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Suspension device for a wheeled mobile robot

A mobile robot and suspension device technology, applied in the field of robotics, can solve the problems of driving wheels not touching the ground, driving wheels idling or slipping, and driven wheels landing on the ground, so as to improve reliability and stability and avoid idling or slipping

Active Publication Date: 2017-10-27
ZHEJIANG UNIV KUNSHAN INNOVATION INST
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the driving device of a wheeled mobile robot, the differential drive of the middle two driving wheels is often used, and two universal wheels are arranged at the front and rear respectively to support the driven. Since the six wheels are rigidly connected and installed on the robot chassis, when the motor drives the robot to walk , the ground is uneven, it is difficult to ensure that the six wheels touch the ground at the same time, if the six wheels cannot touch the ground at the same time or the contact is not good, it is easy for the driven wheel to touch the ground but the driving wheel does not touch the ground, and the driving wheel will idling or slip , affect the movement of the robot, and at the same time, due to the rigid connection installation, the vibration generated by the unevenness of the ground will be directly transmitted to the chassis of the vehicle, forming a large bump

Method used

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  • Suspension device for a wheeled mobile robot
  • Suspension device for a wheeled mobile robot

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Such as Figure 1 ~ Figure 2 As shown, a suspension device for a wheeled mobile robot can solve the problem that the driving wheel of a six-wheeled mobile robot is overhead by the driven wheel, and the driving wheel is idling or slipping, which affects the movement of the robot. The present invention includes a robot chassis 1, a power transmission mechanism, Swing mechanism and spring damping mechanism.

[0021] A support base 6 is installed on the chassis 1 .

[0022] The power output mechanism includes a wheel 15 , a speed reducer 14 connected to the wheel 15 and a brushless DC motor 13 connected to the speed reducer 14 , and the speed reducer 14 is fixed on the speed reducer mounting bracket 12 .

[0023] The power output mechanism is installed on the swing mechanism support frame 11 through the reducer mounting bracket 12 .

[0024] The swing mechanism i...

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Abstract

The invention discloses a wheeled mobile robot suspension device. The device is characterized by comprising a chassis (1), the middle of the chassis (1) is provided with a first through hole through which a wheel (15) can penetrate. The portion, at the front end of the first through hole, of the chassis (1) is fixedly provided with a spring guide rod fixing base (2). The portion, at the rear end of the first through hole, of the chassis (1) is fixedly provided with a supporting base (6). According to the wheeled mobile robot suspension device, it can be ensured that a driving wheel is landed always, the ground adaptive capacity of the chassis of a robot is improved, the phenomenon that the driving wheel is suspended by a driven wheel, and therefore the driving wheel idles or slides to affect robot movement is avoided, meanwhile, vibration transferred to the robot chassis when the wheels of the robot move on the ground can be effectively relieved, and the device is simple in structure and convenient to control.

Description

technical field [0001] The invention relates to a suspension device for a wheeled mobile robot, which belongs to the technical field of robots. Background technique [0002] In the driving device of a wheeled mobile robot, the differential drive of the middle two driving wheels is often used, and two universal wheels are arranged at the front and rear respectively to support the driven. Since the six wheels are rigidly connected and installed on the robot chassis, when the motor drives the robot to walk , the ground is uneven, it is difficult to ensure that the six wheels touch the ground at the same time, if the six wheels cannot touch the ground at the same time or the contact is not good, it is easy for the driven wheel to touch the ground but the driving wheel does not touch the ground, and the driving wheel will idling or slip , affecting the movement of the robot. At the same time, due to the rigid connection and installation, the vibration generated by the unevenness ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60G3/00
CPCB60G3/00B60G2300/00
Inventor 王振洋宋瑞刘英奇王臻
Owner ZHEJIANG UNIV KUNSHAN INNOVATION INST
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