CN112478021A - Mobile robot chassis - Google Patents
Mobile robot chassis Download PDFInfo
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- CN112478021A CN112478021A CN202011353694.9A CN202011353694A CN112478021A CN 112478021 A CN112478021 A CN 112478021A CN 202011353694 A CN202011353694 A CN 202011353694A CN 112478021 A CN112478021 A CN 112478021A
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 85
- 239000007788 liquid Substances 0.000 claims description 16
- 239000010720 hydraulic oil Substances 0.000 claims description 12
- 239000012530 fluid Substances 0.000 claims 6
- 238000004064 recycling Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 5
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009191 jumping Effects 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile robot chassis, which comprises a chassis main body, a wheel assembly, a linkage mechanism and a first driving device, wherein the wheel assembly comprises a plurality of wheels, and each wheel is horizontally and rotatably arranged at the bottom of the chassis main body around an up-down axis; the linkage mechanism is respectively connected with the plurality of wheels; the first driving device is in driving connection with the linkage mechanism and used for driving the plurality of wheels to synchronously turn through the linkage mechanism. The synchronous and equidirectional rotation of the wheels is realized, so that the wheels are in a pure rolling state when turning, the transverse and in-situ rotation can be realized, and the stability and flexibility of the robot are greatly increased.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mobile robot chassis.
Background
The use of robots profoundly affects the production, manufacturing, scientific research and service industries of China. The types of mobile robots are various, and the land mobile robot has a mobile type, a leg type, a crawler type, a jumping type and the like. The wheel type mobile robot has the advantages of convenience in moving, accuracy in positioning, convenience in control and the like, so that the mobile robot is widely applied. Two structural forms of three wheels and four wheels are common. The three-wheeled robot has simple structure, but low stability, and can operate in a low-speed state, and the omni-directional wheels are used by the three-wheeled robot with all-directional steering. Four-wheeled robots also have two-wheel steering and two-wheel driving structures, four-wheel steering and four-wheel driving structures, and the four-wheeled robots with all-directional steering mostly use mecanum wheels. In general, the four-wheel type vehicle has a complex structure, but is flexible in steering and has good stability under the condition of high-speed running. However, the minimum turning radius of the two-wheel steering and two-wheel driving structure is limited, and the two driving wheels are in a sliding state when turning, so that the stability of the robot is reduced. On the basis of analyzing various structures, the invention designs a chassis structure with four-wheel drive or two-wheel drive and four-wheel synchronous steering, which can ensure that four wheels are in a pure rolling state when turning, greatly increases the stability of the robot, can realize the functions of transverse movement and in-situ rotation which can not be realized by two-wheel steering and two-wheel drive, and greatly improves the motion flexibility of the robot.
Disclosure of Invention
The invention mainly aims to provide a mobile robot chassis and aims to solve the technical problem that wheels cannot synchronously steer in the prior art.
To achieve the above object, the present invention provides a mobile robot chassis, comprising:
a chassis main body;
the wheel assembly comprises a plurality of wheels, and each wheel is horizontally and rotatably arranged at the bottom of the chassis main body around an up-down axis;
the linkage mechanisms are respectively connected with the wheels; and the number of the first and second groups,
and the first driving device is in driving connection with the linkage mechanism and is used for driving the plurality of wheels to synchronously turn through the linkage mechanism.
Optionally, the wheel assembly further includes a plurality of wheel axles extending in the vertical direction, the wheel axles and the wheels are arranged in a one-to-one correspondence manner, one end of each wheel axle is rotatably mounted at the bottom of the chassis main body around the vertical axis, the other end of each wheel axle is bent in the horizontal direction to form a bent portion, and the bent portion is used for rotatably mounting the wheels.
Optionally, the number of the wheel shafts is four, and the four wheel shafts are arranged at the bottom of the chassis main body in a rectangular shape.
Optionally, one of the four wheel shafts is a transmission wheel shaft, and the rest is a driven wheel shaft, the first driving device comprises a driving motor and a transmission belt, the driving motor is provided with a power output shaft extending along the vertical direction, and the power output shaft is in driving connection with the transmission wheel shaft through the transmission belt so as to drive the transmission wheel shaft to rotate;
the linkage mechanism comprises a synchronous belt, and the synchronous belt is sequentially wound on the outer side walls of the transmission wheel shaft and the three driven wheel shafts so as to drive the three driven wheel shafts to synchronously steer when the transmission wheel shaft rotates.
Optionally, the linkage mechanism further includes a tensioning wheel, the tensioning wheel is movably disposed on the chassis main body and is abutted to the synchronous belt, and the tensioning wheel has a tightening stroke moving towards the synchronous belt and a loosening stroke moving away from the synchronous belt.
Optionally, the chassis main body has a left-right direction and a front-back direction intersecting with the left-right direction, and the mobile robot chassis further includes a plurality of first transmission structures and a plurality of second transmission structures;
the linkage mechanism comprises a first transmission shaft and two second transmission shafts arranged in parallel, the first transmission shaft extends in the left-right direction, the two second transmission shafts extend in the front-back direction, the two second transmission shafts are respectively arranged at two opposite ends of the first transmission shaft, each first transmission shaft is in transmission connection with the second transmission shaft through a first transmission structure, and each wheel shaft is in transmission connection with the two second transmission shafts through a second transmission structure;
the first driving device comprises a driving motor, the driving motor is provided with a power output shaft extending in the left-right direction, and the power output shaft is in driving connection with the first transmission shaft.
Optionally, each of the first transmission structures comprises a first bevel gear and a second bevel gear which are engaged with each other.
Optionally, each of the second transmission structures comprises a worm wheel and a worm which are meshed with each other.
Optionally, the first driving device is a hydraulic pump, the hydraulic pump has a first liquid outlet and a first liquid inlet, the linkage mechanism includes a plurality of hydraulic motors, the plurality of hydraulic motors are sequentially communicated to form a passage, and two hydraulic motors located at two ends of the passage are respectively communicated with the first liquid outlet and the first liquid inlet to form a hydraulic circuit which flows out from the first liquid outlet, flows through the plurality of hydraulic motors and flows in from the first liquid inlet;
each hydraulic motor is provided with a transmission shaft in transmission connection with each wheel shaft, and hydraulic oil pushes each transmission shaft to rotate so as to drive the plurality of wheel shafts to synchronously steer.
Optionally, the link gear still includes the hydraulic pressure source that is used for storing hydraulic oil, the hydraulic pressure source is located in the chassis main part, the hydraulic pressure source is equipped with second inlet and second liquid outlet, the second liquid outlet with first inlet intercommunication is used for to the hydraulic pump provides hydraulic oil, the second inlet with one hydraulic motor's liquid outlet intercommunication for retrieve unnecessary hydraulic oil.
In the technical scheme provided by the invention, the steering of the wheels is realized by controlling the deflection angles of the plurality of wheels driven by the first driving device, and each wheel is synchronously controlled to realize the given track motion in a consistent steering manner. When the vehicle normally runs, the hub motor drives the chassis to do linear motion, and the first driving device is in a locking state. When the bogie needs to turn, a pulse signal is sent to the first driving device, the first driving device starts to work, and the linkage mechanism connected with the first driving device drives the plurality of wheels to synchronously rotate, so that the purpose of synchronously rotating the plurality of wheels in the same direction is achieved, and the bogie turns. The wheels are in a pure rolling state when turning, and can realize transverse movement and pivot rotation, so that the stability and flexibility of the robot are greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile robot chassis according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the synchronous belt of FIG. 1;
FIG. 3 is a schematic structural view of the first and second drive shafts of FIG. 1;
fig. 4 is a schematic diagram of the hydraulic pump of fig. 1 driving a hydraulic motor.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
106 | |
| 101 | Chassis |
107 | |
| 102 | Wheel of |
108 | |
| 103 | |
109 | |
| 104 | |
110 | |
| 105 | First transmission shaft | 111 | Tension wheel |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. Also, the technical solutions in the embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The use of robots profoundly affects the production, manufacturing, scientific research and service industries of China. The types of mobile robots are various, and the land mobile robot has a mobile type, a leg type, a crawler type, a jumping type and the like. The wheel type mobile robot has the advantages of convenience in moving, accuracy in positioning, convenience in control and the like, so that the mobile robot is widely applied. Two structural forms of three wheels and four wheels are common. The three-wheeled robot has simple structure, but low stability, and can operate in a low-speed state, and the omni-directional wheels are used by the three-wheeled robot with all-directional steering. Four-wheeled robots also have two-wheel steering and two-wheel driving structures, four-wheel steering and four-wheel driving structures, and the four-wheeled robots with all-directional steering mostly use mecanum wheels. In general, the four-wheel type vehicle has a complex structure, but is flexible in steering and has good stability under the condition of high-speed running. However, the minimum turning radius of the two-wheel steering and two-wheel driving structure is limited, and the two driving wheels are in a sliding state when turning, so that the stability of the robot is reduced. On the basis of analyzing various structures, the invention designs the four-wheel drive and four-wheel steering chassis structure, so that the four wheels can be in a pure rolling state when turning, the stability of the robot is greatly improved, the functions of transverse movement and in-situ rotation which cannot be realized by two-wheel steering and two-wheel drive can be realized, and the motion flexibility of the robot is greatly improved.
In view of this, the present invention provides a mobile robot chassis, which aims to solve the technical problem in the prior art that wheels cannot be steered synchronously. Fig. 1 to 4 show an embodiment of a mobile robot chassis according to the present invention.
Referring to fig. 1, the present embodiment provides a mobile robot chassis 100 including:
a chassis main body 101;
a wheel assembly including a plurality of wheels 102, each of the wheels 102 being horizontally rotatably mounted on the bottom of the chassis main body 101 about an up-down axis;
a linkage mechanism connected to each of the plurality of wheels 102; and the number of the first and second groups,
and the first driving device is in driving connection with the linkage mechanism and is used for driving the plurality of wheels 102 to synchronously turn through the linkage mechanism.
In the technical solution provided by this embodiment, a plurality of wheels 102 are installed at the bottom of the main body of the chassis, each wheel 102 is internally provided with an in-wheel motor, the wheel 102 can roll on the ground under the driving of the in-wheel motor, and the wheel 102 carries the main body 101 of the chassis to move on the ground. In order to simultaneously deflect the plurality of wheels 102 by the same angle in the same direction, the linkage mechanism needs to link the plurality of wheels 102 in an interlocking manner. The linkage mechanism may be specifically in the form of a synchronous belt 104 linking a plurality of wheels 102, a plurality of transmission shafts, or a hydraulic linkage.
The steering of the wheels 102 is realized by controlling the deflection angles of the plurality of wheels 102 driven by the first driving device, and each wheel 102 is synchronously controlled to achieve consistent steering and realize a given track motion. When the vehicle normally runs, the hub motor drives the chassis to do linear motion, and the first driving device is in a locking state. When the bogie needs to turn, a pulse signal is sent to the first driving device, the first driving device starts to work, and the linkage mechanism connected with the first driving device drives the plurality of wheels 102 to synchronously rotate, so that the purpose that the plurality of wheels 102 simultaneously rotate in the same direction is achieved, and the bogie turns. The wheels 102 are in a pure rolling state when turning, and can realize transverse and pivot rotation, so that the stability and flexibility of the robot are greatly increased.
Further, in this embodiment, the wheel assembly further includes a plurality of wheel shafts 103 extending in the vertical direction, the wheel shafts 103 and the wheels 102 are arranged in a one-to-one correspondence manner, one end of each wheel shaft 103 is rotatably mounted at the bottom of the chassis main body 101 around the vertical axis, and the other end is bent in the horizontal direction to form a bent portion, where the bent portion is used for rotatably mounting the wheels 102. The wheel shaft 103 is provided for mounting the wheel 102, and one end of the wheel shaft 103 for mounting the wheel 102 is bent in the horizontal direction, and the other end is rotatably mounted on the chassis main body 101 through a coupling. Compared with the traditional wheel shaft 103 which is transversely arranged, the wheel shaft 103 can be vertically arranged to rotate by 360 degrees in the embodiment, and further the wheel 102 can be driven to rotate by 360 degrees.
Further, in this embodiment, the number of the wheel shafts 103 is four, and four wheel shafts 103 are arranged at the bottom of the chassis main body 101 in a rectangular shape. The four wheel shafts 103 are arranged at the four corners of the chassis main body 101, and the 4 wheel shafts 103 are symmetrically distributed, so that the movement is more stable.
Referring to fig. 2, further, in the present embodiment, one of the four wheel shafts 103 is a transmission wheel shaft, and the rest is a driven wheel shaft, the first driving device includes a driving motor and a transmission belt 107, the driving motor has a power output shaft extending in an up-down direction, and the power output shaft is in driving connection with the transmission wheel shaft through the transmission belt 107 so as to drive the transmission wheel shaft to rotate; the linkage mechanism comprises a synchronous belt 104, and the synchronous belt 104 is sequentially wound on the outer side walls of the transmission wheel shaft 103 and the three driven wheel shafts 103 so as to drive the three driven wheel shafts to synchronously turn when the transmission wheel shaft rotates. The synchronous belt 104 has simple structure, low manufacturing cost and convenient replacement. The synchronous belt 104 is provided with racks, the four wheel shafts 103 are provided with gears, and the racks and the gears are matched to realize better transmission.
Further, in the present embodiment, the linkage mechanism further includes a tension pulley 111, the tension pulley 111 is movably disposed on the chassis main body 101 and is in contact with the timing belt 104, and the tension pulley 111 has a tightening stroke moving toward the timing belt 104 and an loosening stroke moving away from the timing belt 104.
Referring to fig. 3, further, in the present embodiment, the chassis main body 101 has a left-right direction and a front-back direction intersecting with the left-right direction, and the mobile robot chassis 100 further includes a plurality of first transmission structures and a plurality of second transmission structures; the linkage mechanism comprises a first transmission shaft 105 and two second transmission shafts 106 arranged in parallel, the first transmission shaft 105 extends in the left-right direction, the two second transmission shafts 106 extend in the front-back direction, the two second transmission shafts 106 are respectively arranged at two opposite ends of the first transmission shaft 105, each first transmission shaft 105 is in transmission connection with the second transmission shaft 106 through a first transmission structure, and each wheel axle 103 is in transmission connection with the two second transmission shafts 106 through a second transmission structure; the first driving device includes a driving motor having a power output shaft extending in a left-right direction, and the power output shaft is drivingly connected to the first transmission shaft 105. The first transmission shaft 105 and the second transmission shaft 106 are linked, so that the device is firmer, durable and reliable in quality.
Further, in this embodiment, each of the first transmission structures includes a first bevel gear and a second bevel gear which are engaged with each other.
Further, in the present embodiment, each of the second transmission structures includes a worm wheel and a worm that are engaged with each other.
Referring to fig. 4, further, in this embodiment, the first driving device is a hydraulic pump 108, the hydraulic pump 108 has a first liquid outlet and a first liquid inlet, the linkage mechanism includes a plurality of hydraulic motors 109, the plurality of hydraulic motors 109 are sequentially communicated to form a passage, and two hydraulic motors 109 at two ends of the passage are respectively communicated with the first liquid outlet and the first liquid inlet to form a hydraulic circuit flowing out from the first liquid outlet, through the plurality of hydraulic motors 109 and flowing in from the first liquid inlet; each of the hydraulic motors 109 has a transmission shaft in transmission connection with each of the wheel shafts 103, and the hydraulic oil drives each of the transmission shafts to rotate so as to drive the plurality of wheel shafts 103 to rotate synchronously. Adopt the linkage of hydraulic motor 109, control deflection angle that can be better, control is accurate.
It should be noted that the linkage mechanism further includes a hydraulic source 110 for storing hydraulic oil, the hydraulic source 110 is disposed on the chassis main body 101, the hydraulic source 110 is provided with a second inlet and a second outlet, the second outlet is communicated with the first inlet for providing hydraulic oil to the hydraulic pump 108, and the second inlet is communicated with the outlet of the hydraulic motor 109 for recovering redundant hydraulic oil.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents made by the contents of the present specification and drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A mobile robot chassis, comprising:
a chassis main body;
the wheel assembly comprises a plurality of wheels, and each wheel is horizontally and rotatably arranged at the bottom of the chassis main body around an up-down axis;
the linkage mechanisms are respectively connected with the wheels; and the number of the first and second groups,
and the first driving device is in driving connection with the linkage mechanism and is used for driving the plurality of wheels to synchronously turn through the linkage mechanism.
2. The mobile robot chassis of claim 1, wherein the wheel assembly further comprises a plurality of wheel axles extending in a vertical direction, the plurality of wheel axles and the plurality of wheels are arranged in a one-to-one correspondence, one end of each wheel axle is rotatably mounted on the bottom of the chassis body around a vertical axis, and the other end of each wheel axle is bent in a horizontal direction to form a bent portion, and the bent portion is used for rotatably mounting the wheels.
3. The mobile robot chassis of claim 2, wherein the number of wheel axles is four, and four of the wheel axles are arranged in a rectangular pattern on the bottom of the chassis body.
4. The mobile robot chassis of claim 3, wherein one of the four wheel axles is a drive wheel axle and the remaining are driven wheel axles, the first drive device including a drive motor having a power take-off shaft extending in an up-down direction, and a belt, the power take-off shaft being drivingly connected to the drive wheel axle via the belt to drive the drive wheel axle in rotation;
the linkage mechanism comprises a synchronous belt, and the synchronous belt is sequentially wound on the outer side walls of the transmission wheel shaft and the three driven wheel shafts so as to drive the three driven wheel shafts to synchronously steer when the transmission wheel shaft rotates.
5. The mobile robot chassis of claim 4, wherein the linkage mechanism further comprises a tension pulley movably disposed on the chassis body and abutting the timing belt, the tension pulley having a tightening stroke moving toward the timing belt and a loosening stroke moving away from the timing belt.
6. The mobile robot chassis of claim 2, wherein the chassis body has a left-right direction and a front-rear direction disposed crosswise to the left-right direction, the mobile robot chassis further comprising a plurality of first transmission structures and a plurality of second transmission structures;
the linkage mechanism comprises a first transmission shaft and two second transmission shafts arranged in parallel, the first transmission shaft extends in the left-right direction, the two second transmission shafts extend in the front-back direction, the two second transmission shafts are respectively arranged at two opposite ends of the first transmission shaft, each first transmission shaft is in transmission connection with the second transmission shaft through a first transmission structure, and each wheel shaft is in transmission connection with the two second transmission shafts through a second transmission structure;
the first driving device comprises a driving motor, the driving motor is provided with a power output shaft extending in the left-right direction, and the power output shaft is in driving connection with the first transmission shaft.
7. The mobile robotic chassis of claim 6, wherein each of the first transmission structures comprises a first bevel gear and a second bevel gear in meshing engagement.
8. The mobile robotic chassis of claim 6, wherein each of the second drive structures comprises a worm gear and a worm that mesh.
9. The mobile robot chassis of claim 2, wherein the first drive device is a hydraulic pump having a first fluid outlet and a first fluid inlet, the linkage includes a plurality of hydraulic motors in communication in sequence to form a path, and two of the hydraulic motors at opposite ends of the path are in communication with the first fluid outlet and the first fluid inlet, respectively, to form a hydraulic circuit flowing from the first fluid outlet, through the plurality of hydraulic motors, and from the first fluid inlet;
each hydraulic motor is provided with a transmission shaft in transmission connection with each wheel shaft, and hydraulic oil pushes each transmission shaft to rotate so as to drive the plurality of wheel shafts to synchronously steer.
10. The mobile robot chassis of claim 9, wherein the linkage mechanism further comprises a hydraulic source for storing the hydraulic oil, the hydraulic source is disposed on the chassis body, the hydraulic source is provided with a second inlet and a second outlet, the second outlet is communicated with the first inlet for providing the hydraulic oil to the hydraulic pump, and the second inlet is communicated with a liquid outlet of the hydraulic motor for recycling excess hydraulic oil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011353694.9A CN112478021A (en) | 2020-11-26 | 2020-11-26 | Mobile robot chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011353694.9A CN112478021A (en) | 2020-11-26 | 2020-11-26 | Mobile robot chassis |
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|---|---|
| CN112478021A true CN112478021A (en) | 2021-03-12 |
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| CN202011353694.9A Pending CN112478021A (en) | 2020-11-26 | 2020-11-26 | Mobile robot chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852216A (en) * | 2022-04-24 | 2022-08-05 | 北京理工大学 | Indoor robot walking structure with stable structure |
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| CN210653424U (en) * | 2019-09-09 | 2020-06-02 | 上海朗驰佰特智能技术有限公司 | Walking mechanism suitable for indoor inspection robot |
| CN210659316U (en) * | 2019-09-11 | 2020-06-02 | 广东博智林机器人有限公司 | Floating robot chassis and floating robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852216A (en) * | 2022-04-24 | 2022-08-05 | 北京理工大学 | Indoor robot walking structure with stable structure |
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