CN107902007B - Rocker arm type suspension mechanism of high-stability walking box body - Google Patents
Rocker arm type suspension mechanism of high-stability walking box body Download PDFInfo
- Publication number
- CN107902007B CN107902007B CN201711250697.8A CN201711250697A CN107902007B CN 107902007 B CN107902007 B CN 107902007B CN 201711250697 A CN201711250697 A CN 201711250697A CN 107902007 B CN107902007 B CN 107902007B
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- push rod
- electric push
- supporting
- shock absorber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 230000035939 shock Effects 0.000 claims abstract description 31
- 239000006096 absorbing agent Substances 0.000 claims abstract description 29
- 230000008859 change Effects 0.000 claims abstract description 7
- 230000008602 contraction Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 238000013016 damping Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a suspension structure of a walking machine body, in particular to a rocker arm type suspension mechanism of a high-stability walking box body, which is provided with supporting balance frames respectively arranged at two sides of the walking box body; the electric shock absorber comprises an outer rocker arm (11) and an inner rocker arm (2) which are arranged at intervals, a pair of rotatable supporting legs (4) are clamped between the two rocker arms, two ends of an electric push rod (9) which is arranged are symmetrically provided with an angle bisecting support (7) respectively, an upper supporting point of the angle bisecting support (7) is rotationally connected with one end of the electric push rod (9) and the upper end of the shock absorber (3), a pair of angle bisecting gears (13) which are meshed with each other are fixedly connected with a lower supporting point of the angle bisecting support (7), and the lower end of the shock absorber (3) is rotationally connected with the supporting legs (4). The utility model is characterized in that the lower ends of a pair of supporting legs are symmetrically or asymmetrically rotated at two sides of the central vertical line of the electric push rod along with the shape change of the ground, and the upper supporting points of the two-side angle bisecting brackets are always symmetrically moved at two sides of the central vertical line of the electric push rod along with the extension and retraction of the electric push rod, so that the walking box body is always not deviated, and higher walking stability is ensured.
Description
Technical Field
The utility model relates to a suspension structure for supporting and installing a robot and a similar walking machine body, in particular to a suspension structure for walking on uneven ground.
Background
The utility model is proposed according to practical requirements when researching a mobile robot with a composite moving mechanism. The robot has a balanced rocker arm suspension and a walking composite walking device, and has strong complex environment attitude regulation and control capability and terrain adaptation capability. The walking system adopts a configuration scheme of a balance rocker chassis and four joint track swing arms, and has stronger obstacle crossing capability through coordination control of the four joint track swing arms. The mobile robot suspension is required to have a certain damping function, and simultaneously the four swing arms can freely adjust the posture.
The prior art document search finds that:
chinese utility model patent No.: 201520666955.0, name: deformed caterpillar suspension and robot moving platform with same. The suspension related by the utility model has a complex structure, and consists of a middle connecting frame, a deformed crawler unit, a deformed driving assembly and the like, and the crawler wheel is driven to rotate through the movement of the connecting rod, and the ground clearance is adjusted. However, the technical structure is complex, and cannot be used on a chassis of a balanced rocker arm structure, and the technical structure has no good damping effect.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provide a rocker arm suspension mechanism capable of realizing shock absorption and balance maintenance, and the functions of attenuating vibration transmitted by the ground and actively adjusting the ground clearance are realized.
The aim of the utility model is achieved by the following technical scheme.
