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Suspension device for wheeled mobile robot

A mobile robot and suspension device technology, applied in the field of robotics, can solve problems such as inability to drive and robot bumps, and achieve the effects of avoiding idling or slipping, enhancing shock absorption, and improving reliability and stability

Active Publication Date: 2016-05-11
ZHEJIANG UNIV KUNSHAN INNOVATION INST
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the motor is decelerated by the reducer to drive the robot to walk, the unevenness of the ground will cause the wheels to vibrate, which will be directly transmitted to the robot chassis, resulting in particularly severe robot bumps
For a wheeled mobile robot with four or more wheels, if the two-wheel differential drive is used, due to the uneven ground, the driving wheel will be lifted by the driven wheel and cannot be driven.

Method used

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

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Such as Figure 1~Figure 4 As shown, the wheeled mobile robot suspension device is characterized in that it includes: a chassis 1, and two first through holes for passing through two wheels 11 are opened on the chassis 1, and between the two first through holes The middle part of the chassis 1 is fixedly provided with two support seats 2, the support seats 2 are arranged perpendicular to the direction of the wheels 11, the two support seats 2 are arranged opposite to each other and horizontally arranged on them for passing through the rotating shaft 6 Two second through holes, the two rotating shafts 6 are fixedly connected to one end of the wheel bracket 7 respectively, the other ends of the two wheel brackets 7 are connected to the two wheels 11 respectively, and a gap, the opposite ends of the two wheel brackets 7 are provided with leaf springs 4; the bottom...

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Abstract

The invention discloses a suspension device for a wheeled mobile robot. Two first through holes used for two wheels (11) to penetrate through are formed in a chassis (1), two supporting bases (2) are fixedly arranged in the middle, between the two first through holes, of the chassis (1), are arranged oppositely and are each horizontally provided with two second through holes used for rotating shafts (6) to penetrate through, each rotating shaft (6) is fixedly connected with one end of the corresponding wheel support (7), the other ends of the two wheel supports (7) are connected with the two wheels (11) respectively, a gap is formed between the two wheel supports (7), and plate springs (4) are arranged at the opposite ends of the two wheel supports (7). The suspension device for the wheeled mobile robot relieves robot jolting caused by wheel vibration, improves driving stability of the robot, can adjust the distance from the driving wheels to the ground, and guarantees that the wheels touch the ground all the time.

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 wheeled mobile robot driving device, the driving wheel and the chassis are usually rigidly connected, that is, the wheel and the reducer are fixed on the wheel bracket, and the wheel bracket is directly fixed on the wheel chassis. When the motor is decelerated by the reducer to drive the robot to walk, the unevenness of the ground will cause the wheels to vibrate, which will be directly transmitted to the robot chassis, causing the robot to bump particularly seriously. For a wheeled mobile robot with four or more wheels, if a two-wheel differential drive is used, due to uneven ground, the driving wheel will be lifted by the driven wheel and cannot be driven. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a method that can effectively...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G11/10B60G21/05
CPCB60G11/10B60G21/05B60G2300/00
Inventor 王振洋宋瑞刘英奇王臻
Owner ZHEJIANG UNIV KUNSHAN INNOVATION INST
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