CN115195372A - Wheeled chassis with strong trafficability characteristic and robot thereof - Google Patents
Wheeled chassis with strong trafficability characteristic and robot thereof Download PDFInfo
- Publication number
- CN115195372A CN115195372A CN202210901387.2A CN202210901387A CN115195372A CN 115195372 A CN115195372 A CN 115195372A CN 202210901387 A CN202210901387 A CN 202210901387A CN 115195372 A CN115195372 A CN 115195372A
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- CN
- China
- Prior art keywords
- universal wheel
- swing arm
- front universal
- damper
- assembly
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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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
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/23—Friction Damper
Abstract
The invention provides a wheeled chassis with strong trafficability characteristic, which comprises a chassis plate and wheel sets arranged on the chassis plate, wherein each wheel set comprises a front universal wheel assembly, a driving wheel assembly and a rear universal wheel assembly 2 which are sequentially arranged on the chassis plate from front to back; the front universal wheel assembly comprises a front universal wheel swing arm assembly capable of swinging relative to the chassis plate and a front universal wheel arranged on the front universal wheel swing arm; the driving wheel assembly comprises a driving wheel swing arm capable of swinging relative to the chassis plate and a driving wheel arranged on the driving wheel swing arm; and a shock absorber assembly is arranged between the front universal wheel swing arm assembly and the driving wheel swing arm and is respectively hinged with the front universal wheel swing arm assembly and the driving wheel swing arm. The invention provides a robot adopting the wheel type chassis.
Description
Technical Field
The invention relates to a wheeled chassis with strong trafficability and a robot thereof.
Background
The trafficability of an automobile refers to its ability to pass through various bad roads and non-road areas (such as soft ground, uneven ground and the like) and various obstacles (such as steep slopes, side slopes, trenches, steps, bushes, water barriers and the like) at a sufficiently high average speed. With reference to this definition, and in conjunction with the main application scenarios and requirements of today's wheeled robots, the trafficability of a wheeled robot chassis can be considered as its ability to travel at a sufficiently high average speed over various bad roads (e.g. rough terrain, etc.) and various obstacles (e.g. steep slopes, side slopes, trenches, steps, etc.). At present, the trafficability of the robot chassis is generally measured by indexes such as climbing capacity, obstacle crossing height, threshold crossing depth and the like.
The chassis of the wheel type robot is limited by practical use space, the length and width of the chassis of the wheel type robot are designed to be small, the size of a corresponding driving wheel is also small, and the obstacle crossing capability is general. The height of the step-type obstacle which can be crossed by the universal chassis of the wheeled robot with the length and width dimension less than 550 × 550mm on the market is generally about 15 mm. However, in the actual use process, this cannot meet the use requirement.
Disclosure of Invention
In order to solve the technical problems, the invention provides a wheeled chassis with strong trafficability, which can better balance the lateral stability and the obstacle crossing capability.
Another object of the present invention is to provide a robot using the wheeled chassis having high trafficability.
The invention adopts the following technical scheme:
a wheel type chassis with strong trafficability characteristic comprises a chassis plate and wheel sets arranged on the chassis plate, wherein each wheel set comprises a front universal wheel assembly, a driving wheel assembly and a rear universal wheel assembly which are sequentially arranged on the chassis plate from front to back; wherein the content of the first and second substances,
the front universal wheel assembly comprises a front universal wheel swing arm assembly capable of swinging relative to the chassis plate and a front universal wheel arranged on the front universal wheel swing arm;
the driving wheel assembly comprises a driving wheel swing arm capable of swinging relative to the chassis plate and a driving wheel arranged on the driving wheel swing arm;
and a shock absorber assembly is arranged between the front universal wheel swing arm assembly and the driving wheel swing arm.
Preferably, the shock absorber assembly is respectively hinged with the front universal wheel swing arm assembly and the driving wheel swing arm.
Preferably, the front universal wheel swing arm assembly comprises a front universal wheel swing arm and a front universal wheel connecting rod fixedly connected with the front universal wheel swing arm, the front universal wheel connecting rod is arranged in a bent mode relative to the front universal wheel swing arm, one end of the shock absorber assembly is hinged to the front universal wheel connecting rod, and the other end of the shock absorber assembly is hinged to the driving wheel swing arm.
