CN202242837U - Robot electric running gear with independent suspension - Google Patents

Robot electric running gear with independent suspension Download PDF

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Publication number
CN202242837U
CN202242837U CN2011203518283U CN201120351828U CN202242837U CN 202242837 U CN202242837 U CN 202242837U CN 2011203518283 U CN2011203518283 U CN 2011203518283U CN 201120351828 U CN201120351828 U CN 201120351828U CN 202242837 U CN202242837 U CN 202242837U
Authority
CN
China
Prior art keywords
wheel
running gear
rod
suspension
arm
Prior art date
Application number
CN2011203518283U
Other languages
Chinese (zh)
Inventor
黄文恺
陈虹
唐连章
龙晓莉
Original Assignee
广州大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广州大学 filed Critical 广州大学
Priority to CN2011203518283U priority Critical patent/CN202242837U/en
Application granted granted Critical
Publication of CN202242837U publication Critical patent/CN202242837U/en

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Abstract

The utility model discloses a robot electric running gear with an independent suspension, wherein the electric running gear comprises a frame (1), a wheel (2), the suspension and a servo motor (3), and is characterized in that the suspension comprises an upper cross beam (4), a lower cross beam (5), a connecting rod (6) and a double-acting cylinder type shock absorber (7), wherein the upper cross beam (4) and the lower cross beam (5) are equal in length and are hinged on the frame (1) through one end of each, the two ends of the connecting rod (6) are respectively hinged with the other end of the upper cross beam (4) and the other end of the lower cross beam (5), one end of the double-acting cylinder type shock absorber (7) is hinged with the frame (1), and the other end of the double-acting cylinder type shock absorber (7) is hinged with the middle of the lower cross beam (5); and the servo motor (3) is arranged on the connecting rod (6), and the output shaft of the servo motor (3) is coaxially butted against the wheel shaft of the wheel (2). The running gear has the advantages of low motor power consumption, zero abrasion to one side of the tire of the wheel.

Description

A kind of robot electric running gear with independent suspension
Technical field
The utility model relates to robot, is specifically related to the running gear of robot.
Background technology
At present, speedily carrying out rescue work, often using wheeled mobile robot in the dangerous operation environment such as fire, open-air detection.In these operating environments, the road conditions of robot ambulation are more complicated often, as, it is rugged etc. with physical features to skid easily, therefore, on each road wheel of robot, all is provided with an independently actuating device usually, to obtain propulsive effort preferably.For example; Publication number is that the Chinese utility model patent of CN 2717789 discloses a kind of " four-wheel drive wheeled mobile robot's Trolley ", and this Trolley comprises vehicle frame, four wheels, drives the quadruplet motor reducer group and the trapezoidal connecting rod steering mechanism of four wheels respectively.But obviously there is following deficiency in this Trolley: vehicle frame and wheel are not provided with suspension; This is for the geomorphic feature robot that very complex road surface is walked, obviously having many negative influences; For example, being installed on the robot precision instrument maybe can't normal operation even damage because of high vibration, and for example the eyes of robot are that camera can cause image blurring unclear because of high vibration again; Influence the accurate judgement of robot, even lead to safety misadventure surrounding environment.In common independent suspension; Like wishbone-type independent suspension (common two swing arms are not isometric), slip-type column arm independent suspension and tilted single arm formula independent suspension etc.; During the wheel bob, wheel can produce inclination to a certain degree, and this is for the scheme with servomotor direct drive wheel; The axial force moment increase that the output shaft of servomotor received when wheel landed; Thereby increased the power consumption of servomotor, and influence the service life of servomotor, also can cause the one-sided wearing and tearing of wheel tyre simultaneously.
Summary of the invention
The utility model technical matters to be solved provides a kind of robot electric running gear with independent suspension, and this running gear has that motor power consumption is little, wheel tyre can one-sided worn-down advantage.
A kind of robot electric running gear with independent suspension; This electrical walking device by vehicle frame, wheel, suspension to form with servomotor; It is characterized in that described suspension is made up of Top Crossbeam, lower cross arm, connecting rod and double acting cylinder type damper, wherein; Described Top Crossbeam and lower cross arm isometric and one be articulated on the vehicle frame; The two ends of described connecting rod join respectively in the other end of Top Crossbeam and lower cross arm, and one of described double acting cylinder type damper is articulated on the vehicle frame, and the other end is articulated in the middle part of lower cross arm; Described servomotor is located on the connecting rod, and the wheel shaft of its output shaft and wheel is coaxial docking.
In above-mentioned technical scheme, described double acting cylinder type damper can be selected the shock absorber used always, like helical spring type shock absorber, spring-air damp type shock absorber, hydraulic damping formula shock absorber or air over type shock absorber etc.Wherein, preferred helical spring type shock absorber.
Described servomotor is fixed in the rectangular box, and this casing is captiveed joint with described connecting rod.This casing is set is convenient to fixed electrical machinery on the one hand, also play waterproof action on the other hand.
The upper and lower surface of described vehicle frame is provided with two vertical strut bars relatively, an end that is hinged on two strut bars of described Top Crossbeam and lower cross arm.
The described robot electric running gear of the utility model with independent suspension; Owing to all be provided with independently suspension between each wheel and the vehicle frame; The essence of this suspension is the wishbone-type independent suspension of first-class brachium, so in the walking process, during the wheel bob; The axis that is fixed on the output shaft of the servomotor on the connecting rod remains level; The axial force that the output shaft of servomotor received when therefore wheel landed can not increase moment, has avoided the extra power consumption of servomotor, has prolonged the service life of servomotor; The wheel shaft of wheel also remains level simultaneously, therefore can not cause the one-sided wearing and tearing of wheel tyre.
Description of drawings
Fig. 1 and Fig. 2 are the structural representation of a specific embodiment of the described a kind of robot electric running gear with independent suspension of the utility model, and wherein, Fig. 1 is a front view, and Fig. 2 is a birds-eye view.
Fig. 3 is the partial enlarged drawing of suspension part among Fig. 1.
Fig. 4 is a running condition figure of structure shown in Figure 3.
The specific embodiment
Referring to Fig. 1~Fig. 3; The robot electric running gear with independent suspension of the utility model is made up of vehicle frame 1, four wheels 2, suspension, servomotor 3, servomechanism 10 and storage batterys 11; Wherein, The middle part of vehicle frame 1 is provided with described servomechanism 10 and storage battery 11, and four angles of vehicle frame 1 are provided with a wheel 2 and a suspension respectively.Described suspension is made up of Top Crossbeam 4, lower cross arm 5, connecting rod 6 and double acting cylinder type damper 7; Wherein, The upper and lower surface at the place, four angles of vehicle frame 1 all is provided with two vertical strut bars 9 relatively, an above-mentioned Top Crossbeam 4 and an end that is hinged on two strut bars 9 respectively of lower cross arm 5; Two of described connecting rod 6 is hinged on the other end of Top Crossbeam 4 and lower cross arm 5 respectively; Described double acting cylinder type damper 7 is a helical spring shock absorber, a downside that is hinged on vehicle frame 1 edge of this helical spring shock absorber, and the other end is hinged on the middle part of lower cross arm 5.Be fixedly connected with a rectangular box 8 on the described connecting rod 6, described servomotor 3 is fixed in this rectangular box 8, and the output shaft of servomotor 3 stretches out from an end of rectangular box 8, and is coaxial docking with the wheel shaft of wheel 2.
Referring to Fig. 4; The described robot electric running gear of the utility model when the road of injustice is walked, wheel 2 up-down vibration, this moment, Top Crossbeam 4 swung up and down with lower cross arm 5; Because Top Crossbeam 4 is isometric with lower cross arm 5; Therefore connecting rod 6 remains vertical state, that is along with the up-down vibration of wheel 2, connecting rod 6 carry out simultaneously up and down with about vibration back and forth.Also follow connecting rod 6 motions with the rectangular box 8 of connecting rod 6 captive joints and the servomotor 3 that is located in the rectangular box 8; Therefore the output shaft of servomotor 3 and the wheel shaft of wheel 2 can keep level all the time; The axial force that the output shaft of servomotor 3 received when wheel 2 landed can not increase moment, and wheel 2 can not contact with ground is one-sided yet simultaneously.

Claims (4)

1. robot electric running gear with independent suspension; This electrical walking device by vehicle frame (1), wheel (2), suspension with and servomotor (3) form; It is characterized in that described suspension is made up of Top Crossbeam (4), lower cross arm (5), connecting rod (6) and double acting cylinder type damper (7), wherein; Described Top Crossbeam (4) and lower cross arm (5) isometric and one be articulated on the vehicle frame (1); The two ends of described connecting rod (6) join respectively in the other end of Top Crossbeam (4) and lower cross arm (5), and one of described double acting cylinder type damper (7) is articulated on the vehicle frame (1), and the other end is articulated in the middle part of lower cross arm (5); Described servomotor (3) is located on the connecting rod (6), and the wheel shaft of its output shaft and wheel (2) is coaxial docking.
2. a kind of robot electric running gear with independent suspension according to claim 1 is characterized in that described double acting cylinder type damper (7) is a helical spring shock absorber.
3. a kind of robot electric running gear with independent suspension according to claim 1 and 2 is characterized in that described servomotor (3) is fixed in the rectangular box (8), and this casing (8) is captiveed joint with described connecting rod (6).
4. a kind of robot electric running gear according to claim 1 and 2 with independent suspension; It is characterized in that; The upper and lower surface of described vehicle frame (1) is provided with two vertical strut bars (9) relatively, an end that is hinged on two strut bars (9) of described Top Crossbeam (4) and lower cross arm (5).
CN2011203518283U 2011-09-17 2011-09-17 Robot electric running gear with independent suspension CN202242837U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011203518283U CN202242837U (en) 2011-09-17 2011-09-17 Robot electric running gear with independent suspension

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011203518283U CN202242837U (en) 2011-09-17 2011-09-17 Robot electric running gear with independent suspension

Publications (1)

Publication Number Publication Date
CN202242837U true CN202242837U (en) 2012-05-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011203518283U CN202242837U (en) 2011-09-17 2011-09-17 Robot electric running gear with independent suspension

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CN (1) CN202242837U (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105197368A (en) * 2015-10-28 2015-12-30 苏州博众机器人有限公司 Bearing mechanism with buffer
CN105644643A (en) * 2016-02-25 2016-06-08 四川阿泰因机器人智能装备有限公司 Omnidirectional wheel suspension device for ground mobile robot
CN105773569A (en) * 2016-02-25 2016-07-20 四川阿泰因机器人智能装备有限公司 Chassis system of ground mobile robot
CN106114103A (en) * 2016-07-20 2016-11-16 浙江大学昆山创新中心 A kind of multi link suspension for wheeled mobile robot
CN106364270A (en) * 2016-09-14 2017-02-01 哈工大机器人集团上海有限公司 Two-wheel differential motion robot chassis
CN106426214A (en) * 2016-11-22 2017-02-22 湖北文理学院 Suspended chassis for service robot
CN106427446A (en) * 2016-09-27 2017-02-22 成都普诺思博科技有限公司 Robot vehicle body suspension system
CN109774396A (en) * 2019-01-15 2019-05-21 浙江大学 A kind of mobile robot independent suspension structure

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105197368A (en) * 2015-10-28 2015-12-30 苏州博众机器人有限公司 Bearing mechanism with buffer
CN105197368B (en) * 2015-10-28 2017-11-17 苏州博众机器人有限公司 A kind of load carrier with buffer
CN105773569A (en) * 2016-02-25 2016-07-20 四川阿泰因机器人智能装备有限公司 Chassis system of ground mobile robot
CN105644643A (en) * 2016-02-25 2016-06-08 四川阿泰因机器人智能装备有限公司 Omnidirectional wheel suspension device for ground mobile robot
CN106114103A (en) * 2016-07-20 2016-11-16 浙江大学昆山创新中心 A kind of multi link suspension for wheeled mobile robot
CN106364270A (en) * 2016-09-14 2017-02-01 哈工大机器人集团上海有限公司 Two-wheel differential motion robot chassis
CN106427446A (en) * 2016-09-27 2017-02-22 成都普诺思博科技有限公司 Robot vehicle body suspension system
CN106426214A (en) * 2016-11-22 2017-02-22 湖北文理学院 Suspended chassis for service robot
CN106426214B (en) * 2016-11-22 2018-10-30 湖北文理学院 Service robot hangs chassis
CN109774396A (en) * 2019-01-15 2019-05-21 浙江大学 A kind of mobile robot independent suspension structure

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C14 Grant of patent or utility model
GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120530

Termination date: 20140917