CN206327100U - A kind of wheeled robot chassis - Google Patents
A kind of wheeled robot chassis Download PDFInfo
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- CN206327100U CN206327100U CN201621333565.2U CN201621333565U CN206327100U CN 206327100 U CN206327100 U CN 206327100U CN 201621333565 U CN201621333565 U CN 201621333565U CN 206327100 U CN206327100 U CN 206327100U
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- wheeled robot
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Abstract
A kind of wheeled robot chassis, including：Carrier frame, including chassis and convex portion framework；Wheel, the wheel count be 4 and more than, wheel hub motor is provided with each wheel, and the wheel is movably connected on the carrier frame by wheel connection component；Suspension unit, the suspension unit is movably connected in the convex portion framework, and is flexibly connected the wheel connection component, enables wheeled robot chassis bradyseism；Steering unit, the steering unit is fixedly connected on the carrier frame, and the steering unit is also flexibly connected the wheel connection component.The utility model can realize four-wheel drive four-wheel steering so that robot motion can be more flexible, even more all-wheel drive and steering；And because employing independence suspension unit, cross-country avoidance ability is stronger, more can held stationary.
Description
Technical field
The utility model is related to robot chassis field, is related specifically to a kind of wheeled robot chassis.
Background technology
Robot chassis, is the important component of robot architecture；And rely on the wheeled robot of driving wheel motion
The cellular construction of the functions such as whole moving cell, i.e. control machine people advance, retreated, steering is typically all disposed within robot chassis
On.
When wheeled robot runs into obstacle in outdoor, it is necessary to have certain obstacle detouring energy during the complicated terrain environment such as puddle
Power could be by obstacle, normal walking, therefore wheeled robot must have certain obstacle climbing ability, and to have shock-absorbing
Can, so as to ensure the equipment on robot body, for example, first-class stable work is imaged, therefore robot chassis must be equipped with phase
The suspended structure answered.
In existing wheeled robot chassis, what is had employs two driving wheels plus driven pulley and is set on two driving wheels
Corresponding suspended structure is put, when running into obstacle or hollow, the cross-country avoidance scarce capacity in the chassis can only cross the barrier of very little
Hinder, shock-absorbing performance is weaker, when running into hogwallow, if hollow is deeper, stationarity is poor and is possible to be stuck, also, this kind of
Wheeled robot chassis typically uses differential steering, is not equipped with steering so that wheeled robot nothing in complex environment
Method completes accurate steering, can not be got rid of poverty when running into MODEL OVER COMPLEX TOPOGRAPHY using two drives.
Therefore, the cross-country avoidance ability having in existing robot is weak, turn to it is inaccurate and in MODEL OVER COMPLEX TOPOGRAPHY without
Method is got rid of poverty.
Utility model content
The problem of the utility model is solved is that the cross-country avoidance ability in wheeled robot chassis of the prior art is weak, is turned to not
Accurately and it can not be got rid of poverty in MODEL OVER COMPLEX TOPOGRAPHY.
To solve the above problems, the utility model provides a kind of wheeled robot chassis, including：
Carrier frame, including chassis and convex portion framework；
Wheel, the wheel count be 4 and more than, wheel hub motor is provided with each wheel, and the wheel is logical
Wheel connection component is crossed to be movably connected on the carrier frame；
Suspension unit, the suspension unit is movably connected in the convex portion framework, and is flexibly connected the wheel connection group
Part, enables wheeled robot chassis bradyseism；
Steering unit, the steering unit is fixedly connected on the carrier frame, and the steering unit is also flexibly connected
The wheel connection component.
Further, the chassis and projection framework are welded shaping or package assembly.
Further, the wheel connection component includes wheel goat's horn, and the wheel goat's horn is provided with hole, passes through the Kong Gu
Surely the wheel hub motor is connected；
Also include at least two cantilever members, described cantilever member one end is flexibly connected by bulb-shaped spherical plain bearing rod end
On the wheel goat's horn；The other end is hinged on the carrier frame.
Further, the cantilever member includes the first arm and the second arm that only one end is fixedly connected, and the end is provided with
Axle is used to connect the wheel goat's horn.
Further, the cantilever member at least one be hinged on chassis, also at least one is hinged on convex portion frame
On frame.
Further, the wheel connection component also includes flange nut, and the motor shaft of the wheel hub motor passes through flange
Nut connects the wheel goat's horn.
Further, the suspension unit is the shock absorber comprising damper cylinder, elastomeric spring.
Further, the suspension unit quantity is equal with the wheel count.
