Robot traveling device with liftable frame

Abstract

The invention relates to a robot traveling device with a liftable frame. The traveling device is provided with a frame (1), four wheels (2), independent suspension brackets and a motor driving device, wherein each independent suspension bracket and the motor driving device are arranged between each wheel (2) and the frame (1); each independent suspension bracket consists of a cantilever (3) and adamper; the axis of the cantilever (3) is positioned in a longitudinal vertical plane of the frame (1), one end of the cantilever (3) is hinged with the frame (1), and the other end of the cantilever(3) is hinged with an axle (11) of the wheels (2); the lower end of the damper is hinged with the middle part of the cantilever (3), and the upper end of the damper is hinged with the frame (1); and the traveling device is characterized in that: the damper consists of an electric push rod (4) and a bidirectional telescopic damper (5) which is coaxially and serially arranged on the end part of a push rod (4-2) of the electric push rod (4). The traveling device has the advantages of high obstacle surmounting capacity and stable and safe traveling.

Description

technical field [0001] The invention relates to a robot, in particular to a walking device of the robot. Background technique [0002] It plays an important role in dangerous operating environments such as emergency rescue, fire, and field detection. From the perspective of the working space of robots, robots are divided into ground robots, underwater robots and aerial robots, among which ground robots are the most widely used. Ground robots are further divided into wheeled and tracked, both of which have their own advantages. Tracked robots are widely used due to their strong face-to-face adaptability and strong climbing ability, but they walk slowly and clumsily. Wheeled robots have aroused the interest of researchers for their advantages of lightness, flexibility and speed. The utility model patent with the publication number CN2717789 discloses a "four-wheel drive wheeled mobile robot mobile vehicle", which is essentially a ground robot walking device, which includes ...

AI Technical Summary

Problems solved by technology

The above-mentioned utility model patent scheme uses the motor as the power and adopts the four-wheel independent drive mode, which provides convenient conditions for the control of the robot's walking, but obviously has the following shortcomings: 1. Because the walking speed of the robot is usually not like that of an ordinary vehicle So fast, so for the scheme that has adopted four-wheel independent drive, its trapezoidal linkage steering mechanism is redundant; 2. The frame and wheels lack suspension, which is for robots walking on very complex terrain features. Obviously, there are many negative effects. For example, the precision instruments installed on the robot may not work properly or even be damaged due to severe vibration. For example, the eyes of the robot, that is, the camera, will blur the image due to severe vibration, which will affect the robot’s ability to recognize the surrounding environment. Accurate judgment may even lead to safety accidents; 3. The height of the frame from the ground remains unchanged. When obstacles are higher than the chassis, one or several vehicles will be suspended in the air and unable to walk, especially in the process of fast walking. When one side of the chassis is jacked up, the robot's walking will be out of control, and in severe cases, it may even cause the car to roll over

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