CN202242852U - Electric four-wheel traveling gear for robot - Google Patents
Electric four-wheel traveling gear for robot Download PDFInfo
- Publication number
- CN202242852U CN202242852U CN2011203500966U CN201120350096U CN202242852U CN 202242852 U CN202242852 U CN 202242852U CN 2011203500966 U CN2011203500966 U CN 2011203500966U CN 201120350096 U CN201120350096 U CN 201120350096U CN 202242852 U CN202242852 U CN 202242852U
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- cantilever
- wheel
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- hinged
- robot
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Abstract
The utility model relates to an electric four-wheel traveling gear for a robot, which comprises a frame (1), wheels (2), suspensions and motor driving devices. The electric four-wheel traveling gear is characterized in that each independent suspension is arranged between the corresponding wheel (2) and the frame (1) and consists of a cantilever (3) and a double-effect telescopic damper (4), one end of each cantilever (3) is hinged with the frame (1), the other end of each cantilever (3) is hinged with an axle (10), the lower end of each double-effect telescopic damper (4) is hinged and supported in the middle of the corresponding cantilever (3), the upper end of each double-effect telescopic damper (4) is hinged and supported on the frame (1), each motor driving device comprises a motor (6) and a gear reducer, the motors (6) are disposed on the cantilevers (3) and positioned beside the axles (10), and each gear reducer is arranged between the corresponding motor (6) and the corresponding axle (10). The traveling gear has the advantages of fine damping performance and simple structure.
Description
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: 1, 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.2, the steering hardware of common vehicle is for the axis that guarantees vehicle all wheels when turning can meet at a bit, with additional resistance and the tire enhance faster wear of avoiding vehicle '; But; Because the speed of travel of robot is a lot of slowly than common vehicle; The additional resistance of above-mentioned vehicle ' and tire enhance faster wear can be ignored; Therefore trapezoidal connecting rod steering mechanism and the engine installation thereof described in the above-mentioned patent scheme increased complexity and deadweight on the contrary, influences other performance of robot, like load carrying ability and energy consumption etc.
Summary of the invention
The utility model technical matters to be solved provides a kind of electric four-wheeled running gear that is used for robot, and this device has better damping performance and the simple and direct advantage of structure.
A kind of electric four-wheeled running gear that is used for robot, this running gear has a vehicle frame, wheel, suspension and motor driver, it is characterized in that; Be provided with a suspension independently between each wheel and the vehicle frame, described suspension is made up of cantilever and double acting cylinder type damper, wherein; One of described cantilever is hinged with vehicle frame; The wheel shaft of other end and wheel is hinged, and the lower end of described double acting cylinder type damper is hinged and be supported in the middle part of cantilever, and the upper end is hinged and be supported on the vehicle frame; Described motor driver is made up of motor and reduction gear apparatus, and wherein, motor is located on the said cantilever and is positioned at the wheel next to axis, and reduction gear apparatus is located between motor and the said wheel shaft.
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.
In described motor driver, a kind of preferred version of described reduction gear apparatus is served as reasons and is located on the drive motor output shaft driving gear and is located on the wheel shaft driven gear and forms.
The described electric four-wheeled running gear that is used for robot of the utility model; Owing to all be provided with independently suspension between each wheel and the vehicle frame; Therefore significantly improved the cushioning performance of said running gear, even its is walked on rugged road, violent vibration can not experienced in vehicle frame top yet; The precision instrument that carries on it can normally be worked, and avoids causing safety misadventure.In addition, the utility model has also been abandoned the steering hardware and the engine installation thereof of conventional four-wheel running gear, and therefore not only structure is simple and direct, and can improve load-carrying capacity.
Description of drawings
Fig. 1 is the perspective view of a specific embodiment of the described a kind of electric four-wheeled running gear that is used for robot of the utility model.
Fig. 2 and Fig. 3 are the perspective view of the different angles of the connection structure between wheel and the vehicle frame among Fig. 1.
The specific embodiment
Referring to Fig. 1～Fig. 3; The vehicle frame 1 of the electric four-wheeled running gear that is used for robot of the utility model is a rectangular plate, the traveling gear that a cover is made up of suspension, wheel 2 and motor driver all is set, wherein on four angles of this rectangular plate; Suspension is made up of cantilever 3 and double acting cylinder type damper 4; Described cantilever 3 is a rectangle quarter butt, and the one of which head is articulated on the vehicle frame 1, and the other end is articulated on the wheel shaft 10 of wheel 2; Described double acting cylinder type damper 4 is common helical spring shock absorber, and its lower end is hinged and be supported in the middle part of cantilever 3, and the upper end is hinged and be supported on the stay bearing plate 5 that vertically is fixed on the vehicle frame 1.Described motor driver is made up of motor 6 and reduction gear apparatus; Wherein, Motor 6 is fixed in the described cantilever 3; Reduction gear apparatus is connected the driven gear 8 that driving gear 7 and on the output shaft of motor 6 is connected on the wheel shaft 10 of wheel 2 by one and constitutes, and fits with the lateral surface of the wheel hub 9 of wheel 2 and be connected through screw retention in a side of said driven gear 8.
The described electric four-wheeled running gear that is used for robot of the utility model is not provided with special steering hardware, but realizes differential when coming through the rotating speed of controlling each wheel 2 cooresponding motor 6 respectively, thereby realizes turning to.This has not only simplified the structure of running gear, also is convenient to turn to control, at unmanned running machine philtrum, realizes turning to obvious ratio to realize turning to easier through handling steering hardware through the rotating speed of control motor 6.
Claims (4)
1. electric four-wheeled running gear that is used for robot; This running gear has a vehicle frame (1), wheel (2), suspension and motor driver, it is characterized in that, is provided with a suspension independently between each wheel (2) and the vehicle frame (1); Described suspension is made up of cantilever (3) and double acting cylinder type damper (4); Wherein, of described cantilever (3) is hinged with vehicle frame (1), and the wheel shaft (10) of other end and wheel (2) is hinged; The lower end of described double acting cylinder type damper (4) is hinged and be supported in the middle part of cantilever (3), and the upper end is hinged and be supported on the vehicle frame (1); Described motor driver is made up of motor (6) and reduction gear apparatus, and wherein, motor (6) is located on the said cantilever (3) and is positioned at wheel shaft (10) side, and reduction gear apparatus is located between motor (6) and the said wheel shaft (10).
2. a kind of electric four-wheeled running gear that is used for robot according to claim 1 is characterized in that described double acting cylinder type damper (4) is a helical spring shock absorber.
3. a kind of electric four-wheeled running gear that is used for robot according to claim 1 and 2 is characterized in that described motor (6) is located in the body of cantilever (3).
4. a kind of electric four-wheeled running gear that is used for robot according to claim 3 is characterized in that, described reduction gear apparatus is made up of the driven gear (8) that is located at the driving gear (7) on motor (6) output shaft and be located on the wheel shaft (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203500966U CN202242852U (en) | 2011-09-17 | 2011-09-17 | Electric four-wheel traveling gear for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203500966U CN202242852U (en) | 2011-09-17 | 2011-09-17 | Electric four-wheel traveling gear for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202242852U true CN202242852U (en) | 2012-05-30 |
Family
ID=46104142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203500966U Expired - Fee Related CN202242852U (en) | 2011-09-17 | 2011-09-17 | Electric four-wheel traveling gear for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202242852U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332085A (en) * | 2013-06-21 | 2013-10-02 | 管中林 | Chassis of all-terrain off load vehicle |
| CN103770593A (en) * | 2012-10-25 | 2014-05-07 | 邹帆 | Electronic-gyroscope-autostabilization trailing arm electric damping active suspension damping device |
| CN106426214A (en) * | 2016-11-22 | 2017-02-22 | 湖北文理学院 | Suspended chassis for service robot |
| CN106882034A (en) * | 2017-03-17 | 2017-06-23 | 西南交通大学 | A kind of supporting construction of power wheel |
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN109571508A (en) * | 2019-01-21 | 2019-04-05 | 苏州博众机器人有限公司 | A kind of patrol robot |
| CN111546849A (en) * | 2020-05-07 | 2020-08-18 | 国网四川省电力公司电力科学研究院 | Wheel type robot active suspension device |
| CN111823254A (en) * | 2020-07-31 | 2020-10-27 | 李静 | Mobile invigilating robot |
| CN112312871A (en) * | 2018-07-06 | 2021-02-02 | 优动产品公司 | Motor vehicle |
-
2011
- 2011-09-17 CN CN2011203500966U patent/CN202242852U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770593A (en) * | 2012-10-25 | 2014-05-07 | 邹帆 | Electronic-gyroscope-autostabilization trailing arm electric damping active suspension damping device |
| CN103332085A (en) * | 2013-06-21 | 2013-10-02 | 管中林 | Chassis of all-terrain off load vehicle |
| CN103332085B (en) * | 2013-06-21 | 2015-09-16 | 管中林 | A kind of all terrain vehicle chassis |
| 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 |
| CN106882034A (en) * | 2017-03-17 | 2017-06-23 | 西南交通大学 | A kind of supporting construction of power wheel |
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN112312871A (en) * | 2018-07-06 | 2021-02-02 | 优动产品公司 | Motor vehicle |
| CN112312871B (en) * | 2018-07-06 | 2023-08-29 | 优动产品公司 | motor vehicle |
| CN109571508A (en) * | 2019-01-21 | 2019-04-05 | 苏州博众机器人有限公司 | A kind of patrol robot |
| CN111546849A (en) * | 2020-05-07 | 2020-08-18 | 国网四川省电力公司电力科学研究院 | Wheel type robot active suspension device |
| CN111823254A (en) * | 2020-07-31 | 2020-10-27 | 李静 | Mobile invigilating robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120530 Termination date: 20140917 |
|
| EXPY | Termination of patent right or utility model |