Robot vehicle body suspension system

Abstract

The invention discloses a robot vehicle body suspension system, comprising a suspension mechanism, a coupling mechanism, a motor, a driver and a wheel. The suspension mechanism comprises a support frame, a connecting rod assembly, a transverse arm assembly and a shock absorber; the support frame, the transverse arm assembly and the connecting rod assembly form two parallelogram mechanisms; the shock absorber is positioned between the two parallelogram mechanisms and in a vertical direction; the support frame and the connecting rod assembly are respectively connected with the two ends of the shock absorber. The motor is arranged on the lower part of the suspension mechanism and is fixedly connected to the connecting rod assembly. The coupling mechanism is used for connecting a motor output shaft with the wheel. The driver is embedded on the motor. The robot vehicle body suspension system has a strong environmental adaptability which ensures the robot wheels to touch the ground all through the movements in different environments. The robot vehicle body suspension system also has the advantages of stable motion, simple structure and reliable performance, and is worth popularizing in the industry.

Description

technical field [0001] The invention belongs to the technical field of robot mechanism design, and in particular relates to a robot vehicle body suspension system. Background technique [0002] The suspension system is a general term for all connection devices between the car frame and the wheels or axles, and it is also suitable for use in robot mobile platforms. Through the suspension system, the vibration of the mobile platform can be effectively reduced, the impact between the key parts of the platform can be alleviated, and the stability and reliability of the platform can be improved. [0003] Suspension systems are mainly divided into two types: independent suspension and non-independent suspension systems. The non-independent suspension system means that the two wheels are connected to each other, and the beating of one wheel will also affect the beating of the other wheel. This kind of suspension system is relatively simple and is often used in the suspension appli...

AI Technical Summary

Problems solved by technology

The reaction force of the shock-absorbing spring in this suspension structure is mainly in the horizontal direction, rather than the vertical direction bearing the gravity of the mobile platform, so the utilization rate of the structural strength of the frame is relatively low, and the frame needs to be strengthened to restrain the internal force , not suitable for mobile platforms with heavy loads

At the same time, since the motor is used, the part of the motor plus the reduction box is too long. If you want to install the shock absorber in the vertical direction, you need to design it above the reduction box of the motor. Another point is placed on the high side, and the overall platform is high, resulting in poor walking stability of the robot.

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