Independent suspension structure of Mecanum wheel omni-directional mobile robot

Abstract

The invention provides an independent suspension structure of a Mecanum wheel omni-directional mobile robot. The independent suspension structure of the Mecanum wheel omni-directional mobile robot comprises a suspension bottom plate; a motor speed reducer, an L-shaped support, a shaft coupling, an output shaft, an axle bearing seat and a shock absorbing device are mounted on the suspension bottomplate in a matched manner; the motor speed reducer is connected with one end of the output shaft through the shaft coupling; the other end of the output shaft is fixedly connected with a Mecanum wheel; the independent suspension structure of the Mecanum wheel omni-directional mobile robot further comprises a torsion spring, a torsion spring shaft, an L-shaped connecting piece and a torsion springshaft bearing seat; a torsion spring shaft bearing is mounted in the torsion spring shaft bearing seat; the axis of the torsion spring shaft bearing is parallel to the axis of an axle bearing; one endof the torsion spring shaft is fixed on a vehicle body through the L-shaped connecting piece; the other end of the torsion spring shaft is inserted into an internal ring of the torsion spring shaft bearing; the torsion spring is arranged on the torsion spring shaft in a sleeving manner; one end of the torsion spring is fixed on the L-shaped connecting piece; and the other end of the torsion spring is fixed on the suspension bottom plate. According to the independent suspension structure of the Mecanum wheel omni-directional mobile robot, a spring damping shock absorber and the torsion springare utilized to perform double shock absorption so that the shock absorbing effect is better and the robot motion is more stable.

Description

technical field [0001] The invention relates to the field of intelligent robots, and more specifically relates to an independent suspension structure of a mecanum wheel omnidirectional mobile robot. Background technique [0002] Mecanum Wheel (Mecanum Wheel) was invented by Bengt Ilon, an engineer of Mecanum AB Company in Switzerland in 1973. It is a kind of omni-directional mobile wheel. A number of free rollers are installed in a certain angle direction, so that when the wheel revolves in a direction perpendicular to the wheel axis, the rollers rotate along the axis of the roller axis, resulting in lateral movement, so the mecanum wheel can move in all directions. [0003] Mecanum wheels have been widely used in the field of omnidirectional mobile equipment due to their excellent mobile performance. However, the structural characteristics of the mecanum wheel itself make it necessary to ensure that the small rollers of the mecanum wheel are in contact with the ground durin...

AI Technical Summary

Problems solved by technology

If slipping occurs, the omnidirectional mobile platform will deviate from the predetermined driving direction, and the direction needs to be readjusted, which will cause the omnidirectional mobile platform to swing

However, the frequent swinging of the platform will inevitably have a negative impact on the service life of the omnidirectional mobile platform and the accuracy of the driving direction

[0004] Most of the suspensions of the existing mecanum wheeled omnidirectional mobile platforms do not limit the degree of freedom of wheel tilting, so when obstacles are encountered during driving, the mecanum wheels will tilt left and right

Since the outer contour of the small rollers on the Mecanum wheel is in the shape of a curved surface, when driving on flat ground, the transition between the small rollers is carried out along the largest diameter of the outer contour surface of the rollers, but during the tilting process, the small rollers The transition path will change to the small diameter of the curved surface, which will cause vibration during the transition process and cause certain damage to the wheel

In addition, the existing suspension structure only uses a damping shock absorber with a spring, which is somewhat insufficient in terms of shock absorption.

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