Rocker-arm-type suspension mechanism fixedly connected with travelling box body through three points

Abstract

The invention relates to a suspension structure of a robot moving platform, in particular to a rocker-arm-type suspension mechanism fixedly connected with a travelling box body through three points. Asupporting balancing frame is formed by configuring an inner rocker arm and an outer rocker arm in a spaced mode, a pair of support legs (14) is clamped, and the upper ends of the supporting legs arefixed to an angle bisection gear shaft (12) with an angle bisection gear (11); a bearing plate (6) is arranged, the two ends of an configured electric push rod (4) are rotatably connected to the inner end of a damper (2), and a long groove is formed in a side plate of the bearing plate; the end of a push rod connector (5) extends into the long groove, and the outer end of the damper (2) is rotatably connected with the upper end of a damper connecting support (3); the bearing plate (6) extends downwards to form two guiding rods (7) and a guiding gear block (8), and the two sides of the guidinggear block (8) are two gear faces engaged with the angle bisection gear (11); a sleeved (9) is configured on a fixing block (10), and the bearing plate (6) vertically moves; and the center of a balance arm (19) is a hinging point of the travelling box body, and the two sides on a driving bridge shell are provided with two fixing points. By controlling a push rod body of the electric push rod (4)to extend or retract, the function that the gap between suspension and the ground is actively increased or decreased is achieved.

Description

technical field [0001] The invention relates to the field of vehicle and mobile robot suspension, in particular to a specific structure of a rocker suspension capable of realizing shock absorption and attitude adjustment functions and a mechanism for adjusting ground clearance. 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 adju...

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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