The invention discloses a multi-stage independent suspension structure of a wheeled robot. The multi-stage independent suspension structure comprises a suspension fixing frame and a suspension supporting base. The suspension supporting base is fixedly connected with the suspension fixing frame through a multi-stage suspension structure. The multi-stage suspension structure comprises at least two stages of suspensions, a transition structure with a guiding function is installed between every two adjacent stages of suspensions, the first-stage suspension is fixedly connected with the suspensionfixing frame, and the last-stage suspension is connected with the suspension supporting base. Each stage of suspension comprises an elastic element and at least one guide mechanism. The rigidity of the elastic elements of the suspensions is sequentially reduced. Load of the multi-stage independent suspension structure can be transmitted in a graded mode, the deformation amounts of the elastic elements with different rigidity are different, and therefore, the adaptability and obstacle crossing performance of the wheels to the ground unevenness are improved. The overall height of the wheeled robot can be kept unchanged or slightly changed under the no-load condition and the heavy-load condition, and therefore the wheeled robot can be directly submerged into low-bottom equipment such as carsand tool cars.
本发明公开了一种轮式机器人的多级独立悬架结构,包括悬架固定架和悬架支撑座;悬架支撑座通过多级悬架结构与悬架固定架固定连接;多级悬架结构包括至少两级悬架,相邻两级悬架之间安装具有导向功能的过渡结构,一级悬架与悬架固定架固定连接,末级悬架与悬架支撑座连接;每级悬架包括弹性元件和至少一个导向机构;各级悬架的弹性元件刚度依次降低。本发明多级独立悬架结构的载重会递级传递,不同刚度弹性元件的变形量不同,从而提高车轮对地面不平度的适应性和越障性;本发明可以实现轮式机器人在空载和重载两种情况下,机器人的整体高度保持不变或微小变化,这样有利于直接潜入轿车、工装车等底部较低的设备。
Multi-stage independent suspension structure of wheeled robot
一种轮式机器人的多级独立悬架结构
2020-04-10
Patent
Elektronische Ressource
Chinesisch
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