Novel suspension system for tracked mobile robot

A mobile robot and suspension system technology, applied in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of limited traction force and small contact area of ​​robots, and achieve the effects of stable power output, buffering and absorbing vibration energy

Active Publication Date: 2015-10-14
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention aims to solve the problem that the traditional tracked vehicle suspension system makes the contact area between the vehicle and the ground small, resulting in the limited traction provided by the ground to the robot

Method used

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  • Novel suspension system for tracked mobile robot
  • Novel suspension system for tracked mobile robot
  • Novel suspension system for tracked mobile robot

Examples

Experimental program
Comparison scheme
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specific Embodiment approach 1

[0037] Specific embodiment one: see Figure 1 to Figure 3 To explain this embodiment, the new crawler mobile robot suspension system described in this embodiment includes a front swing arm power output suspension 1, a rear drive wheel suspension 3, and an intermediate road wheel suspension 2; an intermediate road wheel suspension 2 Located between the crawler of the crawler mobile robot and the bottom of the car body,

[0038] The front swing arm power output suspension 1 includes the No. 1 spring 5, the first bearing 7, the No. 1 hinge 8, and the No. 1 fixed rod 1-1,

[0039] The No. 1 hinge 8 is located close to the side of the body of the crawler mobile robot, and the front driven wheel 9 and the front swing arm 4 of the crawler mobile robot are sequentially away from the No. 1 hinge 8.

[0040] No. 1 hinge 8 is rotatably connected with the main shaft of the front driven wheel 9 of the crawler mobile robot through the first bearing 7, and one end of the No. 1 hinge 8 is provided ...

specific Embodiment approach 2

[0065] Embodiment 2: The difference between this embodiment and the new crawler mobile robot suspension system described in the first embodiment is that the four road wheels 18 are hinged into a herringbone structure through a No. 2 hinge 19.

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Abstract

The invention discloses a novel suspension system for a tracked mobile robot and belongs to the fields of the robot technology and automation. The novel suspension system solves the problem that according to a traditional tracked vehicle suspension system, the contact area between a vehicle and the ground is small, and therefore the traction provided by the ground for a robot is limited. The novel suspension system comprises a front swing arm power output suspension, a rear driving wheel suspension and a middle bogie wheel suspension, wherein the middle bogie wheel suspension is located between a track of the tracked mobile robot and the bottom of a vehicle body. The front swing arm power output suspension comprises a first spring, a first bearing, a first hinge and a first fixed rod. The middle bogie wheel suspension is composed of a plurality of bogie wheels and a plurality of spring damping systems, and the weight of a machine body is evenly shared by the multiple groups of bogie wheels; each group of bogie wheels comprises two bogie wheels connected through a hinge, and the spring and damping structure can be realized conveniently by grouping the bogie wheels. The novel suspension system is specifically applied to the tracked robot.

Description

Technical field [0001] The invention belongs to the field of robotics and automation. Background technique [0002] Traditional crawler vehicles require driving mobility. The driving wheels and driven wheels of the suspension system are both higher than the ground. For small crawler mobile robots, due to the limitation of the ground contact area, the ground provides the robot with less traction Therefore, in order to ensure sufficient traction, it is necessary to expand the ground contact area as much as possible. The traditional crawler vehicle suspension system is no longer suitable for the needs of small mobile robots. Summary of the invention [0003] The invention aims to solve the problem that the traditional crawler-type vehicle suspension system makes the contact area between the vehicle and the ground small, resulting in the limited traction provided by the ground to the robot. The invention provides a new type crawler mobile robot suspension system. [0004] A new type o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/108
Inventor 王伟东杜志江
Owner HARBIN INST OF TECH
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