Self-adaptive suspension chassis system based on mechanical connecting rod mechanism

Abstract

The invention provides a self-adaptive suspension chassis system based on a mechanical connecting rod mechanism, and belongs to the technical field of robot chassis. The self-adaptive suspension chassis system comprises a completely non-independent connecting rod suspension, a chassis frame and four Mecanum wheel sets; the completely non-independent connecting rods are suspended on the chassis frame; and a connecting rod type spring damping device is arranged on the completely non-independent connecting rod suspension, wherein the two Mecanum wheel sets are symmetrically installed on one sideof the chassis frame and connected with the completely non-independent connecting rods in a suspended mode through the connecting rod type spring damping devices respectively, and the other two Mecanum wheel sets are symmetrically installed on the other side of the chassis frame and connected with the completely non-independent connecting rods in a suspended mode through the connecting rod type spring damping devices respectively. The connecting rod type spring damping device is adopted, so that the system can adapt to various special terrains, the phenomena of shaking and inclining caused bythe fact that the adjacent wheels move in the same direction during speed changing and turning are effectively avoided, and the system is high in impact resistance, stable in connection and high in practicability.

Description

technical field [0001] The invention relates to the technical field of robot chassis, in particular to an adaptive suspension chassis system based on a mechanical linkage mechanism. Background technique [0002] Existing robot chassis suspension systems usually follow the design requirements of traditional suspensions, that is, only focus on the buffering and shock absorption of suspensions. For example, the patent document CN108995742A discloses a connecting rod non-independent suspension chassis based on the Mecanum wheel, which increases the buffering capacity of the chassis system by raising the chassis and lengthening the suspension stroke. The shock absorber scheme and other independent chassis schemes using shock absorbers have defects. Since the chassis adapted to the suspension adopts the Mecanum wheel four-wheel drive scheme, each wheel must have sufficient pressure with the ground to ensure that the chassis is fully However, after installing a similar long shock ...

AI Technical Summary

Problems solved by technology

For example, the patent document CN108995742A discloses a connecting rod non-independent suspension chassis based on the Mecanum wheel, which increases the buffering capacity of the chassis system by raising the chassis and lengthening the suspension stroke. The shock absorber scheme and other independent chassis schemes using shock absorbers have defects. Since the chassis adapted to the suspension adopts the Mecanum wheel four-wheel drive scheme, each wheel must have sufficient pressure with the ground to ensure that the chassis is fully However, after installing a similar long shock absorber, when encountering road conditions such as large ground protrusions or depressions, large-scale slopes, etc., some wheels will slip due to over-stretched suspension or insufficient force, thus Broken correct execution of move instructions

In addition, when this kind of chassis and other independent chassis using shock absorbers are accelerating, decelerating and turning, the wheel on one side (the rear side when accelerating, and the front side when decelerating) is compressed and the wheel on one side is stretched. The phenomenon of one side shifting and shaking, especially when starting and braking

This will affect the data received by the robot's sensors, and will also reduce the robot's operating efficiency

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