Rocker-arm type suspension mechanism of high-stationarity walking box body

Abstract

The invention relates to a suspension structure of a walking mechanical body, in particular to a rocker-arm type suspension mechanism of a high-stationarity walking box body. Supporting balancing frames are configured on the two sides of the high-stationarity walking box body, the suspension structure is formed by configuring of an external rocker arm (11) and an internal rocker arm (2) in a spaced mode, and a pair of rotatable supporting legs (4) is clamped between the two rocker arms. Angle bisection brackets (7) are symmetrically configured at the two ends of a configured electric pushing rod (9), the upper supporting points of the angle bisection brackets (7) are rotatably connected to one end of the electric pushing rod (9) and the upper end of a shock absorber (3), the lower supporting points of the angle bisection brackets (7) are fixedly connected with a pair of angle bisection gears (13) which are engaged mutually, and the lower end of the shock absorber (3) is rotatably connected to the supporting legs (4). According to the suspension structure of the walking mechanical body, with shape changing of the ground, the lower ends of the pair of supporting legs make symmetricalor asymmetric rotation on both sides of the central vertical line of the electric pushing rod, with extending and retraction of the electric pushing rod, and the two upper supporting points of the angle bisection brackets on the two sides always make symmetrical moving on both sides of the central vertical line of the electric pushing rod, so that the attached walking box body is always not deviated, and high walking stability is ensured.

Description

technical field [0001] The invention relates to a suspension structure for supporting and installing robots and similar walking machine bodies, in particular to a suspension structure for walking on uneven ground. Background technique [0002] The present invention is proposed according to actual requirements when studying a mobile robot with a compound mobile mechanism. This kind of robot has a balanced rocker suspension and a walking compound walking device, and it has a strong ability to control attitudes in complex environments and adapt to terrain. The walking system adopts the configuration scheme of balanced rocker chassis and four articulated crawler swing arms. Through the coordinated control of the four articulated crawler swing arms, it has a strong ability to overcome obstacles. The suspension of this mobile robot requires a certain shock absorption function, and the four swing arms can freely adjust the attitude. [0003] After searching the prior art document...

AI Technical Summary

Problems solved by technology

The suspension structure involved in this utility model is complex, which is composed of an intermediate coupling frame, a deformed track unit, and a deformed drive assembly. The movement of the connecting rod drives the track wheel to rotate, and at the same time adjusts the ground clearance

However, the technical structure is relatively complicated, and it cannot be used on a chassis with a balanced rocker structure, and it does not have a good shock absorption effect.

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