CN104843101A - Advanced suspension mechanism of crawler-type mobile robot - Google Patents
Advanced suspension mechanism of crawler-type mobile robot Download PDFInfo
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- CN104843101A CN104843101A CN201510231365.XA CN201510231365A CN104843101A CN 104843101 A CN104843101 A CN 104843101A CN 201510231365 A CN201510231365 A CN 201510231365A CN 104843101 A CN104843101 A CN 104843101A
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Abstract
An advanced suspension mechanism of a crawler-type mobile robot adopts passive suspension in a suspension system and mainly consists of an elastic component and a hydraulic damping component, wherein the elastic component is used for buffering vibration, and the hydraulic damping component is used for consuming vibration energy. When the components work, energy is not needed, the components passively receive vibration and reduce the vibration, the movement stability of a small crawler-type mobile robot in the quick running process is effectively improved, jolt of a crawler-type mobile robot vehicle body is effectively reduced, and the movement stability of the robot is improved. The problem that a traditional suspension mechanism is not ideal in damping effect on the crawler-type mobile robot is solved. The advanced suspension mechanism is simple and compact in structure. The problem of application of a complicated suspension mechanism in the field of crawler-type mobile robots is effectively solved.
Description
Technical field
The present invention relates to Small track robot suspension technical field, particularly relate in mobile robot's Fast marching process, higher explosive, rescue, military mobile robot field are required to stationarity.
Background technology
Vehicle suspension system technology, develops into very universal today.Especially at automotive field, suspension is most important to the comfort level improving passenger, and automobile suspension system can effectively reduce the vibration of the car body longitudinal direction of the concavo-convex generation due to ground in vehicle travel process.Current vehicle suspension system mainly contains passive suspension system, semi-active suspension system and active suspension system three class, due to semi-active suspension system and active suspension structure and control system more complicated, be difficult to realize popularizing on miniature mobile robot, on miniature mobile robot, the suspension overwhelming majority adopts passive suspension system, but mobile robot usually adopts simplification in order to avoid the mechanism design of complexity and omits suspension now, makes robot motion's stationarity greatly reduce.
Summary of the invention
In order to overcome the deficiency that above-mentioned suspension exists on peddrail mobile robot, the advanced suspension mechanism designing a applicable caterpillar robot of creation type in the present invention, improves the stationarity of mobile robot's car body in the process of running at high speed greatly.
The technical solution adopted in the present invention:
(1) shake is put in order to solve in mobile robot's fast running process the vehicle body running into the appearance of concavo-convex obstacle by a relatively large margin at vertical direction, we design passive suspension system structure in the present invention, in the process of mobile robot's fast running, the vibration come is caught on efficient system ground, makes vehicle body barycenter in the vertical direction held stationary.
(2) select spring-damper as the main support of car body and system stored energy damper element, the rational layout of spring-damper and select rational spring rate and damping coefficient can the uneven vibration caused in maximized absorption road surface, plays the effect to vehicle body damping.
Compared with prior art, the invention has the beneficial effects as follows and passive suspension system is well used on mobile robot, this suspension structure is simple, compact and do not need extra external control just can reach ideal effect, greatly improves the stationarity of mobile robot's fast running.
Accompanying drawing explanation
Below in conjunction with accompanying drawing specification sheets, this patent is described:
Fig. 1 is mobile robot's suspension spring-damper.
Fig. 2 is the pictorial diagram of the advanced suspension mechanism of mobile robot.
Detailed description of the invention
Be illustrated in fig. 1 shown below the sketch for mobile robot's suspension, Fig. 2 is mobile robot's suspension of actual processing assembling.Respectively there is a set of passive suspension system mobile robot's car body both sides, passive suspension system mainly contains in Fig. 2, and 3,4,5,6,7 support wheels form with 8 spring-dampers and 9 swinging kicks, and wherein 1 in Fig. 2 is track idler, 2 is main drive wheels, and 9 is robot ambulation crawler belts.
According to the spring rate suitable from reselection procedure and the damping coefficient of robot, when robot is in concave-convex road surface fast running, when there is concavo-convex obstacle in robot front, first concave-convex road surface touches before 3 support wheels, under the effect of inertia, 3 take turns and are lifted, spring-damper absorbs road surface and catches the vibration come, the vibration of finally passing to car body can be very little, damper also plays certain vehicle body supporting role simultaneously, car body moves forward, concave-convex road surface is once by 4, 5, 6, 7 support wheels, all road vibrations are all absorbed by spring-damper, guarantee the stationarity of body movement process, the robot car body of suspension is not had to there will be beating by a relatively large margin.
The present invention can solve the application of complicated suspension on miniature mobile robot by actv., and this structure is simple, compact simultaneously.
Claims (5)
1. the advanced hitch of caterpillar robot effectively solves the robust motion of Small track robot in Fast marching process, effectively reduces jolting of caterpillar robot car body, improves the exercise performance of robot.
2. the damping effect of traditional suspension in caterpillar robot is very limited, can not play robot car body actv. bumper and absorbing shock when robot is at high-speed cruising.
3. the caterpillar robot suspension in the present invention makes advanced shock mitigation system realize becoming possibility in Small track robot.
4. the advanced suspension of caterpillar robot according to claim 1, is characterized in that one-sided employing five spring-dampers, the leg swinging track idler structure of design.
5. select most suitable spring stiffness coefficient and damping coefficient according to the weight of car body and gait of march, guarantee that the acceleration change of caterpillar robot in traveling process on car body barycenter vertical direction is minimum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510231365.XA CN104843101A (en) | 2015-05-08 | 2015-05-08 | Advanced suspension mechanism of crawler-type mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510231365.XA CN104843101A (en) | 2015-05-08 | 2015-05-08 | Advanced suspension mechanism of crawler-type mobile robot |
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| Publication Number | Publication Date |
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| CN104843101A true CN104843101A (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510231365.XA Pending CN104843101A (en) | 2015-05-08 | 2015-05-08 | Advanced suspension mechanism of crawler-type mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116520A (en) * | 2018-02-05 | 2018-06-05 | 东北大学 | A kind of new type of passive formula suspension |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101387687A (en) * | 2007-06-14 | 2009-03-18 | 阿尔斯托姆科技有限公司 | Drive unit for an inspection vehicle and also inspection vehicle with such a drive unit |
| CN203172749U (en) * | 2013-04-16 | 2013-09-04 | 梁星 | Moving base of crawler belt robot |
| CN103496407A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step independent cantilever band suspension chassis system |
| CN105216893A (en) * | 2015-10-03 | 2016-01-06 | 上海大学 | The caterpillar mobile robot suspension that a kind of rigidity is adjustable |
-
2015
- 2015-05-08 CN CN201510231365.XA patent/CN104843101A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101387687A (en) * | 2007-06-14 | 2009-03-18 | 阿尔斯托姆科技有限公司 | Drive unit for an inspection vehicle and also inspection vehicle with such a drive unit |
| CN203172749U (en) * | 2013-04-16 | 2013-09-04 | 梁星 | Moving base of crawler belt robot |
| CN103496407A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step independent cantilever band suspension chassis system |
| CN105216893A (en) * | 2015-10-03 | 2016-01-06 | 上海大学 | The caterpillar mobile robot suspension that a kind of rigidity is adjustable |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116520A (en) * | 2018-02-05 | 2018-06-05 | 东北大学 | A kind of new type of passive formula suspension |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150819 |
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| RJ01 | Rejection of invention patent application after publication |