CN204956703U - Six rounds of chassis systems and adopt vehicle and wheeled robot of this system - Google Patents
Six rounds of chassis systems and adopt vehicle and wheeled robot of this system Download PDFInfo
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- CN204956703U CN204956703U CN201520724198.8U CN201520724198U CN204956703U CN 204956703 U CN204956703 U CN 204956703U CN 201520724198 U CN201520724198 U CN 201520724198U CN 204956703 U CN204956703 U CN 204956703U
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Abstract
This discloses a six rounds of chassis systems and adopt vehicle and wheeled robot of this system. This system includes: horizontal bed frame, two drive wheels are installed respectively in the center of horizontal bed frame both sides department through two drive wheel connecting pieces, and all rotationally install on horizontal bed frame the inboard of two drive wheel connecting pieces, two sets of from driving wheels, install on the bottom surface of horizontal bed frame, every group from the driving wheel include two from the driving wheel, two sets of from the first vertical plane symmetrical arrangement of driving wheel for the line of centres that crosses two drive wheels, and every group from the driving wheel two from the driving wheel for the mid point of crossing line of centres and with the vertical plane symmetrical arrangement of first vertical plane vertically second, upper bracket and two sets of damping device, two sets of damping device's first end is connected to the upper bracket respectively, and the second end is connected to two drive wheel connecting pieces respectively. Advantage according to these six round disclosed bottom plate systems have the stability height, are convenient for to turn to just has the well ability of moving away to avoid possible earthquakes.
Description
Technical field
The disclosure relates to chassis system, more specifically, relates to and a kind of six takes turns chassis system, a kind ofly adopts this six take turns the vehicle of chassis system and a kind ofly adopt this six wheeled robot of taking turns chassis system.
Background technology
Many intelligent vehicles (such as intelligent carriage) and intelligent robot etc. all adopt wheeled construction as the carrier of movement.
Current intelligent 3 take turns chassis structure and 4, and to take turns chassis structure stable all not, and course changing control is dumb, is difficult to realize the demands such as pivot stud.
In addition, intelligent vehicle and intelligent robot etc., unavoidably can through road surfaces that is uneven, ditch ditch bank in traveling process.And along with the development of smart machine, to the stationarity of its movement with to keep away the requirement of barrier ability more and more higher.Such as, meal delivery robot must guarantee through uneven ground, food can not be spilt simultaneously.
Utility model content
Present disclosure proposes a kind of stability high, be convenient to turn to and there is the chassis system well keeping away barrier ability.
According to one side of the present disclosure, propose a kind of six and take turns chassis system, described six take turns chassis system comprises: horizontal pedestal; Two drive wheels, lay respectively at the center position of horizontal pedestal both sides, two drive wheels are arranged on the external side end of two drive wheel attaching partss respectively, and the inner side of two drive wheel attaching partss is all installed in rotation on horizontal pedestal; Two groups of flower wheels, be arranged on the bottom surface of horizontal pedestal, often organize flower wheel and comprise two flower wheels, two groups of flower wheels are arranged symmetrically with relative to the first perpendicular of the line of centres crossing two drive wheels, and often organize two flower wheels in flower wheel relative to the mid point crossing the described line of centres and second perpendicular vertical with described first perpendicular is arranged symmetrically with, described flower wheel is cardan wheel; Upper bracket and two groups of shock absorption devices, the first end of described two groups of shock absorption devices is connected to described upper bracket respectively, and the second end is connected to two drive wheel attaching partss respectively.
The inner side of two drive wheel attaching partss can be installed in rotation on drive wheel connecting element.The bottom surface that described drive wheel connecting element can be fixed on described horizontal pedestal is positioned at the midpoint of the line of centres of two drive wheels.
Often group shock absorption device in described two groups of shock absorption devices can comprise hydraulic stem.
The nut that often group shock absorption device in described two groups of shock absorption devices can comprise spring, screw rod and be spun on described screw rod.Described spring can round described screw rod.The first end of described spring can be connected to one end of this group shock absorption device, and the second end of described spring can be connected to described nut.
Often group shock absorption device in described two groups of shock absorption devices both can comprise hydraulic stem, also comprised spring, the screw rod of connecting with described hydraulic stem and the nut be spun on described screw rod.Described spring can round the described hydraulic stem of series connection and described screw rod.The first end of described spring can be connected to one end away from described screw rod of this group shock absorption device described, and the second end of described spring can be connected on described nut.
The first end of described two groups of shock absorption devices can be connected to described upper bracket respectively rotationally, and/or the second end of described two groups of shock absorption devices can be connected to two drive wheel attaching partss respectively rotationally.
Second end of described two groups of shock absorption devices can be connected to two drive wheel attaching partss respectively by two bumper lower brackets, wherein, the bottom of two bumper lower brackets can be separately fixed on two drive wheel attaching partss, and the top of two bumper lower brackets can be stretched out described horizontal pedestal and be connected with the second end of two groups of shock absorption devices respectively.
According to another aspect of the present disclosure, propose a kind of vehicle, described vehicle adopts as above six to take turns chassis system.
According to another aspect of the present disclosure, propose a kind of wheeled robot, described wheeled robot adopts as above six to take turns chassis system.
Each side of the present disclosure to make chassis structure stable and to be convenient to turn to by employing two drive wheels, four cardan wheels, such as, is driven by motor and makes the rotating speed of two drive wheels consistent and turn to can realize pivot stud on the contrary.In addition, drive drive wheel attaching parts to rotate by shock absorbing apparatus, and then drive drive wheel to swing, thus can realize good keeping away barrier ability.
Accompanying drawing explanation
In conjunction with the drawings disclosure illustrative embodiments is described in more detail, above-mentioned and other object of the present disclosure, Characteristics and advantages will become more obvious, wherein, in disclosure illustrative embodiments, identical reference number represents same parts usually.
Fig. 1 shows the schematic diagram of taking turns chassis system according to six of a concrete exemplary embodiment of the present disclosure.
Fig. 2 shows the upward view that exemplary six shown in Fig. 1 takes turns chassis system.
Detailed description of the invention
Below with reference to accompanying drawings preferred implementation of the present disclosure is described in more detail.Although show preferred implementation of the present disclosure in accompanying drawing, but should be appreciated that, the disclosure can be realized in a variety of manners and not should limit by the embodiment of setting forth here.On the contrary, provide these embodiments to be to make the disclosure more thorough and complete, and the scope of the present disclosure intactly can be conveyed to those skilled in the art.
In the disclosure, as nothing different understanding clearly, term " inside and outside " is for drive wheel, and the direction wherein away from drive wheel can be described as " interior ", can be described as " outward " near the direction of drive wheel; Term " top, the end, level " etc. can refer to the direction in Fig. 1.
Fig. 1 shows the schematic diagram of taking turns chassis system according to six of a concrete exemplary embodiment of the present disclosure.As shown in the figure, this six is taken turns chassis system and can comprise horizontal pedestal 11, two drive wheels 12, two groups of flower wheels 14, upper bracket 16 and two groups of shock absorption devices.
Two drive wheels 12 can lay respectively at the center position of horizontal pedestal 11 both sides.Two drive wheels 12 can be arranged on the external side end of two drive wheel attaching partss 13 respectively.The inner side of two drive wheel attaching partss 13 all can be rotatably mounted (such as via bearing) on horizontal pedestal 11.
Two groups of flower wheels 14 can be arranged on the bottom surface of horizontal pedestal 11.Often organize flower wheel 14 and comprise two flower wheels.Two groups of flower wheels 14 can be arranged symmetrically with relative to the first perpendicular of the line of centres crossing two drive wheels 12, and often organize two flower wheels in flower wheel 14 relative to the mid point crossing the described line of centres and second perpendicular vertical with described first perpendicular is arranged symmetrically with.Described flower wheel can be cardan wheel.It will be appreciated by persons skilled in the art that " vertically " in the disclosure is for " level ", namely the first perpendicular and the second perpendicular are all perpendicular to horizontal plane.
Be provided with two drive wheels as above, that the chassis structure of four cardan wheels has stability is high and be convenient to the advantage that controls flexibly to turn to.
The first end of two groups of shock absorption devices can be connected to upper bracket 16 respectively, and the second end can be connected to two drive wheel attaching partss 13 respectively.When running into obstacle.Shock absorbing apparatus can drive drive wheel attaching parts 13 to rotate, and then drives drive wheel 12 to swing, thus realizes good keeping away barrier ability.
The inner side of two drive wheel attaching partss 13 can be rotatably mounted (such as via bearing) on drive wheel connecting element 15.The bottom surface that drive wheel connecting element 15 can be fixed on horizontal pedestal 11 can be positioned at the midpoint of the line of centres of two drive wheels 12.
In some embodiments, often organizing shock absorption device can be the fluid pressure type shock absorption device comprising hydraulic stem.In some embodiments, often organizing shock absorption device can be the spring type shock absorption device comprising spring.Spring type shock absorption device also can comprise screw rod and be spun on the nut on described screw rod.Described spring can round described screw rod.The first end of described spring can be connected to one end of this group shock absorption device, and the second end can be connected to described nut.In this illustrative embodiments, fluid pressure type shock absorption device and spring type shock absorption device can be combinationally used.As shown in the figure, often organize shock absorption device can comprise hydraulic stem 17, the screw rod 19 of connecting with hydraulic stem 17, be spun on nut 20 on screw rod 19 and spring 18.Spring 18 can round the hydraulic stem 17 of series connection and screw rod 19.The first end of spring 18 can be connected to one end away from screw rod 19 of shock absorption device, and the second end of spring 18 can be connected to nut 20.
Two groups of shock absorption device connections separately and between upper bracket 16 can be rotating, such as, can connect rotationally via bearing.Two groups of shock absorption device connections separately and between two drive wheel attaching partss 13 also can be rotating, such as, can connect rotationally via bearing.This can make this chassis system have better anti-ability of jolting.
In the present example embodiment, the second end of two groups of shock absorption devices can be connected to two drive wheel attaching partss 13 respectively by two bumper lower brackets 21.The bottom of two bumper lower brackets 21 can be separately fixed on two drive wheel attaching partss 13, and the extended horizontal stand 11 in the top of two bumper lower brackets 21 is also connected with the second end of this group shock absorption device respectively.As mentioned above, the connection between shock absorption device and bumper lower bracket 21 can be rotating, such as, can connect rotationally via bearing.
Fig. 2 shows the upward view that exemplary six shown in Fig. 1 takes turns chassis system.
The disclosure also discloses a kind of vehicle, and this vehicle have employed as above six and takes turns chassis system.
The disclosure also discloses a kind of wheeled robot, and this wheeled robot have employed as above six and takes turns chassis system.
Be described above each embodiment of the present disclosure, above-mentioned explanation is exemplary, and non-exclusive, and be also not limited to disclosed each embodiment.When not departing from the scope and spirit of illustrated each embodiment, many modifications and changes are all apparent for those skilled in the art.The selection of term used herein, is intended to explain best the principle of each embodiment, practical application or the improvement to the technology in market, or makes other those of ordinary skill of the art can understand each embodiment disclosed herein.
Claims (9)
1. six take turns a chassis system, it is characterized in that, described six take turns chassis system comprises:
Horizontal pedestal (11);
Two drive wheels (12), lay respectively at the center position of horizontal pedestal (11) both sides, two drive wheels (12) are arranged on the external side end of two drive wheel attaching partss (13) respectively, and the inner side of two drive wheel attaching partss (13) is all installed in rotation on horizontal pedestal (11);
Two groups of flower wheels (14), be arranged on the bottom surface of horizontal pedestal, often organize flower wheel (14) and comprise two flower wheels, two groups of flower wheels (14) are arranged symmetrically with relative to the first perpendicular of the line of centres crossing two drive wheels (12), and often organize two flower wheels in flower wheel (14) relative to the mid point crossing the described line of centres and second perpendicular vertical with described first perpendicular is arranged symmetrically with, described flower wheel is cardan wheel;
Upper bracket (16) and two groups of shock absorption devices, the first end of described two groups of shock absorption devices is connected to described upper bracket (16) respectively, and the second end is connected to two drive wheel attaching partss (13) respectively.
2. according to claim 1 six take turns chassis system, it is characterized in that, the inner side of two drive wheel attaching partss (13) is installed in rotation on drive wheel connecting element (15), and the bottom surface that described drive wheel connecting element (15) is fixed on described horizontal pedestal (11) is positioned at the midpoint of the line of centres of two drive wheels (12).
3. according to claim 1 six take turns chassis system, it is characterized in that, the often group shock absorption device in described two groups of shock absorption devices comprises hydraulic stem.
4. according to claim 3 six take turns chassis system, it is characterized in that, shock absorption device of often organizing in described two groups of shock absorption devices also comprises spring, the screw rod of connecting with described hydraulic stem and the nut be spun on described screw rod, described spring is round the described hydraulic stem of connecting and described screw rod, the first end of described spring is connected to one end away from described screw rod of this group shock absorption device described, and the second end of described spring is connected on described nut.
5. according to claim 1 six take turns chassis system, it is characterized in that, the nut that often group shock absorption device in described two groups of shock absorption devices comprises spring, screw rod and is spun on described screw rod, described spring is round described screw rod, the first end of described spring is connected to one end of this group shock absorption device, and the second end of described spring is connected to described nut.
6. according to claim 1 six take turns chassis system, it is characterized in that, the first end of described two groups of shock absorption devices is connected to described upper bracket (16) respectively rotationally, and/or the second end of described two groups of shock absorption devices is connected to two drive wheel attaching partss (13) respectively rotationally.
7. according to claim 1 six take turns chassis system, it is characterized in that, second end of described two groups of shock absorption devices is connected to two drive wheel attaching partss (13) respectively by two bumper lower brackets (21), wherein, the bottom of two bumper lower brackets (21) is separately fixed on two drive wheel attaching partss (13), and the top of two bumper lower brackets (21) is stretched out described horizontal pedestal (11) and is connected with the second end of two groups of shock absorption devices respectively.
8. a vehicle, is characterized in that, described vehicle adopts as six in claim 1-7 as described in any one takes turns chassis system.
9. a wheeled robot, is characterized in that, described wheeled robot adopts as six in claim 1-7 as described in any one takes turns chassis system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520724198.8U CN204956703U (en) | 2015-09-17 | 2015-09-17 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
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| CN201520724198.8U CN204956703U (en) | 2015-09-17 | 2015-09-17 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
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| CN204956703U true CN204956703U (en) | 2016-01-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105752199A (en) * | 2016-02-23 | 2016-07-13 | 武汉需要智能技术有限公司 | Suspension type robot chassis structure |
| CN105923069A (en) * | 2016-05-11 | 2016-09-07 | 杭州哈帝机器人科技有限公司 | Walking chassis for vehicle intelligent service robot |
| CN106671720A (en) * | 2017-03-15 | 2017-05-17 | 桂林理工大学 | Vibration absorption device and omnidirectional vehicle |
| CN107599770A (en) * | 2017-08-17 | 2018-01-19 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| CN107672398A (en) * | 2017-08-17 | 2018-02-09 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| WO2018064808A1 (en) * | 2016-10-08 | 2018-04-12 | 浙江国自机器人技术有限公司 | Unmanned transfer robot and chassis thereof |
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN105810080B (en) * | 2016-05-09 | 2018-06-19 | 武汉科技大学 | A kind of intelligent vehicle sports car mold chassis |
| CN108454719A (en) * | 2018-04-02 | 2018-08-28 | 西南交通大学 | A kind of mobile robot walking mechanism |
| CN108482517A (en) * | 2018-03-08 | 2018-09-04 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| CN108909864A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
| CN109080733A (en) * | 2018-09-29 | 2018-12-25 | 北京云迹科技有限公司 | Robot chassis and robot |
| CN109620068A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | Chassis assembly and floor-cleaning machine with it |
| CN112223967A (en) * | 2020-09-25 | 2021-01-15 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
| WO2021046892A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州鸿渺智能科技有限公司 | Vibration damping type robot chassis |
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105752199A (en) * | 2016-02-23 | 2016-07-13 | 武汉需要智能技术有限公司 | Suspension type robot chassis structure |
| CN105810080B (en) * | 2016-05-09 | 2018-06-19 | 武汉科技大学 | A kind of intelligent vehicle sports car mold chassis |
| CN105923069A (en) * | 2016-05-11 | 2016-09-07 | 杭州哈帝机器人科技有限公司 | Walking chassis for vehicle intelligent service robot |
| WO2018064808A1 (en) * | 2016-10-08 | 2018-04-12 | 浙江国自机器人技术有限公司 | Unmanned transfer robot and chassis thereof |
| US10611405B2 (en) | 2016-10-08 | 2020-04-07 | Zhejiang Guozi Robot Technology Co., Ltd. | Unmanned transporting robots and the chassis thereof |
| CN106671720A (en) * | 2017-03-15 | 2017-05-17 | 桂林理工大学 | Vibration absorption device and omnidirectional vehicle |
| CN107599770A (en) * | 2017-08-17 | 2018-01-19 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| CN107672398A (en) * | 2017-08-17 | 2018-02-09 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| CN107672398B (en) * | 2017-08-17 | 2024-01-05 | 宁波市智能制造产业研究院 | Six-wheel AGV shock-absorbing chassis |
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN108482517A (en) * | 2018-03-08 | 2018-09-04 | 纳恩博（北京）科技有限公司 | Adaptive chassis and robot |
| CN108482517B (en) * | 2018-03-08 | 2024-03-08 | 纳恩博（北京）科技有限公司 | Self-adaptive chassis and robot |
| CN108454719A (en) * | 2018-04-02 | 2018-08-28 | 西南交通大学 | A kind of mobile robot walking mechanism |
| CN109080733A (en) * | 2018-09-29 | 2018-12-25 | 北京云迹科技有限公司 | Robot chassis and robot |
| CN108909864A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
| CN109620068B (en) * | 2018-12-21 | 2021-02-19 | 安徽信息工程学院 | Chassis assembly and floor washing machine with same |
| CN109620068A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | Chassis assembly and floor-cleaning machine with it |
| WO2021046892A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州鸿渺智能科技有限公司 | Vibration damping type robot chassis |
| CN112223967A (en) * | 2020-09-25 | 2021-01-15 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: No. 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
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