The invention relates to the technical field of mobile robots, in particular to a double-wishbone type vibration reduction suspension all-terrain mobile robot which comprises a truss vehicle body module and an adjustable double-wishbone type vibration reduction suspension module. The driving gear dividing module is used for realizing switching between a running state and a neutral gear sliding state of the mobile robot; the torque self-balancing distribution module is matched with the same set of adjustable double-wishbone type vibration reduction suspension modules on the two sides of the truss vehicle body module, and the four-wheel driving torque of the mobile robot is optimally distributed so as to restrain side tipping of a steering vehicle body; and the bottom-layer motion control system module is used for realizing autonomous navigation smooth walking of the mobile robot and carrying and control of external operation tools. The damping effect and stability of a vehicle body are improved through the adjustable double-wishbone type damping suspension module and the driving gear dividing module, the camber angle of wheels is adjusted, driving and transmission can be isolated, the problem that a mobile robot is difficult to trailer when having an outdoor fault is solved, and the vehicle body can be effectively prevented from rolling through the torque self-balancing distribution module.
本发明涉及移动机器人技术领域,具体是一种双横臂式减振悬架全地形移动机器人,包括桁架车身模块、可调双横臂式减振悬架模块;驱动分档模块,实现移动机器人的行驶状态和空档滑行状态的切换;力矩自平衡分配模块,与桁架车身模块两侧的同组可调双横臂式减振悬架模块配合,优化分配移动机器人四轮驱动力矩以抑制转向车身侧倾;底层运动控制系统模块,用于实现移动机器人的自主导航平顺行走、外部作业工具的搭载及操控。本发明通过可调双横臂式减振悬架模块、驱动分档模块提升车身的减振效果与稳定性,调节车轮外倾角,驱动与传动可隔离,解决了移动机器人户外故障时难以拖车的问题,且力矩自平衡分配模块能有效防止车身侧倾。
Double-wishbone vibration reduction suspension all-terrain mobile robot
一种双横臂式减振悬架全地形移动机器人
2022-12-30
Patent
Electronic Resource
Chinese
European Patent Office | 2020
|Rear-wheel double-wishbone suspension
Automotive engineering | 1986
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