CN211252837U - Terrain self-adaptive variable-configuration mobile eight-wheel detection robot - Google Patents
Terrain self-adaptive variable-configuration mobile eight-wheel detection robot Download PDFInfo
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- CN211252837U CN211252837U CN201922357754.3U CN201922357754U CN211252837U CN 211252837 U CN211252837 U CN 211252837U CN 201922357754 U CN201922357754 U CN 201922357754U CN 211252837 U CN211252837 U CN 211252837U
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Abstract
The utility model belongs to the field of detection robots, in particular to a terrain adaptive deformation mobile eight-wheel detection robot, which comprises a vehicle body, suspensions, independent driving wheels and a control system, wherein the control system is arranged inside the vehicle body, two independent driving wheels are a group and are arranged on one suspension, the suspensions are connected with a suspension motor arranged inside the vehicle body through a connecting shaft, and the connecting shaft is rotationally arranged in a hollow shaft fixed on the vehicle body; the control system can control the eight independent driving wheels to move respectively, and the suspension can complete deformation through different actions and coordination of the wheels so as to adapt to the complex terrain. The utility model discloses simple structure, the slim and graceful compactness of overall structure, the motion is nimble, and control is exquisite, and the self-adaptation of suspension and the independent control of deformation and eight rounds can make the robot have stronger topography adaptability.
Description
Technical Field
The utility model belongs to the detection robot field, specifically speaking are eight round detection robot are removed to topography self-adaptation morphism.
Background
With the rapid development of robot technology, there is an increasing demand for special robots that can perform tasks in complex environments. Eight rounds of self-adaptation robots have higher adaptability to complicated topography, and eight motors are independently driven mode power is powerful, has higher topography throughput and mobility.
Robots with different configurations are researched and developed at home and abroad, but few robots which can adapt to the environment are available, so that the development of the robots is limited, and the working environment of the robots is limited.
SUMMERY OF THE UTILITY MODEL
In order to satisfy the demand that the robot can the self-adaptation to different environment, the utility model aims to provide a topography self-adaptation morphable form removes eight rounds of detection robot.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a vehicle body, hollow shafts, suspensions, independent driving wheels and a suspension motor, wherein two independent driving wheels are in a group and are arranged on one suspension in front and back to form a suspension system; suspension motors which are the same in number as the suspension systems and correspond to the suspension systems one by one are respectively installed in the vehicle body, and the output end of each suspension motor is connected with the corresponding suspension in the suspension system outside through a connecting shaft which is rotatably installed in the hollow shaft; the independent driving wheel comprises a motor, a suspension mounting plate, a motor mounting sleeve, a wheel hub and a wheel, the wheel hub is fixedly connected in the wheel, the motor mounting sleeve is rotatably mounted in the wheel hub, the motor is fixedly connected in the motor mounting sleeve, the output end of the motor is connected with the wheel hub, and the wheel is driven to rotate by the motor; one end of the suspension mounting plate is mounted on the motor mounting sleeve, and the other end of the suspension mounting plate is connected with the suspension.
Wherein: the motor mounting sleeve is rotatably mounted inside the wheel hub through a bearing, a cover plate mounted on the wheel hub is arranged above the bearing, and a clamp spring mounted on the motor mounting sleeve is arranged below the bearing.
The upper end and the lower end of the motor installation sleeve are rotatably connected with the wheel hub through bearings, a sleeve sleeved outside the motor installation sleeve is arranged between the bearings at the two ends, the inner ring of each bearing at the two ends is axially limited through the sleeve, the clamp spring and a shaft shoulder on the motor installation sleeve, and the outer ring of each bearing at the two ends is axially limited through the stop openings on the inner surfaces of the cover plate and the wheel hub.
The motor extends out of one end of the suspension mounting plate, and the outer part of the extending part is covered with a motor protective cover fixed on the suspension mounting plate.
The output end of the motor is connected with a hub connecting flange through a coupler, and the hub connecting flange is fixedly connected in the hub.
The suspension is inverted V-shaped, the bottom of the V-shaped suspension is connected with a suspension motor through the connecting shaft, and two sides of the opening end of the V-shaped suspension are respectively connected with the independent driving wheels.
The length of one side of the V-shaped part facing outwards is greater than that of the other side facing inwards.
And wiring holes for wiring the wires of the power supply machine are symmetrically formed in the vehicle body on two sides of each hollow shaft.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses a detection robot simple structure, the slim and graceful compactness of overall structure, the motion is nimble, and control is exquisite, and suspension's adjustable and adaptive capacity can make the robot have stronger topography and pass through the ability.
2. The utility model discloses a mode that carries out independent control and coordination to the motor on the eight independent drive wheels accomplishes the deformation of suspension.
3. The utility model discloses break traditional wheeled robot's deformation mode, make wheeled robot's development range broader.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the independent driving wheel of the present invention;
FIG. 3 is a front view of the structure of the independent driving wheel of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
fig. 5A is one of schematic diagrams of a suspension deformation state at one side of the vehicle body of the present invention;
fig. 5B is a second schematic view of a suspension deformation state at one side of the vehicle body according to the present invention;
fig. 5C is a third schematic view of a suspension deformation state of one side of the vehicle body according to the present invention;
FIG. 5D is a fourth schematic view showing a suspension deformation state of one side of the vehicle body according to the present invention;
wherein: the bicycle comprises a bicycle body 1, a hollow shaft 2, a suspension 3, an independent driving wheel 4, a motor protective cover 5, a motor 6, a suspension mounting plate 7, a motor mounting sleeve 8, a cover plate 9, a bearing 10, a sleeve 11, a hub 12, a coupling 13, a clamp spring 14, a hub connecting flange 15, a wheel 16 and a wiring hole 17.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model comprises a vehicle body 1, hollow shafts 2, a suspension 3, independent driving wheels 4, a suspension motor, an attitude sensor and a control system, wherein two independent driving wheels 4 are in a group and are installed on one suspension 3 from front to back to form a suspension system, two hollow shafts 2 are respectively installed on the left side and the right side of the vehicle body 1, each hollow shaft 2 corresponds to one suspension system, namely four hollow shafts 2 correspond to four suspension systems, and the four suspension systems are provided with eight independent driving wheels 4; the vehicle body 1 is internally provided with suspension motors which are the same with the suspension systems in quantity and are in one-to-one correspondence, and the output end of each suspension motor is connected with the suspension 3 in the suspension system corresponding to the outside through a connecting shaft which is rotatably arranged in the hollow shaft 2.
As shown in fig. 1-4, independent drive wheel 4 of this embodiment includes motor protective cover 5, motor 6, suspension mounting panel 7, motor installation sleeve 8, apron 9, bearing 10, sleeve 11, wheel hub 12, shaft coupling 13, jump ring 14, wheel hub flange 15 and wheel 16, this wheel hub 12 rigid coupling is in wheel 16, motor installation sleeve 8 rotates through bearing 10 and installs inside wheel hub 12, motor 6 passes through the screw rigid coupling in motor installation sleeve 8, this motor 6's output is connected with wheel hub flange 15 through shaft coupling 13, this wheel hub flange 15 rigid coupling is in wheel hub 12, it is rotatory to drive wheel hub 12 and then drive wheel 16 through motor 6. One end of the suspension mounting plate 7 is fixed on the top of the motor mounting sleeve 8 through a screw, and the other end is connected with the suspension 3. The number of the bearings 10 is two, and the upper end and the lower end of the motor mounting sleeve 8 are rotatably connected with the hub 12 through the bearings 10; a cover plate 9 arranged on a wheel hub 12 is arranged above the bearing 10 positioned above, a through hole is formed in the middle of the cover plate 9, and the top of the motor mounting sleeve 8 extends out of the through hole; the clamp spring 14 arranged on the motor mounting sleeve 8 is arranged below the lower bearing 10, the sleeve 11 sleeved outside the motor mounting sleeve 8 is arranged between the bearings 10 at the two ends, the inner rings of the bearings 10 at the two ends are axially limited through the sleeve 11, the clamp spring 14 and a shaft shoulder on the motor mounting sleeve 8, and the outer rings of the bearings 10 at the two ends are axially limited through the cover plate 9 and a seam allowance on the inner surface of the wheel hub 12.
The motor 6 of this embodiment is extended from one end of the suspension mounting plate 7, and the outside of the extended portion is covered with the motor protection cover 5 fixed on the suspension mounting plate 7, and the motor protection cover 5 plays a role of dust prevention and motor rotor protection.
The suspension 3 of this embodiment is an inverted "V" shape, the bottom of the "V" shape is connected with the suspension motor through a connecting shaft, and two sides of the "V" shape open end are respectively connected with independent driving wheels 4. The length of one side of the V-shaped part facing outwards is greater than that of the other side facing inwards.
The attitude sensor and the control system of the present embodiment are respectively installed inside the vehicle body 1, and the attitude sensor, the four suspension motors and the motors 6 of the eight independent driving wheels 4 are respectively connected with the control system; the vehicle body 1 on both sides of each hollow shaft 2 is symmetrically provided with wiring holes 17, and the motor 6 on the independent driving wheel 4 is wired through the wiring holes 17 and is connected with a control system. The control system can control the eight independent driving wheels 4 to move respectively, and the suspension 3 can complete deformation through different actions and coordination of the independent driving wheels 4 so as to adapt to the complex terrain.
The utility model discloses a theory of operation does:
after attitude sensor detected automobile body 1's attitude signal, the transmission was for control system (the utility model discloses a control system is prior art), and control system drives four suspension system work respectively according to the work of each suspension motor of signal control received. The motors 6 on the eight independent driving wheels 4 are also respectively connected with the control system, and the control system respectively controls the motors 6 to work, so as to drive the independent driving wheels 4 to rotate.
The utility model discloses at the during operation, through the drive respectively of four suspension motors, can make the detection robot realize the different deformation state that hangs. Taking the suspension deformation state of one side of the vehicle body 1 as an example, as shown in fig. 5A, the four independent driving wheels 4 on one side have the same height; as shown in fig. 5B, the suspension motor at the front side drives the suspension 3 to rotate clockwise, the suspension motor at the rear side drives the suspension 3 to rotate anticlockwise, and after the suspension motor rotates to the right, the outward independent driving wheel 4 in the front side suspension system and the outward independent driving wheel 4 in the rear side suspension system have the same height; as shown in fig. 5C, the suspension motor at the front side drives the suspension 3 to rotate counterclockwise, the suspension motor at the rear side drives the suspension 3 to rotate clockwise, and after the suspension motor rotates to the position, the height of the inward independent driving wheel 4 in the front side suspension system is the same as that of the inward independent driving wheel 4 in the rear side suspension system; as shown in fig. 5D, the suspension motor at the front side and the suspension motor at the rear side both drive the respective suspensions 3 to rotate clockwise, and after the rotation to the right, the heights of the independent driving wheels 4 facing outwards in the two suspension systems are the same. Through the coordinated action of eight independent drive wheels 4, can make one side suspension reach above-mentioned four kinds of states, the automobile body both sides suspension makes up and can possess up to sixteen kinds of whole car suspension states, has very high topography adaptability and topography throughput, can select suitable suspension state to cross the obstacle in the topography of difference.
Claims (8)
1. A terrain adaptive configuration-variable mobile eight-wheel detection robot is characterized in that: the vehicle comprises a vehicle body (1), hollow shafts (2), suspensions (3), independent driving wheels (4) and suspension motors, wherein the two independent driving wheels (4) form a group, the two independent driving wheels are arranged on one suspension (3) in a front-back mode to form a suspension system, the left side and the right side of the vehicle body (1) are respectively provided with the two hollow shafts (2), and each hollow shaft (2) corresponds to one suspension system; suspension motors which are the same in number as the suspension systems and correspond to the suspension systems one by one are respectively installed in the vehicle body (1), and the output end of each suspension motor is connected with a suspension (3) in the corresponding suspension system outside through a connecting shaft which is rotatably installed in the hollow shaft (2); the independent driving wheel (4) comprises a motor (6), a suspension mounting plate (7), a motor mounting sleeve (8), a wheel hub (12) and a wheel (16), the wheel hub (12) is fixedly connected in the wheel (16), the motor mounting sleeve (8) is rotatably mounted in the wheel hub (12), the motor (6) is fixedly connected in the motor mounting sleeve (8), the output end of the motor (6) is connected with the wheel hub (12), and the wheel (16) is driven to rotate through the motor (6); one end of the suspension mounting plate (7) is mounted on the motor mounting sleeve (8), and the other end of the suspension mounting plate is connected with the suspension (3).
2. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 1, wherein: the motor mounting sleeve (8) is rotatably mounted inside the wheel hub (12) through a bearing (10), a cover plate (9) mounted on the wheel hub (12) is arranged above the bearing (10), and a clamp spring (14) mounted on the motor mounting sleeve (8) is arranged below the bearing (10).
3. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 2, wherein: the upper end and the lower end of the motor installation sleeve (8) are rotatably connected with the hub (12) through bearings (10), sleeves (11) outside the motor installation sleeve (8) are sleeved between the bearings (10) at the two ends, the inner ring of each bearing (10) is axially limited through shaft shoulders on the sleeves (11), the clamp springs (14) and the motor installation sleeve (8), and the outer ring of each bearing (10) is axially limited through spigots on the inner surfaces of the cover plate (9) and the hub (12).
4. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 1, wherein: the motor (6) extends out of one end of the suspension mounting plate (7), and the outer part of the extending part is covered with a motor protective cover (5) fixed on the suspension mounting plate (7).
5. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 1, wherein: the output end of the motor (6) is connected with a hub connecting flange (15) through a coupler (13), and the hub connecting flange (15) is fixedly connected in the hub (12).
6. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 1, wherein: the suspension (3) is inverted V-shaped, the bottom of the V-shaped suspension is connected with a suspension motor through the connecting shaft, and two sides of the opening end of the V-shaped suspension are respectively connected with the independent driving wheels (4).
7. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 6, wherein: the length of one side of the V-shaped part facing outwards is greater than that of the other side facing inwards.
8. The terrain adaptive variable-configuration mobile eight-wheel detection robot of claim 1, wherein: wire routing holes (17) for wiring wires of the power supply machine (6) are symmetrically formed in the vehicle body (1) on two sides of each hollow shaft (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922357754.3U CN211252837U (en) | 2019-12-25 | 2019-12-25 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
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| CN201922357754.3U CN211252837U (en) | 2019-12-25 | 2019-12-25 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
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| CN211252837U true CN211252837U (en) | 2020-08-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
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- 2019-12-25 CN CN201922357754.3U patent/CN211252837U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
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