CN108099523A - Wheeled robot and its base apparatus - Google Patents
Wheeled robot and its base apparatus Download PDFInfo
- Publication number
- CN108099523A CN108099523A CN201711374774.0A CN201711374774A CN108099523A CN 108099523 A CN108099523 A CN 108099523A CN 201711374774 A CN201711374774 A CN 201711374774A CN 108099523 A CN108099523 A CN 108099523A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- suspension strut
- upper swing
- base apparatus
- wheeled robot
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Axle Suspensions And Sidecars For Cycles (AREA)
Abstract
The invention discloses a kind of base apparatus of wheeled robot, including chassis housing, chassis housing is equipped with upper swing arm and the lower swing arm of setting in parallel, scalable double universal joint is equipped on chassis housing between upper swing arm and lower swing arm, upper swing arm, lower swing arm and scalable double universal joint are hinged respectively with suspension strut, so that the vertical axis that suspension strut can be formed along one end of upper swing arm and lower swing arm rotates, suspension strut is equipped with to install the flange of tire, and suspension strut is connected to rotate along vertical axis under its drive with steering link.Using base apparatus disclosed by the invention, upper swing arm and lower swing arm are hinged respectively with suspension strut so that suspension strut can connect the vertical axis to be formed rotation along upper swing arm with lower swing arm, realize the rotation of suspension strut, and then meet the divertical motion demand of tire.The invention also discloses a kind of wheeled robots, have above-mentioned technique effect.
Description
Technical field
The present invention relates to wheeled robot technical field, more specifically to a kind of base apparatus of wheeled robot,
Further relate to a kind of wheeled robot.
Background technology
At present, the driving form of wheeled robot is mostly connected directly using speed reducer with tire in the market, no suspension
Design；Its deficiency is：Road environment travels adaptability and chassis passability is poor, not steady enough during travelling, can not
Meet tire bounce and divertical motion requirement.
It is asked in conclusion how to efficiently solve wheeled robot and can not meet tire bounce and divertical motion demand etc.
Topic, is current those skilled in the art's urgent problem.
The content of the invention
In view of this, of the invention first is designed to provide a kind of base apparatus of wheeled robot, to solve to take turns
Formula robot can not meet the problems such as divertical motion demand, and second object of the present invention is to provide a kind of including above-mentioned chassis dress
The wheeled robot put.
In order to reach above-mentioned first purpose, the present invention provides following technical solution：
A kind of base apparatus of wheeled robot, including chassis housing, the chassis housing be equipped with upper swing arm and and its
The lower swing arm being arranged in parallel is equipped with scalable double universal joint on the chassis housing between the upper swing arm and the lower swing arm,
The upper swing arm, the lower swing arm are hinged respectively with suspension strut, so that the suspension strut can be along the upper swing arm and described
The vertical axis rotation that one end of lower swing arm is formed, the suspension strut be equipped with to install tire and with it is described scalable double
The flange that connection universal joint is fixedly connected, the suspension strut are connected to drive vertical axis rotation described in lower edge at it with steering link
Turn.
Preferably, damper is additionally provided on the chassis housing, one end of the damper is fixed with the chassis housing
Connection, the other end are fixedly connected with the lower swing arm.
Preferably, the upper swing arm and the lower swing arm are respectively with the suspension strut through goat's horn bulb hinged.
Preferably, the suspension strut is removably fixedly connected with the steering link.
Preferably, removably it is fixedly connected between the upper swing arm and the chassis housing.
Preferably, it is fixedly connected between chassis housing described in the upper swing arm through bolt.
The base apparatus of wheeled robot provided by the invention, including chassis housing, chassis housing be equipped with upper swing arm and
The lower swing arm of setting in parallel, is equipped with scalable double universal joint on chassis housing between upper swing arm and lower swing arm, upper swing arm, under
Swing arm and scalable double universal joint are hinged respectively with suspension strut, so that suspension strut can be along one end of upper swing arm and lower swing arm
The vertical axis rotation of formation, suspension strut are equipped with to install the flange of tire, suspension strut be connected with steering link with
It is rotated under its drive along vertical axis.
Using base apparatus provided by the invention, upper swing arm and lower swing arm are hinged respectively with suspension strut so that suspension branch
Support can connect the vertical axis to be formed rotation along upper swing arm with lower swing arm, realize the rotation of suspension strut, and then meet tire
Divertical motion demand.
In order to reach above-mentioned second purpose, the present invention also provides a kind of wheeled robot, which includes
Any of the above-described kind of base apparatus, since above-mentioned base apparatus has above-mentioned technique effect, the wheeled machine with the base apparatus
Device people should also have corresponding technique effect.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structure diagram of wheeled robot provided in an embodiment of the present invention；
Fig. 2 is a kind of structure diagram of the base apparatus of wheeled robot provided in an embodiment of the present invention.
It is marked in attached drawing as follows：
Damper 1, upper swing arm 2, lower swing arm 3, goat's horn bulb 4, suspension strut 5, flange 6, scalable double universal joint 7,
Steering link 8, base apparatus 9.
Specific embodiment
The embodiment of the invention discloses a kind of base apparatus of wheeled robot, it can not be met with to solve wheeled robot and turned
The problems such as to motion requirement.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
- Fig. 2 is please referred to Fig.1, Fig. 1 is a kind of structure diagram of wheeled robot provided in an embodiment of the present invention；Fig. 2 is
A kind of structure diagram of the base apparatus of wheeled robot provided in an embodiment of the present invention.
In a kind of specific embodiment, base apparatus 9 provided by the invention, including chassis housing, on chassis housing
Equipped with upper swing arm 2 and the lower swing arm of setting in parallel 3, scalable duplex is equipped on chassis housing between upper swing arm 2 and lower swing arm 3
Universal joint 7, upper swing arm 2, lower swing arm 3 and hinged with suspension strut 5 respectively, so that suspension strut 5 can be along upper swing arm 2 and lower swing arm
The vertical axis rotation that 3 one end is formed, suspension strut 5 are equipped with to install tire and consolidate with scalable double universal joint 7
Surely the flange 6 connected, suspension strut 5 are connected to rotate along vertical axis under its drive with steering link 8.
Upper swing arm 2 and lower swing arm 3 are fixedly connected respectively with chassis housing, are preferably removably fixedly connected, 2 He of upper swing arm
Lower swing arm 3 is arranged in parallel, and the one end of upper swing arm 2 and lower swing arm 3 away from chassis housing is hinged with suspension strut 5 respectively, and is formed
Vertical axes, suspension strut 5 are rotated along vertical axes, to realize the steering of tire.Being equipped between upper swing arm 2 and lower swing arm 3 can
Flexible double universal joint 7, is fixedly connected with motor reducer assembly, and one end of scalable double universal joint 7 is equipped with transmission shaft,
Flange 6 is fixedly connected with transmission shaft.One end of steering link 8 is connected with motor, and the other end is fixedly connected with suspension strut 5, with
So that suspension strut 5 is rotated along vertical axis under its drive.
Tire and wheel hub can be arranged on flange 6, and to realize fixation, suspension is adjusted by adjusting the length of steering link 8
The rotation angle of support 5, so that it meets the divertical motion requirement of wheeled robot.
Using base apparatus 9 provided by the invention, upper swing arm 2 and lower swing arm 3 are hinged with suspension strut 5 respectively so that outstanding
Hanging support 5 can rotate along the vertical axis that upper swing arm 2 and the connection of lower swing arm 3 are formed, and realize the rotation of suspension strut 5, Jin Erman
The divertical motion demand of sufficient tire.
Specifically, being additionally provided with damper 1 on chassis housing, one end of damper 1 is fixedly connected with chassis housing, the other end
It is fixedly connected with lower swing arm 3.Lower swing arm 3 is fixedly connected respectively with suspension strut 5 and damper 1, and lower swing arm 3 is by the vibration of tire
Damper 1 is transferred to, to realize damping, ensures the bounce requirement of tire.Its specific structure and connection relation can refer to existing
Technology, within the scope of the present invention.
Further, upper swing arm 2 and lower swing arm 3 are hinged through goat's horn bulb 4 with suspension strut 5 respectively.Certainly, in other realities
It applies in example, suitable articulated manner can also be selected as needed, details are not described herein.
Specifically, suspension strut 5 is removably fixedly connected with steering link 8.Preferably screw etc. is fixedly connected, thus
It sets, with easy disassembly.
In a kind of specific embodiment, upper swing arm 2 and removably it is fixedly connected between chassis housing.Preferably through spiral shell
Bolt is fixedly connected.
Base apparatus 9 based on the wheeled robot provided in above-described embodiment, the present invention also provides a kind of wheeled machines
Device people, the wheeled robot include above-described embodiment in any one base apparatus 9, due to the wheeled robot employ it is above-mentioned
Base apparatus 9 in embodiment, so the advantageous effect of the wheeled robot refer to above-described embodiment.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little elements, but also including other elements that are not explicitly listed or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except also there are other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (7)
1. a kind of base apparatus of wheeled robot, which is characterized in that including chassis housing, the chassis housing is equipped with upper pendulum
Arm and the lower swing arm of setting in parallel are equipped with scalable duplex on the chassis housing between the upper swing arm and the lower swing arm
Universal joint, the upper swing arm, the lower swing arm are hinged respectively with suspension strut, so that the suspension strut can be along the upper swing arm
The vertical axis rotation formed with one end of the lower swing arm, the suspension strut be equipped with to install tire and with it is described can
The flange that flexible double universal joint is fixedly connected, it is vertical described in lower edge that the suspension strut is connected to drive at it with steering link
Axis rotates.
2. the base apparatus of wheeled robot according to claim 1, which is characterized in that be additionally provided on the chassis housing
Damper, one end of the damper are fixedly connected with the chassis housing, and the other end is fixedly connected with the lower swing arm.
3. the base apparatus of wheeled robot according to claim 2, which is characterized in that the upper swing arm and the bottom
Arm is respectively with the suspension strut through goat's horn bulb hinged.
4. the base apparatus of wheeled robot according to claim 3, which is characterized in that the suspension strut and described turn
To being fixedly connected for link detachable.
5. the base apparatus of wheeled robot according to claim 4, which is characterized in that the upper swing arm and the chassis
It is removably fixedly connected between housing.
6. the base apparatus of wheeled robot according to claim 5, which is characterized in that chassis shell described in the upper swing arm
It is fixedly connected between body through bolt.
7. a kind of wheeled robot, which is characterized in that including such as claim 1-6 any one of them base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374774.0A CN108099523A (en) | 2017-12-19 | 2017-12-19 | Wheeled robot and its base apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374774.0A CN108099523A (en) | 2017-12-19 | 2017-12-19 | Wheeled robot and its base apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108099523A true CN108099523A (en) | 2018-06-01 |
Family
ID=62211178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711374774.0A Pending CN108099523A (en) | 2017-12-19 | 2017-12-19 | Wheeled robot and its base apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108099523A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080721A (en) * | 2018-08-29 | 2018-12-25 | 深圳优艾智合机器人科技有限公司 | Suspension mechanism and mobile robot |
| CN110422248A (en) * | 2019-07-10 | 2019-11-08 | 松灵机器人（东莞）有限公司 | Hang driving device |
| WO2021175042A1 (en) * | 2020-03-02 | 2021-09-10 | 大陆智源科技（北京）有限公司 | Suspension device, suspension damping device and six-wheel bionic chassis |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2249913A1 (en) * | 1972-10-12 | 1974-04-18 | Porsche Ag | WHEEL SUSPENSION FOR MOTOR VEHICLES |
| US5074581A (en) * | 1989-05-19 | 1991-12-24 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle suspension system using a rotary dampen |
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN101876351A (en) * | 2009-04-30 | 2010-11-03 | 常州超宇机械制造有限公司 | Constant-speed transmission shaft with telescopic middle shaft |
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
-
2017
- 2017-12-19 CN CN201711374774.0A patent/CN108099523A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2249913A1 (en) * | 1972-10-12 | 1974-04-18 | Porsche Ag | WHEEL SUSPENSION FOR MOTOR VEHICLES |
| US5074581A (en) * | 1989-05-19 | 1991-12-24 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle suspension system using a rotary dampen |
| CN101876351A (en) * | 2009-04-30 | 2010-11-03 | 常州超宇机械制造有限公司 | Constant-speed transmission shaft with telescopic middle shaft |
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN106476550A (en) * | 2016-12-06 | 2017-03-08 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080721A (en) * | 2018-08-29 | 2018-12-25 | 深圳优艾智合机器人科技有限公司 | Suspension mechanism and mobile robot |
| CN110422248A (en) * | 2019-07-10 | 2019-11-08 | 松灵机器人（东莞）有限公司 | Hang driving device |
| WO2021175042A1 (en) * | 2020-03-02 | 2021-09-10 | 大陆智源科技（北京）有限公司 | Suspension device, suspension damping device and six-wheel bionic chassis |
| US11780282B2 (en) | 2020-03-02 | 2023-10-10 | Dalu Robotech, Technology(Beijing) Co., Ltd. | Suspension assembly, suspension damping device and six wheels bionic chassis |
| EP4116115A4 (en) * | 2020-03-02 | 2024-04-10 | DALU Robotech, Technology (Beijing) Co., Ltd. | Suspension device, suspension damping device and six-wheel bionic chassis |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180601 |
|
| RJ01 | Rejection of invention patent application after publication |