The invention discloses a ground self-adaptive suspension for a four-wheel omni-directional mobile robot and a using method thereof. The robot comprises a robot chassis, a composite hinge support andtwo space orthogonal single-open-chain suspensions which are symmetrically arranged. The composite hinge support is connected to the center of the lower surface of the robot chassis through a bolt, the bottom end of the composite hinge support is connected with ends of the spatial orthogonal single-open-chain suspensions through connecting shafts and bearings which are symmetrically arranged on the composite hinge support, and the other ends of the spatial orthogonal single-open-chain suspensions are connected with omni-directional wheels. The self-adaptive suspension is suitable for the four-wheel omni-directional mobile robot built based on any type of wheel omni-directional wheels, and is high in universality. It can be guaranteed that no new exciting force is introduced in the self-adaptive obstacle crossing process, and the obstacle crossing process is more remarkable in stability compared with a traditional spring-damping type suspension. The space orthogonal single-open-chain suspensions and the robot chassis are connected through the four hinge supports and the composite hinge support, and good bearing capacity and stability are achieved.
用于四轮全方位移动机器人的地面自适应悬架及使用方法,包括机器人底盘、复合铰链铰支座及两个对称布置的空间正交单开链悬架,所述机器人底盘下表面中心处通过螺栓连接有复合铰链铰支座,复合铰链铰支座底端通过其上对称设置的连接轴及轴承与空间正交单开链悬架一端连接,空间正交单开链悬架另一端与全方位轮连接。本发明自适应悬架,适用于基于任何类型的轮全方位轮所搭建的四轮全方位移动机器人,通用性强。可保证自适应越障过程不引入新的激振力,越障过程较传统的“弹簧‑阻尼”式悬挂平稳性更加显著。空间正交单开链悬架与机器人底盘之间通过四个铰支座及一个复合铰链铰支座连接,具备良好的承载力和稳定性。
Ground self-adaptive suspension for four-wheel omni-directional mobile robot and using method thereof
用于四轮全方位移动机器人的地面自适应悬架及使用方法
30.10.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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