The invention discloses a chassis of an all-terrain wheeled robot. The chassis comprises a front wheel driving mechanism, a middle wheel driving mechanism, a rear wheel driving mechanism, a bearing box, a front independent suspension, a front middle wheel shock absorber, a front middle wheel rotating shaft, a chassis frame and a controller; the front wheel driving mechanism comprises a front Mecanum wheel, a front wheel bearing mechanism, a front wheel motor base, a front wheel driving motor and a front wheel coupler; the front Mecanum wheel is fixed to the front middle wheel rotating shaft through the front wheel bearing mechanism; the front middle wheel rotating shaft is fixed to the bearing box; the bearing box is fixed to the chassis frame through the front independent suspension and the front middle wheel shock absorber; the front wheel bearing mechanism and the middle wheel bearing mechanism are rotatably fixed on the front middle wheel rotating shaft at a certain angle; the rearwheel driving mechanism comprises a rear Mecanum wheel and adopts an independent suspension structure; the controller controls the rotation speed and the rotation direction of a motor to control themovement direction of the chassis. By means of the chassis, the robot has the capacity of climbing over complex terrains and climbing over high terrains.
本发明公开了一种全地形轮式机器人的底盘,包括前轮驱动机构、中轮驱动机构、后轮驱动机构、轴承盒、前独立悬挂、前中轮减震器、前中轮旋转轴、底盘框架、控制器,前轮驱动机构包括前麦克纳姆轮、前轮承重机构、前轮电机座、前轮驱动电机、前轮联轴器,前麦克纳姆轮通过前轮承重机构固定在前中轮旋转轴上,前中轮旋转轴固定在轴承盒上,轴承盒通过前独立悬挂和前中轮减震器固定在底盘框架上;前轮承重机构和中轮承重机构成一定角度可旋转地固定在前中轮旋转轴上;后轮驱动机构包括后麦克纳姆轮、采用独立悬挂结构;控制器控制电机的转速和转向来控制底盘的运动方向。本发明的底盘使机器人具备翻越复杂地形、攀爬较高地势的能力。
Chassis of all-terrain wheeled robot
一种全地形轮式机器人的底盘
2020-07-07
Patent
Electronic Resource
Chinese