Suspension for chassis of four-wheel moving robot

Abstract

The invention provides a suspension for a chassis of a four-wheel moving robot. The suspension comprises at least one pair of elastic supporting devices and a connecting assembly used for connecting the elastic supporting devices. Each elastic supporting device comprises an upper connecting rod, a lower connecting rod, a first stroke limiting structure and a compressing spring. The connecting assembly comprises a second stroke limiting structure and at least one extension spring. The suspension is installed between a frame and an axle of the four-wheel moving robot and used for transmitting force and torque acted between wheels and the frame. According to the suspension, a three-freedom-degree elastic parallel mechanism can reduce side-sway of a robot body running on the uneven road surface, centralization of impact force on the frame from the wheels in the jolting or shaking state is dispersed, reversing loads of the robot body are reduced, load distribution of the four wheels is improved, and the adhesion between the wheels and the ground and the riding comfort are improved.

Description

【Technical Field】 [0001] The invention relates to the chassis suspension technology of a mobile robot, and is particularly suitable for a suspension of various wheeled mobile robots that can reduce the torsional load of the chassis frame and improve the adhesion of wheels to the ground and driving smoothness. 【Background technique】 [0002] With the development of the Internet of Things and robotics-related technologies, the research and application of wheeled mobile robots has become more and more popular. Because the tricycle chassis has a simple and firm triangular structure in terms of mechanics, it is widely used in indoor wheeled mobile robots. At the same time, its triangular layout makes a considerable part of the quality frame fall outside the triangle, which is the main cause of poor driving stability. The traditional vehicle suspension technology is transplanted to outdoor mobile robots, replacing simple tricycle structures, and becoming the mainstream of four-wheel m...

AI Technical Summary

Problems solved by technology

At the same time, when the car is running on an uneven twisted road, the mutual restraint generated by the left and right wheels when bouncing will be transmitted to the body, causing the body to generate torsional load, and resulting in poor adhesion between the wheels and the ground and ride comfort.

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