Mobile robot chassis with suspension frame structure

Abstract

The invention provides a mobile robot chassis with a suspension frame structure. The mobile robot chassis comprises a machine body, a rotary connecting rod, rocker arms and double-wheel moving structures, wherein the rocker arms are arranged on the two sides of the machine body respectively, and are connected to the rotary connecting rod through connecting rod mechanisms, and each rocker arm is provided with two double-wheel moving structures. According to the invention, the terrain adaptability and the moving stability of the ground mobile robot are improved, and overturning caused by the fact that part of walking mechanisms do not make contact with the ground is prevented; the differential suspension frame mechanism is arranged above the machine body, so that the mechanism has a larger-range adjusting space, the robot can adapt to more complex terrain environments, and due to the design, the influence of the differential mechanism on arrangement and installation of the walking mechanism of the ground mobile robot is smaller, and the walking mechanism has more design choices and installation spaces; and good terrain adaptation and weight distribution are achieved through local self-adjustment of the double-wheel moving structure and the two ends of the rocker arm and passive adjustment of the rocker arm suspension frame mechanism.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a mobile robot chassis with a suspension structure. Background technique [0002] Due to its good maneuverability and obstacle-surmounting ability, ground mobile robots have broad application prospects in security rescue, space detection and other fields. Improving the terrain adaptability and obstacle-surmounting ability of ground mobile robots is of great significance to the expansion of its application range and use space. [0003] When ground mobile robots perform tasks in the field environment, they often need to face complex and unknown unstructured terrain, so the requirements for the adaptability of the robot chassis are very high, and the common wheeled and tracked chassis are usually due to their wheels or tracks. The fuselage is directly connected in the form of a rotating pair. In this way, the center of the walking mechanism is on the same plane when the robot moves, so...

AI Technical Summary

Problems solved by technology

However, the connecting rod part of this structure is installed in the front half of the fuselage, and the mass distribution is not easy to balance. The bearing pressure of the front connecting rod is relatively large, and the connecting rods on both sides of the fuselage will have a certain impact on the layout and installation of the robot's walking mechanism.

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