The invention belongs to the technical field of robots, and particularly relates to a driving wheel suspension device and a robot chassis. The driving wheel suspension device comprises a wheel mounting seat, a side mounting seat, a top mounting frame, a spring mounting seat, an extension spring, a connecting rod arm and a lever arm; the bottom of the connecting rod arm is rotationally connected with the wheel mounting seat, the top of the connecting rod arm is rotationally connected with the side mounting seat, the bottom of the lever arm is rotationally connected with the wheel mounting seat, the bent part of the lever arm is rotationally connected with the side mounting seat, and the connecting rod arm, the lever arm, the wheel mounting seat and the side mounting seat form a parallelogram mechanism; the extension spring is horizontally arranged below the top mounting frame, one end of the extension spring is connected with the top of the lever arm, and the other end of the extension spring is connected with the connecting arm. According to the driving wheel suspension device, the vertical suspension stroke is larger, the driving wheel suspension device can adapt to different ground conditions, and when the driving wheel suspension device is applied to a robot, the obstacle crossing ability of the robot can be greatly improved.

    本发明属于机器人技术领域,尤其涉及一种驱动轮悬挂装置和机器人底盘。驱动轮悬挂装置包括轮安装座、侧安装座、顶安装架、弹簧安装座、拉伸弹簧、连杆臂和杠杆臂;连杆臂的底部与轮安装座转动连接,连杆臂的顶部与侧安装座转动连接,杠杆臂的底部与轮安装座转动连接,杠杆臂的弯折部与侧安装座转动连接,连杆臂、杠杆臂、轮安装座和侧安装座构成平行四边形机构;拉伸弹簧呈水平设置于顶安装架的下方,拉伸弹簧的一端与杠杆臂的顶部连接,拉伸弹簧的另一端与连接臂连接。本发明的驱动轮悬挂装置,其上下悬挂行程更大,能够适应不同的地面状况,当其应用于机器人上时,能够大大提高机器人的越障能力。


    Access

    Download


    Export, share and cite



    Title :

    Driving wheel suspension device and robot chassis


    Additional title:

    驱动轮悬挂装置和机器人底盘


    Contributors:
    YUAN FAN (author) / LU JIANCAI (author) / SHEN JIANBO (author)

    Publication date :

    2021-12-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



    Two-wheel linkage driving wheel suspension differential chassis

    SUN YUANYUAN / HUANG YANG / WANG HUAIZHEN | European Patent Office | 2023

    Free access

    Three-wheel linkage suspension robot chassis

    SUN YUANYUAN / WANG HUAIZHEN | European Patent Office | 2023

    Free access

    Chassis suspension mechanism, driving device and robot

    GAO YIFU | European Patent Office | 2020

    Free access

    Chassis suspension driving module of mobile robot

    ZHONG YANHUA | European Patent Office | 2021

    Free access

    All-wheel-train suspension damping chassis of movable robot

    YU HONGZHOU / HUANG LILI / CHENG XIAOMING | European Patent Office | 2021

    Free access