Tracked Mobile Robot Suspension System

A mobile robot and suspension system technology, applied in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of limited traction force and small contact area of ​​robots, and achieve the effects of stable power output, buffering and absorbing vibration energy

Active Publication Date: 2017-04-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention aims to solve the problem that the traditional tracked vehicle suspension system makes the contact area between the vehicle and the ground small, resulting in the limited traction provided by the ground to the robot

Method used

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  • Tracked Mobile Robot Suspension System
  • Tracked Mobile Robot Suspension System
  • Tracked Mobile Robot Suspension System

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0037] Specific implementation mode one: see Figure 1 to Figure 3 Describe this embodiment, the crawler type mobile robot suspension system described in this embodiment, it comprises front swing arm power output suspension 1, rear driving wheel suspension 3 and middle road wheel suspension 2; Middle road wheel suspension 2 Located between the track of the crawler mobile robot and the bottom of the car body,

[0038] Front swing arm power output suspension 1 includes No. 1 spring 5, first bearing 7, No. 1 hinge 8, No. 1 fixed rod 1-1,

[0039] The No. 1 hinge 8 is located close to the car body side of the crawler-type mobile robot, and the front driven wheel 9 and the front swing arm 4 of the crawler-type mobile robot are successively away from the No. 1 hinge 8,

[0040] The No. 1 hinge 8 is rotationally connected with the main shaft of the front driven wheel 9 of the crawler-type mobile robot through the first bearing 7, and one end of the No. 1 hinge 8 is provided with a t...

specific Embodiment approach 2

[0065] Embodiment 2: The difference between this embodiment and the crawler-type mobile robot suspension system described in Embodiment 1 is that the four road wheels 18 are hinged to a herringbone structure through the No. 2 hinge 19 .

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Abstract

The invention discloses a novel suspension system for a tracked mobile robot and belongs to the fields of the robot technology and automation. The novel suspension system solves the problem that according to a traditional tracked vehicle suspension system, the contact area between a vehicle and the ground is small, and therefore the traction provided by the ground for a robot is limited. The novel suspension system comprises a front swing arm power output suspension, a rear driving wheel suspension and a middle bogie wheel suspension, wherein the middle bogie wheel suspension is located between a track of the tracked mobile robot and the bottom of a vehicle body. The front swing arm power output suspension comprises a first spring, a first bearing, a first hinge and a first fixed rod. The middle bogie wheel suspension is composed of a plurality of bogie wheels and a plurality of spring damping systems, and the weight of a machine body is evenly shared by the multiple groups of bogie wheels; each group of bogie wheels comprises two bogie wheels connected through a hinge, and the spring and damping structure can be realized conveniently by grouping the bogie wheels. The novel suspension system is specifically applied to the tracked robot.

Description

technical field [0001] The invention belongs to the field of robot technology and automation. Background technique [0002] For traditional crawler vehicles, both the driving wheel and the driven wheel of the suspension system are higher than the ground due to the need for driving mobility. For small crawler mobile robots, due to the limitation of the ground contact area, the traction force provided by the ground to the robot is Limited, therefore, the ground contact area needs to be maximized as much as possible to ensure sufficient traction, and conventional tracked vehicle suspension systems are no longer suitable for the needs of small mobile robots. Contents of the invention [0003] The invention aims to solve the problem that the traditional tracked vehicle suspension system makes the contact area between the vehicle and the ground small, resulting in limited traction provided by the ground to the robot. The invention provides a crawler mobile robot suspension syst...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/108
Inventor 王伟东杜志江
Owner HARBIN INST OF TECH
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