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Omni-directional obstacle crossing stair climbing chassis

A technology for climbing stairs and chassis, applied in elastic suspension, suspension, motor vehicles, etc., can solve the problems of uneven road surface, difficult to use, and poor obstacle-crossing performance of the chassis of the wheat wheel structure.

Pending Publication Date: 2018-11-30
哈尔滨玄智科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the principle of the various movements of the wheat wheel is determined by the speed distribution between the wheels, so it is necessary to ensure that each wheel must stick to the ground, so the obstacle-crossing performance of the chassis with the wheat wheel structure is extremely poor, as long as there is one wheel suspended in the air It is impossible to complete the task, so the suspension is usually used to alleviate this problem, but it is still difficult to use when the road surface is uneven and there are many large obstacles.

Method used

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  • Omni-directional obstacle crossing stair climbing chassis
  • Omni-directional obstacle crossing stair climbing chassis
  • Omni-directional obstacle crossing stair climbing chassis

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0027] Combine below Figure 1-7 Describe this embodiment, an omnidirectional obstacle-climbing chassis, including a vehicle frame 1, an obstacle-breaking wheel set 2 and an auxiliary wheel set 3, and the obstacle-breaking wheel set 2 includes a support rod I2-1, an axial shock absorber Ⅰ2-2, Mecanum wheel Ⅰ2-3, support rod Ⅱ2-4, axial shock absorber Ⅱ2-5, omnidirectional wheel 2-6, inter-rod shock absorber 2-7 and motor Ⅰ2-8, support rod Ⅰ2-1 and the support rod Ⅱ2-4 are hinged to each other, the support rod Ⅰ2-1 and the support rod Ⅱ2-4 are V-shaped, and the axial shock absorber Ⅰ2-2 and the axial shock absorber Ⅱ2-5 are hinged with a rod Shock absorber 2-7, one end of the axial shock absorber I2-2 is fixedly connected to the support rod I2-1, and the other end of the axial shock absorber I2-2 is rotatably connected to the Mecanum wheel I2-3, the shaft One end of the axial shock absorber II 2-5 is fixedly connected to the support rod II 2-4, the other end of the axial shock...

specific Embodiment approach 2

[0030] Combine below Figure 1-7 This embodiment will be described. This embodiment will further explain Embodiment 1. The vehicle frame 1 includes a vehicle frame body 1-1, a hinge plate 1-2 for the obstacle-breaking wheel set, a hinge plate 1-3 for the auxiliary wheel set, and Vibrator hinge plate 1-4, obstacle-crossing wheel set hinge plate 1-2, auxiliary wheel set hinge plate 1-3 and auxiliary wheel shock absorber hinge plate 1-4 are all symmetrically arranged with two, two obstacle-crossing wheel sets The hinged plates 1-2 are respectively fixedly connected to both sides of one end of the vehicle frame body 1-1, and the two auxiliary wheel shock absorber hinged plates 1-4 are respectively fixedly connected to both sides of the other end of the vehicle frame body 1-1. The hinge plates 1-3 of the auxiliary wheel set are respectively fixedly connected to the two sides of the frame body 1-1, and the two support rods I2-1 and two support rods II2-4 are respectively rotatably c...

specific Embodiment approach 3

[0031] Combine below Figure 1-7 Describe this embodiment, this embodiment will further explain Embodiment 1, the axial shock absorber I2-2 includes a shock absorber I2-9, a sliding rod I2-10 and a compression spring I2-11, the sliding rod I2-10 The sliding connection is on the shock absorbing rod I2-9, the compression spring I2-11 is fixedly connected between the shock absorbing rod I2-9 and the sliding rod I2-10, and the shock absorbing rod I2-9 is fixedly connected to the support rod I2-1, The Mecanum wheel I2-3 is rotatably connected to the slide bar I2-10, and the motor I2-8 is connected to the slide bar I2-10.

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Abstract

The invention relates to a chassis, in particular to an omni-directional obstacle crossing stair climbing chassis. The omni-directional obstacle crossing stair climbing chassis comprises a vehicle frame, obstacle crossing wheel sets and auxiliary wheel sets. Each obstacle crossing wheel set comprises a supporting rod I, an axial shock absorber I, a Mecanum wheel I, a supporting rod II, an axial shock absorber II, an omni-directional wheel, an intra-rod shock absorber and a motor I. A certain tightening effect on the supporting rods I and the supporting rods II can be achieved through the intra-rod shock absorbers hinged between the axial shock absorbers I and the axial shock absorbers II, forces getting close to each other exist between the supporting rods I and the supporting rods II, theaxial shock absorbers I and the axial shock absorbers II apply relatively-downward forces to the Mecanum wheels I and the omni-directional wheels all the time, it is guaranteed that the Mecanum wheels I and the omni-directional wheels make contact with the ground all the time in the rotating process, auxiliary wheel shock absorbers apply downward forces to auxiliary supporting boards all the time, and Mecanum wheels II make contact with the ground all the time when the chassis moves.

Description

technical field [0001] The invention relates to a chassis, more specifically, an omnidirectional obstacle-climbing chassis. Background technique [0002] The omni-directional motion equipment based on Mecanum wheel technology can realize motion modes such as forward movement, lateral movement, oblique movement, rotation and combinations thereof. This all-round transport platform is ideal for environments with limited transfer space and narrow working aisles. However, the principle of the various movements of the wheat wheel is determined by the speed distribution between the wheels, so it is necessary to ensure that each wheel must stick to the ground, so the obstacle-crossing performance of the chassis with the wheat wheel structure is extremely poor, as long as there is one wheel suspended in the air It is impossible to complete the task, so the suspension is usually used to alleviate this problem, but it is still difficult to use when the road surface is uneven and there...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D61/10B60G15/02
CPCB62D61/10B60G15/02B60G2202/31B60G2800/164
Inventor 李蕴洲魏晋解为然
Owner 哈尔滨玄智科技有限公司