CN206749955U - Chassis vehicle - Google Patents
Chassis vehicle Download PDFInfo
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- CN206749955U CN206749955U CN201720068303.6U CN201720068303U CN206749955U CN 206749955 U CN206749955 U CN 206749955U CN 201720068303 U CN201720068303 U CN 201720068303U CN 206749955 U CN206749955 U CN 206749955U
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000003028 elevating effect Effects 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000001681 protective effect Effects 0.000 claims description 8
- 229910052751 metal Inorganic materials 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000003138 coordinated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
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- 238000009433 steel framing Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of chassis vehicle (10), including：Chassis body (1) and to support the wheel leg of the chassis body (1) (2)；The wheel leg (2) includes framework (21) and walking mechanism, elevating mechanism (4) and roll wheel assembly on the framework (21)；Wherein, the roll wheel assembly includes roller (323), the walking mechanism is connected with the roller (323) component and rolls the roller (323), the chassis body (1) is provided with jockey pulley (11), the framework (21) can be adjusted by the elevating mechanism and be moved up and down relative to the chassis body (1), so as to have adjustable difference in height between the jockey pulley (11) and the roller (323).Chassis vehicle of the present utility model is used as independent lifting module by each wheel leg, does not interfere with each other on mechanism kinematic, is cooperated in motion control, and wheel leg is by deforming to adapt to the landform of different situations.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of chassis vehicle of wheel leg type.
Background technology
In order to expand the field of operation of robot, it is necessary to adapt to various types of pavement behaviors, including it is upward slope, descending, rugged
Rugged hill path, barrier etc..
For road conditions such as upward slope, descendings, if can not balanced robot well center of gravity, during traveling especially
When acceleration is excessive, easily overturn；For the such as rugged hill path of uneven landform and moonscape etc., Uneven road pair
The chassis suspension shock-absorbing of robot is no small test；For barrier such as step etc., it is necessary to which robot can flexibly stablize
Cross on ground.
Above-mentioned pavement behavior can cause the unstable of robot fuselage, and the use to carry equipment impacts, and influences machine
The operation of device people.Therefore, the landform situation for adapting to any of the above type robot stabilizedly how is allowed, for the general of robot
And, more tera incognitas and operation etc. under hazardous environment are probed into instead of the mankind, be all very important.
Existing robot can be divided into by move mode：Wheeled robot, legged mobile robot, caterpillar type robot etc., often
Kind move mode has the operation landform that it is good at.With development in science and technology, increasing tera incognita is urgently developed, increasingly
Dangerous environment needs robot to be reconnoitred instead of the mankind, so increasing reciprocating machine people (leg-wheel robot, Athey wheel
Formula robot etc.) urgently it is developed.However, the chassis design adaptive ability of existing mobile robot is poor, particularly
Unpredictable landform can not be well adapted for, exist climb and fall and obstacle performance it is poor and motion it is dumb the defects of.
Utility model content
In view of this, the utility model proposes it is a kind of can automatic adjusument chassis vehicle to solve above-mentioned technical problem.
According to embodiment of the present utility model, it is proposed that a kind of chassis vehicle, including：Chassis body and to support
State the wheel leg of chassis body；Characterized in that, the wheel leg includes framework and walking mechanism, liter on the framework
Descending mechanism and roll wheel assembly；Wherein, the roll wheel assembly includes roller, and the walking mechanism is connected and made with the roll wheel assembly
The roller rolls, and the chassis body is provided with jockey pulley, the framework can be adjusted by the elevating mechanism and relative to institute
State chassis body to move up and down, so as to have adjustable difference in height between the jockey pulley and the roller.
Further, the walking mechanism includes the first motor, and is connected to first motor and the roller group
First linkage unit of part；Wherein, first motor drives the roller to rotate by first linkage unit.
Further, the roll wheel assembly also includes the axle block being fixed on the framework, is pivotally connected with the axle block
Wheel shaft；Wherein, the roller is rotationally connected with the axle block by the wheel shaft.
Further, the roll wheel assembly also includes the first synchronizing wheel on the wheel shaft, and first motor leads to
Crossing first linkage unit drives first synchronizing wheel to rotate, to drive the roller to rotate.
Further, the wheel leg also includes the protection wheel assembly on the framework, and the protection wheel assembly is located at
The outside of the axle block.
Further, the protection wheel assembly includes protective plate, and is respectively arranged on the guard sheaver at the protective plate both ends.
Further, the roller is McCrum wheel.
Further, first linkage unit includes the first timing belt, one end of first timing belt and described the
One motor drive connection, the other end of first timing belt are sheathed in first synchronizing wheel.
Further, the elevating mechanism includes lifting body, is fixed on the second motor of the lifting body, Yi Jilian
It is connected to the second linkage unit of second motor and the lifting body；Wherein, second motor passes through described second
The relatively described frame movement of lifting body described in dynamic Component driver, promote the relatively described lifting body of the framework rise or under
Drop.
Further, the elevating mechanism also includes the guiding piece being fixed on the framework；Second linkage unit
Including the counterpart being connected with the guiding piece；Wherein, guiding described in driving lower edge of the counterpart in second motor
The axially opposing movement of part.
Further, second linkage unit also includes the second synchronizing wheel on the counterpart and is sheathed on institute
State the second motor and the second timing belt of second synchronizing wheel；Second motor passes through described in second timing belt driving
Second synchronizing wheel rotates, to drive the counterpart to be rotated relative to the guiding piece.
Further, the guiding piece is screw mandrel, and the counterpart is feed screw nut.
Further, second linkage unit also includes being arranged at the locating part below second synchronizing wheel.
Further, the lifting body includes the upper supporting plate and lower carrier plate being oppositely arranged, the upper supporting plate and lower carrier plate
It is fixedly connected with the chassis body, second linkage unit is between the upper supporting plate and the lower carrier plate.
Further, block set is equiped with the upper supporting plate, the framework includes support rod body, and the support rod body is worn
And can relatively described block set slip in block set.
Further, second linkage unit also includes the upper bearing (metal) for being fixed on the upper supporting plate, and is fixed on institute
State the lower bearing of lower carrier plate；
Wherein, the upper supporting plate is matched with the guiding piece to be slided along the guiding piece by the upper bearing (metal)；It is described
Lower carrier plate is matched with the guiding piece to be slided along the guiding piece by the lower bearing.
Further, be also equiped with mechanical arm on the chassis body, the jockey pulley be fixed on the mechanical arm and with
The chassis body links together.
Further, the mechanical arm is pivotally connected on the chassis body, so that the mechanical arm is in vertical direction
Changed between horizontal direction.
Further, the mechanical arm includes being fixed on the first arm of the chassis body and is fixed with the jockey pulley
The second arm；Wherein, first arm and second arm can by control ground relative motion so that the mechanical arm have it is adjustable
The length of section.
Further, the jockey pulley also includes the sensor unit being arranged on.
Further, the sensor unit is photoelectric sensor.
Further, control unit, described control unit and sensor unit electricity are equiped with the chassis body
Property connection, to control the walking mechanism and the elevating mechanism to operate after the signal of the sensor unit is obtained.
Further, the measuring unit being electrically connected with described control unit is also equiped with the chassis body, to
The state value of the chassis body of acquisition；Wherein, the shape of chassis body of the described control unit according to acquired in the measuring unit
State value, the walking mechanism and the elevating mechanism is controlled to operate.
Further, the measuring unit is Inertial Measurement Unit.
Further, the wheel leg is wheel leg after four, including two preceding wheel legs and two；The jockey pulley is four, often
Before the individual jockey pulley is installed in the corresponding wheel leg；
Wherein, it is more than or small when the sensor unit on the jockey pulley senses distance of the jockey pulley away from ground
When preset value, the sensor unit sends signal to described control unit, and described control unit controls the elevating mechanism
Running.
The technical scheme that embodiment of the present utility model provides can include the following benefits：Chassis of the present utility model
Car is used as independent lifting module by each wheel leg, does not interfere with each other on mechanism kinematic, is cooperated in motion control, wheel
Leg is by deforming to adapt to the landform of different situations.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
The utility model can be limited.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of chassis vehicle shown in the exemplary embodiment of the application one；
Fig. 2 is a kind of another angle schematic diagram of chassis vehicle shown in the exemplary embodiment of the application one；
Fig. 3 is the structural representation of a wheel leg in a kind of chassis vehicle shown in the exemplary embodiment of the application one；
Fig. 4 is the decomposing schematic representation of wheel leg in a kind of chassis vehicle shown in the exemplary embodiment of the application one.
Embodiment
The utility model is described in detail below with reference to embodiment shown in the drawings.But these embodiment party
Formula is not intended to limit the utility model, structure that one of ordinary skill in the art is made according to these embodiments, method or
Conversion functionally is all contained in the scope of protection of the utility model.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated, it is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
As shown in figure 1, chassis vehicle 10 of the present utility model includes：Chassis body 1 and to support chassis main body 1
Multiple wheel legs 2.The quantity of wheel leg 2 is not limited in the utility model, can be any number of wheel leg 2, each wheel leg 2 can
It is of the present utility model as independent elevating mechanism 4, not interfere with each other on mechanism kinematic, be cooperated in motion control
Chassis vehicle 10 to wheel leg 2 by carrying out Deformation control to adapt to the landform of different situations.The chassis vehicle 10 can be visited to carry
Survey/monitoring robot, it is ensured that detection/stability of the monitoring robot on chassis vehicle 10, so as to so that explorer device
Complete all kinds of detections/monitoring task people's more stability and high efficiency.
As shown in Figures 1 to 4, the wheel leg 2 includes framework 21 and walking mechanism, elevating mechanism 4 on framework 21
And roll wheel assembly.Wherein, roll wheel assembly includes roller 323, and walking mechanism is connected with roll wheel assembly and rolls roller 323, from
And chassis vehicle 10 can be driven to move.Wheel leg 2 can also be by the running of elevating mechanism 4, so that the wheel leg 2 can be with respect to chassis
Main body 1 is moved, so as to adjust the distance between roller 323 and chassis body 1.
The chassis body 1 is provided with jockey pulley 11, wherein, framework 21 can be adjusted by elevating mechanism 4 and relative to chassis master
Body 1 moves up and down, so as to have adjustable difference in height between jockey pulley 11 and roller 323.The jockey pulley 11 is located at roll wheel assembly
Front, for when wheel leg 2 moves up and down with respect to chassis body 1, playing a part of Auxiliary support chassis body 1.Such as：When
When the wheel leg 2 is passed through in place of hollow, roller 323 enters in hollow, and usual chassis body 1 can go out because wheel leg 2 enters in hollow
Existing center of gravity tilts, and chassis vehicle of the present utility model 10 can support the bottom due to the support with jockey pulley 11 and driven rolling
Disc main body 1, chassis body 1 can be allow to continue to keep original operation posture to continue on, now by increasing roller 323
With the difference in height of jockey pulley 11, roller 323 is set to contradict the surface to hollow in time, and then continue to support and drive chassis body 1；When
When wheel leg 2 walks out hollow, it can ensure to keep chassis body 1 by being gradually reduced the difference in height of roller 323 and jockey pulley 11
Posture is run, so as to be always ensured that the stability of the operation of chassis body 1.In the utility model, the correspondence of chassis vehicle 10
Each wheel leg 2 is equipped with the jockey pulley 11, in order to which each independent control of wheel leg 2 is adjusted.
The framework 21 includes superstructure frame 211, lower junction framework 212 and is connected to superstructure frame 211 and bottom
More support rod bodies 213 between structure-steel framing 212.In an alternative embodiment, the support rod body 213 includes four, is two
The combination of square aluminum pipe and two carbon-points, four support rod bodies 213 are distributed in the position at four angles of framework 21, wherein, two sides
Aluminum pipe and two carbon-points are in diagonal distribution, to meet the overall construction intensity of the framework 21.In the embodiment by square aluminum pipe and
The combination of carbon-point, the purpose of loss of weight design can be realized while 21 structural strength of framework is ensured.In addition, in the utility model
Other embodiment in, the quantity of support rod body 213 can not also be limited, and the material of support rod body 213 can also be any
Material with structural strength, the structural strength for ensureing framework need to be reached.
In the utility model, walking mechanism includes the first motor 31, and is connected to the first motor 31 and roll wheel assembly
The first linkage unit 325.Wherein, first motor 31 is provided with motor cabinet 311, and the first motor 31 passes through the motor cabinet 311
It is fixed on superstructure frame 211, the first motor 31 drives roller 323 to rotate by the first linkage unit 325, so as to drive
Move the motion of the chassis vehicle 10.In the embodiment, by the first motor 31 on superstructure frame 211, pass through the first linkage groups
Part 325 is imparted power on the roller 323 on lower junction framework 212, is arranged such the horizontal stroke that can effectively reduce roll wheel assembly
To size, be advantageous to wheel leg 2 and pass through narrow zone.
In an alternative embodiment, first linkage unit 325 includes the first timing belt, and the rotating shaft end of the first motor 31 is set
There is synchronizing wheel, one end of first timing belt is connected with the synchronizing wheel of the first motor 31, and the other end of first timing belt is arranged
In on roll wheel assembly, the first motor 31 rotates and drives the first toothed belt transmission, and then drives roller 323 to rotate.It is another can
Select in embodiment, first linkage unit 325 can also be gear combination, make motor can be with by the cooperation between multiple gears
Roller 323 is driven to rotate.It is, of course, also possible to by structures such as screw mandrels, herein just no longer one by one for example, motor can be met
The first linkage unit 325 that driving roller 323 rotates is all contained in the utility model.
Roll wheel assembly also includes the axle block 321 being fixed on framework 21, the wheel shaft 322 being pivotally connected with axle block 321.The rolling
Wheel 323 is fixed on wheel shaft 322, and is rotationally connected with by wheel shaft 322 on axle block 321.In the present embodiment, the axle block
321 be two, the both sides of lower junction framework 212 is separately fixed at, such that the roller 323 can consolidate and be connected to framework 21
Above and can be that axle be rotated with wheel shaft 322.In a preferred embodiment, the roller 323 is McCrum wheel, can be provided
A kind of all-around mobile mode, with the landform suitable for different situations.
Further, the roll wheel assembly also includes the first synchronizing wheel 324 on wheel shaft 322, first synchronizing wheel 324
Positioned at the side of roller 323, wherein, wheel shaft 322, roller 323 rotate coaxially with the first synchronizing wheel 324.In the present embodiment, the
One motor 31 drives the first synchronizing wheel 324 to rotate by the first linkage unit 325, to drive roller 323 to rotate.
Wheel leg 2 also includes the protection wheel assembly 34 on framework 21, and protection wheel assembly 34 is located at the outer of axle block 321
Side, played a protective role to pair roller component.In the present embodiment, the protection wheel assembly 34 includes protective plate 341, Yi Jifen
Not She Yu the both ends of protective plate 341 guard sheaver 342, the direct of travel of the guard sheaver 342 is consistent with the direct of travel of roller 323,
Emergent support and the protective effect persistently advanced can be played.
In the utility model, elevating mechanism 4 includes lifting body 41, is fixed on the second motor 44 of lifting body 41, with
And it is connected to the second linkage unit of the second motor 44 and lifting body 41.Wherein, the second motor 44 passes through the second linkage unit
The driving opposing frame 21 of lifting body 41 moves, and promotes the OQ t main body 41 of framework 21 to rise or decline.In the embodiment,
Lifting body 41 is fixed on chassis body 1, driving force caused by the second motor 44, is converted by lifting body 41 to framework
21, such that framework 21 can be risen or declined with OQ t main body 41, i.e., framework 21 rise with respect to chassis body 1 or
Decline.Jockey pulley 11 is fixed on chassis body 1, and the opposing frame 21 of roller 323 is fixed, and now framework 21 is with respect on chassis body 1
Rise or decline, that is, adjust the difference in height between roller 323 and jockey pulley 11.
Further, the elevating mechanism 4 also includes the guiding piece 421 being fixed on framework 21, and the guiding piece 421 is located at frame
In frame 21, it can be connected to by the bearing being fixed thereon or pinboard etc. on framework 21.Second linkage unit includes and guiding
The counterpart 431 that part 421 connects, wherein, counterpart 431 is under the driving of the second motor 44 along the axially opposing of guiding piece 421
It is mobile.In the present embodiment, counterpart 431 can be driven by the second linkage unit and rotate, then the counterguides of counterpart 431
421 rotate, such that the axial direction of whole framework 21 and roll wheel assembly along guiding piece 421 rises or declined.In an optional reality
Apply in example, the guiding piece 421 is screw mandrel, and counterpart 431 is feed screw nut, and the feed screw nut is connected on lifting body 41.
Second linkage unit also includes the second synchronizing wheel 432 on counterpart 431 and is sheathed on the He of the second motor 44
Second timing belt 433 of the second synchronizing wheel 432.Second motor 44 drives 432 turns of the second synchronizing wheel by the second timing belt 433
It is dynamic, to drive the counterguides 421 of counterpart 431 to rotate.Specifically, the rotating shaft end of second motor 44 is provided with synchronizing wheel, the
One end of two timing belts 433 is set in the synchronizing wheel of the second motor 44, and it is same that the other end of the second synchronizing wheel 432 is set in second
On step wheel 432, such second motor 44 can drive counterpart 431 to rotate.Certainly, in other embodiment of the present utility model
In, second linkage unit can also be that the cooperation of multiple gears is combined.In addition, second linkage unit also includes being arranged at the
The locating part 434 of the lower section of two synchronizing wheel 432, the second synchronizing wheel 432 is limited on counterpart 431.
In the utility model, lifting body 41 includes the upper supporting plate 411 and lower carrier plate 412 being oppositely arranged, upper supporting plate 411
Be fixedly connected with lower carrier plate 412 with chassis body 1, the second linkage unit between upper supporting plate 411 and the lower carrier plate 412,
The running of the protection linkage unit of motor driven second can be so played by the lifting body 41, avoids elevating mechanism 4 from operating
When wheel leg 2 in miscellaneous part interference.Wherein, block set 413 is equiped with the upper supporting plate 411, the support rod body of framework 21 is worn
It can slide in block set 413 and with respect to block set 413, can so be risen or fallen in order to the OQ t main body 41 of framework 21.
Further, the second linkage unit also includes the upper bearing (metal) 435 for being fixed on upper supporting plate 411, and is fixed on lower branch
The lower bearing 436 of plate 412.Wherein, the upper supporting plate 411 is matched with guiding piece 421 to be slided along guiding piece 421 by upper bearing (metal) 435
OK, lower carrier plate 412 is matched with guiding piece 421 to be slided along guiding piece 421 by lower bearing 436, so realizes lifting master
Body 41 after lifting body 41 is fixed on chassis body 1, can realize framework 21 with the axial movement of counterguides 421
Moved with respect to chassis body 1.
Mechanical arm 12 is also equiped with chassis body 1, jockey pulley 11 is fixed on mechanical arm 12 and is connected to chassis body 1
Together, the jockey pulley 11 is located at the front of wheel leg 2 by mechanical arm 12.In an alternative embodiment, the mechanical arm 12 is pivotally connected in
On chassis body 1, so that mechanical arm 12 is changed between vertical direction and horizontal direction.Wherein, the mechanical arm 12 and jockey pulley 11
Combining structure similar to undercarriage, when needing to use, mechanical arm 12 can be adjusted to horizontal direction；It need not make
Used time, mechanical arm 12 can be packed up in vertical direction, can so reduce the space shared by the chassis vehicle 10.
In another alternative embodiment, mechanical arm 12 includes being fixed on the first arm of chassis body 1 and is fixed with jockey pulley
11 the second arm；Wherein, the first arm and the second arm can be controlled ground relative motion, so that mechanical arm 12 has adjustable length
Degree.Certainly, the mechanical arm 12 is not limited to two-part arm, can also collapsing length according to demand, the first arm and the second arm it
Between be provided with multiple arm configurations, in the embodiment, mechanical arm 12 can also be designed as stretching structure, when it is desired to be used, by
Two arms are extracted out from the first arm, to increase the length of mechanical arm 12；When need not in use, by second the first arm of arm retraction,
To shorten the length of mechanical arm 12.Wherein, the fit system of both relative telescopics be applied to the first arm of the present utility model and
Second arm, just differ an illustration herein.
Further, jockey pulley 11 also includes the sensor unit (not shown) that is arranged on, to obtain jockey pulley 11 with
The distance between ground.In the present embodiment, the sensor unit can be photoelectric sensor.Accordingly, filled on chassis body 1
Provided with control unit (not shown), control unit is electrically connected with sensor unit, to obtain the signal of sensor unit
Walking mechanism and elevating mechanism 4 is controlled to operate afterwards.Wherein, when the sensor unit on jockey pulley 11 senses jockey pulley 11 away from ground
When distance is more than or less than preset value, sensor unit sends signal to control unit, and control unit control elevating mechanism 4 is transported
Make.Such as：When the distance that photoelectric sensor is detected is more than default difference in height, control unit between jockey pulley 11 and roller 323
Elevating mechanism 4 can be controlled so that the difference in height between roller 323 and jockey pulley 11 reaches the distance that photoelectric sensor is detected, so as to
Reach each wheel leg 2 individually to be controlled according to landform, cooperated between multiple wheel legs 2.
The measuring unit (not shown) being electrically connected with control unit is also equiped with chassis body 1, to the bottom obtained
The state value of disc main body 1, the state value can include three-dimension altitude angle (or angular speed) and acceleration of chassis body 1 etc..
Wherein, the state value of chassis body 1 of the control unit according to acquired in measuring unit, walking mechanism and elevating mechanism 4 is controlled to transport
Make.In an alternative embodiment, the measuring unit is Inertial Measurement Unit, and chassis vehicle 10 of the present utility model passes through inertia measurement
The attitude information of the real-time acquisition chassis body 1 of unit, and by each wheel leg 2 of control of control unit, to keep or turn
Change the posture of a certain type into.Such as：In different types of detection landform, control unit coordinates with Inertial Measurement Unit, leads to
The control of control unit is crossed so that the chassis body 1 remains horizontality, so as to avoid influenceing carry sniffing robot
Work.
In an embodiment of the present utility model, the wheel leg 2 of chassis vehicle 10 is four, including two preceding wheel legs 2 and two
Wheel leg 2 afterwards.Wherein, left front wheel leg 2 is identical with the structure of off hind wheel leg 2, and off-front wheel leg 2 is identical with the structure of left back wheel leg 2, left
The structure specular of the structure specular of preceding wheel leg 2 and off-front wheel leg 2, left back wheel leg 2 and off hind wheel leg 2.It is corresponding, machine
Tool arm 12 and jockey pulley 11 are four, before each jockey pulley 11 is installed in corresponding wheel leg 2 by mechanical arm 12.Certainly, this practicality is new
The chassis vehicle 10 of type is not limited to four wheel legs 2, can include any number of wheel leg 2 according to the size of chassis body 1, each
The structure of wheel leg 2 just repeats no more herein as shown in above-mentioned embodiment.
