The invention discloses a steering suspension mechanism of a mobile robot, which relates to the technical field of robot steering and comprises a suspension part and a steering part. The suspension part comprises a rotating side plate, a hub joint, an upper fork arm and a lower fork arm, wherein a long kidney-shaped hole is formed in the surface of the rotating side plate; the wheel is provided with a hub motor and a wheel axle, and the wheel axle penetrates through the hub joint, then is connected with a locking nut and extends outwards from the long kidney-shaped hole of the rotating side plate. The upper fork arm and the lower fork arm are arranged in parallel up and down, and the end parts of the upper and lower fork arms are correspondingly connected with the hub joint and the rotating side plate; the steering part comprises a motor support, a steering motor, a flange plate and a gear transmission assembly, the motor support is fixedly connected with the robot, the steering motor is fixed to the motor support, a motor shaft of the steering motor downwards penetrates through the motor support and then is connected with the gear transmission assembly through the flange plate, and the output end of the gear transmission assembly is fixedly connected with the rotating side plate. The invention further discloses a control method of the steering suspension mechanism, and the wheels can rotate by 360 degrees in situ.
本发明公开一种移动机器人的转向悬架机构,涉及机器人转向技术领域,其包括悬架部分和转向部分;悬架部分包括转动侧板、轮毂节、上叉臂、下叉臂,其中:转动侧板表面开设有长腰孔;车轮自带轮毂电机和轮轴,车轮轮轴穿过轮毂节后连接有锁紧螺母并由转动侧板的长腰孔向外伸出;上叉臂和下叉臂上下平行放置,且上下叉臂的端部对应连接轮毂节和转动侧板;转向部分包括电机支架、转向电机、法兰盘、齿轮传动组件,电机支架固定连接机器人,转向电机固定于电机支架,且转向电机的电机轴向下穿过电机支架后通过法兰盘连接有齿轮传动组件,齿轮传动组件的输出端固定连接转动侧板。本发明还公开转向悬架机构的控制方法,可以实现车轮原地转动360°。
Steering suspension mechanism of mobile robot and control method of steering suspension mechanism
一种移动机器人的转向悬架机构及其控制方法
2023-09-05
Patent
Elektronische Ressource
Chinesisch
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