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Mecanum wheel omnidirectional vehicle active suspension device

An active suspension, vehicle technology, applied in the direction of power unit, suspension, elastic suspension, etc., can solve the problems of poor Mecanum wheel contact, wheelbase and wheelbase changes, car body inclination, etc., to achieve a reinforced structure The effect of rigidity, improving structural rigidity and improving running stability

Pending Publication Date: 2022-07-26
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above problems, the present invention provides an active suspension device for an omni-directional vehicle with mecanum wheels, which aims to solve the problem of poor contact between the mecanum wheels and the ground under certain conditions, the inclination of the vehicle body, and the problem that the existing suspension works. The problem of wheelbase and wheelbase changes caused by

Method used

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  • Mecanum wheel omnidirectional vehicle active suspension device
  • Mecanum wheel omnidirectional vehicle active suspension device
  • Mecanum wheel omnidirectional vehicle active suspension device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051]Embodiment 1: a Mecanum wheel omnidirectional vehicle active suspension device according to claim 1. The implementation of its active adjustment on the pothole road to make the vehicle body level and the Mecanum wheel drive wheel set reliably grounded is as follows: Figure 11 , Figure 12 shown. When the Mecanum wheel omnidirectional vehicle is driven on a pothole and uneven road, the frame will tilt. At this time, the posture sensor controller 8 installed on the frame 7 detects the tilt of the frame, calculates the displacement of the four groups of suspension devices that should be raised or lowered, and continuously transmits the displacement command to the actuator 31 , After the actuator 31 of the four groups of suspension devices receives the command, it actively adjusts the extension length of the push rod of the actuator 31, and the push rod of the actuator 31 will drive the U-shaped cladding plate 23, the slider 22, the bracket The mounting seat 4, the movab...

Embodiment 2

[0052] Embodiment 2: a Mecanum wheel omnidirectional vehicle active suspension device according to claim 1. Its implementation of actively adjusting the ground clearance of the frame is as follows Figure 13 , Figure 14 shown. When the laser sensor 5 mounted on the bottom of the frame of the Mecanum wheel omnidirectional vehicle detects an obstacle higher than the ground clearance of the frame at that time, it sends a signal to the posture sensor controller 8, and the posture sensor controls the The actuator 8 cooperates to adjust the push rods of the actuators 31 of the four groups of active suspension devices. At this time, the vertical movement process of the vehicle body is the same as that of the first embodiment, but before the Mecanum wheel 61 touches the obstacle, the four groups are controlled first. The push rod of the actuator 31 of the active suspension device produces a consistent displacement, so that the frame 7 is raised horizontally, the ground clearance of...

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Abstract

The invention provides a Mecanum wheel omni-directional active suspension device for a vehicle. The Mecanum wheel omni-directional active suspension device comprises an active suspension, a laser sensor and a pose sensing controller. The active suspension is connected with the Mecanum wheel driving wheel set and then installed on the frame. During working, the active suspension does reciprocating rectilinear motion in the vertical direction, and when the pose sensing controller detects that Mecanum wheels are in poor contact with the ground, the length of a push rod of the suspension actuator is actively adjusted, and the inclination degree of a vehicle body is monitored until the wheels are in reliable contact with the ground and the vehicle frame is driven to return to the horizontal state; in the whole process, the wheel base and the wheel track of the omni-directional vehicle are not changed, so that the omni-directional movement performance and the operation precision of the omni-directional vehicle are guaranteed at the same time. The active suspension can also automatically adjust the ground clearance of the vehicle frame as required, and the trafficability and the driving stability of the omnidirectional vehicle are both considered. In addition, due to the arrangement of a guide mechanism limiting device and a rubber cushion block, all parts of the active suspension can be prevented from being damaged due to outrange and generating rigid collision.

Description

technical field [0001] The invention belongs to the field of supporting equipment for intelligent omnidirectional vehicles, and relates to an active suspension device for omnidirectional vehicles with Mecanum wheels. Background technique [0002] Due to its flexible mobility, omnidirectional vehicles based on Mecanum wheels have been widely used in the fields of intelligent handling, processing, and assembly. Mecanum wheel omnidirectional vehicle realizes omnidirectional movement relying on the coordination of four Mecanum wheels, which requires reliable contact between the four wheels and the ground during operation. Wheelbase is directly related. Therefore, the suspension system is essential for the Mecanum wheel omnidirectional vehicle, and the entire wheelbase and wheelbase should not be changed when the suspension works. [0003] Most of the existing omnidirectional vehicle suspension devices are based on the suspension form of traditional vehicles, and passive spring...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G17/015B60G17/0165B60G17/019B60K7/00B60B19/12
CPCB60G17/01908B60G17/019B60G17/0165B60G17/0152B60K7/0007B60B19/125B60G2200/422B60G2400/05B60G2400/823B60G2500/30B60G2204/40
Inventor 张鑫樊哲良周叶韬梁艺赢王刚唐心怡李聪郑奥岳前进
Owner DALIAN UNIV OF TECH
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