left-right linkage gear box mechanism are installed.
7. The robotic adaptively suspended wheeled chassis of claim 1, wherein: the left-right linkage gear box mechanism comprises a bevel gear, a transmission bevel gear, a transverse optical axis, a box body and a longitudinal optical axis; the box body is arranged on the chassis main body frame and is provided with a flange bearing, one end of a transverse optical axis at two sides is connected with the holding ring, and the other end of the transverse optical axis passes through the flange bearing to be connected with the bevel gear; the longitudinal optical axis passes through the flange bearing and is connected with the transmission bevel gear, and the transmission bevel gear is respectively meshed with bevel gears on two sides;
When the triangular arm of the front-back linkage mechanism on one side rotates, the holding ring and the transverse optical axis held by the holding ring are driven to rotate, and at the moment, the transverse optical axis on the other side rotates in the opposite direction through the meshing connection of the transmission bevel gears and the bevel gears on the two sides respectively, so that the front-back linkage mechanism on the other side is driven to act.
8. The robotic adaptively suspended wheeled chassis of claim 7, wherein: the connecting end of the transverse optical axis and the bevel gear is provided with a flat key groove, the bevel gear is provided with a flat key pin, and the bevel gear is connected with the transverse optical axis and transmits torque through the flat key pin and the flat key groove in a matched connection mode; the step of the bevel gear is provided with a threaded hole, and the locking screw compresses the flat key pin through the threaded hole to realize axial positioning of the bevel gear.
9. The robotic adaptively suspended wheeled chassis of claim 7, wherein: the left and right linkage gear box mechanism further comprises a limiting ring; the limiting ring is arranged on the box body and fixed on the longitudinal optical axis, so that the axial positioning of the longitudinal optical axis is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111283647.6A CN114211923B (en) | 2021-11-01 | 2021-11-01 | A wheeled chassis with adaptive suspension for robots |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111283647.6A CN114211923B (en) | 2021-11-01 | 2021-11-01 | A wheeled chassis with adaptive suspension for robots |
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| CN114211923A CN114211923A (en) | 2022-03-22 |
| CN114211923B true CN114211923B (en) | 2024-06-25 |
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| CN119953114B (en) * | 2025-01-23 | 2026-01-02 | 武汉理工大学 | A car suspension system |
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| CN112693272A (en) * | 2020-12-31 | 2021-04-23 | 大连理工大学 | Parallel adaptive dependent suspension Mecanum wheel chassis system |
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| US20080083573A1 (en) * | 2006-10-04 | 2008-04-10 | P&F Brother Industrial Corporation | Vehicle |
| FI124701B (en) * | 2011-03-14 | 2014-12-15 | John Deere Forestry Oy | Balancing mechanism for a bogie |
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