Carrying out practically for chassis vehicle 10 is, it is necessary to control unit, measuring unit, sensor unit, each wheel leg 2 and auxiliary
11 mutual coordinateds are taken turns to complete.The utility model specifically describes by taking the up/down steps of chassis vehicle 10 as an example：Light on jockey pulley 11
When electric transducer detects step, jockey pulley 11 can be made to be located on upper single order step, the near front wheel is then controlled by control unit
Leg and the lifting of off-front wheel leg；Jockey pulley corresponding to wheel leg is located at step after photoelectric sensor after two in wheel leg detects two
Afterwards, by wheel leg after lifting two, in the operation, by the difference in height between constantly regulate jockey pulley 11 and roller 323 come
Realize the climbing for completing top bar.The process got out of a predicament or an embarrassing situation is with the regulating step of top bar on the contrary, principle is identical with top bar, herein
Just no longer describe in detail.In addition, in whole motion process, chassis body 1 is begun by the cooperation of control unit and measuring unit
Whole keep level (or other any postures) is stable, wherein, control unit is additionally operable to control the carry out speed of roller 323 to coordinate
The regulation of wheel leg 2.
Each wheel leg is set to independent lifting module by chassis vehicle of the present utility model, is not interfere with each other on mechanism kinematic,
Cooperated in motion control, wheel leg, to adapt to the landform of different situations, makes chassis vehicle to pass through by deforming
The landform such as upward slope, descending, uneven, being capable of easily across obstacle, step etc., while can also be protected constantly during traveling
The horizontal stability on chassis is demonstrate,proved, be particularly suitable for use in head car, lunar rover, crusing robot etc. need the robot of carry equipment.
Those skilled in the art will readily occur to this practicality after considering specification and putting into practice utility model disclosed herein
New other embodiments.The application is intended to any modification, purposes or adaptations of the present utility model, these
Modification, purposes or adaptations follow general principle of the present utility model and including undocumented skills of the utility model
Common knowledge or conventional techniques in art field.Description and embodiments be considered only as it is exemplary, it is of the present utility model
True scope and spirit are pointed out by claims hereof.
It should be appreciated that the accurate knot that the utility model is not limited to be described above and is shown in the drawings
Structure, and various modifications and changes can be being carried out without departing from the scope.The scope of the utility model only will by appended right
Ask to limit.
Claims (25)
1. a kind of chassis vehicle, including：Chassis body and to support the wheel leg of the chassis body；It is characterized in that, described
Wheel leg includes framework and walking mechanism, elevating mechanism and roll wheel assembly on the framework；Wherein, the roller group
Part includes roller, and the walking mechanism is connected with the roll wheel assembly and rolls the roller, and the chassis body is provided with
Jockey pulley, the framework can be adjusted by the elevating mechanism and moved up and down relative to the chassis body, so that described auxiliary
There is adjustable difference in height between wheel and the roller.
2. chassis vehicle according to claim 1, it is characterised in that the walking mechanism includes the first motor, and connection
In first motor and the first linkage unit of the roll wheel assembly；Wherein, first motor links by described first
Roller described in Component driver rotates.
3. chassis vehicle according to claim 2, it is characterised in that the roll wheel assembly also includes being fixed on the framework
Axle block, with the axle block pivot joint wheel shaft；Wherein, the roller is rotationally connected with the axle block by the wheel shaft
On.
4. chassis vehicle according to claim 3, it is characterised in that the roll wheel assembly also includes on the wheel shaft
First synchronizing wheel, first motor drives first synchronizing wheel to rotate by first linkage unit, with described in drive
Roller rotates.
5. chassis vehicle according to claim 3, it is characterised in that the wheel leg also includes the protection on the framework
Wheel assembly, the protection wheel assembly are located at the outside of the axle block.
6. chassis vehicle according to claim 5, it is characterised in that the protection wheel assembly includes protective plate, and respectively
Guard sheaver located at the protective plate both ends.
7. chassis vehicle according to claim 1, it is characterised in that the roller is McCrum wheel.
8. chassis vehicle according to claim 4, it is characterised in that first linkage unit includes the first timing belt, institute
The one end and the first motor drive connection, the other end of first timing belt for stating the first timing belt are sheathed on described first
In synchronizing wheel.
9. chassis vehicle according to any one of claim 1 to 8, it is characterised in that the elevating mechanism, which includes lifting, to be led
Body, is fixed on the second motor of the lifting body, and is connected to the second of second motor and the lifting body
Dynamic component；Wherein, second motor drives the relatively described frame movement of lifting body by second linkage unit,
The relatively described lifting body of the framework is promoted to rise or decline.
