Robot vehicle body suspension system

A technology for robots and car bodies, applied in suspension, elastic suspension, vehicle components, etc., to achieve the effect of strong rollover resistance, good shock absorption performance and reliable performance

Inactive Publication Date: 2009-07-01
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem solved by the invention: the suspension system of a robot car body in this invention adopts a layered and two-stage shock absorbing mechanism, which solves the problem of the tires and the road surface being attached at any time, and keeps the wheels at an appropriate angle, thereby improving the dynamic performance of the robot. , steering performance and stability are fully reflected; at the same time, the mechanism has good shock absorption performance of the car body, prolonging the service life of components

Method used

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Embodiment Construction

[0010] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings. When this structure turns, it adopts the driving mode of left and right two-wheel differential speed and front and rear two-wheel follow-up, and the left and right drive wheels 51, 38 are driven separately by left and right motors 59, 46; The front and rear follower wheels 26,12 of the front and rear follower support plates 32,8 can rotate around the front and rear rotation shafts 30,10, so that the height of the follower wheels has a large adjustment space, because the two follower support plates 32, 8 are respectively spaced by the front and rear limit stops 27,11 opposite to the spring stretching direction, therefore, effectively prevent the front and rear follower wheels 26,12 from being pulled to the center; the installation of the front and rear limit stops 27,11 is a technical Requirements, that is, when the front and rear follower wheels 26...

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Abstract

The invention relates to a robot car body suspension system, which relates to the field of mobile robot mechanism design. The suspension system of the robot car body is composed of drive components, frame bottom plate components, and shock absorbing plate components. ;The front and rear follower wheels are installed on the second layer; the first layer and the second layer are elastically connected by a compression spring group; the front and rear follower wheels can rotate around the front and rear rotation axes as a whole, and are carried out by a tension spring Connection; the left drive wheel and the right drive wheel in the drive assembly are respectively driven by separate motors; the spring lower sleeve bolt group in the frame floor assembly is divided into four groups, each with 4 bolts; the spring upper sleeve in the shock absorber assembly The cylinder bolt group is divided into four groups, each group has 4 bolts. The mechanism has good damping performance of the car body and prolongs the service life of components. The invention has simple mechanism and reliable performance.

Description

technical field [0001] The invention relates to a robot car body suspension system, which relates to the field of mobile robot mechanism design. Background technique [0002] A wheeled mobile robot using a two-wheel differential drive mechanism generally consists of two driving wheels and a follower wheel. The disadvantages of this mechanism are poor adaptability to the ground and poor symmetry of the car body. If the mechanism of left and right driving wheels and front and rear follower wheels is adopted, the performance will be significantly improved, but the problem brought about is the height positioning of the four wheels. If the heights are inconsistent, then there will be wheels suspended in the air when running on a horizontal plane, resulting in The car body is unstable. If the height is the same, the wheels will hang in the air when running on uneven roads, causing the operation to be out of control and the algorithm to fail. Cars often use a suspension system, th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60G5/01B60G23/00
Inventor 褚金奎李荣华李庆瀛
Owner DALIAN UNIV OF TECH
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