Further, the steering unit quantity is 1/2nd of the wheel count.
Further, the steering unit includes：
Encoder, encoder supporting plate, shaft coupling, tooth sector, the first deep groove ball bearing, bearing block, transfer is solid
Fixed board, the second deep groove ball bearing, brushless DC speed reduction motor, proximity switch, sensing chip, steering rack, rack fixing seat is sliding
Block, line slideway, and connecting rod, described connecting rod one end are hinged on the specific raised connecting portion on the wheel goat's horn, separately
One end is hinged on steering rack.
Compared with prior art, the technical solution of the utility model has advantages below：
Using the wheel for being built-in with wheel hub motor, therefore, each wheel is driving wheel；It is preferred that wheel count is four
Individual, each wheel correspondence independent connection has the suspension unit acted on damping, buffering, and therefore, wheel is on rough road surface
Shi Buhui interacts, and more can guarantee that steady；Meanwhile, be provided with steering unit, steering unit can independent control front-wheel, trailing wheel,
Front-wheel steer, rear-axle steering and four-wheel steering can be achieved, four-wheel steering can greatly reduce the radius of turn of robot, make machine
People's operation is more flexible.
Brief description of the drawings
Fig. 1 is stereogram of the present utility model；
Fig. 2 is left view of the present utility model or right view；
Fig. 3 is top view of the present utility model；
Fig. 4 is the view along B-B directions in Fig. 3 top views of the present utility model；
Fig. 5 is front view of the present utility model or rearview；
Fig. 6 is cantilever member structure chart of the present utility model；
Fig. 7 is the partial enlarged drawing of the steering unit 4 in Fig. 4 of the present utility model.
Embodiment
It is understandable to enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of utility model is described in detail.
A kind of wheeled robot chassis is present embodiments provided, as Figure 1-5, including：
Carrier frame 1, the carrier frame 1 includes chassis 11 and convex portion framework 12.
Wheel hub motor 21 is provided with wheel 2, each wheel 2, and the wheel 2 passes through the activity of wheel connection component 5
It is connected on the carrier frame 1.
Suspension unit 3, the suspension unit 3 is movably connected in the convex portion framework 12, and is flexibly connected the wheel company
Connected components 5, enable wheeled robot chassis bradyseism；
Steering unit 4, the steering unit 4 is fixedly connected on the carrier frame 1, the steering unit 4 also activity
Connect the wheel connection component 5.
Referring to Fig. 1 or Fig. 2 or Fig. 5, the carrier frame 1 is frame structure, and the chassis 11 is bottom level
The part frame of shape, the convex portion framework 12 is integrally fixed at the base framework 11 and protrudes above the horizontal level of chassis 11
Part frame.
In the present embodiment, the chassis 11 and the convex portion framework 12 are integrally welded.
In other embodiments, the chassis and the convex portion framework can be package assembly, such as by frame
It is threaded on frame, fitted bolt is fastened, it would however also be possible to employ other modes are fastened.
In the present embodiment, the carrier frame 1 uses the hollow pipe of steel.
In other embodiments, according to actual needs, the carrier frame of different materials can be used；Or can also use
The column of steel material is used as carrier frame.
With reference to Fig. 1-5, in the present embodiment, the quantity of wheel 2 is four, symmetrical two-by-two to be connected to the chassis
The both sides of framework 1.
In other embodiments, the quantity of wheel 2 can be more than four.
In the present embodiment, each wheel 2 includes wheel hub motor 21, the power set of wheel hub motor 21,
Transmission device and brake apparatus are all integrated in wheel hub, can simplify drive mechanism and steering structure, and when repairing very
It is convenient.
In other embodiments, wheel hub motor can be partly provided with all wheels, partly do not had.
In the present embodiment, the wheel hub motor 21 is the wheel hub motor of single shaft.
With reference to Fig. 1, the wheel connection component 5 includes wheel goat's horn 51, and the wheel goat's horn 51 is provided with hole, by this
Hole is fixedly connected the wheel hub motor 21.
In the present embodiment, the wheel goat's horn 51 is arranged at the wheel sheep with the hole that the wheel hub motor 21 is connected
The base plate center at angle 51.
In other embodiments, the wheel goat's horn is arranged at the wheel goat's horn with the hole that the wheel hub motor is connected
51 other positions.
The wheel goat's horn 51 includes base plate and some raised connecting portions, and the bump junction portion Yong Yu be flexibly connected
The cantilever member 52 and the steering unit 4.
