Double-fork-arm suspension mechanism and cleaning robot

Abstract

The invention discloses a double-fork-arm suspension mechanism. The mechanism comprises a fixed support, an upper fork arm, a lower fork arm, a support and a buffer device, the support is used for mounting a driving wheel; the fixed support, the upper fork arm, the lower fork arm and the support are connected in a hinged mode, and the buffering device is used for buffering and adjusting the height change between the lower fork arm and the fixing support. According to the double-fork-arm suspension mechanism provided by the invention, the driving wheels can always keep effective contact of tires and stable output of driving force within a relatively large floating stroke, so that the condition of ground slipping is avoided, and the adaptive capacity and the safe operation capacity to a large-fluctuation ground and a large-gradient limit position are ensured.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a double wishbone suspension mechanism and a cleaning robot. Background technique [0002] In semi-open places such as commercial supermarkets, hospitals, parks, and residential areas, mobile cleaning robots have gradually begun to replace manual cleaning and cleaning of the ground. With the expansion of application scenarios and the increase in the complexity of the use environment, there is an increasing demand for cleaning robots to adapt to changing ground. [0003] like figure 1 As shown, the cleaning robot 7 currently on the market often adopts a drive system directly connected to the chassis, that is, the driving wheel 6 is directly installed on the chassis, and the height between the driving wheel 6 and the chassis is fixed and cannot be adjusted. The adaptability to the ground is poor, and the adaptive adjustment to the ground cannot be realized. At the same time...

AI Technical Summary

Problems solved by technology

[0003] like figure 1 As shown, the cleaning robot 7 currently on the market often adopts a drive system directly connected to the chassis, that is, the driving wheel 6 is directly installed on the chassis, and the height between the driving wheel 6 and the chassis is fixed and cannot be adjusted. The adaptability to the ground is poor, and the adaptive adjustment to the ground cannot be realized. At the same time, the fluctuation during driving is transmitted to the upper part of the vehicle body, which has no effect on the fixation and life of the electrical components; Weak, can only meet 5% of the climbing requirements, and usually only suitable for climbing on cement or polyurethane rough ground, can not meet the 10% climbing ability requirements of cleaning robots on smooth floor tiles

Images