The invention provides a mobile robot chassis with a suspension frame structure. The mobile robot chassis comprises a machine body, a rotary connecting rod, rocker arms and double-wheel moving structures, wherein the rocker arms are arranged on the two sides of the machine body respectively, and are connected to the rotary connecting rod through connecting rod mechanisms, and each rocker arm is provided with two double-wheel moving structures. According to the invention, the terrain adaptability and the moving stability of the ground mobile robot are improved, and overturning caused by the fact that part of walking mechanisms do not make contact with the ground is prevented; the differential suspension frame mechanism is arranged above the machine body, so that the mechanism has a larger-range adjusting space, the robot can adapt to more complex terrain environments, and due to the design, the influence of the differential mechanism on arrangement and installation of the walking mechanism of the ground mobile robot is smaller, and the walking mechanism has more design choices and installation spaces; and good terrain adaptation and weight distribution are achieved through local self-adjustment of the double-wheel moving structure and the two ends of the rocker arm and passive adjustment of the rocker arm suspension frame mechanism.
本发明提供了一种含有悬架结构的移动机器人底盘,包括机身、转动连接杆、摇臂和双轮移动结构,摇臂分别设于机身的两侧,摇臂通过连杆机构连接于转动连接杆,每个摇臂上设有两个双轮移动结构。本发明提升了地面移动机器人的地形适应能力和移动稳定性,防止因部分行走机构未与地面接触造成的倾覆;差动悬架机构设置于机身上方,使机构具有更大范围的调整空间,从而能够适应更复杂的地形环境,同时该设计也使得差动机构对地面移动机器人行走机构的布置和安装产生的影响更小,使行走机构具有更多的设计选择和安装空间;通过双轮移动结构与摇臂两端的局部自调整和摇臂悬架机构的被动调整实现更好的地形适应和重量分配。
Mobile robot chassis with suspension frame structure
一种含有悬架结构的移动机器人底盘
2021-03-05
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |