Active suspension device of wheeled robot

Abstract

The invention relates to an active suspension device of a wheeled robot. The suspension device comprises a vehicle body, connecting arms, spring dampers, wheels, a gear motor and rocker arms. One endof each connecting arm is fixedly connected with the vehicle body; the other end of the connecting arm is rotationally connected with the upper end of the corresponding spring damper; the lower part of the spring damper is rotationally connected with the corresponding rocker arm; the rocker arm is rotationally connected with a connecting piece arranged on the vehicle body; and output of the gear motor is fixedly connected with the rocker arms. According to the active suspension device of the wheeled robot, the device has the advantages that the ground clearance can be actively adjusted, the passing capacity of the robot is improved, the device does not use a hydraulic element, is long in service life, simple in structure and low in cost, reduces the leakage risk, and adopts electric damping adjustment, so that the robot can actively adjust the damping magnitude according to different configuration weights and different road surfaces, a video picture of a camera is more stable, and observation becomes more comfortable.

Description

technical field [0001] The invention belongs to the technical field of robot suspension devices, and in particular relates to an active suspension device for a wheeled robot. Background technique [0002] In recent years, substation intelligent inspection robots have been widely used. Because wheeled robots have the advantages of high efficiency, fast speed, and flexible movement, most substation intelligent inspection robots adopt wheeled structures. In order to provide a better picture, stronger motion performance and ground adaptability, most of the current newly developed robots have a passive suspension system similar to a car, and there are no active suspension robots, and there are suspension design, adjustment Complicated, low robot output and fast update, it is difficult to optimize the suspension, and the customization cost is high, the suspension can only passively adapt to the road surface, and cannot actively change according to the road surface conditions. How...

AI Technical Summary

Problems solved by technology

In order to provide a better picture, stronger motion performance and ground adaptability, most of the current newly developed robots have a passive suspension system similar to a car, and there are no active suspension robots, and there are suspension design, adjustment Complexity, low output of robots and fast updates, it is difficult to optimize the suspension, and the cost of customization is high. The suspension can only adapt to the road surface passively, but cannot actively change according to the road surface conditions. However, due to the small number of robots in mass production, suspension adjustment Suspension effect is not ideal due to complex and other reasons

Poor suspension effect causes the robot to vibrate greatly, and the video collected by the robot has a large jitter, which affects the comfort of observation

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