The invention relates to the technical field of robot chassis, and particularly provides an Ackerman chassis structure for an inspection robot, the chassis structure comprises a front axle unit and a rear axle unit, the front axle unit and the rear axle unit are connected through a frame; the front axle unit comprises two steering knuckles arranged on the two sides of the frame, and the steering knuckles can rotate around a vertical axis in the horizontal direction. The steering machine is arranged on the frame, steering shafts hinged to the steering machine and the steering knuckles are arranged at the two ends of the steering machine, and the two steering knuckles, the frame and the steering machine form a four-bar mechanism; according to the Ackerman chassis structure for the inspection robot disclosed by the embodiment of the invention, the steering knuckles and the steering engine which accord with the Ackerman steering principle are arranged on the front axle unit, so that the steering force of the inspection robot can be reduced, the power of a robot driving device is reduced, the cost of the inspection robot is reduced, and the abrasion of tires is reduced.

    本发明涉及机器人底盘技术领域,具体提供了一种巡检机器人用阿克曼底盘结构,所述底盘结构包括:前桥单元和后桥单元,所述前桥单元和所述后桥单元通过车架连接;所述前桥单元包括:设于所述车架两侧的两个转向节,所述转向节能够在水平方向上绕一竖直轴线转动;设于所述车架上的转向机,所述转向机的两端设置有与所述转向机和所述转向节铰接的转向轴,两个所述转向节、所述车架、所述转向机形成四杆机构;本发明实施例公开的巡检机器人用阿克曼底盘结构通过在前桥单元上设置有符合阿克曼转向原理的转向节和转向机,能够减少巡检机器人的转向力,减少了机器人驱动装置的功率,降低了巡检机器人的成本,降低轮胎的磨损。


    Access

    Download


    Export, share and cite



    Title :

    Ackerman chassis structure for inspection robot


    Additional title:

    一种巡检机器人用阿克曼底盘结构


    Contributors:
    WANG HUAN (author) / SHA WEI (author) / ZHOU XIAOHUA (author) / KE ZHANGJUN (author) / TONG QIKAI (author) / XIE XIAOLI (author)

    Publication date :

    2023-08-18


    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



    Ackerman chassis correction method based on laser speedometer

    BAI LIN / LAI SONGRUI / LIU BIAO et al. | European Patent Office | 2023

    Free access

    Ackerman Mobile Robot with Arm

    Orozco-Velazquez, Roberto Antonio / Silva-Ortigoza, Ramon / Marquez-Sanchez, Celso et al. | IEEE | 2016


    Ackerman chassis correction method and system based on gyroscope and storage medium

    BAI LIN / LAI SONGRUI / LIU BIAO et al. | European Patent Office | 2023

    Free access

    Wheel type inspection robot chassis

    CHANG JIAN / CHANG SHANQIANG / LI RENZHI et al. | European Patent Office | 2020

    Free access

    Full-automatic inspection robot chassis

    LI ZHEN / XU FEI / DAI QINGPING et al. | European Patent Office | 2020

    Free access