A four-wheel steering robot comprises a robot body, a radar, a controller, suspension connecting arms and steering wheels, wherein the radar and the controller are mounted on the robot body; the suspension connecting arms are connected to the two sides of the robot body in a shaft driving manner; the steering wheels are mounted at the two ends of each suspension connecting arm; the radar is wirelessly connected to the controller for data transmission, and the controller is in control connection with the steering wheels; according to the four-wheel steering robot, the four independent steering wheels are adopted, and each steering wheel is driven in an independent driving mode, so that the four-wheel steering robot can move forwards, backwards, obliquely, transversely, steer in situ and the like; the connecting positions of the two suspension connecting arms on the left side and the right side are connected through a central differential mechanism, and all the two sets of steering wheels can rotate by different angles in different directions through the central differential mechanism; and a steering motor is connected with a hub motor, so that a bearing part can be directly connected on the steering motor, and the complexity of the whole power assembly is simplified.
本发明公开了一种四轮转向机器人,包含机器人本体、安装于机器人本体上的雷达与控制器、轴动连接于机器人本体两侧的悬挂连接臂以及安装于每个悬挂连接臂两端的转向轮;雷达通过无线连接于控制器进行数据传输,控制器控制连接转向轮;采用四个独立的转向轮并且每个转向轮均采用独立驱动的方式进行驱动,使得四轮转向机器人可以实现前进、后退、斜向行驶、横向行驶、以及原地转向等多种运动方式;左右两侧两个悬挂连接臂的连接处采用中央差速器进行连接,通过中央差速器可以实现所有两组转向轮各自均能朝不同的方向旋转角度;采用转向电机与轮毂电机的连接,可以直接在转向电机上进行承重部分的衔接,简化了整个动力总成的复杂程度。
Four-wheel steering robot
一种四轮转向机器人
2021-10-01
Patent
Electronic Resource
Chinese
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