The invention relates to a multi-wheel-train multi-degree-of-freedom movable chassis, and the chassis comprises a vehicle body and a controller arranged in the vehicle body and is characterized by further comprising a first balancing stand and a second balancing stand; the vehicle body is hinged to the first balancing stand, one end of the first balancing stand is connected with a first wheel train set through a hinge, and the other end of the first balancing stand is connected with the second balancing stand through a hinge; and the two ends of the second balancing frame are hinged to the second gear train set and the third gear train set respectively. Each independent wheel train is provided with a driving motor and a steering motor, a working mode and a steering mode are independently selected according to different scenes, it is guaranteed that the vehicle stably travels or climbs over obstacles, wheels are prevented from being suspended in the traveling process, and all the wheels make contact with the ground and are coplanar under the self-weight condition of the vehicle; therefore, the problems that in the existing market, the contact ground of a multi-wheel train is not coplanar, and the multi-wheel train is prone to slipping and waggling when passing through the concave-convex ground are solved.
本发明涉及一种多轮系多自由度移动底盘,包括车体和车体内设置的控制器,其特征在于:还包括第一平衡架、第二平衡架,车体铰接在第一平衡架上,所述第一平衡架一端铰链连接第一轮系组、另一端与第二平衡架铰链连接;所述第二平衡架两端分别铰链连接第二、第三轮系组。本发明每个独立轮系均配置驱动和转向电机,根据场景的不同自主选择工作模式和转向模式,保证车辆稳定行驶或翻越障碍物,避免行驶过程中的车轮悬空,车辆在自重情况下所有轮子接触地面共面,解决了现有市场上所存在的多轮系的接触地面不共面、过凹凸地面易打滑、行走晃动等问题。
Multi-wheel-train multi-degree-of-freedom mobile chassis
一种多轮系多自由度移动底盘
2021-07-09
Patent
Electronic Resource
Chinese
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