Preferably, the front universal wheel assembly further comprises a front universal wheel support seat fixedly connected with the chassis plate, the front universal wheel swing arm can axially rotate and is connected with the front universal wheel support seat, and the front universal wheel connecting rod is fixedly connected with the front universal wheel swing arm.
Preferably, the front universal wheel supporting seats are provided with two, two intervals are arranged between the front universal wheel supporting seats, a shaft hole is formed in the front universal wheel supporting seats, the front universal wheel swing arms penetrate through the shaft hole, the front universal wheel connecting rods are arranged in two positions between the front universal wheel supporting seats, and the front universal wheel swing arms are sleeved with the front universal wheel supporting seats in an axial direction and an axial fixing manner.
Preferably, the driving wheel assembly comprises a driving wheel supporting seat fixedly connected with the chassis plate, and the driving wheel swing arm is hinged to the driving wheel supporting seat through a driving wheel supporting shaft.
Preferably, the drive wheel supporting seat is equipped with two, two the interval sets up between the drive wheel supporting seat, there is the shaft hole on the drive wheel supporting seat, the drive wheel back shaft passes shaft hole and axial fixity are on two drive wheel supporting seats, the drive wheel swing arm be located between two drive wheel supporting seats and with the drive wheel swing arm is connected, be equipped with on the drive wheel swing arm and be used for making the shaft hole that the drive wheel back shaft passed.
Preferably, the shock absorber assembly is hinged to the driving wheel swing arm through a first hinge shaft, and the shock absorber assembly is hinged to the front universal wheel swing arm assembly through a second hinge shaft.
Preferably, the bumper shock absorber subassembly includes bumper shock absorber cover, bumper shock absorber stop pin, bumper shock absorber axle sleeve, bumper shock absorber spring, bumper shock absorber axle and bumper shock absorber adjusting nut, there are internal thread and hole on the bumper shock absorber cover, pass through threaded connection between bumper shock absorber cover and the bumper shock absorber axle sleeve, the bumper shock absorber axle sleeve is equipped with the hole, the bumper shock absorber axle passes the hole with the bumper shock absorber axle sleeve forms sliding connection, pass through threaded connection between bumper shock absorber axle one end and the bumper shock absorber stop pin, the bumper shock absorber spring housing is established the bumper shock absorber is epaxial, the bumper shock absorber spring both ends are supported respectively on bumper shock absorber axle sleeve and bumper shock absorber adjusting nut, pass through threaded connection between bumper shock absorber adjusting nut and the bumper shock absorber axle.
Preferably, the front universal wheel assemblies are two groups, the two groups of front universal wheel assemblies are independently arranged, the two groups of driving wheel assemblies are independently arranged, and the rear universal wheel assembly is provided with one group.
Preferably, preceding universal wheel subassembly is equipped with two sets ofly, the drive wheel subassembly is equipped with two sets ofly, and is two sets ofly preceding universal wheel subassembly is coaxial to be set up, and is two sets ofly the coaxial setting of drive wheel subassembly is two sets ofly preceding universal wheel subassembly and two sets ofly be rectangular distribution or be isosceles trapezoid and distribute between the drive wheel subassembly, back universal wheel subassembly is equipped with one set ofly back universal wheel subassembly and two sets ofly be isosceles triangle and distribute between the preceding universal wheel subassembly.
The invention also relates to a robot, wherein the robot adopts the wheel type chassis with strong trafficability.
Preferably, the robot is a power inspection robot which is additionally provided with a power inspection robot component on the chassis plate.
Preferably, the electric power inspection robot assembly mainly comprises a drop-proof sensor, a depth camera assembly, a charging assembly, a laser assembly, a holder assembly, a main control board, a debugging interface, an industrial personal computer and a battery assembly.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
1. the shafting and gear train arrangement adopted by the wheel type chassis can well balance the lateral stability and the obstacle crossing capability performance, and the trafficability characteristic is strong;
2. when the vehicle travels, the wheel type chassis can effectively exert the power of the driving motor, and the whole vehicle has abundant forward power;
3. the independent driving damping systems on two sides of the wheel type chassis are arranged, so that the whole machine can effectively adapt to uneven road surfaces and improve the traveling stability;
4. the wheel type chassis drives the mechanism of the damping system to elastically deform through two sides, so that the front universal wheels and the driving wheels can effectively contact and press a road surface and the obstacle crossing and bank crossing capabilities of the front universal wheels and the driving wheels are improved.
