Damping and stabilizing mechanism for omni-directional mobile platform

Abstract

The invention discloses a damping and stabilizing mechanism for an omni-directional moving platform, and belongs to the field of damping and stabilizing devices. The damping and stabilizing mechanism comprises a main cart body, connecting blocks, Mecanum wheels, driving units and four groups of symmetrically-mounted sliding block connecting mechanisms, wherein each group of sliding block connecting mechanisms comprise an outer support block, an inner support block, a first longitudinal connecting rod, a second longitudinal connecting rod, a transverse connecting rod, a transverse guide rod and a damper; and two first longitudinal connecting rods on the same side are in rotary pair connection by a first elastic element, and two transverse guide rods on the opposite sides are connected through a second elastic element. The damping and stabilizing mechanism for an omni-directional moving platform disclosed by the invention can ensure that the platform can be kept stable in the process of crossing protrusions on road surfaces and climbing slopes, so that the vibration and tipping of the platform can be reduced.

Description

technical field [0001] The invention relates to a shock absorbing and stabilizing device, in particular to a shock absorbing and stabilizing mechanism for an omnidirectional mobile platform. Background technique [0002] At present, with the gradual deepening of the research and development of the omnidirectional mobile platform based on the Mecanum wheel, the application of the omnidirectional mobile platform is becoming more and more extensive. The omni-directional mobile platform will encounter slopes or bumps on the road during its movement. When the omni-directional mobile platform crosses the slope or bumps, it will cause vehicle body wheel vibration and wheel lift off the ground, which seriously affects the omni-directional The stability of the mobile platform. The existing omni-directional mobile platform based on mecanum wheels mostly uses rigid connections for the connection between the wheels and the frame, and the wheels and the frame cannot move relative to eac...

AI Technical Summary

Problems solved by technology

The omni-directional mobile platform will encounter slopes or bumps on the road during its movement. When the omni-directional mobile platform crosses the slope or bumps, it will cause vehicle body wheel vibration and wheel lift off the ground, which seriously affects the omni-directional The stability of the mobile platform

The existing omni-directional mobile platform based on mecanum wheels mostly uses rigid connections for the connection between the wheels and the frame, and the wheels and the frame cannot move relative to each other. It will definitely cause the wheels to lift and the body to vibrate

[0003] In the invention patent application published by the State Intellectual Property Office on February 24, 2016, the publication number is CN105345420A, which discloses an aircraft landing gear disassembly device, which is fixed between the Mecanum wheel and the frame. The connection method, although the aircraft landing gear disassembly device can achieve a full range of movement effects, but when encountering uneven roads, it cannot guarantee the stability of the movement of the mobile device. When encountering bumps on the road surface, it will definitely cause the wheels to jump with the car body

The utility model patent No. CN204250202U announced by the State Intellectual Property Office on April 8, 2015 discloses a rocker-type omnidirectional mobile platform based on mecanum wheels. Although the wheels of the omnidirectional mobile platform can Always in contact with the ground and sharing the load, but has proven incapable of achieving the stated effect of going over the boss ramp with the wheels fully in contact

In addition, there are some patents that simply use a shock absorber to connect the wheels and the frame, but this can only buffer the vibration of the mobile platform, and there may still be vibrations during one-sided obstacle surmounting and single-wheel obstacle surmounting. and tipping over

Images