CN212290017U - Security robot chassis - Google Patents
Security robot chassis Download PDFInfo
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- CN212290017U CN212290017U CN202020841629.XU CN202020841629U CN212290017U CN 212290017 U CN212290017 U CN 212290017U CN 202020841629 U CN202020841629 U CN 202020841629U CN 212290017 U CN212290017 U CN 212290017U
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Abstract
The utility model discloses a security protection robot chassis, including the frame, front axle subassembly and rear axle subassembly are installed respectively to the preceding, the rear end of frame, still install on the frame and turn to subassembly and control assembly, and during turning to, control assembly controls the front axle subassembly through turning to the subassembly and turns to, rotates through control rear axle subassembly and drives the front axle subassembly and rotate simultaneously to the rear wheel speed all accords with ackerman corner theory basically when making the front wheel angular position of front axle subassembly, and the rear axle subassembly turns to. The utility model ensures that the front wheel and the rear wheel both roll when the chassis of the security robot turns, and reduces the steering force, thereby reducing the power of the motor; the steering assembly has compact and stable structure, stable steering motion and good steering performance, the front axle assembly adopts an independent suspension and forms a four-bar mechanism, the rear axle assembly adopts a non-independent suspension, and four wheels are all damped, so that the robot has stable body and small vibration when crossing obstacles, and the safety of an electric control element is ensured.
Description
Technical Field
The utility model relates to a security protection robot technical field, especially a security protection robot chassis.
Background
In a traditional security system, people's air defense and object defense are main protection means (mostly realized in a mode of fixing a camera and manually patrolling on duty), although the technology is easy to realize, the traditional security system is difficult to realize the modern security requirements along with the problems of increased aging population, sudden rise of labor cost, high loss rate of security personnel and the like. Under the promotion of a new concept of 'robot + security protection', the security protection industry is in a new development opportunity, and new blood is given to intelligent security protection.
Security protection robot need have remove rapidly, turn to multiple functions such as the performance is good, four-wheel shock attenuation, need carry out important design to its chassis, to these functions, the utility model provides a security protection robot chassis.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a security protection robot chassis to solve the problem that proposes in the above-mentioned technical background.
In order to achieve the above object, the present invention provides a method for manufacturing a semiconductor device, comprising:
a security robot chassis comprises a frame, wherein a front axle assembly and a rear axle assembly are respectively mounted at the front end and the rear end of the frame, the front axle assembly adopts an independent suspension structure, the rear axle assembly adopts a non-independent suspension, a steering assembly and a control assembly are further mounted on the frame, and the steering assembly comprises a front encoder, a front encoder fixing plate, a steering motor, a steering shaft, two rocker plates, a bearing seat fixing plate, two steering upper knuckle bearings, two steering pull rods and two steering lower knuckle bearings;
the steering motor is fixed above the front end of the frame, a steering shaft is fixedly connected with an output hollow shaft end of the steering motor in a penetrating manner, one end of the steering shaft, which is close to the steering motor, is connected with a front encoder, the front encoder is fixed on the frame through a front encoder fixing plate, one end of the steering shaft, which is far away from the steering motor, is connected with a bearing block, the bearing block is connected with a bearing block fixing plate, the bearing block fixing plate is fixed below the front end of the frame, a rocker steering mechanism consisting of two rocker plates which are arranged in an up-and-down symmetrical manner is arranged at the middle end of the steering shaft, the rocker steering mechanism is fixedly connected with the steering shaft, and two end parts of the rocker steering mechanism in; the hole end of each steering upper joint bearing is connected with the end part of the corresponding rocker steering mechanism;
the shaft end of each steering upper knuckle bearing is connected to one end of a steering pull rod, the other end of each steering pull rod is connected to the shaft end of a steering lower knuckle bearing, and the hole end of each steering lower knuckle bearing is connected to a left knuckle or a right knuckle of a front axle assembly;
when the steering mechanism is used for steering, the control assembly controls the front axle assembly to steer through the steering assembly, and simultaneously drives the front axle assembly to rotate through controlling the rear axle assembly to rotate, so that the angle position of the front wheel of the front axle assembly and the speed of the rear wheel of the rear axle assembly during steering all accord with the Ackerman corner theory.
In the technical scheme, the front axle assemblies are symmetrically arranged at the front end of the frame and comprise two front wheels, two bearing flange seats, a left steering knuckle, a right steering knuckle, two upper steering knuckle plates, two lower steering knuckle plates, two upper suspension arms, two lower suspension arms, an upper suspension fixing plate, a lower suspension fixing plate, two front wheel shock absorbers and two front shock absorber fixing plates;
the upper suspension fixing plate and the lower suspension fixing plate are symmetrically arranged in the middle of the front end of the frame from top to bottom, the left end and the right end of the upper suspension fixing plate are symmetrically connected with a U-shaped upper suspension arm respectively, the open end of each U-shaped upper suspension arm is fixedly connected with the upper suspension fixing plate, and the closed end of each U-shaped upper suspension arm is fixedly connected with an upper steering knuckle plate; the left end and the right end of the lower suspension fixing plate are symmetrically connected with a triangular beam column structure formed by lower suspension arms respectively, one end of each lower suspension arm is fixedly connected with the lower suspension fixing plate, and the other end of each lower suspension arm is fixedly connected with a lower steering knuckle plate;
a left steering knuckle is arranged between an upper steering knuckle plate and a lower steering knuckle plate which are positioned at the left end of an upper suspension fixing plate, a right steering knuckle is arranged between the upper steering knuckle plate and the lower steering knuckle plate which are positioned at the right end of the upper suspension fixing plate, two ends of a left steering knuckle vertical shaft are respectively and rotatably connected with an upper steering knuckle plate and a lower steering knuckle plate which correspond to the left steering knuckle vertical shaft, two ends of a right steering knuckle vertical shaft are respectively and rotatably connected with another upper steering knuckle plate and another lower steering knuckle plate which correspond to the right steering knuckle vertical shaft, the ends of transverse shafts of the left steering knuckle and the right steering knuckle are respectively connected with a bearing flange seat, and each bearing flange seat is connected with a front wheel which corresponds to the bearing flange seat; the connecting rods arranged on one sides of the left steering knuckle and the right steering knuckle facing the rear axle assembly are fixedly connected with the hole end of a steering lower knuckle bearing corresponding to the connecting rods;
each lower suspension arm is also connected with a front wheel shock absorber, one end of each front wheel shock absorber is connected with the middle part of the corresponding lower suspension arm, the other end of each front wheel shock absorber penetrates through the U-shaped upper suspension arm to be connected with a front shock absorber fixing plate, and each front shock absorber fixing plate is installed on the frame.
In the technical scheme, the rear axle assembly comprises a rear frame, a rear encoder, two rear wheels, a rear axle motor, two rear wheel shock absorbers, two rear shock absorber fixing plates, two joint bearings, two joint bearing fixing plates and two rear axle motor fixing plates;
the left end and the right end of one side, close to the front axle assembly, of the rear frame are respectively connected with a joint bearing, the shaft end of each joint bearing is connected with the rear frame, the hole end of each joint bearing is connected with a joint bearing fixing plate, and each joint bearing fixing plate is fixedly connected with the frame; the rear axle motor is fixed on the rear frame through a rear axle motor fixing plate, the input shaft end of the rear axle motor is connected with a rear encoder, and two output shaft ends of the rear axle motor are respectively connected with a rear wheel;
the upper end of the rear frame is also connected with a rear wheel shock absorber in a bilateral symmetry mode, one end of each rear wheel shock absorber is fixed with the rear frame, and the other end of each rear wheel shock absorber is installed on the frame through a rear shock absorber fixing plate.
In the technical scheme, the left end and the right end of one side, close to the front axle assembly, of the rear frame are connected with the shaft ends of the knuckle bearings corresponding to the left end and the right end through threads, and the parallelism between the rear axle assembly and the frame is adjusted by adjusting the length of threaded connection.
In the technical scheme, the rear axle motor is provided with a speed reducer, a brake device and a differential mechanism, the rear axle motor is connected with the speed reducer through the brake device, and the speed reducer is connected with the differential mechanism;
the brake contracting device and the differential are both connected with the control assembly; the control assembly controls the action of the brake band-type brake to realize the braking function, and controls the speed reducer by controlling the rotating speed of the differential mechanism; the rear axle motor is provided with a speed reducer, a brake and a differential mechanism, can ensure large torque output, has a braking function, basically conforms to the Ackerman corner theory when in steering, and reduces the steering force by the pure rolling of the rear wheels, thereby reducing the power of the motor.
In the technical scheme, two ends of each steering pull rod are respectively connected with the corresponding upper steering knuckle bearing and the corresponding lower steering knuckle bearing through the positive threads and the negative threads, and the toe angle of the front wheel is adjusted by adjusting the length of the threaded connection.
In the technical scheme, a plurality of stand columns are further arranged between the two rocker plates, and two ends of each stand column are respectively and correspondingly fixedly connected with the two rocker plates;
the two end parts of the left and right symmetry of the rocker steering mechanism are respectively provided with a connecting column, each connecting column is positioned between the two rocker plates, the two ends of each connecting column are respectively fixedly connected with the corresponding positions on the two rocker plates, and each connecting column is also connected with the hole end of the steering knuckle bearing corresponding to the connecting column.
In the technical scheme, the control assembly comprises a battery, a voltage stabilizer, a main control module, a steering motor driver and a rear axle motor driver, wherein the battery, the voltage stabilizer, the main control module, the steering motor driver and the rear axle motor driver are arranged in the middle of the frame; the main control module is respectively electrically connected with a steering motor driver and a rear axle motor driver, the steering motor driver is electrically connected with a steering motor, and the rear axle motor driver is electrically connected with a rear axle motor;
the battery is also electrically connected with the steering motor driver and the rear axle motor driver to supply power to the steering motor driver and the rear axle motor driver;
the rear encoder and the front encoder are both also electrically connected with the main control module; the main control module controls a rear axle motor and a steering motor according to parameters such as the moving speed, the angular speed and the linear speed of the chassis of the security robot fed back by the rear encoder and the front encoder.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the angle position of the front wheel and the speed of the rear wheel of the robot chassis accord with the Ackerman corner theory, so that the additional resistance generated by the road surface to the running of the security robot during steering is avoided, and the tire is prevented from being abraded too fast; the front wheels and the rear wheels can roll only when the steering is carried out, so that the steering force is reduced, and the power of the motor is reduced;
2. in the utility model, the swinging block of the steering component has compact and stable steering structure, stable steering motion and good steering performance; the front axle assembly adopts an independent suspension and forms a four-bar linkage; the rear axle component adopts a non-independent suspension; and the four wheels have shock absorption, the obstacle avoidance capability is strong, the robot body is stable and has small shock when crossing the obstacle, and the safety of an electric control element is ensured.
Drawings
Fig. 1 is a first perspective view of the present invention;
fig. 2 is a right side view of the present invention;
FIG. 3 is a second perspective view of the present invention;
fig. 4 is a top view of the present invention;
fig. 5 is a perspective view of the steering assembly of the present invention;
fig. 6 is a rear view of the steering assembly of the present invention;
fig. 7 is a perspective view of the center front axle assembly of the present invention;
FIG. 8 is a rear view of the center front axle assembly of the present invention;
fig. 9 is a schematic view of the connection between the steering assembly and the front axle assembly according to the present invention;
FIG. 10 is a cross-sectional view taken along line A-A of FIG. 9;
FIG. 11 is a perspective view of a middle rear axle assembly of the present invention;
FIG. 12 is a rear elevational view of the middle rear axle assembly of the present invention;
FIG. 13 is a schematic diagram of the operation of the present invention;
wherein: 1. a frame; 2. a front axle assembly; 3. a rear axle assembly; 4. a steering assembly; 5. a control component; 2.1, front wheels; 2.2, bearing flange seats; 2.3, a left steering knuckle; 2.4, a right steering knuckle; 2.5, an upper steering knuckle plate; 2.6, lower steering knuckle plates; 2.7, an upper suspension arm; 2.8, a lower suspension arm; 2.9, an upper suspension fixing plate; 2.10, a lower suspension fixing plate; 2.11, front wheel shock absorbers; 2.12, front shock absorber fixing plate; 3.1, a rear frame; 3.2, a post-encoder; 3.3, a rear wheel; 3.4, a rear axle motor; 3.5, a rear wheel shock absorber; 3.6, fixing a rear shock absorber plate; 3.7, joint bearing; 3.8, fixing a joint bearing plate; 3.9, fixing a rear axle motor plate; 4.1, a front encoder; 4.2, a front encoder fixing plate; 4.3, a steering motor; 4.4, a steering shaft; 4.5, a rocker plate; 4.6, upright columns; 4.7, a bearing seat; 4.8, fixing a bearing seat plate; 4.9, steering upper joint bearing; 4.10, a steering pull rod; 4.11, turning a lower joint bearing; 5.1, a battery; 5.2, a voltage stabilizer; 5.3, a main control module; 5.4, a steering motor driver; 5.5, a rear axle motor driver.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.
Referring to fig. 1 to 13, a security robot chassis comprises a frame 1, wherein a front axle assembly 2 and a rear axle assembly 3 are respectively mounted at the front end and the rear end of the frame 1, the front axle assembly 2 adopts an independent suspension structure, the rear axle assembly 3 adopts a non-independent suspension, and a steering assembly 4 and a control assembly 5 are further mounted on the frame 1; referring to fig. 5 and 6, the steering assembly 4 includes a front encoder 4.1, a front encoder fixing plate 4.2, a steering motor 4.3, a steering shaft 4.4, two rocker plates 4.5, a column 4.6, a bearing seat 4.7, a bearing seat fixing plate 4.8, two upper knuckle bearings 4.9, two steering tie rods 4.10 and two lower knuckle bearings 4.11; the steering motor 3.4 is a single output shaft, for example a steering motor model Z6BLD 400.
The steering motor 4.3 is fixed above the front end of the frame 1, the output hollow shaft end of the steering motor 4.3 is fixedly connected with the steering shaft 4.4 in a penetrating manner, one end of the steering shaft 4.4 close to the steering motor 4.3 is connected with the front encoder 4.1, the front encoder 4.1 is fixed on the frame 1 through the front encoder fixing plate 4.2, one end of the steering shaft 4.4 far away from the steering motor 4.3 is connected with the bearing seat 4.7, the bearing seat 4.7 is connected with the bearing seat fixing plate 4.8, the bearing seat fixing plate 4.8 is fixed below the front end of the frame 1, the middle end of the steering shaft 4.4 is provided with a rocker steering mechanism consisting of two rocker plates 4.5 which are symmetrically arranged up and down, a plurality of upright posts 4.6 are further arranged between the two rocker plates 4.5, two ends of each upright post 4.6 are respectively and fixedly connected with the two rocker plates 4.5, and further the plurality of upright posts 4.6 are all arranged in the middle of the two rocker plates 4.5, And is located between the two rocker plates 4.5; the rocker steering mechanism is fixedly connected with a steering shaft 4.3, and two ends of the rocker steering mechanism which are bilaterally symmetrical are respectively provided with an upper knuckle bearing 4.9; the hole end of each steering upper joint bearing 4.9 is connected with the end part of the corresponding rocker steering mechanism; furthermore, two end parts of the rocker steering mechanism which are bilaterally symmetrical are respectively provided with a connecting column, each connecting column is positioned between the two rocker plates 4.5, the two ends of each connecting column are respectively and fixedly connected with the corresponding positions on the two rocker plates 4.5, and each connecting column is also connected with the hole end of the corresponding steering upper joint bearing 4.9; furthermore, the two rocker plates 4.5 are both isosceles triangles and are equal in size, and the two rocker plates 4.5 which are isosceles triangles are arranged up and down symmetrically to form a rocker steering mechanism; the steering shaft 4.4 is arranged at the vertex angle of the rocker plate 4.5 in an isosceles triangle shape, and the hole ends of the two steering upper knuckle bearings 4.9 are bilaterally symmetrically arranged at two base angles of the rocker plate 4.5 in an isosceles triangle shape respectively.
Each steering upper knuckle bearing 4.9 is connected with one end of a steering pull rod 4.10 at the shaft end, the other end of each steering pull rod 4.10 is connected with one steering lower knuckle bearing 4.11 at the shaft end, and the hole end of each steering lower knuckle bearing 4.11 is connected with the left knuckle 2.3 or the right knuckle 2.4 of the front axle assembly 2. The positions of holes at two ends of the rocker plate 4.5 are simulated through movement, when the rocker plate is turned, the rocker turning mechanism drives the turning upper joint bearing 4.9, the turning pull rod 4.10 and the turning lower joint bearing 4.11 which are symmetrically arranged at the left side and the right side of the rocker turning mechanism respectively, so that the front wheel 2.1 corresponding to the rocker turning mechanism is driven, the turning angle of the front wheel 2.1 basically accords with the Ackerman corner theory, the front wheel 2.1 rolls purely, the turning force is reduced, and the power of the motor is reduced.
Two ends of each steering pull rod 4.10 are respectively connected with the corresponding steering upper joint bearing 4.9 and the corresponding steering lower joint bearing 4.11 through positive threads and negative threads, and the toe angle of the front wheel 2.1 is adjusted through adjusting the length of threaded connection.
Referring to fig. 7 to 10, the front axle assembly 2 is symmetrically arranged at the front end of the frame 1, and the front axle assembly 2 includes two front wheels 2.1, two bearing flange seats 2.2, a left knuckle 2.3, a right knuckle 2.4, two upper knuckle plates 2.5, two lower knuckle plates 2.6, two upper suspension arms 2.7, two lower suspension arms 2.8, an upper suspension fixing plate 2.9, a lower suspension fixing plate 2.10, two front wheel shock absorbers 2.11 and two front shock absorber fixing plates 2.12;
the upper suspension fixing plate 2.9 and the lower suspension fixing plate 2.10 are symmetrically arranged at the middle part of the front end of the frame 1 up and down, the left end and the right end of the upper suspension fixing plate 2.9 are symmetrically connected with a U-shaped upper suspension arm 2.7 respectively, the open end of each U-shaped upper suspension arm 2.7 is fixedly connected with the upper suspension fixing plate 2.9, and the closed end of each U-shaped upper suspension arm 2.7 is fixedly connected with an upper steering knuckle plate 2.5; the left end and the right end of the lower suspension fixing plate 2.10 are symmetrically connected with a triangular beam-column structure formed by lower suspension arms 2.8 respectively, one end of each lower suspension arm 2.8 is fixedly connected with the lower suspension fixing plate 2.10, and the other end of each lower suspension arm is fixedly connected with a lower steering knuckle plate 2.6;
a left steering knuckle 2.3 is arranged between an upper steering knuckle plate 2.5 and a lower steering knuckle plate 2.6 which are positioned at the left end of an upper suspension fixing plate 2.9, a right steering knuckle 2.4 is arranged between the upper steering knuckle plate 2.5 and the lower steering knuckle plate 2.6 which are positioned at the right end of the upper suspension fixing plate 2.9, two ends of a vertical shaft of the left steering knuckle 2.3 are respectively and rotatably connected with an upper steering knuckle plate 2.5 and a lower steering knuckle plate 2.6 which correspond to the vertical shaft, two ends of a vertical shaft of the right steering knuckle 2.4 are respectively and rotatably connected with another upper steering knuckle plate 2.5 and another lower steering knuckle plate 2.6 which correspond to the vertical shaft, the ends of transverse shafts of the left steering knuckle 2.3 and the right steering knuckle 2.4 are both connected with a bearing flange base 2.2, and each bearing flange base 2.2 is connected with a front wheel 2.1 which corresponds to the bearing flange base; the connecting rods arranged on one sides of the left steering knuckle 2.3 and the right steering knuckle 2.4 facing the rear axle component are fixedly connected with the hole ends of the corresponding steering lower joint bearings 4.11;
each lower suspension arm 2.8 is also connected with a front wheel shock absorber 2.11, one end of each front wheel shock absorber 2.11 is connected with the middle part of the corresponding lower suspension arm 2.8, the other end of each front wheel shock absorber 2.11 penetrates through the U-shaped upper suspension arm 2.7 to be connected with a front shock absorber fixing plate 2.12, and each front shock absorber fixing plate 2.12 is installed on the frame 1.
In the utility model, the front axle assembly 2 adopts an independent suspension, the left and right ends of the upper suspension fixing plate 2.9 are symmetrically connected with an upper suspension arm 2.7 of a U shape, the left and right ends of the lower suspension fixing plate 2.10 are symmetrically connected with a lower suspension arm 2.8, each lower suspension arm 2.8 and the corresponding end of the lower suspension fixing plate 2.10 form a triangular beam column structure, a left steering knuckle 2.3 is arranged between the upper steering knuckle plate 2.5 and the lower steering knuckle plate 2.6 at the left end of the upper suspension fixing plate 2.9, and a right steering knuckle 2.4 is arranged between the upper steering knuckle plate 2.5 and the lower steering knuckle plate 2.6 at the right end of the upper suspension fixing plate 2.9, so as to form a four-bar linkage mechanism, the structure is stable, and the shock absorbers are simultaneously absorbed by two front wheel shock absorbers 2.12; the hole end of the vertical shaft of the left steering knuckle 2.3 or the hole end of the vertical shaft of the right steering knuckle 2.4 is connected with the middle hole end of the upper steering knuckle plate 2.5 and the middle hole end of the lower steering knuckle plate 2.6, the vertical shaft of the left steering knuckle 2.3 or the vertical shaft of the right steering knuckle 2.4 respectively form a rotating shaft, and the vertical shaft of the left steering knuckle 2.3 or the right steering knuckle 2.4 is rotated by pulling the rod end of the connecting rod of the left steering knuckle 2.3 or the right steering knuckle 2.4, so that the front wheel 2.1 is driven to rotate.
Referring to fig. 11 and 12, the rear axle assembly 3 includes a rear frame 3.1, a rear encoder 3.2, two rear wheels 3.3, a rear axle motor 3.4, two rear wheel shock absorbers 3.5, two rear shock absorber fixing plates 3.6, two knuckle bearings 3.7, two knuckle bearing fixing plates 3.8, and two rear axle motor fixing plates 3.9,
the left end and the right end of one side, close to the front axle component 2, of the rear frame 3.1 are respectively connected with a joint bearing 3.7, the shaft end of each joint bearing 3.7 is connected with the rear frame 3.1, furthermore, the left end and the right end of one side, close to the front axle component 2, of the rear frame 3.1 are connected with the shaft ends of the corresponding joint bearings 3.7 through threads, and the parallelism between the rear axle component 3 and the frame 1 is adjusted through adjusting the length of threaded connection. The hole end of each joint bearing 3.7 is connected with a joint bearing fixing plate 3.8, and each joint bearing fixing plate 3.8 is fixedly connected with the frame 1; the rear axle motor 3.4 is fixed on the rear frame 3.1 through a rear axle motor fixing plate 3.9, the input shaft end of the rear axle motor 3.4 is connected with a rear encoder 3.2, and two output shaft ends of the rear axle motor 3.4 are respectively connected with a rear wheel 3.3; the rear axle motor is a dual output shaft, for example, the rear axle motor is T3-800B.
The upper end of the rear frame 3.1 is also connected with a rear wheel shock absorber 3.5 in bilateral symmetry, one end of each rear wheel shock absorber 3.5 is fixed with the rear frame, and the other end is arranged on the frame 1 through a rear shock absorber fixing plate 3.6.
The rear axle motor 3.4 is also provided with a speed reducer, a brake contracting device and a differential mechanism, the rear axle motor 3.4 is connected with the speed reducer through the brake contracting device, and the speed reducer is connected with the differential mechanism;
the brake contracting device and the differential are both connected with the control assembly 5; the control assembly 5 controls the action of the brake device to realize the braking function, and the control assembly 5 controls the speed reducer by controlling the rotating speed of the differential mechanism; the rear axle motor 3.4 is provided with a speed reducer, a brake and a differential mechanism, can ensure large torque output, has a braking function, the speed of the rear wheel 3.3 basically accords with the Ackerman corner theory when the rear axle motor turns, and the rear wheel 3.3 rolls purely to reduce the steering force, thereby reducing the power of the motor.
Referring to fig. 13, the control assembly 5 includes a battery 5.1, a voltage stabilizer 5.2, a main control module 5.3, a steering motor driver 5.4 and a rear axle motor driver 5.5, which are installed in the middle of the frame 1, the battery 5.1 is installed in the middle of the frame 1, the voltage stabilizer 5.2 is installed on one side of the battery 5.1, the steering motor driver 5.4 and the rear axle motor driver 5.5 are installed on the other side, and the main control module 5.3 is installed in the middle of the frame 4; the battery 5.1 is electrically connected with the voltage stabilizer 5.2, and the voltage stabilizer 5.2 is electrically connected with the main control module 5.3; the main control module 5.3 is respectively electrically connected with a steering motor driver 5.4 and a rear axle motor driver 5.5, the steering motor driver 5.4 is electrically connected with a steering motor 4.3, and the rear axle motor driver 5.5 is electrically connected with a rear axle motor 3.4;
the battery 5.1 is also electrically connected with a steering motor driver 5.4 and a rear axle motor driver 5.5 to supply power to the steering motor driver and the rear axle motor driver;
the rear encoder 3.2 and the front encoder 4.1 are both also electrically connected with the main control module 5.3; rear axle motor 3.4 is furnished with rear encoder 3.2 and turns to motor 4.3 and is furnished with preceding encoder 4.1, can feed back security protection robot chassis translation velocity, angular velocity, linear velocity isoparametric, and host system 5.3 controls rear axle motor 3.4 and turns to motor 4.3 according to security protection robot chassis translation velocity, angular velocity and linear velocity isoparametric that rear encoder 3.2 and preceding encoder 4.1 feedback. The main control module 5.3 controls the chassis of the security robot. For example, the model of the voltage stabilizer is easy to stabilize 48V-24, and the main control module is a comedy donkey module (donkey robot).
When the steering mechanism steers, the control assembly 5 controls the front axle assembly 2 to steer through the steering assembly 4, and simultaneously controls the rear axle assembly 3 to rotate to drive the front axle assembly 2 to rotate, so that the angle position of a front wheel 2.1 of the front axle assembly 2 and the speed of a rear wheel 3.3 when the rear axle assembly 3 steers basically accord with the Ackerman corner theory.
The utility model has the advantages of it is following: the angle position of the front wheel 2.1 and the speed of the rear wheel 3.3 of the robot chassis accord with the Ackerman corner theory, so that additional resistance to the running of the security robot generated by a road surface during steering is avoided, and tires are prevented from being worn too fast; the front wheels 2.1 and the rear wheels 3.3 can be ensured to roll purely when the steering is carried out, the steering force is reduced, and the power of a motor is reduced;
the swing block in the steering assembly has compact and stable steering structure, stable steering motion and good steering performance, the front axle assembly 2 adopts an independent suspension and forms a four-bar mechanism, the rear axle assembly 3 adopts a non-independent suspension, four wheels have shock absorption, the obstacle avoidance capability is strong, the vehicle body is stable when the robot is over the obstacle, the shock is small, and the safety of an electric control element is ensured.
The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.
Claims (8)
1. A security robot chassis comprises a frame (1), wherein a front axle assembly (2) and a rear axle assembly (3) are respectively installed at the front end and the rear end of the frame (1), the front axle assembly (2) adopts an independent suspension structure, the rear axle assembly (3) adopts a non-independent suspension, and a steering assembly (4) and a control assembly (5) are further installed on the frame (1), and the security robot chassis is characterized in that the steering assembly (4) comprises a front encoder (4.1), a front encoder fixing plate (4.2), a steering motor (4.3), a steering shaft (4.4), two rocker plates (4.5), a bearing seat (4.7), a bearing seat fixing plate (4.8), two steering upper knuckle bearings (4.9), two steering pull rods (4.10) and two steering lower knuckle bearings (4.11);
the steering motor (4.3) is fixed above the front end of the frame (1), the output hollow shaft end of the steering motor (4.3) is fixedly penetrated with a steering shaft (4.4), one end of the steering shaft (4.4) close to the steering motor (4.3) is connected with a front encoder (4.1), and the front encoder (4.1) is fixed on the frame (1) through a front encoder fixing plate (4.2), one end of the steering shaft (4.4) far away from the steering motor (4.3) is connected with a bearing seat (4.7), the bearing seat (4.7) is connected with a bearing seat fixing plate (4.8), the bearing seat fixing plate (4.8) is fixed below the front end of the frame (1), the middle end of the steering shaft (4.4) is provided with a rocker steering mechanism consisting of two rocker plates (4.5) which are symmetrically arranged up and down, the rocker steering mechanism is fixedly connected with the steering shaft (4.4), two ends of the rocker steering mechanism which are bilaterally symmetrical are respectively provided with a steering upper knuckle bearing (4.9); the hole end of each steering upper joint bearing (4.9) is connected with the end part of the corresponding rocker steering mechanism;
the shaft end of each steering upper knuckle bearing (4.9) is connected to one end of a steering pull rod (4.10), the other end of each steering pull rod (4.10) is connected to the shaft end of a steering lower knuckle bearing (4.11), and the hole end of each steering lower knuckle bearing (4.11) is connected to a left knuckle (2.3) or a right knuckle (2.4) of the front axle assembly (2);
when the steering mechanism is used for steering, the control assembly (5) controls the front axle assembly (2) to steer through the steering assembly (4), and simultaneously controls the rear axle assembly (3) to rotate so as to drive the front axle assembly (2) to rotate, so that the angle position of the front wheel (2.1) of the front axle assembly (2) and the speed of the rear wheel (3.3) when the rear axle assembly (3) is steered all accord with the Ackerman corner theory.
2. The security robot chassis according to claim 1, characterized in that the front axle assembly (2) is arranged at the front end of the frame (1), and the front axle assembly (2) comprises two front wheels (2.1), two bearing flange seats (2.2), a left knuckle (2.3), a right knuckle (2.4), two upper knuckle plates (2.5), two lower knuckle plates (2.6), two upper suspension arms (2.7), two lower suspension arms (2.8), an upper suspension fixing plate (2.9), a lower suspension fixing plate (2.10), two front wheel shock absorbers (2.11) and two front shock absorber fixing plates (2.12);
the upper suspension fixing plate (2.9) and the lower suspension fixing plate (2.10) are vertically and symmetrically arranged in the middle of the front end of the frame (1), the left end and the right end of the upper suspension fixing plate (2.9) are symmetrically connected with a U-shaped upper suspension arm (2.7), the open end of each U-shaped upper suspension arm (2.7) is fixedly connected with the upper suspension fixing plate (2.9), and the closed end of each U-shaped upper suspension arm (2.7) is fixedly connected with an upper steering knuckle plate (2.5);
the left end and the right end of the lower suspension fixing plate (2.10) are symmetrically connected with a triangular beam-column structure formed by lower suspension arms (2.8), one end of each lower suspension arm (2.8) is fixedly connected with the lower suspension fixing plate (2.10), and the other end of each lower suspension arm is fixedly connected with a lower steering knuckle plate (2.6);
a left steering knuckle (2.3) is arranged between an upper steering knuckle plate (2.5) and a lower steering knuckle plate (2.6) which are positioned at the left end of an upper suspension fixing plate (2.9), a right steering knuckle (2.4) is arranged between the upper steering knuckle plate (2.5) and the lower steering knuckle plate (2.6) which are positioned at the right end of the upper suspension fixing plate (2.9), two ends of a vertical shaft of the left steering knuckle (2.3) are respectively and rotatably connected with the upper steering knuckle plate (2.5) and the lower steering knuckle plate (2.6) which correspond to the vertical shaft of the left steering knuckle (2.3), two ends of the vertical shaft of the right steering knuckle (2.4) are respectively and rotatably connected with the other upper steering knuckle plate (2.5) and the other lower steering knuckle plate (2.6) which correspond to the vertical shaft of the left steering knuckle plate, the ends of the left steering knuckle (2.3) and the right steering knuckle (2.4) are both connected with a bearing flange seat (2.2), and each bearing flange seat (2.2) is connected with a front wheel (1.2) which corresponds; the connecting rods arranged on one sides of the left steering knuckle (2.3) and the right steering knuckle (2.4) facing the rear axle component are fixedly connected with the hole end of a corresponding steering lower knuckle bearing (4.11);
each lower suspension arm (2.8) is also connected with a front wheel shock absorber (2.11), one end of each front wheel shock absorber (2.11) is connected with the middle part of the corresponding lower suspension arm (2.8), the other end of each front wheel shock absorber passes through the U-shaped upper suspension arm (2.7) and is connected with a front shock absorber fixing plate (2.12), and each front shock absorber fixing plate (2.12) is installed on the frame (1).
3. The chassis of the security robot as claimed in claim 2, wherein the rear axle assembly (3) comprises a rear frame (3.1), a rear encoder (3.2), two rear wheels (3.3), a rear axle motor (3.4), two rear wheel shock absorbers (3.5), two rear shock absorber fixing plates (3.6), two joint bearings (3.7), two joint bearing fixing plates (3.8) and two rear axle motor fixing plates (3.9);
the left end and the right end of one side, close to the front axle assembly (2), of the rear frame (3.1) are respectively connected with a joint bearing (3.7), the shaft end of each joint bearing (3.7) is connected with the rear frame (3.1), the hole end of each joint bearing (3.7) is connected with a joint bearing fixing plate (3.8), and each joint bearing fixing plate (3.8) is fixedly connected with the frame (1); the rear axle motor (3.4) is fixed on the rear frame (3.1) through a rear axle motor fixing plate (3.9), the input shaft end of the rear axle motor (3.4) is connected with a rear encoder (3.2), and two output shaft ends of the rear axle motor (3.4) are respectively connected with a rear wheel (3.3);
the upper end of the rear frame (3.1) is also connected with a rear wheel shock absorber (3.5) in a bilateral symmetry mode, one end of each rear wheel shock absorber (3.5) is fixed with the rear frame (3.1), and the other end of each rear wheel shock absorber is installed on the frame (1) through a rear shock absorber fixing plate (3.6).
4. The chassis of the security robot as claimed in claim 3, wherein the left and right ends of the rear frame (3.1) near the front axle assembly (2) are connected with the shaft ends of the corresponding joint bearings (3.7) through threads.
5. The security robot chassis according to claim 3, characterized in that the rear axle motor (3.4) is provided with a reducer, a band brake and a differential, the rear axle motor is connected with the reducer through the band brake, and the reducer is connected with the differential;
the brake contracting device and the differential are both connected with a control assembly (5).
6. The security robot chassis according to claim 1, wherein both ends of each steering tie rod (4.10) are respectively connected with the corresponding steering upper knuckle bearing (4.9) and the corresponding steering lower knuckle bearing (4.11) through positive and negative threads.
7. The security robot chassis according to claim 1, wherein a plurality of columns (4.6) are further arranged between the two rocker plates (4.5), and two ends of each column (4.6) are respectively and correspondingly fixedly connected with the two rocker plates (4.5);
the two end parts of the left and right symmetry of the rocker steering mechanism are respectively provided with a connecting column, each connecting column is positioned between the two rocker plates (4.5), the two ends of each connecting column are fixedly connected with the corresponding positions on the two rocker plates (4.5), and each connecting column is also connected with the hole end of the corresponding steering upper knuckle bearing (4.9).
8. The security robot chassis according to claim 3 or 5, characterized in that the control assembly (5) comprises a battery (5.1), a voltage stabilizer (5.2), a main control module (5.3), a steering motor driver (5.4) and a rear axle motor driver (5.5) which are arranged in the middle of the frame (1), the battery (5.1) is electrically connected with the voltage stabilizer (5.2), and the voltage stabilizer (5.2) is electrically connected with the main control module (5.3); the main control module (5.3) is respectively electrically connected with a steering motor driver (5.4) and a rear axle motor driver (5.5), the steering motor driver (5.4) is electrically connected with a steering motor (4.3), and the rear axle motor driver (5.5) is electrically connected with a rear axle motor (3.4);
the battery (5.1) is also electrically connected with the steering motor driver (5.4) and the rear axle motor driver (5.5) to supply power to the steering motor driver and the rear axle motor driver;
the rear encoder (3.2) and the front encoder (4.1) are both also electrically connected with the main control module (5.3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020841629.XU CN212290017U (en) | 2020-05-19 | 2020-05-19 | Security robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020841629.XU CN212290017U (en) | 2020-05-19 | 2020-05-19 | Security robot chassis |
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| Publication Number | Publication Date |
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| CN212290017U true CN212290017U (en) | 2021-01-05 |
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| CN202020841629.XU Active CN212290017U (en) | 2020-05-19 | 2020-05-19 | Security robot chassis |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401222A (en) * | 2021-08-05 | 2021-09-17 | 沈阳德恒装备股份有限公司 | Four-wheel steering chassis for electric road sweeper |
| CN113415140A (en) * | 2021-08-11 | 2021-09-21 | 国网上海市电力公司 | Full-line control electric drive chassis and robot |
| CN114001982A (en) * | 2021-11-25 | 2022-02-01 | 西安天之博特科技有限公司 | Ackerman structure simulation vehicle experiment platform |
| CN114809481A (en) * | 2022-02-16 | 2022-07-29 | 东方雨虹智能装备有限责任公司 | Waterproof coating and coiled material composite construction all-in-one machine |
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2020
- 2020-05-19 CN CN202020841629.XU patent/CN212290017U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401222A (en) * | 2021-08-05 | 2021-09-17 | 沈阳德恒装备股份有限公司 | Four-wheel steering chassis for electric road sweeper |
| CN113415140A (en) * | 2021-08-11 | 2021-09-21 | 国网上海市电力公司 | Full-line control electric drive chassis and robot |
| CN113415140B (en) * | 2021-08-11 | 2023-02-28 | 国网上海市电力公司 | Full-line control electric drive chassis and robot |
| CN114001982A (en) * | 2021-11-25 | 2022-02-01 | 西安天之博特科技有限公司 | Ackerman structure simulation vehicle experiment platform |
| CN114001982B (en) * | 2021-11-25 | 2024-03-26 | 西安天之博特科技有限公司 | Ackerman structure simulation car experiment platform |
| CN114809481A (en) * | 2022-02-16 | 2022-07-29 | 东方雨虹智能装备有限责任公司 | Waterproof coating and coiled material composite construction all-in-one machine |
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