CN209112323U - A kind of suspension-type robot chassis of six wheels - Google Patents
A kind of suspension-type robot chassis of six wheels Download PDFInfo
- Publication number
- CN209112323U CN209112323U CN201821807550.4U CN201821807550U CN209112323U CN 209112323 U CN209112323 U CN 209112323U CN 201821807550 U CN201821807550 U CN 201821807550U CN 209112323 U CN209112323 U CN 209112323U
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- suspension
- wheel
- vehicle frame
- chassis
- robot chassis
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Abstract
The utility model discloses the suspension-type robot chassis of six wheel of one kind, belong to robot field.The suspension-type robot chassis of six wheels includes vehicle frame and the suspension for being mounted on vehicle frame two sides, suspension includes being mounted on vehicle frame two sides and rotatable T-type connector and the fixation device for being mounted on T-type connector both ends, fixed device is equipped with the first wheel, hub motor is equipped in first wheel, the utility model uses the walking mechanism of multiple wheels composition, by being mounted on vehicle frame two sides and the cooperation of rotatable suspension and the rolling bearing being mounted on vehicle frame, the left and right sides on chassis is set to have the suspension that can be swung in fore-and-aft plane respectively, improve the balance on chassis, anti- subversiveness and terrain self-adaptive, bobbin movement flexibility is enhanced using hub motor simultaneously, reduce the volume of drive system, the robot equipped with the chassis is set to be suitable for various complicated landforms, possess good passability and its landform is adaptive Ying Xing.
Description
Technical field
The utility model relates to robot fields, and in particular to the suspension-type robot chassis of six wheel of one kind.
Background technique
Suspension-type robot refers to that the robot that can be walked on multiple road, existing robot mostly use greatly crawler belt
The chassis structure of formula, caterpillar type robot is complicated, and travel speed is slow and transmission efficiency is low.The chassis of partial robotic is using wheeled
Chassis, but such chassis largely uses conventional tyre, situations such as being short of power, passability is poor easily occurs during obstacle detouring,
It is limited by road conditions larger.
Utility model content
The purpose of this utility model is to provide the suspension-type robot chassis of six wheel of one kind, to solve existing robot bottom
Dish structure is complicated, and larger problem is limited by road conditions.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of suspension-type robot chassis of six wheels, including vehicle frame and are mounted on the suspensions of vehicle frame two sides, suspension includes
Vehicle frame two sides are mounted on and rotatable T-type connector and the fixation device for being mounted on T-type connector both ends, on fixed device
Equipped with wheel, hub motor is equipped in wheel.
The utility model is by being mounted on vehicle frame two sides and between rotatable suspension and wheel equipped with hub motor
Cooperation, so that the left and right sides on chassis is had the suspension that can be swung in fore-and-aft plane respectively, improve chassis balance,
Anti- subversiveness and terrain self-adaptive, while bobbin movement flexibility is enhanced using hub motor, reduce drive system
Volume.
Preferably, T-type connector include be arranged in frame outside installation axle and with installation axle company connected vertically
Spindle, connecting shaft are connect with fixed device.
Preferably, being equipped with ring flange between installation axle and vehicle frame, ring flange, the other end of installation axle are equipped in ring flange
It is mounted in rolling bearing.
Vehicle frame two sides suspension is swung can in fore-and-aft plane by rolling bearing, makes chassis that there is well balanced property and resist
Subversiveness.
Preferably, fixed device include the connecting rod of one end of the connecting shaft is set and be mounted on connecting rod and the first wheel it
Between L-type connector, the side of the first wheel vehicle frame connected to it is parallel.
By using the equalizing type of suspension of connecting rod and L-type connector composition, it is ensured that more tires and ground face contact as far as possible increase
The big contact area of tire and ground, improves robot stabilization, while the chassis being made to have passive regulating power, can drop
The pitching amplitude of robot when low obstacle detouring.
Preferably, a kind of suspension-type robot chassis of six wheel further includes the suspension that vehicle frame rear end is arranged in, hang
Ring flange and rolling bearing are equipped between frame and vehicle frame, suspension is equipped with the second wheel.
By using six three suspension fork mechanisms of wheel and supported at three point mode, the contact area on chassis and ground is increased, bottom is made
Disk has well balanced property and anti-subversiveness and good terrain self-adaptive.
Preferably, the second wheel is parallel with the first wheel and the second wheel is interior equipped with hub motor.
