The invention relates to the technical field of mobile robots, in particular to an adjustable suspension mechanism capable of enhancing terrain adaptability of a mobile robot. The two sets of adjustable suspension units are distributed on the truss combined vehicle body in the front-back direction, and each set of adjustable suspension unit comprises a torque self-balancing distribution mechanism arranged on the truss combined vehicle body and two double-wishbone type vibration reduction modules distributed in the left-right direction and connected with the torque self-balancing distribution mechanism; the four sets of driving units are correspondingly distributed on the periphery of the truss combined vehicle body and connected with the corresponding double-cross-arm type vibration reduction modules. Through the truss body structure, the weight of the vehicle body is reduced, and the rigidity, bearing performance and space utilization rate of the vehicle body are improved; the camber angles of the wheels are adjusted through the adjustable double-wishbone type suspension, the height of the chassis of the mobile robot is automatically adjusted, the height of the chassis can be accurately adjusted, the mobile robot adapts to complex road surfaces, and the stability and operation precision of a vehicle body are improved.

    本发明涉及移动机器人技术领域,具体为一种可增强移动机器人地形适应性的可调节悬架机构,包括:桁架组合车体;可调悬架单元,设有两组,呈前后方向分布在桁架组合车体上,每组可调悬架单元均包括设置在桁架组合车体上的力矩自平衡分配机构、呈左右方向分布并与力矩自平衡分配机构连接的两个双横臂式减振模块;驱动单元,设有四组,对应分布在桁架组合车体四周且与对应的双横臂式减振模块连接。本发明通过桁架本体结构,降低车身重量,提高车身刚度、承载性能、空间利用率;通过可调双横臂式悬架来调节车轮外倾角,自动调节移动机器人底盘高度,并可精确调节底盘调节高度,适应复杂路面,提高车身稳定性及其作业精度。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Adjustable suspension mechanism capable of enhancing terrain adaptability of mobile robot


    Weitere Titelangaben:

    一种可增强移动机器人地形适应性的可调节悬架机构


    Beteiligte:
    WANG BUYUN (Autor:in) / HU HANCHUN (Autor:in) / XU DEZHANG (Autor:in)

    Erscheinungsdatum :

    2022-05-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



    Wheeled autonomous mobile robot with high terrain adaptability

    CHEN JIA | Europäisches Patentamt | 2021

    Freier Zugriff

    Transformable crawler mechanism with adaptability to terrain variations

    Iwato, T. / Yamamoto, H. / Honma, K. | Tema Archiv | 1983


    High-adaptability wheeled mobile robot

    LIU YU / ZHANG YINGJIE / CHEN ZEFANG | Europäisches Patentamt | 2021

    Freier Zugriff

    Double-wishbone vibration reduction suspension all-terrain mobile robot

    WANG BUYUN / HU HANCHUN / XU DEZHANG | Europäisches Patentamt | 2022

    Freier Zugriff

    Identifying ground-robot impedance to improve terrain adaptability in running robots

    Arévalo Reggeti, Juan Carlos R. / Sanz Merodio, Daniel / Cestari, Manuel et al. | BASE | 2015

    Freier Zugriff