An all-terrain mobile robot with active independent suspension system

Abstract

The invention provides an all-terrain mobile robot with an active independent suspension system, which includes a robot body, an active independent suspension system installed on the robot body and a hub motor, and the four corners of the robot body are respectively symmetrically provided with an active independent suspension system , each active independent suspension system includes an actuator, an upper control arm, a lower control arm and a spring damper; the upper end of the actuator is connected to the frame through a column hinge, and the lower end of the actuator is connected to the upper control arm through a column hinge. The end of the arm; the upper control arm and the lower control arm are V-shaped structures, the front end is connected to the frame through two column hinges, the lower end of the upper control arm is connected to the spring damper through a column hinge, and the lower control arm is an improved single longitudinal Arm structure, the front end of the lower control arm is connected to the frame through two column hinges, the end of the lower control arm is connected to the lower end of the spring damper through the column hinge; the hub motor is connected to the lower control arm through the shaft-hub connection; the corresponding ear pieces are connected to the lower control arm. All parts are welded.

Description

technical field [0001] The invention relates to an all-terrain mobile robot, in particular to an active independent suspension all-terrain mobile robot with excellent obstacle surmounting performance, active posture adjustment function, differential steering function and excellent dynamic driving smooth performance. [0002] technical background [0003] Mobile series robots are widely used in all walks of life, mainly involving military, agriculture, exploration, fire protection, transportation, aerospace and so on. Common mobile robots mainly include three categories: legged, wheeled, and tracked. Legged and tracked robots have good obstacle-surmounting performance, but low energy utilization; wheeled robots have good maneuverability, but poor environmental adaptability. In order to take into account the advantages of the above walking mechanism, the present invention designs an all-terrain mobile robot with an active suspension system, which can have broad application pro...

AI Technical Summary

Problems solved by technology

[0009] Almost all robots do not have a suspension system when they are designed, and even if they do, they are only simple non-independent suspensions, which causes the left and right wheels of the robot to be involved with each other when bouncing, reducing the driving comfort and control stability

At the same time, due to the simple structure, the design freedom is small, and the control stability is poor.

Images