Suspension for chassis of four-wheel moving robot

A mobile robot and suspension technology, applied in the direction of suspension, elastic suspension, interconnection system, etc., can solve the problems such as the adhesion between the wheel and the ground and the deterioration of driving comfort, so as to improve the adhesion and driving comfort, Improved load distribution and good installability

Active Publication Date: 2014-10-08
SHENZHEN SMART SECURITY & SURVEILLANCE SERVICE ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Suspension for chassis of four-wheel moving robot
  • Suspension for chassis of four-wheel moving robot
  • Suspension for chassis of four-wheel moving robot

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Embodiment Construction

[0022] The following examples are further explanations and descriptions of the present invention, and do not constitute any limitation to the present invention.

[0023] Such as figure 1 As shown, the suspension used for the chassis of the four-wheel mobile robot of the present invention is a three-degree-of-freedom elastic parallel mechanism. The top end of the three-degree-of-freedom elastic parallel mechanism is fixed to the frame, and the bottom end is fixed to the axle. A closed loop structure is formed between the frame, the three-degree-of-freedom elastic parallel mechanism, and the axle.

[0024] Such as figure 1 As shown, the suspension for the chassis of a four-wheel mobile robot includes: a pair of elastic support devices 1 and a connecting assembly 2 connecting the elastic support devices 1. The elastic support device 1 includes an upper link 11, a lower link 12, and a first Stroke limiting structure 13 and compression spring 14. The upper connecting rod 11 and the low...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G21/05B60G11/14
Inventor 陈兰钰金栖震张璞阳李凤明郑振粮
Owner SHENZHEN SMART SECURITY & SURVEILLANCE SERVICE ROBOT CO LTD
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