The invention relates to an active suspension device of a wheeled robot. The suspension device comprises a vehicle body, connecting arms, spring dampers, wheels, a gear motor and rocker arms. One endof each connecting arm is fixedly connected with the vehicle body; the other end of the connecting arm is rotationally connected with the upper end of the corresponding spring damper; the lower part of the spring damper is rotationally connected with the corresponding rocker arm; the rocker arm is rotationally connected with a connecting piece arranged on the vehicle body; and output of the gear motor is fixedly connected with the rocker arms. According to the active suspension device of the wheeled robot, the device has the advantages that the ground clearance can be actively adjusted, the passing capacity of the robot is improved, the device does not use a hydraulic element, is long in service life, simple in structure and low in cost, reduces the leakage risk, and adopts electric damping adjustment, so that the robot can actively adjust the damping magnitude according to different configuration weights and different road surfaces, a video picture of a camera is more stable, and observation becomes more comfortable.

    本发明涉及一种轮式机器人主动悬架装置,包括车体、连接臂、弹簧减震器、车轮、减速电机和摇臂,所述连接臂一端与车体固定连接,另一端与弹簧减震器上端转动连接,所述弹簧减震器下与摇臂转动连接,所述摇臂与车体设置在车体上的连接件转动连接,所述减速电机输出与摇臂固定连接,本发明提供了一种轮式机器人主动悬架装置,该装置具有可以主动调整离地间隙,提高了机器人的通过能力,该装置不使用液压元件,寿命长,结构简单,成本低廉,还减少了泄露风险,该装置采用电动阻尼调节,使机器人可以根据不同的配置重量、不同的路面,主动调整阻尼大小,从而使摄像机视频画面更稳定,提高观测舒适度。


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    Title :

    Active suspension device of wheeled robot


    Additional title:

    一种轮式机器人主动悬架装置


    Contributors:
    FAN SONGHAI (author) / CHEN YING (author) / LIU YICEN (author) / LIU XIAOJIANG (author) / MA XIAOMIN (author) / WU TIANBAO (author) / GONG YIYU (author) / LUO LEI (author)

    Publication date :

    2020-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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