The flexibility on tire power and chassis is increased by the way that hub motor is arranged
The utility model has the following beneficial effects:
The utility model uses the walking mechanism of multiple wheels composition, by being mounted on vehicle frame two sides and rotatable suspension
With the cooperation for the rolling bearing being mounted on vehicle frame, the left and right sides on chassis is made to have one can swing in fore-and-aft plane respectively
Suspension, improve balance, anti-subversiveness and the terrain self-adaptive on chassis, while chassis is enhanced using hub motor
Kinematic dexterity reduces the volume of drive system, so that the robot equipped with the chassis is suitable for various complicated landforms, possesses good
Good passability and its terrain self-adaptive.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the top view of the utility model；
Fig. 3 is the structural schematic diagram of suspension in the utility model；
Fig. 4 is the structural schematic diagram of the ring flange and rolling bearing in the utility model；
Fig. 5 is the structural schematic diagram of the wheel in the utility model.
In figure: 1- vehicle frame；2- suspension；The first wheel of 3-；4- hub motor；5- ring flange；6- rolling bearing；The second vehicle of 7-
Wheel；21-T type connector；22- fixes device；211- installation axle；212- connecting shaft；221- connecting rod；222-L type connector.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment
Referring to Fig. 1 to Fig. 5, the utility model includes vehicle frame 1 and the suspension 2 for being separately mounted to 1 two sides of vehicle frame, vehicle frame 1
The suspension 2 of two sides is centrosymmetric distribution about vehicle frame 1, and suspension 2 includes being mounted on 1 two sides of vehicle frame and rotatable T-type connects
Part 21 and the fixation device 22 for being mounted on 21 both ends of T-type connector, fixed device 22 are equipped with the first wheel 3, the first wheel 3
It is interior to be equipped with hub motor 4.
It is equipped with ring flange 5 with further reference to Fig. 4, between T-type connector 21 and vehicle frame 1 and is mounted in ring flange 5
Rolling bearing 6, rolling bearing 6 are ball ball bearing.One end of T-type connector 21 is mounted in rolling bearing 6, and ring flange 5 is logical
It crosses bolt and is fixedly mounted on 1 outside of vehicle frame.
With further reference to Fig. 1, T-type connector 21 include installation axle 211 and setting 211 one end of installation axle and with installation
The connecting shaft 212 connected vertically of axis 211, the other end of installation axle 211 are mounted in rolling bearing 6 and perpendicular to vehicle frame 1, connections
The installation direction of axis 212 is parallel with the driving direction of vehicle frame 1.
Fixed device 22 includes being mounted on the L-type connector 222 of 212 one end of connecting shaft and being mounted on L-type connector 222
With the connecting rod 221 between the first wheel 3, the change of 221 installation direction of connecting rod is made by connecting rod 221 and L-type connector 222
The side for being mounted on the vehicle frame 1 connected to it of the first wheel 3 on connecting rod 221 is parallel.
With further reference to Fig. 3,1 rear end of vehicle frame is equipped with T-type connector 21 and fixed device 22, T-type connector 21 and vehicle
Ring flange 5 and rolling bearing 6 are equipped between frame 1, fixed device 22 is equipped with the second wheel 7, passes through connecting rod 221 and L-type
It is same that connector 222 is located at the second wheel 7 being mounted on connecting rod 221 and the first wheel 3 change of 221 installation direction of connecting rod
On straight line, it is also equipped with hub motor 4 in the second wheel 7, the wheel hub electricity in the first wheel 3 and the second wheel 7 is set
Machine 4 is all made of independent servo-drive, realizes the differential steering on chassis.
Make vehicle frame 1 along ground moving when hub motor 4 starts and drive the first wheel 3 and the second wheel 7 to rotate, and
When crossing broken terrain, suspension 2 makes suspension and wheel by being connected thereto and being mounted on the rolling bearing on vehicle frame
It can be swung in a fore-and-aft plane, the shaking of the reduction vehicle frame 1 of amplitude peak itself has the utility model well balanced
Property, anti-subversiveness and good terrain self-adaptive, can be by adjusting the hub motor 4 of 1 two sides of vehicle frame when needing to turn
Rotation speed realizes differential steering.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, all in the utility model
Spirit and principle within, any modification, equivalent replacement, improvement and so on should be included in the protection model of the utility model
Within enclosing.
Claims (6)
1. the suspension-type robot chassis of six wheel of one kind, which is characterized in that including vehicle frame (1) and be mounted on vehicle frame (1) two sides
Suspension (2), the suspension (2) includes being mounted on the outside of vehicle frame (1) and rotatable T-type connector (21) and being mounted on T
The fixation device (22) at type connector (21) both ends, the fixed device (22) are equipped with the first wheel (3), first wheel
(3) hub motor (4) are equipped in.
2. the suspension-type robot chassis of six wheel according to claim 1, which is characterized in that the T-type connector (21)
Including be arranged installation axle (211) on the outside of vehicle frame (1) and with installation axle (211) connecting shaft connected vertically (212), it is described
Connecting shaft (212) is connect with the fixed device (22).
3. it is according to claim 2 six wheel suspension-type robot chassis, which is characterized in that the installation axle (211) with
Ring flange (5) are equipped between vehicle frame (1), are equipped with rolling bearing (6) in the ring flange (5), the installation axle (211) is mounted on
In rolling bearing (6).
4. the suspension-type robot chassis of six wheel according to claim 2, which is characterized in that fixed device (22) packet
The L for including the connecting rod (221) connecting with the connecting shaft (212) one end and being arranged between connecting rod (221) and the first wheel (3)
The side of type connector (222), first wheel (3) vehicle frame connected to it (1) is parallel.
5. the suspension-type robot chassis of six wheel according to claim 3, which is characterized in that also wrap on the robot chassis
Include setting vehicle frame (1) rear end the suspension (2), between the suspension (2) and vehicle frame (1) equipped with the ring flange (5) with
And the rolling bearing (6), the suspension (2) are equipped with the second wheel (7).
6. it is according to claim 5 six wheel suspension-type robot chassis, which is characterized in that second wheel (7) with
First wheel (3) is parallel and the second wheel (7) is interior equipped with the hub motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821807550.4U CN209112323U (en) | 2018-11-02 | 2018-11-02 | A kind of suspension-type robot chassis of six wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821807550.4U CN209112323U (en) | 2018-11-02 | 2018-11-02 | A kind of suspension-type robot chassis of six wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209112323U true CN209112323U (en) | 2019-07-16 |
Family
ID=67203717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821807550.4U Expired - Fee Related CN209112323U (en) | 2018-11-02 | 2018-11-02 | A kind of suspension-type robot chassis of six wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209112323U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
| CN110371206A (en) * | 2019-08-13 | 2019-10-25 | 浙江大学 | A kind of six-wheel mobile robot multi link walking mechanism |
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
| CN111547149A (en) * | 2020-06-12 | 2020-08-18 | 骨智医疗科技(天津) 有限公司 | RRSRR suspension structure for mobile robot |
| WO2021013970A1 (en) * | 2019-07-23 | 2021-01-28 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Driverless transport system |
| CN113147953A (en) * | 2021-04-26 | 2021-07-23 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
| CN114313044A (en) * | 2021-12-23 | 2022-04-12 | 广西科技大学 | Mobile robot moving platform capable of climbing stairs |
| CN114454961A (en) * | 2022-03-07 | 2022-05-10 | 重庆警察学院 | Heavy-load climbing robot chassis system for police |
| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
| CN117360148A (en) * | 2023-11-10 | 2024-01-09 | 苏州佳顺智能机器人股份有限公司 | Self-adaptive lever driving unit |
-
2018
- 2018-11-02 CN CN201821807550.4U patent/CN209112323U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3770046B1 (en) | 2019-07-23 | 2022-09-14 | MAGNA STEYR Fahrzeugtechnik AG & Co KG | Driverless transport system |
| WO2021013970A1 (en) * | 2019-07-23 | 2021-01-28 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Driverless transport system |
| CN114761309A (en) * | 2019-07-23 | 2022-07-15 | Fb工业自动化有限公司 | Unmanned transport system |
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
| CN110371206A (en) * | 2019-08-13 | 2019-10-25 | 浙江大学 | A kind of six-wheel mobile robot multi link walking mechanism |
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
| CN111547149A (en) * | 2020-06-12 | 2020-08-18 | 骨智医疗科技(天津) 有限公司 | RRSRR suspension structure for mobile robot |
| CN113147953A (en) * | 2021-04-26 | 2021-07-23 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
| CN113147953B (en) * | 2021-04-26 | 2023-11-10 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
| CN114313044A (en) * | 2021-12-23 | 2022-04-12 | 广西科技大学 | Mobile robot moving platform capable of climbing stairs |
| CN114454961B (en) * | 2022-03-07 | 2022-11-11 | 重庆警察学院 | Heavy-load climbing robot chassis system for police |
| CN114454961A (en) * | 2022-03-07 | 2022-05-10 | 重庆警察学院 | Heavy-load climbing robot chassis system for police |
| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
| CN117360148A (en) * | 2023-11-10 | 2024-01-09 | 苏州佳顺智能机器人股份有限公司 | Self-adaptive lever driving unit |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20201102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |