CN113771985A - Wheeled chassis and walking equipment - Google Patents
Wheeled chassis and walking equipment Download PDFInfo
- Publication number
- CN113771985A CN113771985A CN202111017067.2A CN202111017067A CN113771985A CN 113771985 A CN113771985 A CN 113771985A CN 202111017067 A CN202111017067 A CN 202111017067A CN 113771985 A CN113771985 A CN 113771985A
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- frame
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- chassis
- wheel set
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
本发明公开了一种轮式底盘及行走设备，该轮式底盘包括底盘本体、车架组件、第一轮组、第二轮组和第三轮组，车架组件包括第一车架、第二车架和第三车架，第一车架通过第一轴设于底盘本体的底部，第二车架的第一本体通过第二轴设于底盘本体的底部，第二车架的第二本体通过第三轴与第一车架连接，第二本体与第一本体滑动配合，第三车架与第三轴转动连接，第一轮组设于第一车架，第二轮组设于第二车架且与第一轮组分置在第三轴的两侧，第三轮组连接在第三车架上。行走时，车架组件各部件与底盘本体构成的连杆‑滑块机构使第一轮组、第二轮组和第三轮组始终与行走面有效接触，提高了底盘本体的稳定性以及轮式底盘爬坡及越障的能力。
The invention discloses a wheeled chassis and traveling equipment. The wheeled chassis includes a chassis body, a frame assembly, a first wheel set, a second wheel set and a third wheel set. The frame assembly includes a first frame, a third wheel set, and a Two frames and a third frame, the first frame is installed at the bottom of the chassis body through the first axle, the first body of the second frame is installed at the bottom of the chassis body through the second shaft, and the second frame of the second frame is installed at the bottom of the chassis body through the second shaft. The body is connected with the first frame through the third shaft, the second body is slidingly matched with the first body, the third frame is rotatably connected with the third shaft, the first wheel set is set on the first frame, and the second wheel set is set on the The second frame and the first wheel set are arranged on both sides of the third axle, and the third wheel set is connected to the third frame. When walking, the connecting rod-slider mechanism formed by each part of the frame assembly and the chassis body keeps the first wheel set, the second wheel set and the third wheel set in effective contact with the walking surface all the time, which improves the stability of the chassis body and the stability of the wheels. The ability of the chassis to climb slopes and overcome obstacles.
Description
Technical Field
The invention relates to the technical field of wheel type chassis, in particular to a wheel type chassis and walking equipment.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
The wheel type chassis provides convenience for people and expands the moving range of people, the wheel type chassis usually encounters the problems of uneven terrain and the like in the moving process, or the wheel type chassis needs to work in unstructured environments such as field exploration, military reconnaissance, field operation, mine clearance and the like in some special occasions, so that the chassis is required to have the capability of climbing and obstacle crossing.
In the prior art, the wheel type chassis has poor climbing and obstacle crossing capabilities and cannot meet the use requirements of complex ground conditions.
Disclosure of Invention
The invention aims to at least solve the problem of how to improve the climbing and obstacle crossing capability of a wheel type chassis so as to adapt to the use requirement of complex ground conditions. The purpose is realized by the following technical scheme:
a first aspect of the invention provides a wheeled chassis comprising:
a chassis body;
the frame assembly comprises a first frame, a second frame and a third frame, the first frame is rotatably arranged at the bottom of the chassis body through a first shaft, a first body of the second frame is rotatably arranged at the bottom of the chassis body through a second shaft, a second body of the second frame is matched with the first body in a sliding manner, the second body is rotatably connected with the first frame through a third shaft, and the third frame is rotatably connected with the third shaft;
a first wheel set disposed on the first frame;
the second wheel set is arranged on the second frame, and the second wheel set and the first wheel set are respectively arranged on two sides of the third shaft;
a third wheel set connected to the third frame.
According to the wheel type chassis, the first frame provided with the first wheel set, the second frame provided with the second wheel set and the third frame provided with the third wheel set are arranged at the bottom of the chassis body, wherein the first frame is rotatably connected with the chassis body through a first shaft, the first body of the second frame is rotatably connected with the chassis body through a second shaft, the first frame and the second body of the second frame are rotatably connected through a third shaft, the first body can slide relative to the second body, the third frame is rotatably connected with the third shaft, and the frame assembly is integrally a connecting rod-sliding block movement mechanism. When the wheel type chassis walks, the first wheel set, the second wheel set and the third wheel set are simultaneously contacted with a walking surface so as to ensure the supporting strength provided for the chassis body; when the wheel type chassis runs on non-flat ground (climbing or obstacle crossing and the like), the first wheel set is firstly supported and lifted, the first vehicle frame rotates for a certain angle around the first shaft, the chassis body rotates relative to the second shaft in the process and slides relative to the second vehicle frame, the third vehicle frame swings along with the position change of the third vehicle frame in the process, the third vehicle frame can always keep maximum effective contact with a running surface, terrain matching is formed, the stability of the chassis body is improved, the climbing and obstacle crossing capability of the wheel type chassis is guaranteed, and the use requirement of complex ground conditions is met.
In addition, the wheeled chassis according to the invention may also have the following additional technical features:
in some embodiments of the present invention, the first frame, the second frame, and the third frame each rotate in a vertical plane, and a centerline of the first frame, a centerline of the second frame, and a centerline of the chassis body all lie in the same vertical plane.
In some embodiments of the present invention, the number of the first axles is two, the first frame includes a first beam, a second beam and a third beam, the first beam and the second beam are arranged in parallel and spaced apart, two ends of the third beam are respectively connected to the first beam and the second beam, the first beam is rotatably connected to the chassis body through one of the first axles, the second beam is rotatably connected to the chassis body through the other of the first axles, and the first wheel set is connected to a middle portion of the third beam.
In some embodiments of the invention, the first wheel set comprises:
the first fixing frame is connected with the third beam;
one end of the first damping fork is connected to the first fixing frame;
the first connecting shaft is connected to the other end of the first damping fork;
a first universal wheel rotatably disposed on the first connecting shaft.
In some embodiments of the present invention, the second frame includes a first portion, a second portion, a third portion and a fourth portion, the first portion, the second portion and the third portion constitute the second body, the first portion and the second portion are arranged in parallel at intervals, both ends of the third portion are connected to the first portion and the second portion, respectively, the first portion is rotatably connected to the first beam through one of the third shafts, the second portion is rotatably connected to the second beam through the other of the third shafts, the fourth portion constitutes the first body and is slidably fitted to the first portion and the second portion, respectively, one end of the fourth portion is rotatably connected to the chassis body through one of the second shafts, and the other end of the fourth portion is connected to the chassis body through the other of the rotatable second shafts, the second wheel set is connected to a middle portion of the third portion.
In some embodiments of the invention, the second wheel set comprises:
a second mount connected to the third portion;
one end of the second damping fork is connected to the second fixing frame;
the second connecting shaft is connected to the other end of the second damping fork;
and the second universal wheel is rotatably arranged on the second connecting shaft.
In some embodiments of the invention, the third frame comprises a first frame rotatably connected to one of the third shafts and a second frame rotatably connected to the other of the third shafts.
In some embodiments of the present invention, the third wheel set includes a first wheel rotatably disposed on the first frame and a second wheel rotatably disposed on the second frame.
In some embodiments of the present invention, the number of the first wheel bodies is two, two first wheel bodies are disposed on the first frame at an interval, and the rotating shafts of the two first wheel bodies and the third shaft connected to the first frame are in a regular triangle structure;
and/or the number of the second wheel bodies is two, the two second wheel bodies are arranged on the second frame at intervals, and the rotating shafts of the two second wheel bodies and the third shaft connected with the second frame are in a regular triangle structure;
and/or the first wheel body and the second wheel body are both driving wheels.
A second aspect of the invention proposes a walking device comprising a wheeled chassis according to the above.
According to the walking device of the invention, the first frame provided with the first wheel set, the second frame provided with the second wheel set and the third frame provided with the third wheel set in the wheel type chassis are all arranged at the bottom of the chassis body, wherein the first frame is rotatably connected with the chassis body through the first shaft, the second frame is rotatably connected with the chassis body through the second shaft, the first frame and the second frame are rotatably connected through the third shaft, and the third frame is rotatably connected with the third shaft, when the wheel type chassis walks, the first wheel set, the second wheel set and the third wheel set are simultaneously contacted with the walking surface to ensure the supporting strength provided for the chassis body, when the wheel type chassis climbs a slope or gets across obstacles, the first frame, the second frame and the third frame can be independently rotated relative to the chassis body, the first wheel set, the second wheel set and the third wheel set are in contact with the walking surface in real time, so that the climbing and obstacle crossing capabilities of the wheel type chassis are improved, and the use requirements of complex ground conditions are met.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
figure 1 schematically illustrates a structural schematic of a wheeled chassis according to an embodiment of the invention;
FIG. 2 is a schematic structural view of another perspective of the wheeled chassis shown in FIG. 1;
fig. 3 is a schematic structural view of the first frame of the wheeled chassis shown in fig. 1 in a rotating state (black hollow arrows in the figure indicate the rotating direction of the first frame);
fig. 4 is a schematic structural view of a third frame of the wheeled chassis shown in fig. 1 in a turning state (black hollow arrows in the figure indicate the turning direction of the third frame);
fig. 5 is a schematic structural view of the second frame of the wheeled chassis shown in fig. 1 in a turning state (black hollow arrows in the figure indicate the turning direction of the second frame);
fig. 6 is a schematic structural view of the wheeled chassis shown in fig. 1 when climbing a slope;
FIG. 7 is a schematic view of the wheeled chassis shown in FIG. 1 in an obstacle-negotiating configuration;
FIG. 8 is a schematic view of the wheeled chassis shown in FIG. 1 in an over-stair configuration;
fig. 9 is a schematic structural view of the wheeled chassis shown in fig. 1 on a flat walking surface (chassis body not shown);
figure 10 is a cross-sectional view a-a of the wheeled chassis shown in figure 9.
The reference numbers are as follows:
100 is a wheel type chassis;
10 is a chassis body;
11 is a first connecting frame, and 12 is a second connecting frame;
20 is a frame component;
21 is a first frame;
211 is a first beam, 212 is a second beam, 213 is a third beam;
22 is a second frame;
221 is a first portion, 222 is a second portion, 223 is a third portion, 224 is a fourth portion, 225 is a slider, 226 is a slide rail;
23 is a third frame;
231 is a first frame, 232 is a second frame;
24 is a first axis;
25 is a second axis;
26 is a third axis;
30 is a first wheel set;
31 is a first fixed frame, 32 is a first damping fork, 33 is a first connecting shaft, and 34 is a first universal wheel;
40 is a second wheel set;
41 is a second fixed frame, 42 is a second damping fork, 43 is a second connecting shaft, and 44 is a second universal wheel;
50 is a third wheel set;
the first wheel body 51 and the second wheel body 52 are respectively.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 8, according to an embodiment of the present invention, a wheeled chassis 100 is provided, the wheeled chassis 100 includes a chassis body 10, a frame assembly 20, a first wheel set 30, a second wheel set 40 and a third wheel set 50, the frame assembly 20 includes a first frame 21, a second frame 22 and a third frame 23, the first frame 21 is rotatably disposed at the bottom of the chassis body 10 by a first shaft 24, the first body of the second frame 22 is rotatably disposed at the bottom of the chassis body 10 by a second shaft 25, the second body of the second frame 22 is slidably fitted with the first body, the second body is rotatably connected with the first frame 21 by a third shaft 26, the third frame 23 is rotatably connected with the third shaft 26, the first wheel set 30 is disposed on the first frame 21, the second wheel set 40 is disposed on the second frame 22, the second wheel set 40 and the first wheel set 30 are disposed at both sides of the third shaft 26, the third wheel set 50 is connected to the third frame 23.
Specifically, the first frame 21 provided with the first wheel set 30, the second frame 22 provided with the second wheel set 40, and the third frame 23 provided with the third wheel set 50 are all disposed at the bottom of the chassis body 10, wherein the first frame 21 is rotatably connected to the chassis body 10 by a first shaft 24, the first body of the second frame 22 is rotatably connected to the chassis body 10 by a second shaft 25, the second bodies of the first frame 21 and the second frame 22 are rotatably connected by a third shaft 26, the first body can slide relative to the second body, and the third frame 23 is rotatably connected to the third shaft 26, and the frame assembly is a link-slider movement mechanism as a whole.
When the wheel type chassis 100 walks, the first wheel set 30, the second wheel set 40 and the third wheel set 50 are simultaneously contacted with a walking surface to ensure the supporting strength provided for the chassis body 10;
when the vehicle runs on a non-flat ground (climbing or obstacle crossing and the like), the first wheel set 30 is supported and lifted firstly, so that the first frame 21 rotates for a certain angle around the first shaft 24, the chassis body 10 rotates relative to the second shaft 25 in the process and slides relative to the second frame 22, and the third frame 23 swings along with the position change of the third wheel set 50 in the process, so that the third wheel set 50 can always keep maximum effective contact with a running surface to form terrain matching, the stability of the chassis body 10 is improved, the climbing and obstacle crossing capability of the wheel type chassis 100 is ensured, and the use requirement of complex terrain is met.
It should be understood that, as shown in fig. 1 and 2, the first frame 21 and the second frame 22 are disposed at intervals at the bottom of the chassis body 10, and the third frame 23 is disposed between the first frame 21 and the second frame 22, as shown in fig. 3 to 8, when the wheeled chassis 100 is walking, the first frame 21 or the second frame 22 can be used as the front end of the wheeled chassis 100, taking the first frame 21 as the front end of the wheeled chassis 100 as an example, when an obstacle or a step is encountered, the first wheel set 30 contacts with the obstacle or the step, the first wheel set 30 drives the first frame 21 to rotate relative to the chassis body 10, so that the first wheel set 30 can cross the obstacle or the step, during crossing of the first wheel set 30, the first wheel set 30 contacts with the walking surface in real time (at this time, both the second wheel set 40 and the third wheel set 50 contact with the walking surface), when the third wheel set 50 reaches the obstacle or the step, the third wheel set 50 contacts with the obstacle or the step, the third wheel set 50 drives the third frame 23 to rotate relative to the chassis body 10, so that the third wheel set 50 can cross an obstacle or a step, in the crossing process of the third wheel set 50, the third wheel set 50 is in real time contact with a walking surface (at this time, the first wheel set 30 and the second wheel set 40 are both in contact with the walking surface), after the second wheel set 40 reaches the obstacle or the step, the second wheel set 40 is in contact with the obstacle or the step, the second wheel set 40 drives the second frame 22 to rotate relative to the chassis body 10, so that the second wheel set 40 can cross the obstacle or the step, in the crossing process of the second wheel set 40, the second wheel set 40 is in real time contact with the walking surface (at this time, the first wheel set 30 and the third wheel set 50 are both in contact with the walking surface), and therefore obstacle crossing or step crossing operation of the wheel type chassis 100 is completed.
It should be noted that, as shown in fig. 1 and 2, the chassis body 10 is provided with a first connecting frame 11 and a second connecting frame 12, the first connecting frame 11 and the second connecting frame 12 are arranged at an interval on the bottom surface of the chassis body 10, the first frame 21 and the first connecting frame 11 are connected by a first shaft 24, the connected first frame 21 can rotate relative to the first connecting shaft 33, the second frame 22 and the second connecting frame 12 are connected by a second shaft 25, and the connected second frame 22 can rotate relative to the first connecting shaft 33.
In addition, when the wheel chassis 100 is used for a walking apparatus, other auxiliary components of the walking apparatus are provided on the chassis body 10.
It is further understood that, as shown in fig. 1 to 5, the first frame 21, the second frame 22, and the third frame 23 all rotate in a vertical plane, and the center line of the first frame 21, the center line of the second frame 22, and the center line of the chassis body 10 all lie in the same vertical plane. Specifically, the first frame 21 and the second frame 22 are respectively disposed on two sides of the third frame 23, the first frame 21, the second frame 22 and the third frame 23 can independently rotate relative to the chassis body 10, and the rotation planes of the first frame 21, the second frame 22 and the third frame 23 are vertical planes, that is, the three frames all rotate in the height direction of the wheeled chassis 100, so as to drive the wheel set to cross an obstacle or a step, and ensure that the wheel set is effectively in contact with a walking surface when the obstacle or the step is crossed.
In addition, the center line of the first frame 21, the center line of the second frame 22 and the center line of the chassis body 10 are all located in the same vertical plane, that is, the projections of the center line of the first frame 21, the center line of the second frame 22 and the center line of the chassis body 10 on the walking surface are overlapped, so that the frame assembly 20 and each wheel set can provide enough strength for the chassis body 10, and the bearing capacity of the wheel type chassis 100 is improved.
Further, as shown in fig. 1, the number of the first axles 24 is two, the first frame 21 includes a first beam 211, a second beam 212 and a third beam 213, the first beam 211 and the second beam 212 are arranged in parallel at intervals, two ends of the third beam 213 are respectively connected with the first beam 211 and the second beam 212, the first beam 211 is rotatably connected with the chassis body 10 through one first axle 24, the second beam 212 is rotatably connected with the chassis body 10 through another first axle 24, and the first wheel set 30 is connected to the middle of the third beam 213. Specifically, the first beam 211, the second beam 212, and the third beam 213 form a first frame 21 of a C-shaped structure, an open end of the first frame 21 of the C-shaped structure faces the second frame 22, and both sides of the open end (the first beam 211 and the second beam 212) are respectively connected to the chassis body 10 through the first shaft 24, a bottom of the first frame 21 of the C-shaped structure is connected to the first wheel set 30, and by configuring the first frame 21 as a C-shaped structure, a connection point of the first frame 21 and the chassis body 10 is improved, and further, a connection strength of the first frame 21 and the chassis body 10 is ensured, so that a support performance of the first frame 21 is effectively improved.
It should be noted that the third beam 213 is perpendicular to the traveling direction of the wheel chassis 100, and the third beam 213 is symmetrically disposed along the center line of the chassis body 10, so that the first beam 211 and the second beam 212 are symmetrically disposed on two sides of the center line of the chassis body 10, thereby improving the supporting strength of the first frame 21 to the chassis body 10, and further ensuring the carrying capacity of the wheel chassis 100.
In addition, the center line of the chassis body 10 passes through the middle part of the third beam 213, and the first wheel set 30 is arranged in the middle part of the third beam 213, so that the supporting strength of the chassis body 10 can be further improved, and the stability of the wheeled chassis 100 in the walking process is effectively ensured while the bearing capacity of the wheeled chassis 100 is ensured.
Further, as shown in fig. 1 and 2, the first wheel set 30 includes a first fixing frame 31, a first damping fork 32, a first connecting shaft 33 and a first universal wheel 34, the first fixing frame 31 is connected to the third beam 213, one end of the first damping fork 32 is connected to the first fixing frame 31, the first connecting shaft 33 is connected to the other end of the first damping fork 32, and the first universal wheel 34 is rotatably disposed on the first connecting shaft 33. Specifically, the first fixing frame 31 is fixedly connected to the third beam 213, one end of the first damping fork 32 is connected to the first fixing frame 31, the first universal wheel 34 is disposed at the other end of the first damping fork 32 through the first connecting shaft 33, and by disposing the first damping fork 32, the vibration amplitude of the wheeled chassis 100 during crossing obstacles or steps can be reduced, so that the wheeled chassis 100 is driven more stably, and the control performance is improved.
In addition, the first universal wheels 34 can meet the steering requirement of the wheel type chassis 100, and the adaptability of the wheel type chassis 100 is further improved.
It should be noted that the number of the first damping forks 32 is two, the two first damping forks 32 are arranged in parallel at intervals, the two ends of the first connecting shaft 33 are respectively connected to the two first damping forks 32, and by arranging the two first damping forks 32, the buffering capacity of the wheel-type chassis 100 is further improved, so that the running stability of the wheel-type chassis 100 is further improved.
Further, as shown in fig. 1, 9 and 10, the second axle 25 and the third axle 26 are two in number, the second frame 22 includes a first portion 221, a second portion 222, a third portion 223 and a fourth portion 224, the first portion 221, the second portion 222 and the third portion 223 constitute a second body of the second frame 22, the first portion 221 and the second portion 222 are arranged in parallel and spaced apart, both ends of the third portion 223 are respectively connected with the first portion 221 and the second portion 222, the first portion 221 is rotatably connected with the first beam 211 by one third axle 26, the second portion 222 is rotatably connected with the second beam 212 by another third axle 26, the fourth portion 224 constitutes the first body of the second frame 22 and is respectively in sliding fit with the first portion 221 and the second portion 222, one end of the fourth portion 224 is rotatably connected with the chassis body 10 by one second axle 25, the other end of the fourth portion 224 is rotatably connected with the chassis body 10 by another second axle 25, the second wheel set 40 is connected at a middle portion of the third portion 223. Specifically, the first portion 221, the second portion 222, and the third portion 223 form the second frame 22 having a C-shaped structure, and the two opening directions of the two frames having the C-shaped structure face each other, the fourth portion 224 is slidably engaged with both sides (the first portion 221 and the second portion 222) of the opening end of the C-shaped structure of the second frame 22, both ends of the fourth portion 224 are connected to the chassis body 10 by the second shaft 25, respectively, both sides (the first portion 221 and the second portion 222) of the opening end of the C-shaped structure of the second frame 22 are connected to both sides (the first beam 211 and the second beam 212) of the opening end of the first frame 21 by the third shaft 26, respectively, and after the connection, the first frame 21 is rotatable with respect to the chassis body 10 and the second frame 22, and the second frame 22 is rotatable with respect to the chassis body 10 and the first frame 21, and the first frame 21 and the second frame 22 form a rectangular structure in the chassis body 10, the supporting force of the frame assembly 20 to the chassis body 10 is further improved, the bearing capacity of the chassis body 10 is ensured, and meanwhile, the stability of the wheeled chassis 100 in the walking process is further improved.
It should be understood that, when the wheeled chassis 100 needs to cross an obstacle or a step in the process of walking, taking the first wheel set 30 as the front end of the wheeled chassis 100 as an example, after the first wheel set 30 touches the obstacle or the step, the first wheel set 30 drives the first frame 21 and the chassis body 10 to rise in the vertical direction (the chassis body 10 and the first frame both rotate relative to the first shaft 24), the chassis body 10 rotates relative to the second shaft 25 in the process of rising, and drives the fourth portion 224 to slide relative to the first portion 221 and the second portion 222, so as to ensure that the second wheel set 40 has good contact performance with the walking surface, and further ensure the stability of the wheeled chassis 100 crossing the obstacle or the step.
It should be noted that the third portion 223 is perpendicular to the traveling direction of the wheel chassis 100, and the third portion 223 is symmetrically disposed along the center line of the chassis body 10, so that the first portion 221 and the second portion 222 are symmetrically disposed on two sides of the center line of the chassis body 10, thereby improving the supporting strength of the second frame 22 to the chassis body 10, and further ensuring the bearing capacity of the wheel chassis 100.
In addition, the central line of the chassis body 10 passes through the middle part of the third part 223, and the second wheel set 40 is arranged in the middle part of the third part 223, so that the supporting strength of the chassis body 10 can be further improved, and the stability of the wheeled chassis 100 in the walking process is effectively ensured while the bearing capacity of the wheeled chassis 100 is ensured.
In addition, in the present invention, as shown in fig. 1 and 10, the second frame 22 further includes two sliding blocks 225 and two sliding rails 226, one sliding block 225 and one sliding rail 226 form one sliding mechanism, the other sliding block 225 and the other sliding rail 226 form another sliding mechanism, wherein the fourth portion 224 is engaged with the first portion 221 through one sliding mechanism, the fourth portion 224 is engaged with the second portion 222 through another sliding mechanism, for example, one sliding rail 226 is disposed on the first portion 221, the other sliding rail 26 is disposed on the second portion 222, one sliding block 225 is disposed at one end of the fourth portion 224, the other sliding block 224 is disposed at the other end of the fourth portion 224, and two ends of the fourth portion 224 are respectively engaged with the corresponding sliding rails 226 through two sliding blocks 225, so as to realize the sliding engagement between the fourth portion 224 and the first portion 221 and the second portion 222, thereby ensuring that the corresponding action of the wheel chassis 100 during walking can be smoothly performed, thereby improving the performance of the wheeled chassis 100.
Further, as shown in fig. 1 and 2, the second wheel set 40 includes a second fixing frame 41, a second damping fork 42, a second connecting shaft 43, and a second universal wheel 44, the second fixing frame 41 is connected to the third portion 223, one end of the second damping fork 42 is connected to the second fixing frame 41, the second connecting shaft 43 is connected to the other end of the second damping fork 42, and the second universal wheel 44 is rotatably disposed on the second connecting shaft 43. Specifically, the second fixing frame 41 is fixedly connected to the third portion 223, one end of the second damping fork 42 is connected to the second fixing frame 41, the second universal wheel 44 is disposed at the other end of the second damping fork 42 through the second connecting shaft 43, and the second damping fork 42 is disposed, so that the vibration amplitude of the wheeled chassis 100 during crossing obstacles or steps can be further reduced, the driving of the wheeled chassis 100 is more stable, and the control performance is improved.
In addition, the second universal wheels 44 are arranged to meet the steering requirement of the wheel type chassis 100, and the adaptability of the wheel type chassis 100 is further improved.
It should be noted that the number of the second damping forks 42 is two, the two second damping forks 42 are arranged in parallel at intervals, two ends of the second connecting shaft 43 are connected to the two second damping forks 42, and the two second damping forks 42 are arranged, so that the buffering capacity of the wheel-type chassis 100 is further improved, and the running stability of the wheel-type chassis 100 is further improved.
Further, as shown in fig. 1 and 2, the third frame 23 includes a first frame 231 and a second frame 232, the first frame 231 is rotatably connected to one third shaft 26, and the second frame 232 is rotatably connected to the other third shaft 26. Specifically, the first frame 231 is connected to one third shaft 26 (the third shaft 26 where the first beam 211 is connected to the first portion 221), the second frame 232 is connected to the other third shaft 26 (the third shaft 26 where the second beam 212 is connected to the second portion 222), and the third wheel set 50 is connected to the third frame 23, so that the supporting force for the chassis body 10 is further improved, and the stability of the wheeled chassis 100 during walking is further improved.
Further, as shown in fig. 1, the third wheel set 50 includes a first wheel 51 and a second wheel 52, the first wheel 51 is rotatably disposed on the first frame 231, and the second wheel 52 is rotatably disposed on the second frame 232. Specifically, the first wheel 51 is disposed on the first frame 231 and supports the first frame 231, the second wheel 52 is disposed on the second frame 232 and supports the second frame 232, and the disposition of the first wheel 51 and the second wheel 52 increases the supporting span of the third wheel set 50 on the chassis body 10, so that the stability of the wheeled chassis 100 during walking is further improved.
It should be noted that the first wheel 51 and the second wheel 52 are symmetrically arranged with respect to the center line of the chassis body 10, so as to further improve the stability of the wheeled chassis 100.
Further, as shown in fig. 1, the number of the first wheels 51 is two, two first wheels 51 are disposed on the first frame 231 at intervals, and the rotating shafts of the two first wheels 51 and the third shaft 26 connected to the first frame 231 are in a regular triangle structure. Specifically, two first wheel bodies 51 are arranged, the two first wheel bodies 51 are respectively in contact with the walking surface, the rotating shafts of the two first wheel bodies 51 are arranged to be in a regular triangle structure with the third shaft 26 connected with the first frame 231, the supporting strength of the third wheel set 50 on the chassis body 10 is further improved, the bearing capacity of the wheel type chassis 100 is ensured, the rotating shafts of the two first wheel bodies 51 are arranged to be in a regular triangle structure with the third shaft 26 connected with the first frame 231, the contact with the walking surface when the wheel type chassis 100 spans an obstacle or a ladder can be further ensured, and the obstacle crossing capacity of the wheel type chassis 100 is ensured.
Specifically, as shown in fig. 1, the number of the second wheels 52 is two, two second wheels 52 are disposed on the second frame 232 at intervals, and the rotating shafts of the two second wheels 52 and the third shaft 26 connected to the second frame 232 are in a regular triangle structure. Specifically, two second wheel bodies 52 are arranged, the two second wheel bodies 52 are respectively in contact with the walking surface, the rotating shafts of the two second wheel bodies 52 are arranged to be in a regular triangle structure with the third shaft 26 connected with the second frame 232, the supporting strength of the third wheel set 50 on the chassis body 10 is further improved, the bearing capacity of the wheel-type chassis 100 is ensured, the rotating shafts of the two second wheel bodies 52 are arranged to be in a regular triangle structure with the third shaft 26 connected with the second frame 232, the contact with the walking surface when the wheel-type chassis 100 spans an obstacle or a step can be further ensured, and the obstacle crossing capacity of the wheel-type chassis 100 is ensured.
Specifically, the first wheel 51 and the second wheel 52 are both driving wheels. The first wheel body 51 and the second wheel body 52 are provided as driving wheels, so that the wheel type chassis 100 is driven to walk.
It should be noted that the first wheel 51 is driven by a first hub motor, the second wheel 52 is driven by a second hub motor, both the first hub motor and the second hub motor are electrically connected to the controller, the controller can control the first hub motor and the second hub motor to rotate at the same speed in the same direction, at the same differential speed in the same direction and at the same speed in the reverse direction, when the first wheel hub motor and the second wheel hub motor rotate in the same direction and at the same speed, the first wheel body 51 and the second wheel body rotate in the same direction and at the same speed, so that the forward or backward movement of the wheel type chassis 100 is realized, when the first in-wheel motor and the second in-wheel motor rotate in the same direction and at different speeds, the first wheel body 51 and the second wheel body 52 rotate in the same direction and at different speeds, so as to realize the turning action (left turning or right turning) of the wheel type chassis 100, when the first wheel hub motor and the second wheel hub motor rotate at the same speed in opposite phases, the first wheel body 51 and the second wheel body 52 rotate at the same speed in opposite directions, and at this time, the pivot steering action of the wheel type chassis 100 is realized.
The invention also proposes a walking device comprising a wheeled chassis 100 according to the above (as shown in figures 1 to 8).
In the wheel type chassis 100 of the walking device, a first frame 21 provided with a first wheel set 30, a second frame 22 provided with a second wheel set 40 and a third frame 23 provided with a third wheel set 50 are all arranged at the bottom of the chassis body 10, wherein the first frame 21 is rotatably connected with the chassis body 10 through a first shaft 24, the second frame 22 is rotatably connected with the chassis body 10 through a second shaft 25, the first frame 21 and the second frame 22 are rotatably connected through a third shaft 26, and the third frame 23 is rotatably connected with the third shaft 26, when the wheel type chassis 100 walks, the first wheel set 30, the second wheel set 40 and the third wheel set 50 are simultaneously contacted with a walking surface to ensure the supporting strength provided for the chassis body 10, when the wheel type chassis 100 climbs or gets over the slope, the first frame 21, the second frame 22 and the third frame 23 can independently rotate relative to the chassis body 10, the first wheel set 30, the second wheel set 40 and the third wheel set 50 are in real-time contact with a walking surface, so that the climbing and obstacle crossing capabilities of the wheel type chassis 100 are improved, and the use requirements of complex ground conditions are met.
It should be noted that the above-mentioned walking device may be a sweeping robot, a scientific investigation robot, a carrying robot or a rescue robot, etc., and other structures of the walking device may refer to the prior art according to specific applications thereof, and the present invention is not described herein again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A wheeled chassis, comprising:
a chassis body;
the frame assembly comprises a first frame, a second frame and a third frame, the first frame is rotatably arranged at the bottom of the chassis body through a first shaft, a first body of the second frame is rotatably arranged at the bottom of the chassis body through a second shaft, a second body of the second frame is matched with the first body in a sliding manner, the second body is rotatably connected with the first frame through a third shaft, and the third frame is rotatably connected with the third shaft;
a first wheel set disposed on the first frame;
the second wheel set is arranged on the second frame, and the second wheel set and the first wheel set are respectively arranged on two sides of the third shaft;
a third wheel set connected to the third frame.
2. The wheeled chassis of claim 1, wherein the first frame, the second frame, and the third frame each rotate in a vertical plane, and a centerline of the first frame, a centerline of the second frame, and a centerline of the chassis body all lie in the same vertical plane.
3. The wheeled chassis of claim 2, wherein the number of the first axles is two, the first frame comprises a first beam, a second beam and a third beam, the first beam and the second beam are arranged in parallel and spaced apart, two ends of the third beam are respectively connected with the first beam and the second beam, the first beam is rotatably connected with the chassis body through one of the first axles, the second beam is rotatably connected with the chassis body through the other of the first axles, and the first wheel set is connected to a middle portion of the third beam.
4. The wheeled chassis of claim 3, wherein the first wheel set comprises:
the first fixing frame is connected with the third beam;
one end of the first damping fork is connected to the first fixing frame;
the first connecting shaft is connected to the other end of the first damping fork;
a first universal wheel rotatably disposed on the first connecting shaft.
5. The wheeled chassis of claim 3, wherein the second and third axles are two in number, the second frame includes a first portion, a second portion, a third portion and a fourth portion, the first portion, the second portion and the third portion forming the second body, the first portion and the second portion being arranged in parallel and spaced apart, the third portion being connected at opposite ends to the first portion and the second portion, respectively, the first portion being rotatably connected to the first beam by one of the third axles, the second portion being rotatably connected to the second beam by the other of the third axles, the fourth portion forming the first body and being slidably engaged with the first portion and the second portion, respectively, one end of the fourth portion being rotatably connected to the chassis body by one of the second axles, the other end of the fourth part is rotatably connected with the chassis body through another second shaft, and the second wheel set is connected to the middle of the third part.
6. The wheeled chassis of claim 5, wherein the second wheel set comprises:
a second mount connected to the third portion;
one end of the second damping fork is connected to the second fixing frame;
the second connecting shaft is connected to the other end of the second damping fork;
and the second universal wheel is rotatably arranged on the second connecting shaft.
7. The wheeled chassis of claim 5, wherein the third frame includes a first frame rotatably connected to one of the third axles and a second frame rotatably connected to the other of the third axles.
8. The wheeled chassis of claim 7, wherein the third set of wheels includes a first wheel rotatably disposed on the first frame and a second wheel rotatably disposed on the second frame.
9. The wheeled chassis of claim 8, wherein the number of the first wheels is two, the two first wheels are spaced apart from each other on the first frame, and the rotating shafts of the two first wheels and the third shaft connected to the first frame are in a regular triangle structure;
and/or the number of the second wheel bodies is two, the two second wheel bodies are arranged on the second frame at intervals, and the rotating shafts of the two second wheel bodies and the third shaft connected with the second frame are in a regular triangle structure;
and/or the first wheel body and the second wheel body are both driving wheels.
10. A walking device characterized in that it comprises a wheeled chassis according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017067.2A CN113771985A (en) | 2021-08-31 | 2021-08-31 | Wheeled chassis and walking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017067.2A CN113771985A (en) | 2021-08-31 | 2021-08-31 | Wheeled chassis and walking equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113771985A true CN113771985A (en) | 2021-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111017067.2A Pending CN113771985A (en) | 2021-08-31 | 2021-08-31 | Wheeled chassis and walking equipment |
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| Country | Link |
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| CN (1) | CN113771985A (en) |
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| CN115447693A (en) * | 2022-08-18 | 2022-12-09 | 杭州未名信科科技有限公司 | Mobile chassis and walking equipment |
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Application publication date: 20211210 |
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