CN108944308A - Suspension mechanism for running gear and the walking robot with it - Google Patents
Suspension mechanism for running gear and the walking robot with it Download PDFInfo
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- CN108944308A CN108944308A CN201710470310.3A CN201710470310A CN108944308A CN 108944308 A CN108944308 A CN 108944308A CN 201710470310 A CN201710470310 A CN 201710470310A CN 108944308 A CN108944308 A CN 108944308A
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- Prior art keywords
- hanging bracket
- support plate
- traveling wheel
- suspension mechanism
- running gear
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- 239000000725 suspension Substances 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 238000013016 damping Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/04—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle
- B60G3/06—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle the arm being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/142—Independent suspensions with lateral arms with a single lateral arm, e.g. MacPherson type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of suspension mechanism for running gear and the walking robot with it, the suspension mechanism includes: supporter；At least a pair of of traveling wheel, each traveling wheel is mounted on the supporter by hanging bracket and is suitable for driving the running gear walking, wherein one end of the hanging bracket is as pivotally connected to the supporter, and the other end of the hanging bracket can be connected to elastic displacement the supporter along the vertical direction of the direction of travel generally perpendicular to the traveling wheel.Suspension mechanism according to the present invention for running gear, traveling wheel can grab ground with ground face contact always, guarantee that running gear can be with normally travel, while also having damping effect, keep running gear operation more steady.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of suspension mechanism for running gear and have it
Walking robot.
Background technique
Indoor four-wheel or six wheeler in the related technology, when its driving wheel or driven wheel encounter ground out-of-flatness and have platform
Rank causes wheel that can not grab ground the case where skid, causes car that can not move.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.Therefore, the present invention intends to propose one
Kind it is used for the suspension mechanism of running gear, the suspension mechanism structure is simple, reliable performance and at low cost.
The present invention also proposes a kind of walking robot with above-mentioned suspension mechanism.
The suspension mechanism for running gear according to a first aspect of the present invention, comprising: supporter；At least a pair of of walking
Wheel, each traveling wheel are mounted on the supporter by hanging bracket and are suitable for driving the running gear walking,
Described in one end of hanging bracket be as pivotally connected to the supporter, and the other end of the hanging bracket is along substantially hanging down
Directly the supporter can be connected to elastic displacement in the vertical direction of the direction of travel of the traveling wheel.
Suspension mechanism according to the present invention for running gear, one end of the hanging bracket by the way that traveling wheel will be equipped with
Pivotably it is connected with supporter and the other end can be connected with supporter to elastic displacement along the vertical direction, when running gear walking
Not usually, traveling wheel can be swung up and down with hanging bracket around the pivot axis of hanging bracket, uneven to adapt on ground
Road conditions guarantee that running gear can be with normally travel, together to guarantee that traveling wheel can grab ground with ground face contact always
When also there is damping effect, make running gear operation it is more steady.
In some embodiments, the supporter includes: the first support plate；Second support plate, second support plate are set
It sets on first support plate and is arranged with first support plate interval, and each traveling wheel setting is described the
In one support plate and the corresponding holding tank of second support plate.
In some embodiments, the other end of the hanging bracket is provided with vertical pin shaft, and is arranged on the pin shaft
Flexible part, and the elastic component is elastically compressed and the described another of second support plate and the hanging bracket is arranged in
Between end.
In some embodiments, the direction from the other end of the hanging bracket towards one end of the hanging bracket is substantially
It is identical as the direction of travel of the traveling wheel.
In some embodiments, second support plate is provided with through-hole, and one end of the pin shaft wears the through-hole.
In some embodiments, the hanging bracket is roughly annular run-track shaped and is arranged the traveling wheel, the row
The pivotal axis for walking wheel is fixedly attached to the hanging bracket.
In some embodiments, the traveling wheel is driving wheel.
In some embodiments, at least one driven wheel is provided on the lower surface of first support plate.
In some embodiments, controller is provided on the upper surface of first support plate.
In some embodiments, the suspension mechanism further comprises: third support plate, and the third support plate passes through branch
Column is supported on the surface of second support plate, and the edge of the third support plate is provided with photographic device.
Walking robot according to a second aspect of the present invention, including according to a first aspect of the present invention for running gear
Suspension mechanism.
Walking robot according to the present invention, by the way that the suspension mechanism for running gear of above-mentioned first aspect is arranged,
To improve the overall performance of walking robot.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the schematic diagram of the suspension mechanism according to an embodiment of the present invention for running gear；
Fig. 2 is the enlarged drawing at the A that Fig. 1 centre circle shows；
Fig. 3 is the schematic diagram shown in Fig. 1 for another angle of the suspension mechanism of running gear；
Fig. 4 is the explosive view shown in Fig. 1 for the suspension mechanism of running gear.
Appended drawing reference:
Suspension mechanism 100,
Supporter 1, the first support plate 11, the first holding tank 111, fixing seat 112, shaft 113, the second support plate 12, the
Two holding tanks 121, through-hole 122, third support plate 13,
Traveling wheel 2, pivotal axis 21, hanging bracket 3, pivot section 31,
Pin shaft 4, elastic component 5, driven wheel 6, photographic device 7, column 8, pillar 9.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The suspension mechanism for running gear of embodiment according to a first aspect of the present invention is described below with reference to Fig. 1-Fig. 4
100。
As shown in Figure 1, the suspension mechanism 100 for running gear of embodiment according to a first aspect of the present invention, comprising: branch
Support body 1 and at least a pair of of traveling wheel 2.
Specifically, a pair of of traveling wheel 2 includes about 1 symmetrically arranged on the left and the right two traveling wheel 2 of supporter.Each traveling wheel
2 are mounted on supporter 1 by hanging bracket 3, and traveling wheel 2 is suitable for driving running gear walking.
Wherein, one end (such as front end of hanging bracket 3 shown in Fig. 1) of hanging bracket 3 is as pivotally connected to prop up
Support body 1, and the other end (such as rear end of hanging bracket 3 shown in Fig. 1) of hanging bracket 3 is along generally perpendicular to traveling wheel
The vertical direction (such as up and down direction shown in Fig. 1) of 2 direction of travel (such as front-rear direction shown in Fig. 1) can elasticity
It is connected to supporter 1 with displacement.That is, wherein one end and 1 pivotable connection of supporter in the both ends of hanging bracket 3,
The other end can be connected with supporter 1 to elastic displacement along the vertical direction.
Since traveling wheel 2 is mounted in hanging bracket 3, it is rotatably mounted for example, traveling wheel 2 can pivot about axis 21
In hanging bracket 3, therefore, with respect to supporter 1 elastic displacement, in other words, traveling wheel can also occur along the vertical direction for traveling wheel 2
2 pivotal axis 21 can have elastic displacement with respect to supporter 1 along the vertical direction, in this way, when traveling wheel 2 walk in ground injustice or
When ground with step, traveling wheel 2 can be with hanging bracket 3 together with surface relief on the pivot axis of hanging bracket 3
Lower swing, be not in traveling wheel 2 vacantly leads to not grab ground the case where, thus, it is possible to guarantee traveling wheel 2 always with ground
Face contact guarantees running gear normally travel to obtain grasp force.In addition, the other end due to hanging bracket 3 can elastic displacement
Ground is connected to supporter 1, can also reduce the vibration that traveling wheel 2 is transferred to supporter 1, play the effect of damping, fills walking
It is more steady to set walking.
Suspension mechanism 100 according to an embodiment of the present invention for running gear, by the suspension that will be equipped with traveling wheel 2
One end of bracket 3 is pivotably connected with supporter 1 and the other end can be connected with supporter 1 to elastic displacement along the vertical direction, when
The ground of running gear walking not usually, traveling wheel 2 can with hanging bracket 3 on the pivot axis of hanging bracket 3 bottom
It is dynamic, to adapt to rough road conditions, to guarantee that traveling wheel 2 can grab ground with ground face contact always, guarantee walking
Device can be with normally travel, while also having damping effect, keeps running gear operation more steady.
Below with reference to the structure of the suspension mechanism of one specific embodiment of Fig. 2 the present invention is described in detail.
Suspension mechanism 100 shown in Fig. 2 includes: supporter 1, traveling wheel 2, hanging bracket 3, pin shaft 4 and elastic component 5,
Wherein the edge of supporter 1 is formed with holding tank, and the front side edge of holding tank is along equipped with mounting base 112.Traveling wheel 2 is located at holding tank
It is interior and be fixed in hanging bracket 3, after pin shaft 4 upwardly extends and the flexible part 5 of housing, and pin shaft 4 is fixed on hanging bracket 3
End, the front end of hanging bracket 3 and 112 pivotable connection of fixing seat.In short, traveling wheel 2, pin shaft 44 and elastic component 5 are fixed
In hanging bracket 3, and hanging bracket 3 is pivotably connected supporter 1, as a result, traveling wheel 2, pin shaft 4, elastic component 5 and suspension
The pivot axis that bracket 3 can be integrated opposite hanging bracket 3 pivots.
As shown in Figure 1, in one embodiment of the invention, supporter 1 may include: the first support plate 11 and second
Fagging 12, the second support plate 12 are arranged on the first support plate 11, and the second support plate 12 and the first support plate 11 are vertically square
To arranged for interval, and the setting of each traveling wheel 2 the first support plate 11 and the corresponding holding tank of the second support plate 12 (such as hereafter
Described in the first holding tank 111 and the second holding tank 121) in.Thus, it is possible to the hanging bracket 3 for being easily installed and supporting, together
When the first support plate 11 and the second support plate 12 and traveling wheel 2 are avoided open, avoid the first support plate 11 and the second support plate
12 interference traveling wheels 2 move, in addition, also saving the installation space of traveling wheel 2.
As shown in connection with fig. 1, the second support plate 12 is supported on the surface of the first support plate 11 by column 8, the first support
The edge of plate 11 is provided with the first holding tank 111, and the edge of the second support plate 12 is provided with the second holding tank 121, and first holds
Receive that slot 111 and the second holding tank 121 are opposite along the vertical direction, and hanging bracket 3 is connected to the edge of the first holding tank 111, and row
It walks wheel 2 and is contained in the first holding tank 111 and the second holding tank 121.
In some instances, as shown in Figure 1, one end of hanging bracket 3 is pivotably coupled in the first support plate 11.Tool
Body, the upper surface of the first support plate 11 is equipped with fixing seat 112, and the projection of fixing seat 112 on the horizontal level is U-shaped, and
The opposite two side walls of fixing seat 112 are equipped with mounting hole, are equipped with shaft 113 in mounting hole；One end of hanging bracket 3 is set
There is pivot section 31, pivot section 31 is set on shaft 113, to realize that pivot section 31 and fixing seat 112 can
It is pivotally attached to.
Further, as shown in Figure 1, the other end (such as rear end of hanging bracket 3 shown in Fig. 1) of hanging bracket 3
It is provided with vertical pin shaft 4, pin shaft 4 can be integrally formed or be fixedly connected with the other end of hanging bracket 3.And it is covered on pin shaft 4
Equipped with elastic component 5, and elastic component 5 is elastically compressed and is arranged between the second support plate 12 and the other end of hanging bracket 3.This
Sample, elastic component 5 can have the power for pushing hanging bracket 3 downward always, and when traveling wheel 2 is by pit, elastic component 5 can be pushed away
Dynamic hanging bracket 3 drives traveling wheel 2 to move down, and traveling wheel 2 is made to keep a firm hand on ground, avoids traveling wheel 2 hanging and can not grab ground
Obtain power in face；When traveling wheel 2 is by protrusion, traveling wheel 2 drives hanging bracket 3 to move up, the further compressed-bit of hanging bracket 3
Elastic component 5 between the second support plate 12 and hanging bracket 3, damping effect is good.
Wherein, elastic component 5, which can also be at least partly elastically compressed, is arranged in the another of the second support plate 12 and hanging bracket 3
Between one end.
Preferably, elastic component 5 is spring.
As shown in Figure 1, the direction from the other end of hanging bracket 3 towards one end of hanging bracket 3 is (such as shown in Fig. 1
Direction from back to front) it is substantially identical as the direction of travel of traveling wheel 2.That is, hanging bracket 3 with the first support plate
11 one end being pivotally connected are located at the front side of 2 direction of travel of traveling wheel, hanging bracket 3 can elastic displacement with the second support plate 12
The other end be located at the rear side of 2 direction of travel of traveling wheel, at this point, walking of the pivot axis of hanging bracket 3 perpendicular to traveling wheel 2
Direction and horizontally disposed.Thus, it is possible to facilitate arrangement hanging bracket 3, structure is simple, saves installation space.And it will not influence row
Walk the odometer of wheel 2.
Further, the second support plate 12 is provided with through-hole 122, and through-hole 122 penetrates through the second support plate 12 along the vertical direction,
One end (such as upper end of pin shaft 4 shown in Fig. 1) of pin shaft 4 wears through-hole 122.And 4 opposing through-bores 122 of pin shaft can be vertically
It is mobile.When traveling wheel 2 walks Uneven road, traveling wheel 2 drives hanging bracket 3 and pin shaft 4 to move up and down, and pin shaft 4 is opposite
Second support plate 12 moves along the vertical direction, in the process, the elastic component between the second support plate 12 and hanging bracket 3
5 are further compressed or discharge partial shrinkage, to guarantee that traveling wheel 2 contacts always and grab ground, and play to running gear
Damping effect.
In some embodiments of the invention, as shown in figure 3, hanging bracket 3 is roughly annular run-track shaped, and branch is hung
Frame 3 is arranged traveling wheel 2, in this way, traveling wheel 2 can be spaced apart by hanging bracket 3 with other components, avoids other components dry
Relate to the movement of traveling wheel 2.
Further, the pivotal axis 21 of traveling wheel 2 is fixedly attached to hanging bracket 3, at this point, the pivotal axis 21 of traveling wheel 2
It is connected to one with hanging bracket 3, when hanging bracket 3 is swung along the vertical direction, the pivotal axis 21 of traveling wheel 2 also can be with
Hanging bracket 3 is swung along the vertical direction.Thus, it is possible to improve the stability that power is transmitted between traveling wheel 2 and hanging bracket 3.
In addition, it is necessary to explanation, settable bearing is between traveling wheel 2 and its pivotal axis 21 to realize traveling wheel 2 around it
Pivotal axis 21 rotates, and realizes the rotation walking of traveling wheel 2.
Further, since the pivotal axis 21 of traveling wheel 2 is fixedly connected with hanging bracket 3, therefore, traveling wheel 2 at this time is row
The driven wheel 6 of walking apparatus.
As shown in figures 1 and 3, hanging bracket 3 has extension along the longitudinal direction and in left-right direction spaced apart first
The both ends of straightway and second straight line section, first straight line section and second straight line section pass through the first segmental arc and the second segmental arc phase respectively
Even, and the first segmental arc and the second segmental arc are protruded towards the direction far from first straight line section and second straight line section.Traveling wheel 2 is set in
The inside of hanging bracket 3, and the both ends of the pivotal axis 21 of traveling wheel 2 are separately fixed in first straight line section and second straight line section.
In some embodiments of the invention, traveling wheel 2 is driving wheel.Thus, it is possible to guarantee the walking as driving wheel
Wheel 2 can catch ground always, guarantee that driving wheel has driving force, can drive mobile devices normally travel.
Further, at least one driven wheel 6 is provided on the lower surface of the first support plate 11.Driven wheel 6 can be expert at
Being rotated by for wheel 2 is walked, realizes that the walking of running gear is mobile, by the way that driven wheel 6 is arranged, running gear can simplified
Under the premise of driving structure, keep running gear walking more steady.
In some embodiments of the invention, controller is provided on the upper surface of the first support plate 11.Controller can be with
The operation such as starting, walking, steering of running gear is controlled, to facilitate control running gear.
In some embodiments, the suspension mechanism 100 for running gear of the invention may further include: third branch
Fagging 13, third support plate 13 is supported on the surface of the second support plate 12 by pillar 9, and the edge of third support plate 13 is set
It is equipped with photographic device 7.Photographic device 7 can be used for executing camera shooting and the movement such as take pictures.
Further, in a ring, pillar 9 includes along the circumferentially spaced more of third support plate 13 to third support plate 13
It is a.
Below with reference to the suspension mechanism for running gear of Fig. 1-Fig. 3 description accord to a specific embodiment of that present invention
100。
Referring to Fig.1, the suspension mechanism 100 of the embodiment of the present invention includes: the first support plate 11, the second support plate 12, third
Support plate 13, a pair are as the traveling wheel 2 of driving wheel, hanging bracket 3, pin shaft 4, elastic component 5, driven wheel 6, photographic device 7, control
Device, column 8 and pillar 9 processed, wherein elastic component 5 is spring.
Specifically, as shown in Figure 1, the first support plate 11 and the second support plate 12 are substantial circular plate, third support plate
13 be annular plate-like.Wherein, the second support plate 12 is supported on the first support plate 11 by multiple columns 8 of circumferentially spaced arrangement
On, third support plate 13 is supported in the second support plate 12 by multiple pillars 9 of circumferentially spaced arrangement, and photographic device 7 is set
At the edge of third support plate 13, and photographic device 7 include surround third support plate 13 edge it is spaced apart multiple.
There are two the first holding tank 111, the second support plates for the diametrically opposite position formation at the edge of the first support plate 11
The diametrically opposite position at 12 edge is formed there are two the second holding tank 121, the first holding tank and the second holding tank phase up and down
It is right.
Traveling wheel 2 is rotatably mounted in hanging bracket 3, and hanging bracket 3 is located in the first support plate 11 and traveling wheel 2
In the first support plate 11 and corresponding first holding tank 111 of the second support plate 12 and the second holding tank 121.
Hanging bracket 3 includes and traveling wheel 2 one-to-one two.The runway shape, and hanging bracket in a ring of hanging bracket 3
The straightway of 3 endless track front-rear direction shown in Fig. 1 extends, and the front end of hanging bracket 3 is formed with pivot section
31, pivot section 31 is pivotably connected with the fixing seat 112 on the front side edge edge for being located at the first holding tank 111.Hanging bracket 3
Rear end is fixedly connected with the pin shaft 4 extended straight up, and the outer sheath of pin shaft 4 is equipped with spring, and the upper end of pin shaft 4 passes through second
Through-hole 122 and opposite second support plate 12 on fagging 12 can move up and down.Spring is at least partly elastically compressed second
Between support plate 12 and the rear end of hanging bracket 3.
The week of first support plate 11 includes along the first support along driven wheel mounting groove 114, driven wheel mounting groove 114 is formed with
Circumferentially spaced four of plate 11, driven wheel 6 are equipped with mounting plate 61, the side of mounting plate 61 and driven wheel mounting groove 114
Edge is bolted.
The course of work of running gear is described below.
Controller issues instruction, and driving motor starts and drives traveling wheel 2 to walk by drive shaft.In the process of walking
In, controller can control photographic device 7 and carry out the operation such as camera shooting of taking pictures.
When running gear is in the driving downward driving as the traveling wheel 2 of driving wheel, as shown in Figure 1, since traveling wheel 2 is solid
The pin shaft 4 for being scheduled in hanging bracket 3, while being arranged with spring 5 is fixed on the rear end of hanging bracket 3, and 3 front end of hanging bracket
Pivot section 31 and 112 pivotable connection of fixing seat.Wherein, the pivot axis of hanging bracket 3 is horizontally and perpendicularly to traveling wheel 2
Direction of travel.
As a result, traveling wheel 2, hanging bracket 3, pin shaft 4 and spring 5 can be used as an entirety be pivoted relative to each other interconnecting piece 31 with
The pivot axis of fixing seat 112 is pivotable, that is to say, that traveling wheel 2, hanging bracket 3, pin shaft 4 and spring 5 can be used as one
It is whole to pivot along the vertical direction together, so that traveling wheel 2 be made to be adapted to up-and-down road conditions, guarantee traveling wheel 2 always with
Ground face contact simultaneously grabs ground acquisition driving force.
Specifically, when at least one traveling wheel 2 runs to pit, at this point, release is partially compressed and is pushed outstanding by spring
Hanging bracket 3 drives traveling wheel 2 to move down, can to go using the weight of running gear itself to lower swing, hanging bracket 3
The power that wheel 2 obtains crawl ground is walked, guarantees that traveling wheel 2 can be walked with normal driving running gear.When at least one traveling wheel 2 passes through
When crossing the protrusion on ground, traveling wheel 2 is jacked up by the protrusion on ground, and traveling wheel 2 drives hanging bracket 3 to move up, hanging bracket 3
Distance reduces between the second support plate 12, at this point, can further compress between the second support plate 12 and hanging bracket 3
Spring.In this manner it is ensured that running gear is on rough road surface when walking, two traveling wheels as driving wheel can be with
Always it is in close contact with ground, and grasp force, driving running gear walking is obtained by running gear self gravity.
Suspension mechanism 100 according to an embodiment of the present invention for running gear, traveling wheel 2 can pass through hanging bracket 3
With 11 pivotable connection of the first support plate, and traveling wheel 2 can with hanging bracket 3 on the pivot axis of hanging bracket 3 bottom
It is dynamic, and the pivot axis of hanging bracket 3 is parallel with the pivotal axis 21 of traveling wheel 2, in this way, will not be interfered to odometer.This
Outside, the power on the crawl ground of traveling wheel 2 is from the weight of itself, and the gravity of running gear is on traveling wheel 2, to guarantee
The power that traveling wheel 2 grabs ground drives running gear itself to walk movement.
The walking robot of embodiment according to a second aspect of the present invention, including above-mentioned first aspect embodiment according to the present invention
The suspension mechanism 100 for running gear.
Other of walking robot according to an embodiment of the present invention are constituted and are operated for those of ordinary skill in the art
For be all it is known, be not detailed herein.
Walking robot according to an embodiment of the present invention is used for running gear by the above-mentioned first aspect embodiment of setting
Suspension mechanism 100, to improve the overall performance of walking robot.
In the description of the present invention, it is to be understood that, term " center ", " length ", " width ", " thickness ", "upper",
"lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " axial direction ", " radial direction ", " week
To " etc. instructions orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of describing this hair
Bright and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected, can also be communication；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of suspension mechanism for running gear characterized by comprising
Supporter；
At least a pair of of traveling wheel, each traveling wheel are mounted on the supporter by hanging bracket and are suitable for described in driving
Running gear walking, wherein
One end of the hanging bracket is as pivotally connected to the supporter, and the other end of the hanging bracket is along substantially
The supporter can be connected to elastic displacement perpendicular to the vertical direction of the direction of travel of the traveling wheel.
2. suspension mechanism according to claim 1, which is characterized in that the supporter includes:
First support plate；
Second support plate, second support plate are arranged on first support plate and set with first support plate interval
It sets, and each traveling wheel is arranged in first support plate and the corresponding holding tank of second support plate.
3. suspension mechanism according to claim 2, which is characterized in that it is vertical that the other end of the hanging bracket is provided with
Pin shaft, and elastic component is arranged on the pin shaft, and the elastic component be elastically compressed setting in second support plate and
Between the other end of the hanging bracket.
4. suspension mechanism according to claim 3, which is characterized in that hanged from the other end of the hanging bracket towards described
The direction of one end of hanging bracket is substantially identical as the direction of travel of the traveling wheel.
5. suspension mechanism according to claim 3, which is characterized in that second support plate is provided with through-hole, the pin
One end of axis wears the through-hole.
6. suspension mechanism according to claim 1, which is characterized in that the hanging bracket it is roughly annular run-track shaped and
It is arranged the traveling wheel, the pivotal axis of the traveling wheel is fixedly attached to the hanging bracket.
7. suspension mechanism according to claim 2, which is characterized in that the traveling wheel is driving wheel.
8. suspension mechanism according to claim 7, which is characterized in that be provided on the lower surface of first support plate to
A few driven wheel.
9. suspension mechanism according to claim 2, which is characterized in that be provided with control on the upper surface of first support plate
Device processed.
10. a kind of walking robot, comprising: the suspension mechanism as described in claim 1-9 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710470310.3A CN108944308A (en) | 2017-06-20 | 2017-06-20 | Suspension mechanism for running gear and the walking robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710470310.3A CN108944308A (en) | 2017-06-20 | 2017-06-20 | Suspension mechanism for running gear and the walking robot with it |
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| Publication Number | Publication Date |
|---|---|
| CN108944308A true CN108944308A (en) | 2018-12-07 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710470310.3A Pending CN108944308A (en) | 2017-06-20 | 2017-06-20 | Suspension mechanism for running gear and the walking robot with it |
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| CN (1) | CN108944308A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591913A (en) * | 2019-01-24 | 2019-04-09 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
| CN110641574A (en) * | 2019-10-08 | 2020-01-03 | 和美（深圳）信息技术股份有限公司 | Robot chassis, robot and method for preventing robot from toppling during climbing |
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| US20010013692A1 (en) * | 2000-01-14 | 2001-08-16 | Mikio Murase | Suspension device of industrial vehicle |
| CN103950360A (en) * | 2014-04-22 | 2014-07-30 | 江门市垃圾虫智能清洁设备制造有限公司 | Front wheel vibration absorption device for road sweeper |
| CN207028744U (en) * | 2017-06-20 | 2018-02-23 | 北京猎户星空科技有限公司 | For running gear hitch and there is its walking robot |
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| FR2314069A2 (en) * | 1975-02-06 | 1977-01-07 | Labomeka Anstalt | Caravan wheel suspension assembly - has swinging arm pivoted about chassis mounted U-bracket containing helical spring and rubber damping block |
| US20010013692A1 (en) * | 2000-01-14 | 2001-08-16 | Mikio Murase | Suspension device of industrial vehicle |
| CN103950360A (en) * | 2014-04-22 | 2014-07-30 | 江门市垃圾虫智能清洁设备制造有限公司 | Front wheel vibration absorption device for road sweeper |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591913A (en) * | 2019-01-24 | 2019-04-09 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
| CN110641574A (en) * | 2019-10-08 | 2020-01-03 | 和美（深圳）信息技术股份有限公司 | Robot chassis, robot and method for preventing robot from toppling during climbing |
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