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An independent balanced suspension device for an omnidirectional intelligent mobile platform

A mobile platform and balanced suspension technology, applied in suspension, elastic suspension, transportation and packaging, etc., can solve the problems of constant vehicle position control accuracy, difficulty in achieving uniform load of each wheel group, etc., to improve control Accuracy, to achieve the effect of small adjustments

Active Publication Date: 2016-11-30
BEIJING INST OF SPECIALIZED MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The general leaf spring or coil spring suspension is mostly supported by a rocker arm. It is difficult to ensure that the wheelbase and wheelbase of the vehicle remain unchanged when the wheels jump, resulting in a decrease in the position control accuracy of the vehicle. Uniform Loading of Groups

Method used

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  • An independent balanced suspension device for an omnidirectional intelligent mobile platform
  • An independent balanced suspension device for an omnidirectional intelligent mobile platform
  • An independent balanced suspension device for an omnidirectional intelligent mobile platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] In order to solve the problems of the prior art, the present embodiment provides an independent balance suspension device for an omnidirectional intelligent mobile platform, such as Figure 1-Figure 3 As shown, it includes: a vehicle frame 1, a plurality of suspension modules 2, and a plurality of wheel speed reducers 3;

[0036] The vehicle frame 1 is set as follows: it is the main structure of the car body, and a row of installation interfaces for loading the suspension module 2 is provided on its left and right sides; each installation interface is correspondingly installed with a suspension module 2; on the suspension module 2, through The reducer mounting part 15 of the wheel support 11 is installed with a wheel-side reducer 3 for driving the mobile platform, and the whole vehicle is supported and driven by installing a Mecanum wheel on the wheel-side reducer 3 .

[0037] The suspension module 2 is provided with multiple groups, and each group of suspension modules...

Embodiment 2

[0043] In order to solve the problems of the prior art, the present embodiment provides an independent balance suspension device for an omnidirectional intelligent mobile platform, such as Figure 1-Figure 5 As shown, it includes: a vehicle frame 1, a plurality of suspension modules 2 arranged on both sides of the vehicle frame 1, a wheel speed reducer 3, and a hydraulic control subsystem;

[0044] The left and right sides of the vehicle frame 1 are provided with a row of installation interfaces for loading the suspension module 2; each installation interface is correspondingly installed with a suspension module 2; Mecanum wheels are installed on the side reducer 3 to realize the supporting drive of the whole vehicle;

[0045] The plurality of suspension modules 2 on the vehicle frame 1 are divided into a right module group and a left module group, wherein, the suspension module in the front two-thirds of the right module group according to the direction from the front to the ...

Embodiment 3

[0059] Combining the above-mentioned embodiment 1 and embodiment 2 is the specific situation of this embodiment.

[0060] Multiple groups of suspension modules 2 are respectively designed as standard components, the support connection block 4 is fixedly connected to the upper flange of the vehicle frame 1 through screws 5 and bolts 6, and the slider 7 is connected to the vertical edge of the vehicle frame 1 through bolts 8. Thereby, the fixed installation of the suspension module 2 on the vehicle frame 1 is realized. The outer mounting surface 15 of the wheel support 11 on the suspension module 2 is installed with a wheel-side reducer 3 for driving the mobile platform, and the wheel-side reducer 3 is equipped with a Mecanum wheel to realize the supporting drive of the whole vehicle.

[0061] Implementation of suspension module 2 figure 2 and image 3 As shown, two vertically installed and parallel linear guide rails 9 are fixedly connected with the wheel support 11 through ...

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Abstract

The invention belongs to the field of omnidirectional moving platforms based on Mecanum wheels and particularly relates to an independent balanced suspension device for an omnidirectional intelligent moving platform. The independent balanced suspension device comprises a vehicle frame, multiple suspension modules and multiple hub reducers. Wheel supporting pieces are connected with the vehicle frame through linear guide rails so that the wheel supporting pieces can vertically slide on the vehicle frame, and it is guarnteed that the wheel tread and the axle base of the whole vehicle are not changed when the wheels hop. Compared with the prior art, the wheel tread and the axle base of the whole vehicle are not changed when the wheels hop, the control precision of a Mecanum wheel omnidirectional moving structure can be effectively improved, the loads of the wheels in the same group of suspensions are balanced, the suspension height of the whole vehicle is adjusted within a small range, and the overall load condition and the unbalanced load condition of the vehicle are measured through the suspension device.

Description

technical field [0001] The invention belongs to the field of omnidirectional mobile platforms based on mecanum wheels, and specifically relates to an independent balance suspension device for omnidirectional intelligent mobile platforms, which is suitable for omnidirectional mobile platforms that adopt multi-wheel drive or multi-wheel support Chassis suspension can realize multiple wheels touching the ground and load balance at the same time, and can measure the load and unbalanced load of the mobile platform in real time. Background technique [0002] The omnidirectional mobile platform based on mecanum wheels must ensure that the driving wheels touch the ground at the same time, so as to provide an effective driving force to realize the omnidirectional movement of the platform. However, the conventional ground cannot be absolutely level, which requires wheel suspension to ensure that the wheels bounce up and down. The general leaf spring or coil spring suspension is mostl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60G17/00
Inventor 段三军王新岗李明刘恩涛鲁志刚张艳清
Owner BEIJING INST OF SPECIALIZED MACHINERY
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