In the present embodiment, the raised connecting portion quantity of the wheel goat's horn 51 is three, is respectively used to and the cantilever
Component 52 and the steering unit 4.
In other embodiments, the raised connecting portion of the wheel goat's horn is according to the quantity of the cantilever member and steering unit
It can be adjusted, such as, when the cantilever member is not two groups described in the present embodiment, but two more than the present embodiment
Group, at as four groups, the quantity of the raised connecting portion can be relative to increase by two in the present embodiment.
Referring to Fig. 1-6, in the present embodiment, each wheel connection member 5 is equipped with two cantilever members 52.
In other embodiments, each wheel connection component can be provided with cantilever member described in two or more, like this,
Structure is more stablized, but chassis weight increase, chassis is installed more more complicated.
In the present embodiment, two cantilever members 52 are arranged according to overlying relation, i.e., one upper, another
Under.
In other embodiments, the position relationship of cantilever member described in two or more can have upper and lower relation, it is possibility to have
Left-right relation or other relations.
In the present embodiment, two cantilever members 52 are incomplete same, but it is differed only in, the position
On the lower, the cantilever member 52 closer to ground is used to connect the suspension unit 3 provided with cross bar 525.
In other embodiments, two cantilever members can be entirely different or identical.
In other embodiments, cantilever member described in two or more is different, all same or it is specific it is several it is identical other
Cantilever member is different.
In the present embodiment, the cantilever member 52 in the wheel connection component 5 of connection different wheel 2 is identical.
In other embodiments, the cantilever member in the wheel connection component of connection different wheel can be not
With the identical of, all same or specific several wheels, other are different.
In the present embodiment, the cantilever member 52 is steel tubular.
In other embodiments, the cantilever member can be other materials, other shapes.
In the present embodiment, the cantilever member 52 includes the first arm 521 and the second arm 522 being welded as a whole, first
Arm 521 is identical to be symmetrical arranged shape size with the second arm 522.
In other embodiments, the first arm and the second arm shape size can be differed.
Referring to Fig. 6, in the present embodiment, the first arm 521 of the cantilever member 52 and the place of being welded to connect of the second arm 522 are outer
Connection frame 523 is arranged with, the connection frame 523 is provided with connecting shaft 524, for connecting the wheel goat's horn 51.
In other embodiments, connecting shaft directly can be set in first arm and the second arm junction, for connecting
The wheel goat's horn.
In the present embodiment, the peripheral hardware screw thread of connecting shaft 524.
In the present embodiment, the cantilever member 52 is movably connected in the wheel sheep by bulb-shaped spherical plain bearing rod end
On angle 51, and, the peripheral hardware screw thread of connecting shaft 524 is connected in the internal thread with bulb-shaped spherical plain bearing rod end；The other end is hinged
On the carrier frame 1, now the correspondence position of carrier frame 1 is provided with hinge head, and fitted bolt nut is hinged.
Specifically, the connecting shaft on the cantilever member 52 connects the specific raised connection on the wheel goat's horn 51
Portion, also, be flexibly connected by bulb-shaped spherical plain bearing rod end, the activity of the cantilever member 52 is limited to certain circular cone scope
Interior, the other end is hinged on the carrier frame 1 so that two cantilever members 52 in the robot kinematics not
It can be stuck.
In the present embodiment, the cantilever member 51 1 is hinged on chassis 11, and another is hinged on convex portion frame
On frame 12.
In other embodiments, the cantilever member can be hinged on the convex portion framework, or specific several hinges
It is connected on chassis, others are hinged on the framework of convex portion.
In the present embodiment, the wheel connection component 5 also includes on flange nut, the motor shaft of the wheel hub motor 21
Provided with screw thread, the wheel goat's horn 52 is connected by flange nut.
Referring to Fig. 1, in the present embodiment, the suspension unit 3 is the shock absorber comprising damper cylinder, elastomeric spring.
Specifically, the damper cylinder of the suspension unit 3 is respectively arranged at two ends with the first damper cylinder connecting portion and the second damper cylinder
Connecting portion, one end is hinged on the convex portion framework 12 by the first damper cylinder connecting portion, and the other end is connected by the second damper cylinder
Socket part is hinged on closest on the cantilever member 52 on ground, now, the convex portion framework 12 and the cantilever closest to ground
Hinge head is equipped with component 52, fitted bolt nut is hinged.
In other embodiments, the other end of the suspension unit can be hinged on by the second damper cylinder connecting portion is not
Closest on the cantilever member on ground, it should be noted that the distance between position that the two ends of the damper cylinder are connected
The size of the suspension unit should be met.
The distance between the position that the two ends of the damper cylinder are connected is longer, more can realize the elasticity in suspension unit
The compression and elongation of spring, so that bigger bradyseism avoidance effect more can be realized, so described wheeled robot chassis can
Cross higher raised and deeper hollow.
In the present embodiment, the suspension unit 3 and the carrier frame 1 are by bolted splice.
In other embodiments, the suspension unit and the carrier frame can be hinged by other means, such as, riveting
Nail is hinged.
In the present embodiment, the quantity of the suspension unit 3 is equal with the quantity of the wheel 2, so each wheel 2
Damping avoidance can be realized when running into rough road surface, from without influenceing the robot, makes its held stationary state.
With reference to Fig. 4 and Fig. 7, in the present embodiment, the steering unit 4 includes：
Encoder 401, encoder supporting plate 402, shaft coupling 403, tooth sector 404, the first deep groove ball bearing 405, axle
Bearing 406, transfer fixed plate 407, the second deep groove ball bearing 408, brushless DC speed reduction motor 409, proximity switch 420,
Sensing chip 421, steering rack 422, rack fixing seat 423, sliding block 424, line slideway 425.
In this embodiment, the steering mechanism also includes connecting rod 41, and described one end of connecting rod 41 is hinged on the wheel goat's horn
On specific raised connecting portion on 52, the other end is hinged on steering rack 422.
In other embodiments, other steering units can be used, as long as the steering unit is flexibly connected the driving wheel
Stabilization, accurate steering can be realized when needing and turning to, now, one end of the steering link is still hinged on the car
Take turns on goat's horn, but the other end can be changed according to the mechanism of steering unit.
In the present embodiment, the quantity of steering unit 4 is 1/2nd of the quantity of wheel 2, and two are controlled respectively
Front-wheel and two trailing wheels.
Also, because the steering unit 4 is independent, front-wheel steer and/or rear-axle steering can be controlled respectively.
In other embodiments, the steering unit quantity can be other numbers.
When running into obstacle or hollow during robot chassis traveling, due to having in the presence of shock absorber, suspension unit
Spring-compressed elongate, suspension unit can bob, rocked so as to sponge, do not interfere with other wheels, therefore, it is possible to
Play a part of shock-absorbing.And it is independent suspension because four pieces of cantilevers are separately installed, therefore shock-proof effect is compared with dependent formula
Suspension will get well.Need to turn to when applying the robot ambulation on wheeled robot chassis described in the utility model, can do
To four-wheel steering, four-wheel steering can greatly reduce the radius of turn of robot, make robot operation more flexibly, be easy to pass through
Narrow space.
Compared with prior art, the technical solution of the utility model has advantages below：
Using the wheel for being built-in with wheel hub motor, therefore, each wheel is driving wheel；It is preferred that wheel count is four
Individual, each wheel correspondence independent connection has the suspension unit acted on damping, buffering, and therefore, wheel is on rough road surface
Shi Buhui interacts, and more can guarantee that steady；Meanwhile, be provided with steering unit, steering unit can independent control front-wheel, trailing wheel,
Front-wheel steer, rear-axle steering and four-wheel steering can be achieved, four-wheel steering can greatly reduce the radius of turn of robot, make machine
People's operation is more flexible.
Although the utility model is disclosed as above, the utility model is not limited to this.Any those skilled in the art,
Do not depart from spirit and scope of the present utility model, can make various changes or modifications, therefore protection domain of the present utility model
It should be defined by claim limited range.
Claims (10)
1. a kind of wheeled robot chassis, it is characterised in that including：
Carrier frame, including chassis and convex portion framework；
Wheel, the wheel count be 4 and more than, wheel hub motor is provided with each wheel, and the wheel passes through car
Wheel connection component is movably connected on the carrier frame；
Suspension unit, the suspension unit is movably connected on the convex portion framework, and the flexible connection wheel connection component,
Enable wheeled robot chassis bradyseism；
Steering unit, the steering unit is fixedly connected on the carrier frame, and the steering unit is also flexibly connected described
Wheel connection component.
2. wheeled robot chassis as claimed in claim 1, it is characterised in that the chassis and projection framework are welding
It is integrally formed or package assembly.
3. wheeled robot chassis as claimed in claim 1, it is characterised in that the wheel connection component includes wheel sheep
Angle, the wheel goat's horn is provided with hole, and the wheel hub motor is fixedly connected by the hole；
At least two cantilever members, described equal one end of cantilever member is movably connected in the car by bulb-shaped spherical plain bearing rod end
Take turns on goat's horn；The other end is hinged on the carrier frame.
4. wheeled robot chassis as claimed in claim 3, it is characterised in that the cantilever member is fixed including only one end
The first arm and the second arm of connection, and the end is provided with connecting shaft for connecting the wheel goat's horn.
5. wheeled robot chassis as claimed in claim 4, it is characterised in that the cantilever member at least one be hinged on bottom
On plate framework, also at least one is hinged on the framework of convex portion.
6. wheeled robot chassis as claimed in claim 3, it is characterised in that the wheel connection component also includes flange spiral shell
Mother, the motor shaft of the wheel hub motor connects the wheel goat's horn by flange nut.
7. wheeled robot chassis as claimed in claim 1, it is characterised in that the suspension unit is to include damper cylinder, bullet
The shock absorber of property spring.
8. wheeled robot chassis as claimed in claim 1, it is characterised in that the suspension unit quantity and the wheel number
Amount is equal.
9. wheeled robot chassis as claimed in claim 1, it is characterised in that the steering unit quantity is the wheel number
/ 2nd of amount.
10. wheeled robot chassis as claimed in claim 1, it is characterised in that the steering unit includes：
Encoder, encoder supporting plate, shaft coupling, tooth sector, the first deep groove ball bearing, bearing block, transfer fixed plate,
Second deep groove ball bearing, brushless DC speed reduction motor, proximity switch, sensing chip, steering rack, rack fixing seat, sliding block, straight line
Guide rail,
Also include connecting rod, described connecting rod one end is hinged on the specific raised connecting portion on the wheel goat's horn, other end hinge
It is connected on steering rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621333565.2U CN206327100U (en) | 2016-12-06 | 2016-12-06 | A kind of wheeled robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621333565.2U CN206327100U (en) | 2016-12-06 | 2016-12-06 | A kind of wheeled robot chassis |
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| Publication Number | Publication Date |
|---|---|
| CN206327100U true CN206327100U (en) | 2017-07-14 |
Family
ID=59289292
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| CN201621333565.2U Active CN206327100U (en) | 2016-12-06 | 2016-12-06 | A kind of wheeled robot chassis |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| CN107985443A (en) * | 2017-12-23 | 2018-05-04 | 长安大学 | A kind of wheeled more ground adaptability vehicles and its obstacle-detouring method |
| CN109050655A (en) * | 2018-07-13 | 2018-12-21 | 中国煤炭科工集团太原研究院有限公司 | A kind of hydraulic wheel hub drive of the independent suspension for underground coal mine vehicle |
| CN110370875A (en) * | 2018-11-08 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Unmanned dispensing machine people chassis assembly and unmanned dispensing machine people |
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN111993382A (en) * | 2020-09-04 | 2020-11-27 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
| CN114885789A (en) * | 2022-04-28 | 2022-08-12 | 哈尔滨工业大学 | Full-automatic all-in-one is planted to shuttle tree |
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2016
- 2016-12-06 CN CN201621333565.2U patent/CN206327100U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
| CN107985443A (en) * | 2017-12-23 | 2018-05-04 | 长安大学 | A kind of wheeled more ground adaptability vehicles and its obstacle-detouring method |
| CN107985443B (en) * | 2017-12-23 | 2023-09-19 | 长安大学 | Wheeled multi-ground adaptive vehicle and obstacle crossing method thereof |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| CN109050655A (en) * | 2018-07-13 | 2018-12-21 | 中国煤炭科工集团太原研究院有限公司 | A kind of hydraulic wheel hub drive of the independent suspension for underground coal mine vehicle |
| CN109050655B (en) * | 2018-07-13 | 2020-10-16 | 中国煤炭科工集团太原研究院有限公司 | Independent suspension hydraulic wheel driving device for underground coal mine vehicle |
| CN110370875A (en) * | 2018-11-08 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Unmanned dispensing machine people chassis assembly and unmanned dispensing machine people |
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN111993382A (en) * | 2020-09-04 | 2020-11-27 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
| CN111993382B (en) * | 2020-09-04 | 2024-05-10 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
| CN114885789A (en) * | 2022-04-28 | 2022-08-12 | 哈尔滨工业大学 | Full-automatic all-in-one is planted to shuttle tree |
| CN114885789B (en) * | 2022-04-28 | 2023-06-30 | 哈尔滨工业大学 | Full-automatic integrated machine for haloxylon ammodendron tree planting |
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