A rocker arm type suspension mechanism of a high-stability walking box body,
establish the place ahead orientation X of walking box, control and be Y, upwards be Z to, its characterized in that:
supporting balance frames are respectively arranged at two sides of the walking box body;
the support balancing stand is formed by arranging an outer rocker arm and an inner rocker arm which are parallel to an XZ plane at intervals, a pair of splayed supporting legs which are obliquely downward are clamped between the two rocker arms, and the upper ends of the supporting legs are rotationally fixed on the inner rocker arm and the outer rocker arm through a pair of Y-direction supporting leg rotating shafts;
an electric push rod is arranged above the two rocker arms in parallel with an X axis, angle bisecting brackets of a Z upward pivot and a Z downward pivot are symmetrically arranged at two ends of the electric push rod respectively, an upper pivot of the angle bisecting bracket is rotationally connected with one end of the electric push rod and the upper end of a cylindrical shock absorber, a lower pivot of the angle bisecting bracket is fixedly connected with an angle bisecting gear, a pair of angle bisecting gears arranged in parallel are meshed with each other, and the angle bisecting gears are rotationally assembled on the inner rocker arm and the outer rocker arm;
the lower end of the shock absorber is rotationally connected with the middle upper part of the supporting leg;
along with the expansion and contraction of the electric push rod, the upper fulcrums of the two angular bisecting brackets on the two sides move symmetrically all the time on the two sides of the central vertical line of the electric push rod;
along with the shape change of the ground, the lower ends of the pair of supporting legs symmetrically or asymmetrically rotate at two sides of the central vertical line of the electric push rod;
the inner rocker arms extend out of the rod-shaped arms in the rear direction X, the rod-shaped arm ends of the left inner rocker arm and the right inner rocker arm are respectively hinged with vertical pull rods, the lower ends of the left vertical pull rod and the right vertical pull rod are hinged with each other by a Y-direction balance arm, and the central position of the balance arm is a hinged fixed point of a travelling box body;
the two ends of the Y-direction driving axle housing are rotatably connected around the driving axle housing through slewing bearings at the central parts of the inner rocker arms of the two supporting balance frames;
two fixed points of the two walking boxes are arranged on two sides of the driving axle housing.
By adopting the technical scheme, the traveling box body of the vehicle and the mobile robot can be configured in the rocker arm type suspension with the two sides mainly supporting the balance frame, and three points form a stable connecting surface. The rocker arm type suspension can change the ground clearance under the support of a pair of supporting legs with controllable and angle-changing functions so as to adapt to road conditions of different heights on the ground at two sides. The pair of mutually meshed angular bisecting gears can strictly ensure that a small platform formed by the electric push rod is always free from front-back and left-right displacement, and can stably run and walk. The shock absorber dampens and absorbs shock during walking of the support leg.
Further, the upper supporting point of the angular bisecting support is split into two points with a certain distance, one point is rotationally connected to one end of the electric push rod, and the other end is rotationally connected to the upper end of the cylindrical shock absorber.
Further, the certain distance is equal to or less than the distance from the upper supporting point to the lower supporting point of the angular bisecting bracket.
Further, the support leg rotating shaft is not overlapped with the angular bisection gear shaft, and the angular bisection gear shaft is relatively positioned above the Z direction.
Further, the lower end of the shock absorber is rotatably connected with the middle upper part of the supporting leg through a supporting ear welded and fixed on the supporting leg.
Further, the distance from the upper end of the supporting leg to the position where the lower end of the shock absorber is rotatably connected to the supporting leg is smaller than the original length of the shock absorber.
Further, a crawler wheel or a rubber wheel is arranged at the lower end of the supporting leg.
Further, a differential case is disposed in the center of the transaxle case.
The utility model has the beneficial effects that:
from literature, no research effort has been found with respect to balancing rocker suspension damping and adjusting ground clearance. Aiming at the defects of the prior art and the requirement of researching a mobile robot with a composite moving mechanism, the utility model provides a balanced rocker arm suspension capable of realizing a shock absorption function and an attitude adjusting function for the first time.
The utility model can realize the control of the included angle of the front and rear supporting legs through the simple control of the electric push rod and the design of the free sliding structure of the electric push rod in the horizontal direction, thereby controlling the gap distance between the bottom of the suspension and the ground. The control of the electric push rod is active, so that the electric push rod can be more conveniently adapted to different road conditions.
According to the utility model, the shock absorber is arranged between the electric push rod joint and the supporting leg, and the shock absorber is rotationally connected with the push rod joint and the shock absorber bracket, so that the effect of damping the vibration transmitted to the suspension frame from the road surface in the advancing process is achieved.
According to the utility model, the slewing bearings are arranged between the driving axle housing and the rocker arms at two sides, so that the devices at two sides of the suspension can rotate around the slewing bearings, the suspension can adapt to more multi-path conditions, and a moving platform adopting the suspension structure can more stably pass through complex road conditions.
The utility model is characterized in that the lower ends of the pair of supporting legs are symmetrically or asymmetrically rotated on two sides of the central vertical line of the electric push rod along with the shape change of the ground, so that the structure can adapt to uneven left and right sides of a walking box body and adapt to and eliminate the difference of the front and rear sides on the same side, thereby leading to stable walking.
According to the utility model, the upper fulcrums of the two angular bisecting brackets on the two sides are always symmetrically moved on the two sides of the central vertical line of the electric push rod along with the expansion of the electric push rod, so that the electric push rod and the pair of angular bisecting gears act symmetrically all the time no matter how the electric push rod is pushed, no offset is kept in the X direction, no offset is kept between the rocker arms on the two sides and the driving axle housing, the walking box body can be ensured to be arranged on a stable suspension, the robot or the machine device with the walking box body does not offset during walking, and the walking stability is further improved.
The utility model relates to an electric push rod which is arranged above and parallel to an X axis between two rocker arms, wherein angle bisecting brackets of a Z-shaped upper fulcrum and a Z-shaped lower fulcrum are symmetrically arranged at two ends of the electric push rod respectively, an upper fulcrum of the angle bisecting bracket is rotationally connected with one end of the electric push rod and the upper end of a cylindrical shock absorber, a lower fulcrum of the angle bisecting bracket is fixedly connected with an angle bisecting gear, a pair of angle bisecting gears which are arranged in parallel are meshed with each other, and an angle bisecting gear shaft is rotationally assembled on an inner rocker arm and an outer rocker arm.
The utility model has the advantages of relatively simple structure, clear principle and wide application range, and can be applied to a plurality of vehicles or mobile robot platforms adopting balanced rocker arm suspensions after slightly changing the structure.
Drawings
FIG. 1 is a three-dimensional isometric view of one embodiment of a rocker arm suspension mechanism of a high-stationarity travel housing of the present utility model;
FIG. 2 is a view of a side support gimbal from the Y-direction and showing the split of the pivot point on the angular bracket into two points and the connection with the associated parts in accordance with one embodiment of the present utility model;
FIG. 3 is a schematic diagram illustrating the movement of the related parts of FIG. 2;
FIG. 4 is a top view of FIG. 2;
FIG. 5 is a top view of FIG. 1 as viewed from the Z-direction;
FIG. 6 is a side support bracket view from the X-direction of FIG. 1 with the inner and outer rocker arm members removed;
FIG. 7 is a view of the rocker arm suspension mechanism of FIG. 1, as viewed from the X-direction;
FIG. 8 is a top plan view from above Z, of the side support bracket of FIG. 2 at an alternate angle;
fig. 9 is a view of the rocker arm suspension mechanism of fig. 1 viewed from the Y direction.
In the figure, 1 is a universal joint, 2 is an inner rocker arm, 3 is a shock absorber, 4 is a supporting leg, 5 is a locking bolt, 6 is a supporting ear, 7 is an angle bisecting bracket, 8 is a supporting leg rotating shaft, 9 is an electric push rod, 10 is a large nut, 11 is an outer rocker arm, 12 is an angle bisecting gear shaft, 13 is an angle bisecting gear, 14 is a driving axle housing, 15 is a differential housing, 16 is a rotary support, 17 is a vertical pull rod, 18 is a balance arm, and 19 is a connecting flange.
Detailed Description
The structure of the suspension of the present utility model is further described in detail below with reference to the accompanying drawings.
A rocker arm type suspension mechanism of a high-stability walking box body,
the front direction X of the walking box body, the left direction Y and the right direction Y and the upward direction Z direction are set, and the setting of a coordinate system is easy to introduce and clearly describe.
Supporting balance frames are respectively arranged at two sides of the walking box body; the supporting balance frames positioned at two sides of the walking box body are symmetrically identical.
The supporting balance frame is formed by arranging an outer rocker arm 11 and an inner rocker arm 2 which are parallel to the XZ plane at intervals, a pair of splayed supporting legs 4 which are obliquely downward are clamped between the two rocker arms, and the upper ends of the supporting legs 4 are rotationally fixed on the inner rocker arm and the outer rocker arm through a pair of Y-direction supporting leg rotating shafts 8;
an electric push rod 9 is arranged above the two rocker arms in parallel with an X axis, angle bisecting brackets 7 with two upper and lower fulcrums are symmetrically arranged at two ends of the electric push rod 9 respectively, an upper fulcrum of the angle bisecting bracket 7 is rotationally connected with one end of the electric push rod 9 and the upper end of the cylindrical shock absorber 3, a lower fulcrum of the angle bisecting bracket 7 is fixedly connected with an angle bisecting gear 13, a pair of angle bisecting gears 13 arranged in parallel are meshed with each other, and the angle bisecting gear shafts 12 are rotationally assembled on the inner rocker arm and the outer rocker arm;
the lower end of the shock absorber 3 is rotatably connected to the middle upper part of the supporting leg 4;
along with the expansion and contraction of the electric push rod 9, the upper fulcrums of the two angular bisecting brackets 7 on the two sides always symmetrically move on the two sides of the central vertical line of the electric push rod 9;
along with the shape change of the ground, the lower ends of the pair of supporting legs 4 symmetrically or asymmetrically rotate at two sides of the central vertical line of the electric push rod 9;
the inner rocker arms 2 extend out of the rod-shaped arms in the rear direction X, the rod-shaped arm ends of the left inner rocker arm 2 and the right inner rocker arm 2 are respectively hinged with vertical pull rods 17, the lower ends of the left vertical pull rods 17 and the right vertical pull rods 17 are hinged with each other by a Y-direction balance arm 18, and the central position of the balance arm 18 is a hinged fixed point of a walking box body;
the center parts of the inner rocker arms 2 of the two supporting balance frames are rotatably connected with each other around the driving axle housing 14 by two ends of the driving axle housing 14 in the Y direction through slewing bearings 16;
two fixing points of the traveling case are provided at the upper side of the transaxle case 14. And the hinged fixed point provides a three-point fixed point structure for the walking box body.
The upper supporting point of the angular bisecting bracket 7 is split into two points with a certain distance, one point is rotationally connected with one end of the electric push rod 9, and the other end is rotationally connected with the upper end of the cylindrical shock absorber 3. The above-mentioned "the upper fulcrum of the angular bisecting bracket 7 is rotatably connected to one end of the electric push rod 9 and the upper end of the tubular damper 3", although the action and function of the present utility model can be realized, the position of the upper fulcrum is relatively "squeezed" when connecting one end of the electric push rod 9 and the upper end of the damper 3, which is inconvenient for assembly and operation, and also prevents rubbing against each other, therefore, as described in this technical scheme, the upper fulcrum is split into two points spaced a certain distance, which can be assembled more gently, calculated more gently and reasonably according to the stress and displacement, and the corresponding component size is designed.
The certain distance is smaller than or equal to the distance from the upper supporting point to the lower supporting point of the angular bisecting bracket 7. Within this range it is sufficient to achieve the effect of this solution.
The support leg rotating shaft 8 is not overlapped with the angular bisecting gear shaft 12, and the angular bisecting gear shaft 12 is oppositely positioned above the Z direction. The design of the swing cloth is convenient and reasonable in stress, assembly and action.
The lower end of the shock absorber 3 is rotatably connected to the middle upper portion of the leg 4 via a support ear 6 welded to the leg 4. Is more beneficial to the manufacture, assembly manufacturability and walking action.
The distance from the upper end of the supporting leg 4 to the position where the lower end of the shock absorber 3 is rotatably connected to the supporting leg 4 is smaller than the original length of the shock absorber 3. Too long a distance is not well stressed and cannot be pushed, but too short a distance can not cause interference.
A crawler wheel or a rubber wheel is arranged at the lower end of the supporting leg 4. Both wheel forms can achieve the walking object of the utility model.
A differential case 15 is disposed in the center of the transaxle case 14. And the steering of the differential mechanism is realized.
The left side and the right side of the suspension adopt symmetrical arrangement structures, the left side and the right side are provided with four supporting legs 4 which can rotate around two light holes at the lower part of an outer rocker arm 11, each supporting leg 4 is welded with a supporting ear 6, the supporting ear 6 is rotationally connected with the lower end of a shock absorber 3, and the upper end of the shock absorber 3 is rotationally connected with a connector of an electric push rod 9.
One end of the supporting leg 4 and the supporting leg rotating shaft 8 can be connected in a welding mode, and the structure is simple and reliable.
An engineering plastic bearing is arranged at the rotary joint of the light hole at the lower part of the outer rocker arm 11 and the support leg rotary shaft 8.
A connecting flange is arranged between the inner rocker arm and the outer rocker arm, two sides of the connecting flange are respectively connected with the inner rocker arm and the outer rocker arm through screws, and the devices on the two sides can rotate around the middle driving axle housing 14 through a slewing bearing 16.
The inner rocker arm 2 of the suspension is connected with a vertical pull rod 17 through a cross universal joint, and the other end of the vertical pull rod 17 is connected with a balance arm 18 through the cross universal joint.
The utility model is characterized in that the lower ends of a pair of supporting legs are symmetrically or asymmetrically rotated at two sides of the central vertical line of the electric push rod along with the shape change of the ground, and the upper supporting points of two angular bisecting brackets at two sides are always symmetrically moved at two sides of the central vertical line of the electric push rod along with the extension and retraction of the electric push rod, so that a robot or a machine device with a walking box body is always not deviated, and higher walking stability is ensured. The utility model has the advantages of relatively simple structure, clear principle and wide application range, and can be applied to a plurality of vehicles or mobile robot platforms adopting balanced rocker arm suspensions after slightly changing the structure.
Claims (8)
1. A rocker arm type suspension mechanism of a high-stability walking box body,
establish the place ahead orientation X of walking box, control and be Y, upwards be Z to, its characterized in that:
supporting balance frames are respectively arranged at two sides of the walking box body;
the supporting balance frame is formed by arranging an outer rocker arm (11) and an inner rocker arm (2) which are parallel to an XZ plane at intervals, a pair of splayed downward supporting legs (4) are clamped between the two rocker arms, and the upper ends of the supporting legs (4) are rotationally fixed on the inner rocker arm and the outer rocker arm through a pair of Y-direction supporting leg rotating shafts (8);
an electric push rod (9) is arranged above the two rocker arms in parallel with an X axis, two ends of the electric push rod (9) are symmetrically provided with angle bisecting brackets (7) with two supporting points in Z direction and two supporting points in lower direction respectively, an upper supporting point of the angle bisecting bracket (7) is rotationally connected with one end of the electric push rod (9) and the upper end of a cylindrical shock absorber (3), the lower supporting point of the angle bisecting bracket (7) is fixedly connected with an angle bisecting gear (13), a pair of angle bisecting gears (13) arranged in parallel are meshed with each other, and the angle bisecting gear shafts (12) are rotationally assembled on the inner rocker arm and the outer rocker arm;
the lower end of the shock absorber (3) is rotationally connected with the middle upper part of the supporting leg (4);
along with the expansion and contraction of the electric push rod (9), upper fulcrums of the two angle bisecting brackets (7) on two sides of the electric push rod (9) move symmetrically all the time on two sides of a central vertical line of the electric push rod (9);
along with the shape change of the ground, the lower ends of the pair of supporting legs (4) symmetrically or asymmetrically rotate at two sides of the central vertical line of the electric push rod (9);
the inner rocker arms (2) extend out of the rod-shaped arms in the rear direction X, the rod-shaped arm ends of the left inner rocker arm (2) and the right inner rocker arm (2) are respectively hinged with vertical pull rods (17), the lower ends of the left vertical pull rods (17) and the right vertical pull rods (17) are hinged with each other by a Y-direction balance arm (18), and the central position of the balance arm (18) is a hinged fixed point of the walking box body;
the central parts of the inner rocker arms (2) of the two supporting balance frames are rotatably connected with each other around the driving axle housing (14) through slewing bearings (16) at two ends of the Y-direction driving axle housing (14);
two fixed points of the two walking boxes are arranged on two sides of the driving axle housing (14).
2. The rocker arm type suspension mechanism according to claim 1, characterized in that the upper pivot of the angular bisecting bracket (7) is split into two points with a certain distance, one point is rotatably connected to one end of the electric push rod (9), and the other end is rotatably connected to the upper end of the cylindrical shock absorber (3).
3. The rocker arm suspension mechanism according to claim 2, characterized in that the certain distance is equal to or less than the distance from the upper fulcrum to the lower fulcrum of the angle bisecting bracket (7).
4. Rocker arm suspension mechanism according to claim 1, characterized in that the leg rotation axis (8) is positioned non-overlapping with the angular bisecting gear shaft (12), the angular bisecting gear shaft (12) being relatively located above Z.
5. Rocker arm suspension mechanism according to claim 1, characterized in that the lower end of the shock absorber (3) is fixed to a support ear (6) on the leg (4) by welding, being rotatably connected to the middle-upper part of the leg (4).
6. A rocker arm suspension mechanism according to claim 1, characterized in that the distance from the upper end of the leg (4) to the position where the lower end of the shock absorber (3) is rotatably connected to the leg (4) is smaller than the original length of the shock absorber (3).
7. Rocker arm suspension mechanism according to claim 1, characterized in that a crawler wheel or a rubber wheel is arranged at the lower end of the leg (4).
8. Rocker arm suspension mechanism according to claim 1, characterized in that a differential housing (15) is arranged in the centre of the drive axle housing (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250697.8A CN107902007B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism of high-stability walking box body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250697.8A CN107902007B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism of high-stability walking box body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902007A CN107902007A (en) | 2018-04-13 |
| CN107902007B true CN107902007B (en) | 2023-12-05 |
Family
ID=61849711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711250697.8A Active CN107902007B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism of high-stability walking box body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107902007B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318673A (en) * | 2018-12-03 | 2019-02-12 | 成都越凡创新科技有限公司 | Keep the structure of the chassis balance of mobile robot |
| CN110329350B (en) * | 2019-07-31 | 2024-03-15 | 北京履坦科技有限公司 | Vehicle steering system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0820918A1 (en) * | 1996-07-25 | 1998-01-28 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation system of legged mobile robot |
| CN101269678A (en) * | 2008-05-16 | 2008-09-24 | 武汉理工大学 | Wheeled robot with traveling system |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
| WO2013147648A1 (en) * | 2012-03-26 | 2013-10-03 | Nezbailo Tibery Georgievich | "gravity walker" vehicle |
| CN105644643A (en) * | 2016-02-25 | 2016-06-08 | 四川阿泰因机器人智能装备有限公司 | Omnidirectional wheel suspension device for ground mobile robot |
| CN107380284A (en) * | 2017-08-21 | 2017-11-24 | 江苏中天引控智能系统有限公司 | A kind of robot multi-link lever suspension fork wheel and single hop crawler type walking mechanism |
| CN207510553U (en) * | 2017-12-01 | 2018-06-19 | 北京履坦科技有限公司 | A kind of rocking arm type suspension mechanism of high stationarity travelling box body |
-
2017
- 2017-12-01 CN CN201711250697.8A patent/CN107902007B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0820918A1 (en) * | 1996-07-25 | 1998-01-28 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation system of legged mobile robot |
| US5872893A (en) * | 1996-07-25 | 1999-02-16 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation system of legged mobile robot |
| CN101269678A (en) * | 2008-05-16 | 2008-09-24 | 武汉理工大学 | Wheeled robot with traveling system |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
| WO2013147648A1 (en) * | 2012-03-26 | 2013-10-03 | Nezbailo Tibery Georgievich | "gravity walker" vehicle |
| CN105644643A (en) * | 2016-02-25 | 2016-06-08 | 四川阿泰因机器人智能装备有限公司 | Omnidirectional wheel suspension device for ground mobile robot |
| CN107380284A (en) * | 2017-08-21 | 2017-11-24 | 江苏中天引控智能系统有限公司 | A kind of robot multi-link lever suspension fork wheel and single hop crawler type walking mechanism |
| CN207510553U (en) * | 2017-12-01 | 2018-06-19 | 北京履坦科技有限公司 | A kind of rocking arm type suspension mechanism of high stationarity travelling box body |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107902007A (en) | 2018-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107953937B (en) | Improved structure of walking system of walking combined type mobile robot | |
| US10464386B2 (en) | Suspension structure of utility vehicle | |
| CN108454718B (en) | Crawler-type passive self-adaptive robot | |
| KR101333716B1 (en) | Rear suspension for three-wheeled car | |
| US8474844B2 (en) | Suspension structure for multi-purpose utility vehicle | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN106132734B (en) | Vehicle with high pass ability | |
| CN107953938B (en) | Rocker arm type suspension mechanism fixedly connected with walking box body through three points | |
| CN112440647A (en) | Mobile robot chassis with suspension structure | |
| CN107902007B (en) | Rocker arm type suspension mechanism of high-stability walking box body | |
| US20220055438A1 (en) | Dual-axle wheels suspension | |
| CN205440525U (en) | Large -scale electric drive tipper front axle positioner | |
| CN106167068B (en) | Independent suspension mechanism with rear wheel capable of vertically jumping for motor vehicle | |
| CN105438297B (en) | Crawler type snow vehicle transmission parts frame mechanism | |
| CN103979057B (en) | A kind of suspension system of juvenile automobile | |
| GB2347398A (en) | Vehicle suspensions | |
| CN211222946U (en) | Vehicle attitude active adjustment system and vehicle | |
| CN207510553U (en) | A kind of rocking arm type suspension mechanism of high stationarity travelling box body | |
| CN105015638A (en) | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm | |
| WO2023077832A1 (en) | Semi-independent suspension system and crane | |
| US8740232B2 (en) | Offset inclined suspension | |
| US9278710B2 (en) | Symmetric steer linkage | |
| CN203921088U (en) | A kind of suspension system of juvenile motor vehicle | |
| CN109606497B (en) | Wheel leg type all-terrain vehicle | |
| CN203419197U (en) | Cross-arm type isolated suspension system of crawler belt type obstacle crossing vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |