CN107953937A - A kind of structure-improved of stride combined mobile robot running gear - Google Patents
A kind of structure-improved of stride combined mobile robot running gear Download PDFInfo
- Publication number
- CN107953937A CN107953937A CN201711249826.1A CN201711249826A CN107953937A CN 107953937 A CN107953937 A CN 107953937A CN 201711249826 A CN201711249826 A CN 201711249826A CN 107953937 A CN107953937 A CN 107953937A
- Authority
- CN
- China
- Prior art keywords
- gear
- damping
- rocker arm
- spring
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The present invention relates to a kind of structure-improved of walking robot running gear, a kind of structure-improved of stride combined mobile robot running gear, monosymmetric balancing rocker arm suspension is configured on " H " type chassis, workbench is placed on three fixing points of balancing rocker arm suspension；The balancing rocker arm suspension is configured at by the driving steering assembly of straight-line travelling driving motor (54) and Turning travel driving motor (76) driving to be located at outside " H " type chassis on axle housing cross bar, four supporting legs configuration of balancing rocker arm suspension is with the joint track rail assembly that can adjust posture.The present invention has very strong adaptability to complicated loop surface, and the posture holding capacity for having flexible posture to regulate and control and stablize.Be uneven the attachment profiling ability of complicated ground with automatic adaptation, reduces the disturbance to car body because of Uneven road；The heavy burden ability of mobile working platform is added, and there is stair climbing and barrier span ability；The mode of four-wheel drive adds vehicle cross-country power, it can be achieved that pivot turn, mobility strong.
Description
Technical field
The present invention relates to a kind of structure-improved of walking robot running gear, more particularly, to stride Combined movable machine
A kind of structure-improved of running gear of device people.
Background technology
Mobile robot is the Hot spots for development of robot field, and development is swift and violent in recent years.Not only industry, agricultural, medical treatment,
It is widely used in the industries such as service, and it is harmful and dangerous in urban safety, anti-terrorism, national defence and space exploration field etc.
Occasion is applied well.The environmental quality that mobile robot faces is complicated unknown and changeable.At present, this kind of robot
Mainly there are three kinds of moving mechanisms of wheeled, leg formula and crawler type.These three mechanisms have his own strong points, and also respectively have shortage.Wheeled speed is fast,
But landform adaptability is poor；Leg formula is flexible, but speed is slow and not easy to control；Crawler type obstacle climbing ability is strong, but energy consumption it is big and
Turn to difficult.
The present invention is to be proposed when studying a kind of mobile robot with composite moving mechanism according to actual requirement.
When being uneven particular for ground road conditions, turn, speed change when how can have preferable holding function, efficiency and
There is stable operating status in robot, the favourable overall operation quality for improving robot.This kind of robot is hanged with balancing rocker arm
Frame and the compound running gear of stride, running gear are led to using balancing rocker arm chassis and the allocation plan of four joint crawler belt swing arms
Cross the control of the coordination to four swing arms of joint crawler belt and make it have stronger obstacle climbing ability, it has stronger complex environment posture
Ability of regulation and control and landform adaptability.
Such robot of the prior art still has the deficiency of following three aspect, it is necessary to improve and improve.
Chinese utility model patent number：201520666955.0 title：Deformed caterpillar suspension and the robot shifting with it
Moving platform.The suspension frame structure that the utility model is related to has six bars composition, is driven by middle hitch, deformed caterpillar unit, deformation
Component etc. forms, and drives Athey wheel to rotate by the movement of connecting rod, while adjust the road clearance.But the technical pattern is more
Complexity, and can not be used on the chassis of balancing rocker arm structure, and without preferable damping effect.
In addition there is the shortcomings that many obvious in traditional endless-track vehicle list power steering mechanism：Vehicle only has several fixations
Turning radius, when being turned to by non-defined turning radius will the sliding wear of frictionally element realize, it is difficult to obtain stable and accurate
Turning radius, and acutely sliding wear can bring fever and abrasion, reduce transmission efficiency, it is unstable and unreliable to turn to, particularly
It under the steering working status of relatively high power, can cause usually to need reduction of speed to turn to there are larger power loss, be badly in need of changing.
And uneven road surface can influence the ground connection performance of track rail assembly, meanwhile, the barrier on ground also can be to crawler type
Robot moving platform produces certain shock loading, influences the normal work of mobile robot mobile platform.Traditional joint
Crawler belt is rigid connection, can not absorb the shock loading of ground obstacle generation.And when rigidly connected joint crawler belt is run into
During rough road surface, it is poor to imitate landform ability.When convex block higher by ground, rigid joint crawler belt is possible to occur
The hanging state of crawler belt.
The content of the invention
A kind of present invention aims to overcome that the deficiencies in the prior art, there is provided stride combined mobile robot running gear
Improvement mechanism, in damping and keep the rocker arm suspension of balance actively to adjust the road clearance, change and realize turn to frictionally
The steering mechanism of change, improves imitative landform ability when joint crawler belt runs into rough road surface.
The purpose of the present invention is realized by following technical scheme.
A kind of structure-improved of stride combined mobile robot running gear, it is characterised in that：
Medianly zygomorphic balancing rocker arm suspension is configured on the chassis of " H " the type kind of drive, workbench is placed in flat
Weigh on three fixing points of rocker arm suspension；Motor and the motor-driven driving of Turning travel driving is driven to turn to always by straight-line travelling
It is located at into the balancing rocker arm suspension is configured at outside " H " type chassis on axle housing cross bar, four supporting legs of the balancing rocker arm suspension
Configure to have and can adjust posture joint track rail assembly；
The balancing rocker arm suspension includes the support balancing stand of both sides configuration；
The support balancing stand is made of the tabular outer rocker arm parallel to direction of travel and the configuration of inner rocker arm interval, in two institutes
It is in the supporting leg of eight shape obliquely to state and rotate fixed a pair through supporting leg rotation axis between rocking arm；
The parallel direction of travel configuration electric pushrod in top between two rocking arms, respectively symmetrically matches somebody with somebody at the both ends of electric pushrod
The angle bisection stent of upper and lower two fulcrum is equipped with, the upper fulcrum of angle bisection stent is rotatably connected on one end and the tubular of electric pushrod
Damping spring upper end, the lower fulcrum of angle bisection stent is fixedly connected with angle bisection gear, a pair of of the angle bisection tooth configured side by side
Wheel intermeshing, by including angle bisection gear shaft rolling assembling, on outer rocker arm；
The lower end of damping spring is rotatably connected on the middle and upper part position of supporting leg；
The inner rocker arm rearward stretches out rod-shaped arm, and it is vertical that the rod-shaped arm ends of left and right two inner rocker arms is respectively articulated with
Vertical connecting rod, the lower end of left and right two vertical connecting rods is hinged and connected by the counter-jib of a transverse direction to be connect, and the middle position of counter-jib is one
With the hinged fixing point of workbench；
The inner rocker arm central parts of two support balancing stands, can be around through pivoting support by horizontal outer bridge axle shell both ends
Outer bridge axle shell rotation connection, two side positions set the fixing point of two workbenches on the outer bridge axle shell；
The driving turns to assembly：
Steering mechanism's housing has left end output shaft and right end output shaft：The successive configurations from left to right in steering mechanism's housing
Symmetrical bevel differential, the first planet row and the second planet row, and left end output shaft, right end output shaft, symmetrical cone tooth
Wheel differential mechanism two halves shaft gear and the sun wheel shaft of the first planet row and the second planet row are respectively positioned on same axis；
The fixed main reducing gear driven gear on the differential housing of first gear engaged transmission in drive motor shaft；
Left end exports the first axle shaft gear of axis connection, and the of right end output the second axle shaft gear of axis connection and the second planet row
Two sun gears；
First sun gear of the first planet row is fixedly connected with differential carrier, the second planetary gear of the first planet row and second
The third line star-wheel of planet row passes through duplex planet frame configured in parallel；
The second planetary gear engaged transmission of first planet row is between the first sun gear and inner ring are the second gear ring of tooth；
The third line star-wheel engaged transmission of second planet row is between the second sun gear and inner ring are the first gear ring of tooth；
The big roller gear of first planet row and the second gear ring) the non-flank of tooth be fixedly and coaxially connected；
Second gear and big roller gear engaged transmission on steering motor output shaft；
First gear ring of the second planet row outer ring is fixed on steering mechanism's housing inner wall.
Adjustment posture joint track rail assembly：
One end is nested with bull wheel rotation axis the driving hollow shaft of chain drum, and driving hollow shaft driving bull wheel rotation, is stirred
Crawler belt is run, and drives steamboat rotation；
Between bull wheel rotation axis and driving hollow shaft, being nested with one end has the pose adjustment hollow shaft of chain drum, and three axis are coaxial
Line can be rotated mutually；
The insertion end of pose adjustment hollow shaft connects rod swing arm, the other end rotation connection of swing arm through moment of torsion damping
Steamboat supports rotation axis；The length direction of the swing arm is consistent with the line of bull wheel rotation axis and steamboat support rotation axis；
The moment of torsion damping is：In the vertical permanent twist damping driving disc spacing pressing of the insertion end of pose adjustment hollow shaft, two
Piece reverses the both sides that damping clutch plate is respectively configured, is clamped in the torsion damping driving disc spacing pressing, the edge on damping driving disc spacing pressing is reversed
Circumferential some springs of device, the relevant position that damping clutch plate is reversed in both sides open up the spring eye of corresponding size, the spring
The embedded spring eye so that the spring reversed on damping clutch plate can be passed to by reversing the elastic force of spring on damping driving disc spacing pressing
Hole；
Two panels reverses damping clutch plate can flexiblely reciprocating rotation around bull wheel rotation axis with reversing damping driving disc spacing pressing；
The damping clutch plate that reverses of both sides is reversing the relevant position of damping driving disc spacing pressing by the bolt connection perpendicular to card
Long kidney-shaped hole is opened up, ensures that the bolt of damping clutch plate is reversed in connection) it is unobstructed positioned at reciprocating rotation in long kidney-shaped hole；
One end of the swing arm is fixed on the torsion damping clutch plate axis hole position in outside.
Using the technical program balancing rocker arm suspension：
Workbench including vehicle and mobile robot can configure both sides for support balancing stand based on rocker-arm hang
In frame, three points form a stable joint face.Rocking arm type suspension can under a pair of supporting leg support that is controllable, changing angle
Change terrain clearance, to adapt to the road conditions of both sides ground different height.Intermeshing a pair of angle bisection gear can be protected strictly
Displacement all around does not occur all the time for the chain-wales that card electric pushrod is formed, can even running, walking.Damping spring, which weakens, to be inhaled
The vibrations in supporting leg walking are received.
With stretching for electric pushrod, the upper fulcrum of the angle bisection stent of both sides two is in the central vertical line both sides of electric pushrod
Have symmetrical all the time mobile；
With the change in shape of landing ground, the lower end of a pair of of supporting leg has symmetrical or not right in the central vertical line both sides of electric pushrod
The rotation of title.
Driven using the technical program and turn to assembly：
During the work time, there is two-way power input in double power flow power differential speed turning mechanism, all the way from straight-line travelling
Motor is driven, another way comes from Turning travel steering motor, and two-way power flow realizes confluence at power differential speed turning mechanism.Difference
Fast steering mechanism increases the rotating speed of side output shaft with the power input of Turning travel steering motor, while it is defeated to reduce opposite side
The rotating speed of shaft, so as to cause the rotating speed of both ends output shaft different, makes balancing rocker arm chassis Vehicular turn.By controlling two-way work(
The speed that the direction of rate stream and size can control the direction of balancing rocker arm chassis Vehicular turn and turn to.Turning travel drives
The direction of rotation of steering motor determines the steering direction (turn left or turn right) of balancing rocker arm formula chassis vehicle, and Turning travel driving turns
The urgency or slow of balancing rocker arm formula steering is determined to the rotary speed of motor.3 are segmented into by the power of differential steering gear
Kind working condition, the straight-line travelling power transmission of motor is driven, from Turning travel driving steering motor from straight-line travelling
Steering power transmission and first two power transmission it is compound.
Using the technical program adjustment posture joint track rail assembly：
The technical program shares three axis on bull wheel：Bull wheel rotation axis, driving are hollowAxisWith pose adjustment hollow shaft, three
Axis coaxial line can be rotated mutually；
Bull wheel rotation axis plays support bull wheel；
Drive hollowAxis：Driving hollow shaft is rotated the driving hollow shaft for driving one end to have chain drum by chain and rotated, and driving is big
Wheel rotation, stirs crawler belt operation, drives steamboat rotation；
Pose adjustment hollow shaft is the main contents of this patent, by structure described above and content, reciprocal small range rotation
Turn, realize the pose adjustment of joint crawler belt.
Further, the upper fulcrum of the angle bisection stent is split as spaced apart 2 points, any is rotatably connected on
One end of electric pushrod, the other end are rotatably connected on the upper end of tubular damping spring, and the certain distance is less than or equal to described
On angle bisection stent fulcrum to lower fulcrum distance.
Further, the lower end of the upper end of the supporting leg to damping spring be rotatably connected on position on supporting leg distance be less than subtract
Shake the original length of spring.
Further, it is disc that the torsion damping driving disc spacing pressing and two panels, which reverse damping clutch plate, and reverses damping master
The diameter of Moving plate is less than the diameter for reversing damping clutch plate；
The rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing, inserts cylinder bullet
Spring；Rectangular Spring hole corresponding with cylindrical spring is opened up in the relevant position of two torsion damping clutch plates, and a rectangle long side connects
It is in the baffle for being less than 45 degree of angles laterally to connect, when torsion damping driving disc spacing pressing and two panels reverse damping clutch plate (3) and connected by bolt
When connecing, the cylindrical spring is clamped in the Rectangular Spring hole of both sides.
Further, the non-flank of tooth of the big roller gear and the second gear ring is connected one of in the following ways：
1. the inner ring of the outer ring of the second gear ring and big roller gear is interference fit；
2. a part is made in the second gear ring and big roller gear；
3. the outer ring of the second gear ring is connected with the inner ring junction of big roller gear with holding screw.
Beneficial effects of the present invention：
The present invention overcomes main three deficiencies in prior art stride combined mobile robot running gear.
First, can by the simple control to electric pushrod and the structure design free to slide of electric pushrod horizontal direction
With the control of supporting leg angle before and after realization, so as to reach the clearance distance of control suspension bottom from the ground.The control of electric pushrod
It is active, so more convenient can adapts to different load conditions.By setting road surface in damper decay traveling process to pass
To the effect of the vibrations of suspension.The present invention " with the change in shape of landing ground, in the center of electric pushrod hang down by the lower end of a pair of of supporting leg
There are rotation symmetrically or non-symmetrically in line both sides ", such structure, is not only adapted to travelling box body or so and is uneven, can also
The height difference before and after the same side is adapted to and eliminated, causes steadily to walk.The present invention is " with flexible, the both sides of electric pushrod
The upper fulcrum of two angle bisection stents has symmetrical mobile all the time in the central vertical line both sides of electric pushrod " such structure so that
No matter how electric pushrod is carried out, and electric pushrod and a pair of of angle bisection gear are symmetrically taken action all the time, and it is not inclined to be maintained at X-direction
Move so that both sides rocking arm and bridge axle shell do not deviate, it can be ensured that travelling box body is placed on stable suspension, with travelling box body
Robot or installations walking in itself do not deviate, further improve walking stability.
Secondly, which is integrated steering and transmission system, simplifies mechanical structure, improves machinery
Performance, can realize pivot stud around its own center, by adjusting the size of two-way power flow, can have different
Continuous turning radius, can adapt to different steering requirements.Vehicle can be made constant with respect to the average overall travel speed of normally travel.Tool
The function of standby mean allocation torque.Function with differential lock, makes full use of the wheel on the good one side of attachment condition to improve machine
People or the handling capacity of vehicle.
Finally, track rail assembly has ground connection angle regulation function, may span across obstacle (such as stair climbing), adapts to the road of complexity
Face ring border has preferably imitative landform ability, improves crawler belt traction, turn round, it can be achieved that the active accommodation of crawler belt ground connection angle
Turn damping play decay complicated ground traveling during crawler belt front end be subject to twisting vibration, relax impact and reduction make an uproar
The effect of sound, simple in structure, compact, part stress is reasonable, manipulates pose adjustment conveniently, effect of the manipulation, excellent in efficiency.
The present invention is a kind of main knot of the running gear of the stride combined mobile robot to balancing rocker arm or vehicle
Structure has the technical solution of great change and improvement, it has very strong adaptability to complex environment and unstructured road surface, and has
There is the posture holding capacity that flexible posture regulates and controls and stablizes.Be uneven the attachment profiling energy of complicated ground with automatic adaptation
Power, ground adhesion are good, reduce because of the disturbance of the rough and uneven in surface pitching and inclination to car body in road surface；Crawler belt is mutually tied with balancing rocker arm
The heavy burden ability for not only increasing the mobile platform is closed, and makes it have the ability that stair climbing and barrier are crossed over；It is mobile flat
Platform adds the cross-country power of vehicle by the way of four-wheel drive, it is possible to achieve original place makes the transition, mobility strong.
The structure-improved of correlation three major types assembly of the invention is relatively easy, and clear principle is applied widely, can somewhat change
Many vehicles or mobile robot platform for using balancing rocker arm suspension are applied to after structure changes.
Brief description of the drawings
Fig. 1 is a kind of structure improved embodiment three-dimensional shaft of stride combined mobile robot running gear of the present invention
Mapping；
Fig. 2 is the top view that Fig. 1 removes workbench component；
Fig. 3 is one embodiment of the invention, wherein the axonometric drawing of balancing rocker arm suspension assembly component；
Fig. 4 wherein supports balancing stand component for Fig. 3 balancing rocker arms suspension, the front view from side, and shows phase
Close the direction of motion of parts；
Fig. 5 is one embodiment of the invention, wherein driving turns to the principle and structure diagram of assembly；
Fig. 6 is the STRUCTURE DECOMPOSITION axonometric drawing of Fig. 5；
Fig. 7 is the STRUCTURE DECOMPOSITION axonometric drawing of bevel differential component and correlated parts in Fig. 6；
Fig. 8 is the STRUCTURE DECOMPOSITION axonometric drawing of first gear, second gear and correlated parts in Fig. 7；
Fig. 9 is one embodiment of the invention, and driving turns to an embodiment of assembly, configures the STRUCTURE DECOMPOSITION axis of two pieces idle pulley
Mapping；
Figure 10 is a kind of structure improved embodiment of stride combined mobile robot running gear of the present invention, wherein
Posture joint track rail assembly is adjusted, along bull wheel and the sectional view of small wheel axis；
Figure 11 is one embodiment of the present invention, wherein the shape axonometric drawing of adjustment posture joint track rail assembly；
Figure 12 is the axonometric drawing that Figure 11 adjusts posture joint crawler belt wherein rocking arm and associated components.
In figure, A is that adjustment posture joint track rail assembly, B are that driving turns to assembly, C is balancing rocker arm suspension；
1 it is crawler belt, 2 be steamboat, 3 is that bull wheel exchanges hub, 4 is that deep groove ball bearing 1,5 is steamboat support rotation axis, 6 is deep
Ditch ball bearing 2,7 be sliding bearing 1,8 be bogie wheel 1,9 be bogie wheel rotary sleeve, 10 be torsional spring, 11 be bogie wheel swing arm,
12 be that bogie wheel 2,13 is swing arm, 14 is bull wheel, 15 is that deep groove ball bearing 3,16 is round nut, 17 is bull wheel rotation axis, 18 is
Circlip, 19 be sliding bearing 2,20 be reverse damping driving disc spacing pressing, 21 be reverse damping clutch plate, 22 be spring, 23 be to turn round
Turn damping clutch plate, 24 be bull wheel exchange hub, 25 be brake disc, 26 be Direct wheel drives sprocket wheel, 27 be wheel side pivot flange, 28 be
Pose adjustment sprocket wheel, 29 be deep groove ball bearing 4,30 be spring washer 1,31 be nut 1,32 be nut 2,33 be spring washer 2,
34 be that soket head cap screw, a are that spring eye, b are that bolt, c are baffles.
35 be universal joint, 36 be inner rocker arm, 37 be damper, 38 be supporting leg, 39 be to lock bolt, 40 be support ear,
41 it is angle bisection stent, 42 be supporting leg rotation axis, 43 be electric pushrod, 44 be big nut, 45 be outer rocker arm, 46 is angle bisection tooth
Wheel shaft, 47 be angle bisection gear, 48 be outer bridge axle shell, 49 be differential casing, 50 be revolving support, 51 be vertical connecting rod, 52 be
Counter-jib；
53 it is first gear, 54 be driving motor, 55 be the first idle pulley, 56 be the first planetary gear, 57 is the first semiaxis
Gear, 58 be left end output shaft, 59 be planetary gear shaft, 60 be main reducing gear driven gear, 61 be fourth planet gear, 62 be
Steering mechanism's housing, 63 be differential carrier, 64 be big roller gear, 65 be the first gear ring, 66 be the second planetary gear, 67 be
Three planetary gears, 68 be the first sun gear, 69 be the second sun gear, 70 be right end output shaft, 71 be duplex planet frame, 72 be
Two axle shaft gears, 73 be the second gear ring, 74 be the second idle pulley, 75 be gear shaft, 76 be steering motor, 77 be second gear, 78
Be gearbox, 79 be adjust swing arm motor, 80 be angular transducer, 81 be workbench, 82 be gear housing.
Embodiment
The structure of suspension of the present invention is further described below in conjunction with attached drawing.
A kind of structure-improved of stride combined mobile robot running gear：
Medianly zygomorphic balancing rocker arm suspension C is configured on the chassis of " H " the type kind of drive, workbench 81 is placed in
On three fixing points of balancing rocker arm suspension C；The drive driven by straight-line travelling driving motor 54 and Turning travel driving motor 76
Turn is configured at the balancing rocker arm suspension C to assembly B and is located at outside " H " type chassis on axle housing cross bar, the balancing rocker arm suspension C
Four supporting legs configuration have can adjust posture joint track rail assembly A；
The balancing rocker arm suspension C includes the support balancing stand of both sides configuration；
The support balancing stand is spaced configuration by the tabular outer rocker arm 45 parallel to direction of travel and inner rocker arm 36 and forms,
It is in the supporting leg 38 of eight shape obliquely to rotate fixed a pair through supporting leg rotation axis 42 between two rocking arms；
The parallel direction of travel configuration electric pushrod 43 in top between two rocking arms, it is right respectively at the both ends of electric pushrod 43
Claim the angle bisection stent 41 for being configured with upper and lower two fulcrum, the upper fulcrum of angle bisection stent 41 is rotatably connected on electric pushrod 43
The upper end of the damping spring 37 of one end and tubular, the lower fulcrum of angle bisection stent are fixedly connected with angle bisection gear 47, side by side configuration
A pair of of angle bisection gear 47 be intermeshed, by including 46 rolling assembling of angle bisection gear shaft, on outer rocker arm；
The lower end of damping spring 37 is rotatably connected on the middle and upper part position of supporting leg；
The inner rocker arm rearward stretches out rod-shaped arm, and the rod-shaped arm end of left and right two inner rocker arms 36 is respectively articulated with vertically
Vertical connecting rod 51, the lower end of left and right two vertical connecting rods 51 is hinged and connected by the counter-jib 52 of a transverse direction to be connect, in counter-jib 52
Position is entreated as one and the hinged fixing point of workbench；
36 central part of inner rocker arm of two support balancing stands, by horizontal outer 48 both ends of bridge axle shell through pivoting support
50 can be rotatablely connected around outer bridge axle shell 48, and two side positions set the fixing point of two workbenches on the outer bridge axle shell 48；
The driving turns to assembly B：
Steering mechanism's housing 62 has left end output shaft 58 and right end output shaft 70：In steering mechanism's housing 62 from left to right
Successive configurations symmetrical expression bevel differential, the first planet row and the second planet row, and left end output shaft 58, right end output shaft
70th, symmetrical bevel differential two halves shaft gear and the sun wheel shaft of the first planet row and the second planet row are respectively positioned on same axis
Line；
The fixed main reducing gear driven gear 60 on the differential housing of the engaged transmission of first gear 53 in drive motor shaft；
Left end output shaft 58 connects the first axle shaft gear 57, and right end output shaft 70 connects the second axle shaft gear 72 and the second row
The second sun gear 69 of star row；
First sun gear 68 of the first planet row is fixedly connected with differential carrier 63, the second planetary gear 66 of the first planet row
Pass through duplex planet frame configured in parallel with the third line star-wheel 67 of the second planet row；
The engaged transmission of the second planetary gear 66 of first planet row is the second gear ring 73 of tooth in the first sun gear 68 and inner ring
Between；
The engaged transmission of the third line star-wheel 67 of second planet row is the first gear ring 65 of tooth in the second sun gear 69 and inner ring
Between；
The big roller gear 64 of first planet row and the non-flank of tooth of the second gear ring 73 are fixedly and coaxially connected；
Second gear 77 and the big engaged transmission of roller gear 64 on steering motor output shaft；
First gear ring 65 of the second planet row outer ring is fixed on 62 inner wall of steering mechanism's housing；
The adjustment posture joint track rail assembly A：
One end is nested with bull wheel rotation axis 17 the driving hollow shaft of chain drum, and driving hollow shaft driving bull wheel rotation, is dialled
Dynamic crawler belt operation, drives steamboat rotation；
Between bull wheel rotation axis 17 and driving hollow shaft, being nested with one end has the pose adjustment hollow shaft of chain drum, and three axis are same
Axis can be rotated mutually；
Through moment of torsion damping connection rod swing arm 13, the other end of swing arm 13 rotates the insertion end of pose adjustment hollow shaft
Connect steamboat 2；The length direction of the swing arm 13 is consistent with the line of bull wheel 14 and steamboat 2；
The moment of torsion damping is：In the vertical permanent twist damping driving disc spacing pressing 20 of the insertion end of pose adjustment hollow shaft,
Two panels reverses the both sides that damping clutch plate 21,23 is respectively configured, is clamped in the torsion damping driving disc spacing pressing, is reversing damping actively
Circumferentially some springs 22 of device, the relevant position that damping clutch plate 21,23 is reversed in both sides open up corresponding size on disk 20
Spring eye a, the spring 22 are embedded in the spring eye a so that reversing the elastic force of spring 22 on damping driving disc spacing pressing 20 can transmit
To the spring eye a reversed on damping clutch plate 21,23；
Two panels reverses damping clutch plate 21,23 can be flexiblely reciprocal around bull wheel rotation axis with reversing damping driving disc spacing pressing 20
Rotate；
Damping clutch plate is reversed by the bolt b connections perpendicular to card in both sides, is reversing the corresponding of damping driving disc spacing pressing 20
Position opens up long kidney-shaped hole, ensure connection reverse damping clutch plate 21,23 bolt b be located in long kidney-shaped hole reciprocating rotation from
Hinder；
One end of the swing arm 13 is fixed on the torsion damping clutch plate 21 in outside, 23 axis hole positions.
The upper fulcrum of the angle bisection stent 41 is split as spaced apart 2 points, any is rotatably connected on electronic push away
One end of bar 43, the other end are rotatably connected on the upper end of tubular damping spring 37, and the certain distance is less than or equal to the angle
Divide on stent 41 fulcrum equally to the distance of lower fulcrum.It is foregoing that " the upper fulcrum of angle bisection stent is rotatably connected on the one of electric pushrod
The upper end of the damping spring of end and tubular " connects electric pushrod at the same time although the action of the present invention, function can be realized
One end and the upper end of damping spring, position are not easy to assemble, operate, also prevent that mutually having wiping touches, therefore with respect to some " crowded "
As described in the technical program, " upper fulcrum is split as spaced apart 2 points ", can assemble more at leisure, more calmly,
Reasonably calculated by stress and displacement, design corresponding scantling.
The lower end of upper end to the damping spring 37 of the supporting leg 38 be rotatably connected on position on supporting leg 38 distance be less than subtract
Shake the original length of spring 37.It is bad apart from long stress, or even can not carry out, but distance can not be too short, can cause to do
Relate to.
It is disc that the torsion damping driving disc spacing pressing 20 and two panels, which reverse damping clutch plate 21,23, and reverses damping master
The diameter of Moving plate 20 is less than the diameter for reversing damping clutch plate 21,23；
The rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing 20, inserts cylinder
Spring 22；Rectangular Spring hole corresponding with cylindrical spring, and a square are opened up in the relevant position of two torsion damping clutch plates 21,23
The connection of shape long side is in the baffle c for being less than 45 degree of angles laterally, when torsion damping driving disc spacing pressing 20 and two panels reverse damping clutch plate
21st, 23 by bolt b connections when, the cylindrical spring 22 is clamped in a of both sides Rectangular Spring hole.
Such structure is compact, and cylindrical spring provides and transmission elastic force is preferable, and good manufacturability, easy processing, be easily assembled, and makes
With also reliably, opening up four rectangular recess is advisable, and structure is uncomplicated, there is provided elastic force is enough.
Certainly, if to turn the diameter of damping driving disc spacing pressing 20 equal with the diameter for reversing damping clutch plate 21,23 be also can be with
, at this time the recessed depth of the rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing 20
It is deeper and more, or directly open up corresponding rectangular opening.Elect above according to material and processing conditions.
The non-flank of tooth of the big roller gear 64 and the second gear ring 73 is connected one of in the following ways：
1. the outer ring of the second gear ring 73 and the inner ring of big roller gear 64 are interference fit；
2. a part is made in the second gear ring 73 and big roller gear 64；
3. the outer ring of the second gear ring 73 is connected with the inner ring junction of big roller gear 64 with holding screw.
The present invention has very strong adaptability to complicated loop surface, and the posture for having flexible posture to regulate and control and stablize keeps energy
Power.Be uneven the attachment profiling ability of complicated ground with automatic adaptation, reduces the disturbance to car body because of Uneven road；Increase
The heavy burden ability of mobile working platform, and there is stair climbing and barrier span ability；The mode of four-wheel drive adds
Vehicle cross-country power is, it can be achieved that pivot turn, mobility strong.
Claims (5)
- A kind of 1. structure-improved of stride combined mobile robot running gear, it is characterised in that：Medianly zygomorphic balancing rocker arm suspension (C) is configured on the chassis of " H " the type kind of drive, workbench (81) is placed in On three fixing points of balancing rocker arm suspension (C)；Driven by straight-line travelling driving motor (54) and Turning travel driving motor (76) Dynamic driving steering assembly (B) is configured at the balancing rocker arm suspension (C) and is located at outside " H " type chassis on axle housing cross bar, described flat Four supporting legs of weighing apparatus rocker arm suspension (C), which configure to have, can adjust posture joint track rail assembly (A)；The balancing rocker arm suspension (C) includes the support balancing stand of both sides configuration；The support balancing stand is made of the tabular outer rocker arm (45) parallel to direction of travel and the configuration of inner rocker arm (36) interval, It is in the supporting leg (38) of eight shape obliquely to rotate fixed a pair through supporting leg rotation axis (42) between two rocking arms；The parallel direction of travel configuration electric pushrod (43) in top between two rocking arms, it is right respectively at the both ends of electric pushrod (43) Claim the angle bisection stent (41) for being configured with upper and lower two fulcrum, the upper fulcrum of angle bisection stent (41) is rotatably connected on electric pushrod (43) one end and the upper end of the damping spring (37) of tubular, the lower fulcrum of angle bisection stent is fixedly connected with angle bisection gear (47), a pair of of angle bisection gear (47) intermeshing configured side by side, is shaken by angle bisection gear shaft (46) rolling assembling inside and outside On arm；The lower end of damping spring (37) is rotatably connected on the middle and upper part position of supporting leg；The inner rocker arm rearward stretches out rod-shaped arm, and it is vertical that the rod-shaped arm ends of left and right two inner rocker arms (36) is respectively articulated with Vertical connecting rod (51), the lower end of left and right two vertical connecting rods (51) is hinged and connected by the counter-jib (52) of a transverse direction to be connect, counter-jib (52) middle position is one and the hinged fixing point of workbench；Inner rocker arm (36) central part of two support balancing stands, by horizontal outer bridge axle shell (48) both ends through pivoting support (50) can be rotatablely connected around outer bridge axle shell (48), two side positions, two workbenches of setting consolidates on the outer bridge axle shell (48) Fixed point；The driving turns to assembly (B)：Steering mechanism's housing (62) has left end output shaft (58) and right end output shaft (70)：From left in steering mechanism's housing (62) To right successive configurations symmetrical expression bevel differential, the first planet row and the second planet row, and left end output shaft (58), right end are defeated Shaft (70), symmetrical bevel differential two halves shaft gear and the sun wheel shaft of the first planet row and the second planet row are respectively positioned on Same axis；The fixed main reducing gear driven gear (60) on the differential housing of first gear (53) engaged transmission in drive motor shaft；Left end output shaft (58) connects the first axle shaft gear (57), and right end output shaft (70) connects the second axle shaft gear (72) and the The second sun gear (69) of two planet rows；The first sun gear (68) of first planet row is fixedly connected with differential carrier (63), the second planetary gear of the first planet row (66) the third line star-wheel (67) with the second planet row passes through duplex planet frame configured in parallel；The second planetary gear (66) engaged transmission of first planet row is the second gear ring of tooth in the first sun gear (68) and inner ring (73) between；The third line star-wheel (67) engaged transmission of second planet row is the first gear ring of tooth in the second sun gear (69) and inner ring (65) between；The big roller gear (64) and the non-flank of tooth of the second gear ring (73) of first planet row are fixedly and coaxially connected；Second gear (77) and big roller gear (64) engaged transmission on steering motor output shaft；The first gear ring (65) of second planet row outer ring is fixed on steering mechanism's housing (62) inner wall；The adjustment posture joint track rail assembly (A)：One end is nested with bull wheel rotation axis (17) the driving hollow shaft of chain drum, and driving hollow shaft driving bull wheel rotation, is stirred Crawler belt is run, and drives steamboat rotation；Between bull wheel rotation axis (17) and driving hollow shaft, being nested with one end has the pose adjustment hollow shaft of chain drum, and three axis are coaxial Line can be rotated mutually；The insertion end of pose adjustment hollow shaft is rotated through moment of torsion damping connection rod swing arm (13), the other end of swing arm (13) Connect steamboat (2)；The length direction of the swing arm (13) is consistent with the line of bull wheel (14) and steamboat (2)；The moment of torsion damping is：In the vertical permanent twist damping driving disc spacing pressing (20) of the insertion end of pose adjustment hollow shaft, two Piece reverses the both sides that damping clutch plate (21,23) is respectively configured, is clamped in the torsion damping driving disc spacing pressing, is reversing damping actively Circumferentially some springs of device (22), the relevant position that damping clutch plate (21,23) is reversed in both sides open up accordingly on disk (20) The spring eye (a) of size, the embedded spring eye (a) of the spring (22) so that reverse spring on damping driving disc spacing pressing (20) (22) elastic force can pass to the spring eye (a) reversed on damping clutch plate (21,23)；Two panels reverses damping clutch plate (21,23) can be flexiblely reciprocal around bull wheel rotation axis with reversing damping driving disc spacing pressing (20) Rotate；Damping clutch plate is reversed by bolt (b) connection perpendicular to card in both sides, is reversing the corresponding of damping driving disc spacing pressing (20) Position opens up long kidney-shaped hole, ensures that the bolt (b) of connection torsion damping clutch plate (21,23) is located at reciprocating rotation in long kidney-shaped hole It is unobstructed；One end of the swing arm (13) is fixed on torsion damping clutch plate (21,23) the axis hole position in outside.
- 2. the structure-improved of stride combined mobile robot running gear according to claim 1, it is characterised in that described The upper fulcrum of angle bisection stent (41) is split as spaced apart 2 points, any is rotatably connected on the one of electric pushrod (43) End, the other end are rotatably connected on the upper end of tubular damping spring (37), and the certain distance is less than or equal to the angle bisection branch On frame (41) fulcrum to lower fulcrum distance.
- 3. the structure-improved of stride combined mobile robot running gear according to claim 1, it is characterised in that described The distance that the lower end of the upper end of supporting leg (38) to damping spring (37) is rotatably connected on position on supporting leg (38) is less than damping spring (37) original length.
- 4. the structure-improved of stride combined mobile robot running gear according to claim 1, it is characterised in that described It is disc to reverse damping driving disc spacing pressing (20) and two panels torsion damping clutch plate (21,23), and reverses damping driving disc spacing pressing (20) Diameter be less than reverse damping clutch plate (21,23) diameter；The rectangular recess for opening up 4 outward openings is uniformly distributed in the neighboring for reversing damping driving disc spacing pressing (20), inserts cylinder bullet Spring (22)；Rectangular Spring hole corresponding with cylindrical spring, and one are opened up in the relevant position of two torsion damping clutch plates (21,23) The connection of rectangle long side is in the baffle (c) for being less than 45 degree of angles laterally, when torsion damping driving disc spacing pressing (20) and two panels reverse damping When clutch plate (21,23) is connected by bolt (b), the cylindrical spring (22) is clamped in both sides Rectangular Spring hole (a).
- 5. the structure-improved of stride combined mobile robot running gear according to claim 1, it is characterised in that described The non-flank of tooth of big roller gear (64) and the second gear ring (73) is connected one of in the following ways：1. the outer ring of the second gear ring (73) and the inner ring of big roller gear (64) are interference fit；2. a part is made in the second gear ring (73) and big roller gear (64)；3. the outer ring of the second gear ring (73) is connected with the inner ring junction of big roller gear (64) with holding screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249826.1A CN107953937B (en) | 2017-12-01 | 2017-12-01 | Improved structure of walking system of walking combined type mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249826.1A CN107953937B (en) | 2017-12-01 | 2017-12-01 | Improved structure of walking system of walking combined type mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107953937A true CN107953937A (en) | 2018-04-24 |
| CN107953937B CN107953937B (en) | 2020-02-11 |
Family
ID=61962865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711249826.1A Active CN107953937B (en) | 2017-12-01 | 2017-12-01 | Improved structure of walking system of walking combined type mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953937B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN108693089A (en) * | 2018-05-22 | 2018-10-23 | 连云港宝联实业有限公司 | Tank body detects alarm system and the climbing robot suitable for the system |
| CN109398656A (en) * | 2018-11-21 | 2019-03-01 | 哈尔滨工程大学 | A kind of unmanned submersible's cterpillar drive |
| CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A kind of robot with variable structure |
| CN109794941A (en) * | 2019-03-18 | 2019-05-24 | 大连理工大学 | A kind of caterpillar type robot control system and method with speeling stairway function |
| CN109831950A (en) * | 2018-12-28 | 2019-06-04 | 贵州大学 | A kind of mountainous region farm machinery chassis adjusted based on hydraulic control |
| CN110103208A (en) * | 2019-06-25 | 2019-08-09 | 湖北文理学院 | A kind of robot base |
| CN110279529A (en) * | 2019-08-01 | 2019-09-27 | 上海电力大学 | It helps the elderly stair-climbing wheel chair partner device of helping the disabled |
| CN110450870A (en) * | 2019-09-15 | 2019-11-15 | 杜家鑫 | A kind of farm machinery |
| WO2019218288A1 (en) * | 2018-05-17 | 2019-11-21 | Zhong Zhaohong | Balanced mobility device for disabled individuals |
| WO2020133546A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Reconfigurable joint track composite mobile robot |
| CN112155954A (en) * | 2020-09-17 | 2021-01-01 | 郑州大学第一附属医院 | Supplementary limbs obstacle patient mobile device |
| CN112977669A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Take open-air unmanned car of lateral stabilization structure |
| CN113198109A (en) * | 2021-05-17 | 2021-08-03 | 中国科学院沈阳自动化研究所 | Defibrillation robot |
| CN114228851A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学 | Obstacle-crossing rescue robot |
| CN114506398A (en) * | 2020-11-16 | 2022-05-17 | 丰田自动车株式会社 | Electric vehicle |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
| CN117163845A (en) * | 2023-10-31 | 2023-12-05 | 南通庞源机械工程有限公司 | Climbing device of internal climbing tower crane |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4823852A (en) * | 1987-02-05 | 1989-04-25 | Allied Systems Company | Tree feller-buncher |
| CN104175796A (en) * | 2014-08-28 | 2014-12-03 | 北京航空航天大学 | Traveling device with balanced rocker arm suspension and deformable wheels |
| CN204937294U (en) * | 2015-08-31 | 2016-01-06 | 中国矿业大学 | Deformed caterpillar suspension and there is its robot moving platform |
| CN105835969A (en) * | 2016-04-13 | 2016-08-10 | 河北农业大学 | Agricultural electric chassis provided with double-torsion-bar and parallel-four-connecting-rod type independent suspensions |
| CN106184469A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Double Worm gear mechanism deformable shock-resistant running parts and there is its firefighting movable platform |
-
2017
- 2017-12-01 CN CN201711249826.1A patent/CN107953937B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4823852A (en) * | 1987-02-05 | 1989-04-25 | Allied Systems Company | Tree feller-buncher |
| CN104175796A (en) * | 2014-08-28 | 2014-12-03 | 北京航空航天大学 | Traveling device with balanced rocker arm suspension and deformable wheels |
| CN204937294U (en) * | 2015-08-31 | 2016-01-06 | 中国矿业大学 | Deformed caterpillar suspension and there is its robot moving platform |
| CN105835969A (en) * | 2016-04-13 | 2016-08-10 | 河北农业大学 | Agricultural electric chassis provided with double-torsion-bar and parallel-four-connecting-rod type independent suspensions |
| CN106184469A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Double Worm gear mechanism deformable shock-resistant running parts and there is its firefighting movable platform |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019218288A1 (en) * | 2018-05-17 | 2019-11-21 | Zhong Zhaohong | Balanced mobility device for disabled individuals |
| CN108693089A (en) * | 2018-05-22 | 2018-10-23 | 连云港宝联实业有限公司 | Tank body detects alarm system and the climbing robot suitable for the system |
| CN108693089B (en) * | 2018-05-22 | 2024-05-14 | 连云港宝联实业有限公司 | Tank body detection alarm system and wall climbing robot suitable for same |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN109398656A (en) * | 2018-11-21 | 2019-03-01 | 哈尔滨工程大学 | A kind of unmanned submersible's cterpillar drive |
| CN109398656B (en) * | 2018-11-21 | 2023-10-13 | 哈尔滨工程大学 | Crawler-type running gear of unmanned submersible |
| CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A kind of robot with variable structure |
| CN109831950A (en) * | 2018-12-28 | 2019-06-04 | 贵州大学 | A kind of mountainous region farm machinery chassis adjusted based on hydraulic control |
| WO2020133546A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Reconfigurable joint track composite mobile robot |
| US11235821B2 (en) | 2018-12-29 | 2022-02-01 | Shenyang Institute Of Automation, Chinese Academy Of Sciences | Reconfigurable joint track compound mobile robot |
| CN109794941A (en) * | 2019-03-18 | 2019-05-24 | 大连理工大学 | A kind of caterpillar type robot control system and method with speeling stairway function |
| CN110103208A (en) * | 2019-06-25 | 2019-08-09 | 湖北文理学院 | A kind of robot base |
| CN110103208B (en) * | 2019-06-25 | 2022-06-21 | 湖北文理学院 | Robot base |
| CN110279529A (en) * | 2019-08-01 | 2019-09-27 | 上海电力大学 | It helps the elderly stair-climbing wheel chair partner device of helping the disabled |
| CN110450870A (en) * | 2019-09-15 | 2019-11-15 | 杜家鑫 | A kind of farm machinery |
| CN112977669A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Take open-air unmanned car of lateral stabilization structure |
| CN112155954A (en) * | 2020-09-17 | 2021-01-01 | 郑州大学第一附属医院 | Supplementary limbs obstacle patient mobile device |
| CN114506398A (en) * | 2020-11-16 | 2022-05-17 | 丰田自动车株式会社 | Electric vehicle |
| CN114506398B (en) * | 2020-11-16 | 2024-03-01 | 丰田自动车株式会社 | Electric vehicle |
| CN113198109A (en) * | 2021-05-17 | 2021-08-03 | 中国科学院沈阳自动化研究所 | Defibrillation robot |
| CN113198109B (en) * | 2021-05-17 | 2024-04-16 | 中国科学院沈阳自动化研究所 | Heart defibrillation robot |
| CN114228851A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学 | Obstacle-crossing rescue robot |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
| CN117163845A (en) * | 2023-10-31 | 2023-12-05 | 南通庞源机械工程有限公司 | Climbing device of internal climbing tower crane |
| CN117163845B (en) * | 2023-10-31 | 2024-01-23 | 南通庞源机械工程有限公司 | Climbing device of internal climbing tower crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107953937B (en) | 2020-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107953937A (en) | A kind of structure-improved of stride combined mobile robot running gear | |
| US4951791A (en) | Rear wheel suspension mechanism for motorcycles and the like vehicles | |
| US7494141B2 (en) | Tilting four wheel drive vehicle | |
| JP4583741B2 (en) | Swing control device for swing type vehicle | |
| CN110481657B (en) | Special robot with complex terrain self-adaption function and movement operation method thereof | |
| CN108454718B (en) | Crawler-type passive self-adaptive robot | |
| US4166511A (en) | Four-track low ground pressure crawler vehicle | |
| CN103192897B (en) | Bionic six-wheel-leg travelling mechanism | |
| CN102963455A (en) | Pull rod type suspended robot wheel leg walking mechanism | |
| CN107571702A (en) | A kind of rocker arm suspension, wheel leg type motor platform and unmanned control system | |
| CN109969282A (en) | A kind of four-wheel climbing robot having curved surface adsorption function and its application method | |
| JP2012228996A (en) | Four-wheeled traveling vehicle | |
| CN208802068U (en) | A kind of new vehicle | |
| KR102543950B1 (en) | Dual-axle wheels suspension | |
| CN211223657U (en) | Running gear and unmanned vehicle | |
| CN109080700A (en) | A kind of 4 wheel driven independent steering gear | |
| CN106585302A (en) | Independent rear suspension having transmission function | |
| CN107639988A (en) | Front wheels of motor-vehicles can upright bounce independent suspension mechanism and steering mechanism | |
| CN102824252A (en) | Frame with variable axle distance | |
| CN207550345U (en) | A kind of joint crawler belt with attitude-adjusting system | |
| CN207510553U (en) | A kind of rocking arm type suspension mechanism of high stationarity travelling box body | |
| CN207773303U (en) | Has the safety protection robot of shock-absorbing function | |
| CN207758932U (en) | A kind of quadricycle of leaf spring damping | |
| CN106422351B (en) | A kind of carbon-free trolley and forward method for realizing that trolley is turned to using toothed belt transmission | |
| CN110937038A (en) | Running gear and unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |