CN108944309A - 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
- Publication number
- CN108944309A CN108944309A CN201710470656.3A CN201710470656A CN108944309A CN 108944309 A CN108944309 A CN 108944309A CN 201710470656 A CN201710470656 A CN 201710470656A CN 108944309 A CN108944309 A CN 108944309A
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- Prior art keywords
- hanging bracket
- traveling wheel
- suspension mechanism
- supporter
- running gear
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- 239000000725 suspension Substances 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 title claims abstract description 40
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 238000013016 damping Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 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
- 230000008569 process 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
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- 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)
- Walking Sticks, Umbrellas, And Fans (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；And the pivot axis of the hanging bracket be arranged to it is generally consistent with the direction of travel of 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；And the suspension branch
The pivot axis of frame is arranged to generally consistent with 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: support plate, is provided in the support plate for accommodating the row
Walk the holding tank of wheel.
In some instances, the other end of the hanging bracket is provided with vertical pin shaft, and covers on the pin shaft
Equipped with elastic component and the elastic component is elastically compressed setting, so that the hanging bracket can be flexibly around the pivot axis
Displacement.
Advantageously, the suspension mechanism further comprises: arch support, and the arch support is across suspension branch
Frame, and the elastic component is arranged between the arch support and the hanging bracket with being elastically compressed.
Preferably, at least one through-hole is provided on the arch support, 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 instances, the traveling wheel is driving wheel.
Further, at least one driven wheel is provided on the lower surface of the support plate.
In some instances, multiple accommodating chambers are formed on the supporter, the accommodating chamber is towards the support plate
Upper surface side recess, and the driven wheel is contained in the accommodating chamber.
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；
Fig. 5 is the schematic diagram in an angle shown in Fig. 1 for the suspension mechanism of running gear.
Appended drawing reference:
Suspension mechanism 100,
Supporter 1, support plate 11, holding tank 111, fixing seat 112, shaft 113, accommodating chamber 114,
Traveling wheel 2, pivotal axis 21,
Hanging bracket 3, pivot section 31, rack body 32 hang limb portion 33,
Pin shaft 4, elastic component 5, driven wheel 6, mounting plate 61, arch support 7, level board 71, through-hole 72.
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. 5
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 inner end of hanging bracket 3 shown in Fig. 1, it may be assumed that position shown in Fig. 1 of hanging bracket 3
It is located at the left end of the hanging bracket 3 on 1 right side of supporter shown in the right end and Fig. 1 of hanging bracket 3 on the left of supporter 1)
Be as pivotally connected to supporter 1, and the other end (such as outer end of hanging bracket 3 shown in Fig. 1) of hanging bracket 3 along
Vertical direction generally perpendicular to the direction of travel (such as front-rear direction shown in Fig. 1) of traveling wheel 2 is (such as shown in Fig. 1
Up and down direction) can be connected to elastic displacement supporter 1.That is, one end of hanging bracket 3 and supporter 1 are pivotable
Connection, 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 central axis can have elastic displacement with respect to supporter 1 along the vertical direction, in this way, when traveling wheel 2 walk in ground it is uneven 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.
Further, the pivot axis of hanging bracket 3 is arranged to generally that (example is as shown in figure 1 with the direction of travel of traveling wheel 2
Shown in front-rear direction) it is consistent.At this point, the pivot axis of hanging bracket 3 is vertical with the pivotal axis 21 of traveling wheel 2, thus, it is possible to
It reduces hanging bracket 3 and drives influence of 2 pivot-swivel of traveling wheel to the odometer of traveling wheel 2, structure is simpler, reasonable.
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
Not usually, traveling wheel 2 can be swung up and down with hanging bracket 3 around the pivot axis of hanging bracket 3 on the ground of running gear walking, with
Rough road conditions are adapted to, to guarantee that traveling wheel 2 can grab ground with ground face contact always, guarantee that running gear can
With normally travel, while also there is 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 as shown in Figure 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 111, and the inner side edge of holding tank is along equipped with mounting base 112.Traveling wheel 2, which is located at, to be held
It receives in slot and is fixed in hanging bracket 3, pin shaft 4 upwardly extends and the flexible part 5 of housing, and pin shaft 4 is fixed on hanging bracket 3
On, hanging bracket 3 and 112 pivotable connection of fixing seat, and pin shaft 4 and the pivot axis of hanging bracket 3 left side shown in Fig. 1
Right direction is spaced apart.In short, traveling wheel 2, pin shaft 44 and elastic component 5 are each attached in hanging bracket 3, and hanging bracket 3 can
It is pivotally connected to supporter 1, traveling wheel 2, pin shaft 4, elastic component 5 and hanging bracket 3 can be integrated opposite hanging bracket 3 as a result,
Pivot axis pivot.
As shown in Figure 1, in one embodiment of the invention, supporter 1 may include: support plate 11, in support plate 11
It is provided with the holding tank 111 for accommodating traveling wheel 2.By the way that traveling wheel 2 to be contained in holding tank 111, support plate can be made
11 open with the evacuation of traveling wheel 2, avoid support plate 11 that traveling wheel 2 is interfered to move, further, it is also possible to which the installation for saving traveling wheel 2 is empty
Between.In conjunction with Fig. 1, support plate 11 in left-right direction opposite two sides along being arranged symmetrically at least two holding tanks 111, suspension branch
Frame 3 is connected to the edge of holding tank 111, and traveling wheel 2 is contained in holding tank 111.
In some instances, as shown in Figure 1, one end of hanging bracket 3 is pivotably coupled in support plate 11.Specifically
The upper surface on ground, support plate 11 is equipped with fixing seat 112, and the projection of fixing seat 112 on the horizontal level is U-shaped, and fixing seat
112 opposite two side walls are equipped with mounting hole, are equipped with shaft 113 in mounting hole；One end of hanging bracket 3, which is equipped with, to be pivoted
Interconnecting piece 31, pivot section 31 are set on shaft 113, to realize pivot section 31 and the pivotable phase of fixing seat 112
Even.
Advantageously, there are two spaced apart pivot section 31, two pivot sections for the inner end formation of hanging bracket 3
31 about symmetrically, fixing seat 112 includes and pivot section 31 one-to-one two before and after the pivotal axis 21 of traveling wheel 2.This
Sample, when 3 pivot-swivel of hanging bracket, the stress that hanging bracket 3 can be kept to be located at 2 front and rear sides of traveling wheel is more balanced,
Further increase the stationarity of running gear walking.
In some instances, as shown in Figure 1, the other end of hanging bracket 3 (such as hanging bracket 3 shown in Fig. 1 is outer
End) 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 on pin shaft 4
Be arranged with elastic component 5, and elastic component 5 is elastically compressed setting so that hanging bracket 3 pivot about axis can elastic status
It moves.That is, elastic component 5 can drive, hanging bracket 3 pivots about axis elastic displacement or hanging bracket 3 can be outside
Making elastic component 5 under the action of power, deformation occurs (such as further compression elastic piece 5), to realize that hanging bracket 3 pivots about axis
Elastic displacement occurs for 21 lines.
For example, the elastic component 5 being elastically compressed can push hanging bracket 3 to drive walking when traveling wheel 2 is by pit
Wheel 2 moves down, and traveling wheel 2 is made to keep a firm hand on ground, avoids traveling wheel 2 hanging and can not grab ground and obtain power；When traveling wheel 2 passes through
When raised, traveling wheel 2 drives hanging bracket 3 to move up, and the further compression elastic piece 5 of hanging bracket 3, damping effect is good.
Preferably, elastic component 5 is spring.
As shown in Figure 1, the suspension mechanism 100 for running gear of the invention can further include: arch support
7, arch support 7 is across hanging bracket 3, and elastic component 5 is arranged between arch support 7 and hanging bracket 3 with being elastically compressed.
Thus, it is possible to facilitate arrangement and compression elastic piece 5.
In conjunction with Fig. 1, arch support 7 includes: the first supporting plate, the second supporting plate and level board 71, the first supporting plate and the second supporting plate
Extend in the vertical direction and arranged for interval, level board 71 are connected to the upper end of the first supporting plate and the second supporting plate along the longitudinal direction, the
One supporting plate and the second supporting plate are fixedly connected in support plate 11 and are located at the two sides along the longitudinal direction of hanging bracket 3,
For level board 71 along the longitudinal direction across the top in hanging bracket 3, elastic component 5 is located at level with being elastically compressed along the vertical direction
Between plate 71 and hanging bracket 3.When hanging bracket 3 and support plate 11 generate relative movement along the vertical direction, in level board
Elastic component 5 between 71 and hanging bracket 3 can be further compressed or discharge partial shrinkage, in order to which traveling wheel 2 can be with road
Face rises and falls.
Further, at least one through-hole 72 is provided on arch support 7, through-hole 72 penetrates through arch support along the vertical direction
One end (such as upper end of pin shaft 4 shown in Fig. 1) of 7 level board 71, pin shaft 4 wears through-hole 72.And one end phase of pin shaft 4
Through-hole 72 can be moved vertically.When traveling wheel 2 walks Uneven road, traveling wheel 2 is driven on hanging bracket 3 and pin shaft 4
Lower movement, 4 relative support plate 11 of pin shaft move along the vertical direction, in the process, be located at arch support 7 and hanging bracket 3 it
Between elastic component 5 be further compressed or discharge partial shrinkage, to guarantee that traveling wheel 2 contacts always and grab ground, and to row
Walking apparatus plays 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.
Referring to Figure 1 and Figure 3, hanging bracket 3 includes rack body 32 run-track shaped in a ring, and rack body 32 has edge
Front-rear direction extends, and including spaced apart first straight line section and second straight line section in left-right direction, first straight line section and the
The both ends of two straightways pass through the first segmental arc respectively and are connected with the second segmental arc, and the first segmental arc and the second segmental arc are towards far from first
The direction of straightway and second straight line section protrusion.Traveling wheel 2 is set in the inside of rack body 32, and the pivotal axis of traveling wheel 2
21 both ends 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 support plate 11.Driven wheel 6 can be as drive
The traveling wheel 2 of driving wheel is rotated by, and realizes that the walking of running gear is mobile, by the way that driven wheel 6 is arranged, can simplify row
Under the premise of the driving structure of walking apparatus, keep running gear walking more steady.
In some embodiments of the invention, controller is provided on the upper surface of support plate 11.Controller can control
The operation such as starting, walking, steering of running gear, to facilitate control running gear.
In some embodiments, multiple accommodating chambers 114 are formed on supporter 1, accommodating chamber 114 is upper towards support plate 11
Surface side recess, and driven wheel 6 is contained in the accommodating chamber 114.Thus, it is possible to facilitate arrangement driven wheel 6, installation is saved
Space.
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: supporter 1, a pair of traveling wheel as driving wheel
2, hanging bracket 3, pin shaft 4, elastic component 5, driven wheel 6 and arch support 7, wherein elastic component 5 is spring.
Specifically, as shown in Figure 1, supporter 1 includes support plate 11, support plate 11 is substantially in the rectangular slab of quadrangle rounded corner
Shape.The relative position at the edge of 11 left and right sides of support plate is formed with holding tank 111, and holding tank 111 includes about support plate 11
Two symmetrically arranged on the left and the right.
The accommodating chamber 114 being recessed upward is formed on supporter 1, accommodating chamber 114 includes right all around about supporter 1
Claim four arranged, driven wheel 6 and accommodating chamber 114 correspond, and driven wheel 6 is equipped with mounting plate 6161, mounting plate 61 and appearance
The roof of chamber 114 received is bolted.
Hanging bracket 3 is integrally formed.Hanging bracket 3 include: pivot section 31, rack body 32 and suspension limb portion 33,
Wherein, rack body 32 is run-track shaped in a ring, and the straightway of the endless track of rack body 32 extends along the longitudinal direction, row
Wheel 2 is walked to be rotatably mounted on rack body 32 along its pivotal axis 21 and be located at 32 inside of rack body.
Suspension limb portion 33 is connected with the side towards another traveling wheel 2 of rack body 32, and walks towards another
Take turns 2 horizontal extensions.Preferably, suspension limb portion 33 includes two be arranged symmetrically before and after the pivotal axis 21 about traveling wheel 2.Two
The free end in suspension limb portion 33 is equipped with pivot section 31, and the fixing seat 112 on pivot section 31 and support plate 11 can pivot
Turn ground to be connected.The one end for closing on rack body 32 in two suspension limb portions 33 is fixedly connected to the pin shaft 4 extended straight up,
The outer sheath of pin shaft 4 is equipped with spring.
Arch support 7 is fixed in support plate 11 and along the longitudinal direction across two suspension limb portion 33, and arch support 7
In the one end being connected with rack body 32 in suspension limb portion 33.It is right with two pin shafts 4 to be formed on the level board 71 of arch support 7
The through-hole 72 answered, the upper end of pin shaft 4 passes through corresponding through-hole 72 and the level board 71 of opposite arch support 7 can move up and down.Bullet
Spring is at least partly elastically compressed between the level board 71 and suspension limb portion 33 of arch support 7.
The course of work of running gear is described below.
Running gear can be issued by controller and be instructed, and driving motor starts and drives traveling wheel 2 to walk by drive shaft.
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 on the rack body 32 of hanging bracket 3, while being arranged with spring 5 is fixed on the suspension limb portion 33 of hanging bracket 3
Close to one end of rack body 32, and the pivot section 31 and fixing seat 112 that are connected to suspension 33 other end of limb portion are pivotably
Connection.In short, traveling wheel 2 is fixed in hanging bracket 31, while pin shaft 4 and spring 5 are also secured in hanging bracket 3, and
The inner end of hanging bracket 3 is pivotally connected by pivotal axis interconnecting piece 31 with fixing seat 112.Wherein, the pivot axis of hanging bracket 3
It is parallel to the direction of travel of traveling wheel 2.
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.To make traveling wheel 2 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, and hangs limb portion
The distance between 33 and 7 level board 71 of arch support reduce, at this point, the level board 71 positioned at arch support 7 can further be compressed
Spring between suspension limb portion 33.In this manner it is ensured that running gear is on rough road surface when walking, as driving
Two traveling wheels 2 of wheel can be in close contact with ground always, and obtain grasp force, driving row by running gear self gravity
Walking apparatus walking.
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 support plate, and traveling wheel 2 can be swung up and down with hanging bracket 3 around the pivot axis of hanging bracket 3, and
The pivot axis of hanging bracket 3 is in substantially parallel relationship to the direction of travel of traveling wheel 2, in this way, will not cause to the odometer of traveling wheel 2
Interference.In addition, the power on the crawl ground of traveling wheel 2 is from itself weight, the gravity of running gear on traveling wheel 2,
It is able to drive running gear itself to guarantee that traveling wheel 2 grabs the power on ground and walks 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；And
The pivot axis of the hanging bracket is arranged to generally consistent with the direction of travel of the traveling wheel.
2. suspension mechanism according to claim 1, which is characterized in that the supporter includes:
Support plate is provided with the holding tank for accommodating the traveling wheel in the support plate.
3. suspension mechanism according to claim 2, which is characterized in that the other end of the hanging bracket is provided with perpendicular
Straight pin shaft, and elastic component is arranged on the pin shaft and the elastic component is elastically compressed setting, so that suspension branch
Frame can be flexibly displaced around the pivot axis.
4. suspension mechanism according to claim 3, which is characterized in that further comprise:
Arch support, the arch support across the hanging bracket, and the elastic component be arranged in being elastically compressed it is described
Between arch support and the hanging bracket.
5. suspension mechanism according to claim 4, which is characterized in that it is logical to be provided at least one on the arch support
Hole, one end of the pin shaft wear 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 at least one on the lower surface of the support plate
A driven wheel.
9. suspension mechanism according to claim 2, which is characterized in that be formed with multiple accommodating chambers, institute on the supporter
It states accommodating chamber to be recessed towards the upper surface side of the support plate, and the driven wheel is contained in the accommodating chamber.
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 |
|---|---|---|---|
| CN201710470656.3A CN108944309A (en) | 2017-06-20 | 2017-06-20 | Suspension mechanism for running gear and the walking robot with it |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN111976465A (en) * | 2020-08-06 | 2020-11-24 | 广东博智林机器人有限公司 | Drive device and chassis |
| CN113715928A (en) * | 2020-05-26 | 2021-11-30 | 杭州海康机器人技术有限公司 | Mobile platform and mobile robot |
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| CN207106080U (en) * | 2017-06-20 | 2018-03-16 | 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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| 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 |
| CN113715928A (en) * | 2020-05-26 | 2021-11-30 | 杭州海康机器人技术有限公司 | Mobile platform and mobile robot |
| CN111976465A (en) * | 2020-08-06 | 2020-11-24 | 广东博智林机器人有限公司 | Drive device and chassis |
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