CN110001380A - A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension - Google Patents
A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension Download PDFInfo
- Publication number
- CN110001380A CN110001380A CN201910239133.7A CN201910239133A CN110001380A CN 110001380 A CN110001380 A CN 110001380A CN 201910239133 A CN201910239133 A CN 201910239133A CN 110001380 A CN110001380 A CN 110001380A
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- suspension
- wheel
- drive system
- connect
- vehicle body
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- 239000000725 suspension Substances 0.000 title claims abstract description 38
- 238000013016 damping Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to robot field more particularly to a kind of Intelligent Mobile Robots.A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension, wherein including a vehicle body；Four wheels, each described wheel are connected with a suspension, and the suspension is connect with the vehicle body；One drive system, described drive system one end are connect by the suspension with the vehicle body, and the other end of the drive system is directly connect with a wheel, each described wheel is connected with a drive system.The present invention is by using a kind of integrated independent four-wheel system and suspension, so that robot is to ground better adaptability, gas make angry vibration and wheel wear it is smaller, each wheel can be with independent steering and driving, turning radius is smaller, it may be implemented cast, wheel frictional force is smaller when turning, effectively raises the operation stability of Intelligent Mobile Robot.
Description
Technical field
The present invention relates to robot field more particularly to a kind of Intelligent Mobile Robots.
Background technique
The mode of traditional manual patrol substation is by tour personnel's psychological quality, professional skill, working experience and spirit
The restriction of the factors such as state, missing inspection, erroneous detection, defect leakage heat condition happen occasionally, these reasons cause equipment deficiency to obtain not
To timely handling and detonator circuit accident, become a big security risk of substation operation.Traditional manual inspection mode oneself
It can not meet the requirement of modern substations safe operation, crusing robot not only high temperature resistant but also low temperature resistant, so whether trembling with fear
It can stick to post for winter or heat, execute various substation's maintenance programs immediately, alleviate the labor intensity of people.
In order to meet the market demand, the Intelligent Mobile Robot of prior art manufacture all uses two-wheeled or four-wheel fixed
Drive system, and without built-in suspension system, this method have the drawback that wheel can not self-steering, resistance wheel is big, turns
Curved radius is big, and to ground bad adaptability, wheel wear is violent, is easy to appear slipping phenomenon, encounters uneven road surface and can generate and jolts
And vibration, influence robot operation stability.
Summary of the invention
The object of the present invention is to provide the substation inspection machines of a kind of integrated independent four-wheel system and suspension
People solves the above technical problem.
Technical problem solved by the invention can be realized using following technical scheme:
A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension, wherein including,
One vehicle body；
Four wheels, each described wheel are connected with a suspension, and the suspension is connect with the vehicle body；
One drive system, described drive system one end are connected by the suspension with the vehicle body, the driving system
The other end of system is directly connect with the wheel, each described wheel is connected with a drive system.
Preferably, the suspension includes,
One isometric double transverse arms, isometric double transverse arms include a upper swing arm and a lower swing arm, and the lower swing arm is located at described
The lower section of upper swing arm and setting certain distance, the upper swing arm it is isometric and parallel with the lower swing arm be placed in the wheel and
Between the vehicle body；
One damping spring, the top of the damping spring are connect with the vehicle body, the bottom end of the damping spring with it is described
Lower swing arm connection.
Preferably, the drive system includes,
One movable motor, the movable motor provide driving power for the drive system；
One traveling speed reducer, the traveling speed reducer are directly connected to the movable motor；
One steering motor, the steering motor provide steering power for the drive system；
One speed reducing steering system, the speed reducing steering system are directly connected to steering motor.
Preferably, the drive system is directly connect with the suspension.
Preferably, the drive system further includes two independent drivers, a driver and the movable motor
Connection, another driver are connect with the steering motor, and the driver, which is placed on the vehicle body, passes through jointing
It is connect with the movable motor and the steering motor.
Preferably, it is independent from each other between any drive system and other any described drive systems, Ren Yisuo
It states and is also independent from each other between suspension and other any described suspension.
The utility model has the advantages that due to using the technology described above, the present invention is by using a kind of integrated independent four-wheel system and hangs
Extension system, so that robot is to ground better adaptability, robot vibration and wheel wear are smaller, and each wheel can independently turn
To and driving, turning radius is smaller, may be implemented cast, and wheel frictional force is smaller when turning, effectively raises power transformation
It stands the operation stability of crusing robot.
Detailed description of the invention
Fig. 1 is a kind of modular structure connection schematic diagram of specific embodiment of the invention；
Fig. 2 is a kind of integral body left view of specific embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments 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 without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Referring to Fig.1, Fig. 2, a kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension, wherein packet
It includes,
One vehicle body 1；
Four wheels 5, each wheel 5 are connected with a suspension 3, and suspension 3 is connect with vehicle body 1；
One drive system 4,4 one end of drive system are connected by suspension 3 with vehicle body 1, and the other end of drive system 4 is straight
It connects and is connect with wheel 5, each wheel 5 is connected with a drive system 4.
As a kind of preferred embodiment of the invention, suspension 3 includes,
One isometric double transverse arms 6, isometric double transverse arms 6 include a upper swing arm 61 and a lower swing arm 62, and lower swing arm 62 is located at upper pendulum
The lower section of arm 61 and setting certain distance, upper swing arm 61 it is isometric and parallel with lower swing arm 62 be placed in wheel 5 and vehicle body 1 it
Between, it can guarantee that wheel is perpendicular to the ground always when damping spring 2 compresses or extends, wheel 5 will not generate additional with ground
Resistance, and 5 direction of advance speed of wheel remains unchanged, and effectively avoids four wheels 5 because of the different generation internal resistance of speed；
The top of one damping spring 2, damping spring 2 is connect with vehicle body 1, and the bottom end of damping spring 2 is connect with lower swing arm 62.
As a kind of preferred embodiment of the invention, drive system 4 includes,
One movable motor 41, movable motor are that drive system 4 provides driving power；
One traveling speed reducer 42, traveling speed reducer 42 are directly connected to movable motor 41；
One steering motor 43, steering motor 43 are that drive system 4 provides steering power；
One speed reducing steering system 44, speed reducing steering system 44 are directly connected to steering motor 43.
As a kind of preferred embodiment of the invention, drive system 4 is directly connect with suspension 3.
As a kind of preferred embodiment of the invention, drive system further includes two independent drivers, a driver
45 connect with movable motor 41, and another driver 46 is connect with steering motor 43, and driver 45 and driver 46 are placed on vehicle body 1
It is upper to be connect by jointing with movable motor 41 and steering motor 43.
Driver 45 controls movable motor 41, and another driver 46 controls steering motor 43, and driver is placed on vehicle body 1
It is connected to the motor and is connect by jointing, it is easy to connect, that is, it inserts and connects.
It is phase between any drive system 4 and other any drive systems 4 as a kind of preferred embodiment of the invention
It is mutually independent, it is also independent from each other between any suspension 3 and other any suspension 3.
As a kind of preferred embodiment of the invention, damping spring 2 has guide function, is oriented to power transmission by having the function of
Elastic element constitute, pass through spring compression with elongation realize bumper and absorbing shock effect.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (6)
1. a kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension, which is characterized in that including,
One vehicle body；
Four wheels, each described wheel are connected with a suspension, and the suspension is connect with the vehicle body；
One drive system, described drive system one end are connect by the suspension with the vehicle body, the drive system
The other end is directly connect with a wheel, each described wheel is connected with a drive system.
2. the Intelligent Mobile Robot of a kind of integrated independent four-wheel system and suspension according to claim 1,
It being characterized in that, the suspension includes,
One isometric double transverse arms, isometric double transverse arms include a upper swing arm and a lower swing arm, and the lower swing arm is located at the upper pendulum
The lower section of arm and setting certain distance, the upper swing arm it is isometric and parallel with the lower swing arm be placed in the wheel with it is described
Between vehicle body；
One damping spring, the top of the damping spring are connect with the vehicle body, the bottom end of the damping spring and the bottom
Arm connection.
3. the Intelligent Mobile Robot of a kind of integrated independent four-wheel system and suspension according to claim 1,
It being characterized in that, the drive system includes,
One movable motor, the movable motor provide driving power for the drive system；
One traveling speed reducer, the traveling speed reducer are directly connected to the movable motor；
One steering motor, the steering motor provide steering power for the drive system；
One speed reducing steering system, the speed reducing steering system are directly connected to steering motor.
4. the Intelligent Mobile Robot of a kind of integrated independent four-wheel system and suspension according to claim 1,
It is characterized in that, the drive system is directly connect with the suspension.
5. the Intelligent Mobile Robot of a kind of integrated independent four-wheel system and suspension according to claim 3,
It is characterized in that, the drive system further includes two independent drivers, and a driver is connect with the movable motor, separately
One driver is connect with the steering motor, and the driver is placed on the vehicle body through jointing and the row
Motor is walked to connect with the steering motor.
6. the Intelligent Mobile Robot of a kind of integrated independent four-wheel system and suspension according to claim 1,
It is characterized in that, is independent from each other between any drive system and other any described drive systems, any suspension
It is also independent from each other between system and other any described suspension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910239133.7A CN110001380A (en) | 2019-03-27 | 2019-03-27 | A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910239133.7A CN110001380A (en) | 2019-03-27 | 2019-03-27 | A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110001380A true CN110001380A (en) | 2019-07-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910239133.7A Pending CN110001380A (en) | 2019-03-27 | 2019-03-27 | A kind of Intelligent Mobile Robot of integrated independent four-wheel system and suspension |
Country Status (1)
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| CN (1) | CN110001380A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473813A (en) * | 2020-03-19 | 2020-07-31 | 安徽工程大学 | Intelligent environment exploration trolley |
| CN113459745A (en) * | 2021-08-13 | 2021-10-01 | 广东天太机器人有限公司 | Four-wheel independent suspension trolley |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202242837U (en) * | 2011-09-17 | 2012-05-30 | 广州大学 | Robot electric running gear with independent suspension |
| CN204173039U (en) * | 2014-11-05 | 2015-02-25 | 云南电网公司昭通供电局 | A kind of substation four wheel drive crusing robot |
| WO2015109659A1 (en) * | 2014-01-27 | 2015-07-30 | 徐州重型机械有限公司 | Independent suspension system and crane having same |
| CN105691131A (en) * | 2016-01-15 | 2016-06-22 | 安徽大学 | Independent steering driving wheel for mobile robot |
| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| CN206106867U (en) * | 2016-09-27 | 2017-04-19 | 成都普诺思博科技有限公司 | Robot vehicle body suspension system |
| CN206884723U (en) * | 2017-04-20 | 2018-01-16 | 深圳市沃特玛电池有限公司 | Independent suspension wheel motor drive system |
| CN209738802U (en) * | 2019-03-27 | 2019-12-06 | 科大智能机器人技术有限公司 | Transformer substation inspection robot integrating independent four-wheel drive system and suspension system |
-
2019
- 2019-03-27 CN CN201910239133.7A patent/CN110001380A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202242837U (en) * | 2011-09-17 | 2012-05-30 | 广州大学 | Robot electric running gear with independent suspension |
| WO2015109659A1 (en) * | 2014-01-27 | 2015-07-30 | 徐州重型机械有限公司 | Independent suspension system and crane having same |
| CN204173039U (en) * | 2014-11-05 | 2015-02-25 | 云南电网公司昭通供电局 | A kind of substation four wheel drive crusing robot |
| CN105691131A (en) * | 2016-01-15 | 2016-06-22 | 安徽大学 | Independent steering driving wheel for mobile robot |
| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| CN206106867U (en) * | 2016-09-27 | 2017-04-19 | 成都普诺思博科技有限公司 | Robot vehicle body suspension system |
| CN206884723U (en) * | 2017-04-20 | 2018-01-16 | 深圳市沃特玛电池有限公司 | Independent suspension wheel motor drive system |
| CN209738802U (en) * | 2019-03-27 | 2019-12-06 | 科大智能机器人技术有限公司 | Transformer substation inspection robot integrating independent four-wheel drive system and suspension system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473813A (en) * | 2020-03-19 | 2020-07-31 | 安徽工程大学 | Intelligent environment exploration trolley |
| CN113459745A (en) * | 2021-08-13 | 2021-10-01 | 广东天太机器人有限公司 | Four-wheel independent suspension trolley |
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