Drawings
Figure 1 is a schematic view of one side of a wheeled chassis of the present invention;
figure 2 is a schematic view of the other side of the wheeled chassis of the present invention;
FIG. 3 is a schematic bottom view of the inventive chassis configuration;
FIG. 4 is a cross-sectional view at C-C of FIG. 3;
FIG. 5 is a perspective view of an inspection robot employing the chassis structure of the present invention;
FIG. 6 is the ZMP allowable range (shaded area) for a typical train layout;
FIG. 7 is a schematic view of the wheeled chassis of the present invention;
FIG. 8 is a schematic view of a front caster assembly of the present invention passing over a stepped obstacle;
fig. 9 is a schematic view of the drive wheel assembly of the present invention traversing a stepped obstacle.
Detailed Description
For a further understanding of the present invention, reference will now be made in detail to the embodiments illustrated in the drawings.
Referring to fig. 1, the wheeled chassis with high trafficability of the present embodiment mainly includes a chassis plate 1, a rear universal wheel assembly 2, a driving wheel assembly 3, a damper assembly 4, and a front universal wheel assembly 5.
Referring to fig. 2-4, the chassis plate 1 is a flat plate structure, and is a rear universal wheel assembly 2, a driving wheel assembly 3, a shock absorber assembly 4 and a mounting base body of the front universal wheel assembly 5, the driving wheel assembly 3, and the rear universal wheel assembly 2 are sequentially arranged on the chassis plate 1 from front to back, wherein the front universal wheel assembly is provided with two groups, the two groups of front universal wheel assemblies are coaxially and independently arranged, the driving wheel assemblies are provided with two groups, the two groups of driving wheel assemblies are coaxially and independently arranged, the rear universal wheel assembly is provided with one group, the two groups of front universal wheel assemblies and the two groups of driving wheel assemblies are distributed in a rectangular shape, and in other embodiments, the rear universal wheel assemblies can also be distributed in an isosceles trapezoid shape, the rear universal wheel assemblies are provided with one group, and the rear universal wheel assemblies and the two groups of front universal wheel assemblies are distributed in an isosceles triangle shape. That is, in the whole, the wheel type chassis adopts the arrangement of a front, a middle and a rear three-shaft system, and adopts a wheel train arrangement mode of '2 universal wheels +2 driving wheels +1 universal wheels' in sequence.
Specifically, the rear universal wheel assembly 2 mainly comprises a rear universal wheel connecting plate 21 and a rear universal wheel 22, and the rear universal wheel connecting plate 21 is fixedly connected with the chassis plate 1 and the rear universal wheel 22 through bolts.
The driving wheel assembly 3 mainly comprises a driving wheel supporting seat 31, a driving wheel supporting shaft 32, a driving wheel swing arm 33, a driving wheel supporting shaft limiting screw 34, a driving motor shell 35, a driving motor flange 36 and a driving wheel 37.
The driving wheel supporting seats 31 are respectively distributed on two sides of the chassis and are arranged at intervals, and are fixedly connected with the chassis plate 1 through bolts. The drive wheel support bases 31 are provided with axle holes through which the drive wheel support axles 32 pass and are axially secured to the two drive wheel support bases 31 by their stepped configuration and drive wheel support axle limit screws 34. The driving wheel swing arm 33 is positioned between the two driving wheel supporting seats 31, and is also provided with a shaft hole, a driving wheel supporting shaft 32 also passes through the shaft hole, and the shaft hole and the shaft are connected through a rolling bearing or a plastic bearing so as to reduce the rotation friction coefficient. And a fork-shaped structure below the driving wheel swing arm 33 is fixedly connected with the driving motor shell 35 through bolts. The driving motor shell 35 is fixedly connected with the driving motor 36 through bolts. The output shaft of the drive motor 36 is keyed to the drive motor flange 37. The driving motor flange 37 and the driving wheel 38 are fixedly connected through bolts. The drive motor flange 37 is connected to the drive motor housing 35 by a bearing to provide radial support and reduce the rotational friction coefficient. The structure from the driving wheel motor casing 35 to the driving wheel 38 can be realized by a hub motor commonly used in the market, and other suitable structures can also be adopted.
The damper assembly 4 mainly includes a first hinge shaft 41, a damper sleeve 42, a damper stopper pin 43, a damper shaft sleeve 44, a damper spring 45, a damper shaft 46, a damper adjustment nut 47, and a second hinge shaft 48. The damper housing 42 has an axial hole through which the first hinge shaft 41 passes, thereby rotatably connecting the damper housing 42 to the driving wheel swing arm 33. The shaft hole is connected with the shaft through a rolling bearing or a plastic bearing so as to reduce the rotation friction coefficient. The shock absorber sleeve 42 is provided with internal threads and an inner hole, and the shock absorber sleeve 42 is connected with the shock absorber shaft sleeve 44 through threads. The damper hub 44 is formed of a low friction wear resistant copper alloy or engineering plastic material having an inner bore through which the damper shaft 46 extends to slidably couple the damper shaft 46 to the damper hub 44. One end of the damper shaft 46 is connected with the damper limit nail 43 through threads. The middle part of the damper shaft 46 is also sleeved with a damper spring 45, and two ends of the damper spring 45 are respectively propped against the damper shaft sleeve 44 and the damper adjusting nut 47. The damper adjusting nut 47 is screwed to the damper shaft 46. The damper shaft 46 has a shaft hole at the other end thereof through which the second hinge shaft 48 passes, thereby rotatably connecting the damper shaft 46 to the front universal wheel link 52. When the first hinge shaft 41 and the second hinge shaft 48 are forced to move away from or approach each other, the damper shaft 46 will slide axially along the damper sleeve 44, the damper spring 45 will expand or compress relatively, and the damper stopper pin 43 will serve as a restriction against the axial sliding displacement of the damper sleeve 44, and the relative expansion displacement or compression displacement of the damper spring 45.
The front universal wheel assembly 5 mainly comprises a front universal wheel support seat 51, a front universal wheel swing arm 52, a front universal wheel 53, a front universal wheel connecting rod 54 and a front universal wheel connecting rod limiting screw 55. Two front universal wheel supporting seats 51 are respectively distributed on two sides of the chassis and are fixedly connected with the chassis plate 1 through bolts. The front universal wheel support seat 51 is provided with a shaft hole, and the front universal wheel swing arm 52 passes through the shaft hole and is connected with the front universal wheel support seat through a rolling bearing. The tail end of the front universal wheel swing arm 52 is provided with a mounting through hole for fixedly mounting the front universal wheel 53 through bolt and nut connection. The front universal wheel connecting rod 54 is of an inverted U-shaped structure, is positioned between the two front universal wheel supporting seats 51, penetrates through the front universal wheel swing arm 52, and is axially and circumferentially positioned through pins arranged in pin holes in the front universal wheel swing arm 52. Therefore, when the front universal wheel 53 swings, the front universal wheel swing arm 52 is driven to swing around the shaft, and the front universal wheel connecting rod 54 is driven to swing.
The working principle of the invention is as follows:
referring to fig. 6, according to the Zero Moment Point (ZMP) theory, this arrangement has better lateral stability than the conventional three-wheel layout and four-wheel diamond layout, i.e., is not prone to lateral instability during turning, resulting in rollover. The lateral stability of the four-wheel square layout and the six-wheel layout is the best, but the six-wheel layout generally occupies a larger space on a small-size chassis, and a suspension damping mechanism is difficult to arrange, so that the stability and the trafficability are poor. According to the statement of the relevant contents of automobile trafficability in the automobile theory, the smaller the distance between the whole machine center of mass point and the driving wheel shaft is, the stronger the obstacle crossing capability is, and the obstacle crossing capability of the four-wheel square layout is relatively weaker. Therefore, the shafting and the gear train arrangement adopted by the wheel type chassis can well balance the lateral stability and the obstacle crossing capability performance.
Referring to FIGS. 7 and 4, a brief force analysis of the present invention reveals the force F of the ground against the drive wheel 38 D When the driving wheel swing arm 33 is analyzed, the driving wheel swing arm 33 will be subjected to a moment M B Acting to tend to rotate counterclockwise about the drive wheel support shaft 32 and thus drive wheel 38, tends to press downwardly, i.e., tends to increase the positive pressure of the drive wheel 38 against the ground. This will, colloquially, further increase the grip of the drive wheel 38 and the forward drive of the machine, so that during travel, the machine is ready to be drivenThe wheel type chassis can effectively exert the power of the driving motor, and the whole machine has abundant forward power.
The wheel type chassis is symmetrically arranged, can realize pivot steering (differential steering), has small steering radius and is suitable for narrow space.
When the wheel type chassis of the invention advances on a rough road, the chassis plate 1 and the inspection robot component 6 are in elastic contact with the road due to the driving damping system formed by the driving wheel component 3, the shock absorber component 4 and the front universal wheel component 5, and the driving wheel 38 can always be in contact with the road, so that the adhesion driving force between the driving wheel 38 and the road is ensured, the driving wheel 38 is prevented from idling without contacting the ground, and the up-and-down vibration of the chassis plate 1 and the inspection robot component 6 is reduced through the elastic deformation and damping action of the driving damping system, so that the whole machine can advance more stably. In addition, the wheel sets are symmetrically arranged, driving damping systems formed by the driving wheel assemblies 3, the shock absorber assemblies 4 and the front universal wheel assemblies 5 on two sides are mutually independent, when the vehicle travels on a single-side uneven road surface, only the driving damping system on the side plays a role, and at the moment, the adhesion driving force and the stability of the whole vehicle during traveling can be ensured.
Referring to fig. 8, when the front universal wheel 53 of the wheel chassis of the present invention passes over an obstacle on a step, the front caster assembly 5 is rotated clockwise by the force from the step, and further the damper spring 45 of the damper assembly 4 is compressed, the damper assembly 4 acts on the driving wheel assembly 3, and the driving wheel swing arm 33 rotates counterclockwise, so that the driving wheel 38 presses the road surface. Referring to fig. 9, when the driving wheel 38 crosses the step obstacle, the driving wheel swing arm 33 rotates clockwise to compress the damper spring 45 of the damper assembly 4, the damper assembly 4 acts on the front universal wheel assembly 5, and the front universal wheel assembly 5 rotates counterclockwise, so that the front universal wheel 53 presses the road surface. Therefore, in the obstacle crossing process, the driving damping system of the wheel type chassis can enable the front universal wheels 53 and the driving wheels 38 to effectively contact and press the road surface and have higher obstacle crossing capability through elastic deformation of the mechanism, and the rotation angle of the chassis plate 1 is small, so that the stability of the whole machine in the obstacle crossing process is ensured. When crossing the barriers such as the ditches, the wheel-type chassis can still ensure that the front universal wheels 53 and the driving wheels 38 can effectively contact and press the road surface.
Referring to fig. 5, fig. 5 shows an embodiment of the inspection robot for electric power based on the chassis board of the present invention, on which the inspection robot assembly 6 is mounted. The inspection robot assembly 6 mainly comprises a drop-proof sensor 61, a depth camera assembly 62, a charging assembly 63, a laser assembly 64, a holder assembly 65, a main control board 66, a debugging interface 67, an industrial personal computer 68, a battery assembly 69 and the like. Through the modules or the components of the inspection robot component 6, the robot can realize the functions of climbing, obstacle avoidance and crossing, autonomous positioning navigation, task inspection, recording and the like on roads with different ground surfaces. Optionally, the chassis can also be used as a basis for a killing temperature-measuring robot, a service welcome robot, a food delivery robot and the like. Based on the chassis, the specific embodiment of the electric inspection robot with the inspection robot component 6 is additionally arranged on the chassis, and in the design and test process of an actual prototype, the electric inspection robot successfully crosses a step-type obstacle of 25-30 mm by the arrangement of the length, width, height and outline dimension of 350 × 550, the front universal wheel and the rear universal wheel of 2.5 inches and the driving wheel with the small outer diameter of 120mm, and obviously exceeds the obstacle crossing performance of the conventional universal chassis.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. A wheeled chassis with strong trafficability comprises a chassis plate and wheel sets arranged on the chassis plate, and is characterized in that the wheel sets comprise a front universal wheel assembly, a driving wheel assembly and a rear universal wheel assembly which are sequentially arranged on the chassis plate from front to back; wherein, the first and the second end of the pipe are connected with each other,
the front universal wheel assembly comprises a front universal wheel swing arm assembly capable of swinging relative to the chassis plate and a front universal wheel arranged on the front universal wheel swing arm;
the driving wheel assembly comprises a driving wheel swing arm capable of swinging relative to the chassis plate and a driving wheel arranged on the driving wheel swing arm;
the front universal wheel swing arm assembly and the driving wheel swing arm are connected through a damper assembly.
2. The wheeled chassis with high trafficability characteristic of claim 1, wherein the front universal wheel swing arm assembly comprises a front universal wheel swing arm and a front universal wheel connecting rod fixedly connected with the front universal wheel swing arm, the front universal wheel connecting rod is bent relative to the front universal wheel swing arm, one end of the shock absorber assembly is hinged to the front universal wheel connecting rod, and the other end of the shock absorber assembly is hinged to the driving wheel swing arm.
3. The wheeled chassis of claim 2, wherein the front universal wheel assembly further comprises a front universal wheel support fixedly attached to the chassis plate, the front universal wheel swing arm is axially rotatably attached to the front universal wheel support, and the front universal wheel link is fixedly attached to the front universal wheel swing arm.
4. The wheeled chassis with high trafficability characteristic of claim 3, wherein there are two front universal wheel supports spaced apart from each other, and each front universal wheel support is provided with a shaft hole through which the front universal wheel swing arm passes, and wherein the front universal wheel connecting rod is disposed between the two front universal wheel supports and is axially and axially fixed and sleeved on the front universal wheel swing arm.
5. The wheeled chassis of claim 1, wherein the drive wheel assembly includes a drive wheel support base fixedly attached to the chassis plate, and wherein the drive wheel swing arm is pivotally connected to the drive wheel support base by a drive wheel support axle.
6. The wheel chassis with high trafficability of claim 5, wherein there are two driving wheel supporting seats, the two driving wheel supporting seats are spaced apart from each other, the driving wheel supporting seat has a shaft hole, the driving wheel supporting shaft passes through the shaft hole and is axially fixed on the two driving wheel supporting seats, the driving wheel swing arm is located between the two driving wheel supporting seats and is connected with the driving wheel swing arm, and the driving wheel swing arm has a shaft hole for passing the driving wheel supporting shaft.
7. The wheeled chassis with high trafficability of claim 1, wherein the damper assembly is hinged to the front caster swing arm assembly and the driving wheel swing arm, the damper assembly comprises a damper sleeve 42, a damper stop pin 43, a damper shaft sleeve 44, a damper spring 45, a damper shaft and a damper adjusting nut 47, the damper sleeve 42 has an internal thread and an internal hole, the damper sleeve 42 is connected to the damper shaft sleeve 44 by a thread, the damper shaft sleeve 44 has an internal hole, the damper shaft passes through the internal hole to form a sliding connection with the damper shaft sleeve 44, one end of the damper shaft is connected to the damper stop pin 43 by a thread, the damper spring 45 is sleeved on the damper shaft, two ends of the damper spring 45 respectively abut against the damper shaft sleeve 44 and the damper adjusting nut 47, and the damper adjusting nut 47 is connected to the damper shaft by a thread.
8. The wheeled undercarriage having high passability according to claim 1, wherein said front universal wheel assemblies are provided in two sets, said front universal wheel assemblies are provided in two sets independently, said driving wheel assemblies are provided in two sets independently, and said rear universal wheel assembly 2 is provided in one set.
9. The wheeled chassis with high trafficability characteristic of claim 1, wherein there are two sets of front universal wheel assemblies, two sets of driving wheel assemblies, two sets of front universal wheel assemblies and two sets of driving wheel assemblies, and the front universal wheel assemblies and the two sets of driving wheel assemblies are distributed in a rectangular shape or an isosceles trapezoid shape, and there is one set of rear universal wheel assemblies 2, and the rear universal wheel assemblies 2 and the two sets of front universal wheel assemblies are distributed in an isosceles triangle shape.
10. A robot, characterized in that it employs a wheeled chassis with high passability according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210901387.2A CN115195372A (en) | 2022-07-28 | 2022-07-28 | Wheeled chassis with strong trafficability characteristic and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210901387.2A CN115195372A (en) | 2022-07-28 | 2022-07-28 | Wheeled chassis with strong trafficability characteristic and robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115195372A true CN115195372A (en) | 2022-10-18 |
Family
ID=83584020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210901387.2A Pending CN115195372A (en) | 2022-07-28 | 2022-07-28 | Wheeled chassis with strong trafficability characteristic and robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115195372A (en) |
-
2022
- 2022-07-28 CN CN202210901387.2A patent/CN115195372A/en active Pending
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