Multi-connecting-rod hang system for wheeled movable robot

A mobile robot, suspension system technology, applied in suspension, elastic suspension, transportation and packaging, etc., can solve the problems of unable to meet the requirements of wheeled mobile robots, affect the movement performance of the robot, aggravate the wear of the driving wheel, etc. Reliability and stability, increase the life of the robot, reduce the effect of driving wheel wear

Inactive Publication Date: 2016-11-16
ZHEJIANG UNIV KUNSHAN INNOVATION INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing wheeled mobile robots usually use driving wheels for double-wheel differential drive, and driven wheels for auxiliary support. Single swing arm suspension, also called single wishbone suspension, has a simple structure and is easy to use. However, during the swing process of this structure, the wheels will tilt left and right, and the wheel spacing will change greatly, which will increase the wear of the driving wheels and affect the robot. Motion performance, unable to meet the requirements of trackless use of wheeled mobile robots

Method used

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  • Multi-connecting-rod hang system for wheeled movable robot
  • Multi-connecting-rod hang system for wheeled movable robot
  • Multi-connecting-rod hang system for wheeled movable robot

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Embodiment Construction

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

[0027] Such as Figure 1~Figure 4 As shown, a multi-link suspension system for a wheeled mobile robot includes a suspension fixing bracket 1, a drive wheel assembly and two symmetrically distributed parallelogram link swing mechanisms. The drive wheel assembly passes through a reducer bracket 5. It is connected with the parallelogram connecting rod swing mechanism and can swing up and down with the connecting rod swing mechanism. Reducer bracket 5—connecting rod 6—suspension fixing bracket 1—connecting rod 6, forming a parallelogram mechanism. When the parallelogram connecting rod swing mechanism swings, the diagonal distance changes, thereby compressing the spring 7 to achieve the drive wheel 4 always on the ground And the purpose of shock absorption. Furthermore, according to the nature of the parallelogram, it can be seen that when the drive wheel 4 swings up and down with the li...

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Abstract

The invention discloses a multi-link suspension system for a wheeled mobile robot, which comprises two driving wheels (4) located at the front end, and the inside of the two driving wheels (4) is provided with a vertical plate type reducer bracket (5), the center of the reducer bracket (5) is provided with a first through hole for passing through the output shaft of the reducer (3) and coaxial with the driving wheel (4), and the two reducer brackets ( 5) respectively connected with the parallelogram connecting rod swing mechanism. The invention provides a multi-link suspension system for a wheeled mobile robot, which can ensure that the driving wheels are always on the ground, improve the ground adaptability of the robot chassis, and prevent the driving wheels from being lifted off by the driven wheels, causing the driving wheels to spin or slip. , affect the motion performance of the robot, reduce the wear of the driving wheel, and improve its motion stability and reliability.

Description

Technical field [0001] The invention relates to a multi-link suspension system for a wheeled mobile robot, belonging to the technical field of wheeled mobile robots. Background technique [0002] Wheeled mobile robots are widely used in food delivery, shopping guide, escort, security and other fields due to their simple structure, flexible movement and convenient control. At the same time, the requirement of tracklessness also puts forward higher requirements on the mechanical performance of the robot. Existing wheeled mobile robots mostly use driving wheels and two-wheel differential drive for driving, and the driven wheels are auxiliary support. In order to prevent the driving wheels from being overhead by the driven wheels when moving on uneven ground, the normal operation of the robot is usually adopted. Single swing arm suspension, also called single wishbone suspension, has a simple structure and is convenient to use. However, during the swing process of this structure, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G3/20
CPCB60G3/20B60G2200/144
Inventor 王振洋宋瑞梅东文王臻刘英奇
Owner ZHEJIANG UNIV KUNSHAN INNOVATION INST
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