The invention belongs to the technical field of robots, and relates to an outdoor independent steering robot which comprises a vehicle body frame and four sets of independent suspension systems symmetrically installed on the vehicle body frame, and each set of independent suspension system comprises a hub motor located on one side of the vehicle body frame; the shock absorber is adjacent to the hub motor and is horizontally mounted on the vehicle body frame; the steering arm is located below the swing arm, the lower end of the steering arm is fixedly connected with a motor shaft of the hub motor, the upper end of the steering arm is fixedly connected with an output shaft of the steering driving device through a middle connecting piece penetrating through the swing arm, and the swing arm is hinged to the shock absorber and the vehicle body frame. Each hub motor is provided with an independent steering mechanism, and various steering functions such as translation steering, in-situ rotation and transverse movement can be achieved. The four-wheel independent drive also improves the cross-country performance, and the robot can cross many bad road surfaces and climb slopes with very large slopes.

    本发明属于机器人技术领域,涉及一种室外独立转向机器人,包括包括车身框架和四组对称安装于车身框架上的独立悬挂系统,每组独立悬挂系统包括:轮毂电机,轮毂电机位于车身框架的一侧;减震器,减震器邻近轮毂电机水平安装于车身框架上;转向驱动装置、转向臂及摆臂,转向臂位于摆臂的下方,转向臂的下端与轮毂电机的电机轴固定连接,转向臂的上端通过穿过摆臂的中间连接件与转向驱动装置的输出轴固定连接,摆臂分别与减震器和车身框架铰接。本发明中每个轮毂电机都有单独的转向机构,能够实现平动转向、原地旋转、横向移动等多种转向功能。四轮独立驱动还提高了越野性能,能够越过很多恶劣路面、攀爬坡度很大的斜坡。


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    Title :

    Outdoor independent steering robot


    Additional title:

    一种室外独立转向机器人


    Contributors:
    WANG GANG (author) / ZHI TAO (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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