10. chassis vehicle according to claim 9, it is characterised in that the elevating mechanism also includes being fixed on the framework
On guiding piece；Second linkage unit includes the counterpart being connected with the guiding piece；Wherein, the counterpart is described
The axially opposing movement of guiding piece described in the driving lower edge of second motor.
11. chassis vehicle according to claim 10, it is characterised in that second linkage unit also includes matching somebody with somebody located at described
The second synchronizing wheel on component and it is sheathed on second motor and the second timing belt of second synchronizing wheel；Second electricity
Machine drives second synchronizing wheel to rotate by second timing belt, to drive the relatively described guiding piece of the counterpart to turn
It is dynamic.
12. the chassis vehicle according to claim 10 or 11, it is characterised in that the guiding piece is screw mandrel, the counterpart
For feed screw nut.
13. chassis vehicle according to claim 11, it is characterised in that second linkage unit is also described including being arranged at
Locating part below second synchronizing wheel.
14. chassis vehicle according to claim 10, it is characterised in that the lifting body includes the upper supporting plate being oppositely arranged
And lower carrier plate, the upper supporting plate and lower carrier plate are fixedly connected with the chassis body, second linkage unit is located on described
Between support plate and the lower carrier plate.
15. chassis vehicle according to claim 14, it is characterised in that block set, the framework are equiped with the upper supporting plate
Including support rod body, the support rod body is arranged in block set and can relatively described block set slip.
16. chassis vehicle according to claim 14, it is characterised in that second linkage unit is also described including being fixed on
The upper bearing (metal) of upper supporting plate, and it is fixed on the lower bearing of the lower carrier plate；
Wherein, the upper supporting plate is matched with the guiding piece to be slided along the guiding piece by the upper bearing (metal)；The lower branch
Plate is matched with the guiding piece to be slided along the guiding piece by the lower bearing.
17. chassis vehicle according to claim 9, it is characterised in that mechanical arm is also equiped with the chassis body, it is described
Jockey pulley is fixed on the mechanical arm and linked together with the chassis body.
18. chassis vehicle according to claim 17, it is characterised in that the mechanical arm is pivotally connected in the chassis master
On body, so that the mechanical arm is changed between vertical direction and horizontal direction.
19. chassis vehicle according to claim 18, it is characterised in that the mechanical arm includes being fixed on the chassis body
The first arm and be fixed with the second arm of the jockey pulley；Wherein, first arm and second arm can be controlled it is relative
Motion, so that the mechanical arm has adjustable length.
20. chassis vehicle according to claim 1, it is characterised in that the jockey pulley also includes the sensor being arranged on
Unit.
21. chassis vehicle according to claim 20, it is characterised in that the sensor unit is photoelectric sensor.
22. chassis vehicle according to claim 20, it is characterised in that control unit, institute are equiped with the chassis body
State control unit to be electrically connected with the sensor unit, to control the row after the signal of the sensor unit is obtained
Enter mechanism and elevating mechanism running.
23. chassis vehicle according to claim 22, it is characterised in that be also equiped with the chassis body and the control
The measuring unit that unit is electrically connected with, to the state value of the chassis body obtained；Wherein, described control unit is according to the survey
The state value of the chassis body acquired in unit is measured, controls the walking mechanism and the elevating mechanism to operate.
24. chassis vehicle according to claim 23, it is characterised in that the measuring unit is Inertial Measurement Unit.
25. chassis vehicle according to claim 22, it is characterised in that the wheel leg is four, including two preceding wheel legs and
Wheel leg after two；The jockey pulley is four, before each jockey pulley is installed in the corresponding wheel leg；
Wherein, it is more than or less than in advance when the sensor unit on the jockey pulley senses distance of the jockey pulley away from ground
If during value, the sensor unit sends signal to described control unit, described control unit controls the elevating mechanism running.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720068303.6U CN206749955U (en) | 2017-01-18 | 2017-01-18 | Chassis vehicle |
| PCT/CN2017/077392 WO2018133191A1 (en) | 2017-01-18 | 2017-03-20 | Chassis vehicle |
| CN201780052926.7A CN109641628A (en) | 2017-01-18 | 2017-03-20 | Chassis vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720068303.6U CN206749955U (en) | 2017-01-18 | 2017-01-18 | Chassis vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206749955U true CN206749955U (en) | 2017-12-15 |
Family
ID=60607292
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720068303.6U Expired - Fee Related CN206749955U (en) | 2017-01-18 | 2017-01-18 | Chassis vehicle |
| CN201780052926.7A Pending CN109641628A (en) | 2017-01-18 | 2017-03-20 | Chassis vehicle |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780052926.7A Pending CN109641628A (en) | 2017-01-18 | 2017-03-20 | Chassis vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN206749955U (en) |
| WO (1) | WO2018133191A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423090A (en) * | 2018-05-09 | 2018-08-21 | 北京林业大学 | One kind adaptively adjusting steady wheel leg type barrier-exceeding vehicle |
| CN108639187A (en) * | 2018-07-04 | 2018-10-12 | 哈工大机器人（昆山）有限公司 | It is a kind of weigh, can electromagnetic adsorption shelf AGV system |
| CN109008828A (en) * | 2018-09-13 | 2018-12-18 | 西南石油大学 | A kind of stair cleaning machine device people mobile based on Mecanum wheel |
| CN109131618A (en) * | 2018-09-10 | 2019-01-04 | 华南理工大学 | A kind of lifting chassis and its operation method based on ball screw |
| CN109567681A (en) * | 2018-12-31 | 2019-04-05 | 龙祖祥 | It can lifting type corridor and level land clean robot |
| CN113232738A (en) * | 2021-06-25 | 2021-08-10 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
| CN113352291A (en) * | 2020-03-06 | 2021-09-07 | 广东博智林机器人有限公司 | Mobile chassis and robot |
| CN113492911A (en) * | 2021-07-05 | 2021-10-12 | 上海擎朗智能科技有限公司 | Chassis, mobile robot and pit-crossing and bank-crossing method thereof |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220024531A1 (en) * | 2018-10-16 | 2022-01-27 | Michael Traut | Lifting Device For The Translational Progressive Movement Of A Motor Vehicle |
| CN110525532A (en) * | 2019-08-16 | 2019-12-03 | 东南大学 | A kind of set pillar barrier-surpassing robot based on Mecanum wheel |
| CN112873219A (en) * | 2021-01-05 | 2021-06-01 | 上海建冶科技股份有限公司 | Intelligent anti-corrosion robot for cable maintenance |
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|---|---|---|---|---|
| JPH07125660A (en) * | 1993-06-25 | 1995-05-16 | Daikin Mfg Co Ltd | Stairs ascending and descending car |
| US5507358A (en) * | 1993-06-04 | 1996-04-16 | Kabushiki Kaisha Daikin Seisakusho | Stair climbing vehicle |
| JP2010064501A (en) * | 2008-09-08 | 2010-03-25 | Toyota Central R&D Labs Inc | Wheel traveling body |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN105644647A (en) * | 2014-11-14 | 2016-06-08 | 褚秀清 | Obstacle crossing type multifunctional heavy load dismounting and mounting machine |
| CN104787145B (en) * | 2015-04-20 | 2017-02-01 | 哈尔滨工业大学 | Wheel switching mechanism for mobile robot |
| CN104773226B (en) * | 2015-04-20 | 2017-03-08 | 哈尔滨工业大学 | The sufficient change type mobile-robot system of wheel |
| CN106184455A (en) * | 2015-04-29 | 2016-12-07 | 青岛通产智能机器人有限公司 | The biped wheeled robot of wheeled lifting type |
| CN105383586B (en) * | 2015-11-23 | 2018-11-16 | 上海交通大学 | Crawler leg composite movable robot |
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2017
- 2017-01-18 CN CN201720068303.6U patent/CN206749955U/en not_active Expired - Fee Related
- 2017-03-20 WO PCT/CN2017/077392 patent/WO2018133191A1/en active Application Filing
- 2017-03-20 CN CN201780052926.7A patent/CN109641628A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423090A (en) * | 2018-05-09 | 2018-08-21 | 北京林业大学 | One kind adaptively adjusting steady wheel leg type barrier-exceeding vehicle |
| CN108639187A (en) * | 2018-07-04 | 2018-10-12 | 哈工大机器人（昆山）有限公司 | It is a kind of weigh, can electromagnetic adsorption shelf AGV system |
| CN109131618A (en) * | 2018-09-10 | 2019-01-04 | 华南理工大学 | A kind of lifting chassis and its operation method based on ball screw |
| CN109008828A (en) * | 2018-09-13 | 2018-12-18 | 西南石油大学 | A kind of stair cleaning machine device people mobile based on Mecanum wheel |
| CN109567681A (en) * | 2018-12-31 | 2019-04-05 | 龙祖祥 | It can lifting type corridor and level land clean robot |
| CN113352291A (en) * | 2020-03-06 | 2021-09-07 | 广东博智林机器人有限公司 | Mobile chassis and robot |
| CN113232738A (en) * | 2021-06-25 | 2021-08-10 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
| CN113232738B (en) * | 2021-06-25 | 2022-03-25 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
| CN113492911A (en) * | 2021-07-05 | 2021-10-12 | 上海擎朗智能科技有限公司 | Chassis, mobile robot and pit-crossing and bank-crossing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018133191A1 (en) | 2018-07-26 |
| CN109641628A (en) | 2019-04-16 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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