CN107953938A - A kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount - Google Patents
A kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount Download PDFInfo
- Publication number
- CN107953938A CN107953938A CN201711249876.XA CN201711249876A CN107953938A CN 107953938 A CN107953938 A CN 107953938A CN 201711249876 A CN201711249876 A CN 201711249876A CN 107953938 A CN107953938 A CN 107953938A
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- CN
- China
- Prior art keywords
- rocking arm
- loading plate
- damper
- rocker arm
- box body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
Abstract
The present invention relates to a kind of suspension frame structure of robot moving platform, a kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount, support balancing stand is made of the configuration of inside and outside rocking arm interval, a pair of of supporting leg (14) of clamping, upper end is fixed on the angle bisection gear shaft (12) with angle bisection gear (11)；And configure loading plate (6), electric pushrod (4) both ends rotation connection damper (2) of configuration is inner, elongated slot is opened up in loading plate side plate, the termination of push rod connector (5) is stretched into elongated slot, and damper connecting bracket (3) upper end is rotatablely connected in the outer end of damper (2)；Loading plate (6) extends downwardly two guide rods (7) and is oriented to tooth block (8), and it is two rack faces being meshed with angle bisection gear (11) to be oriented to tooth block (8) both sides；Sleeve (9) is configured on fixed block (10), loading plate (6) moves up and down；The center of counter-jib (19) is the hinge joint of a travelling box body, and there are two fixing points in both sides on driving axle housing.Control the push rod elongation of electric pushrod (4), shorten, reach the function of actively increasing or reduce the suspension road clearance.
Description
Technical field
The present invention relates to vehicle and mobile robot suspension field, especially a kind of achievable damping and posture adjustment state function
The mechanism that the concrete structure of rocker arm suspension and road clearance are adjusted.
Background technology
The present invention is to be proposed when studying a kind of mobile robot with composite moving mechanism according to actual requirement.
This robot has balancing rocker arm suspension and the compound running gear of stride, it has stronger complex environment posture ability of regulation and control
With landform adaptability.Running gear is using balancing rocker arm chassis and the allocation plan of four joint crawler belt swing arms, by closing
The coordination control of section four swing arms of crawler belt makes it have stronger obstacle climbing ability.This mobile robot suspension requirements have certain
Shock-absorbing function, while four swing arms can freely adjust posture.
Found by being retrieved to prior art literature：
Chinese utility model patent number：201520666955.0 title：Deformed caterpillar suspension and the robot shifting with it
Moving platform.The suspension frame structure that the utility model is related to is complicated, by middle hitch, deformed caterpillar unit, deformation drive component etc.
Composition, drives Athey wheel to rotate by the movement of connecting rod, while adjusts the road clearance.But the technical pattern is complex, and
It can not be used on the chassis of balancing rocker arm structure, and without preferable damping effect.
In order to solve the shock-absorbing function of balancing rocker arm mobile robot and adjust four swing arm postures to reach adjusting machine
The function of people's road clearance, the present inventor team explore a kind of balance of achievable damping and posture adjustment state function by research
Rocker arm suspension.
The content of the invention
Present invention aims to overcome that the deficiencies in the prior art, there is provided a kind of balancing rocker arm suspension for having shock-absorbing function, can
It is simple and reliable for structure to realize the vibration that decay ground is transmitted and the function of actively adjusting the road clearance.
The purpose of the present invention is realized by following technical scheme.
A kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount,
If X is directed toward in the front of travelling box body, left and right is upwards Z-direction to for Y, it is characterised in that：
Support balancing stand is respectively configured positioned at the both sides of travelling box body；
The support balancing stand is being shaken by being formed with the configuration of the outer rocker arm and inner rocker arm interval of XZ faces parallel planar described in two
It is in the supporting leg of eight shape obliquely that a pair has been clamped between arm, and the upper end of supporting leg is fixed on a pair of of angle bisection gear shaft of Y-direction
Configuration is rotated on rocking arm, angle bisection gear is fixed on the angle bisection gear shaft inside, between outer rocker arm；
Inside, Configuration Framework shape loading plate between outer rocker arm, the loading plate have the side consistent with inside and outside rocking arm plate face
Plate, paralleled by X axis configuration electric pushrod is configured above loading plate, is rotated and connected with push rod joint style respectively at electric pushrod both ends
Connect the inner of damper, opened up in the side plate relevant position of the loading plate X to elongated slot, the termination of the push rod connector is stretched into
In the elongated slot so that the inner of damper is in elongated slot along X to moving back and forth；In the outer end of damper, rotation connection is fixed on
The upper end of the component damper connecting bracket of upward Z-direction on supporting leg；
Two guide rods are stretched out in the downward Z-direction of loading plate and are oriented to tooth block, are oriented to the rectangular tabular of tooth block and are stretched into a pair of of institute
Between stating angle bisection gear, and both sides are two rack faces being meshed with the angle bisection gear；
Inside, a fixed block is fixed between outer rocker arm, configures or opens up on fixed block and is supporting with the corresponding guide rod
Sleeve, loading plate is moved up and down along Z-direction；
The inner rocker arm rearward stretches out rod-shaped arm along X, and the rod-shaped arm end of left and right two inner rocker arms is respectively articulated with vertically
Vertical connecting rod, the lower end of left and right two vertical connecting rods is hinged and connected by the counter-jib of a Y-direction to be connect, and the middle position of counter-jib is
The hinged fixing point of one travelling box body；
The inner rocker arm central part of two support balancing stands can be around drive through pivoting support by the driving axle housing both ends of Y-direction
Dynamic axle housing rotation connection；
Two side positions set the fixing point of two travelling box bodies on the driving axle housing.
Further, the loading plate is in channel steel shape along from X to opening upwards, opened up in the two sides of channel steel X to elongated slot,
The downward fixed guide pole of Z axis and guiding tooth block on the base of channel steel.
Further, the guiding tooth block is in door shape, is rack face on the outside of two vertical bars, and middle cavity concedes lower section fixed block
Position, fixed block are fixedly connected by bolt with inside and outside rocker plate；
The guide rod and sleeve are located at balanced configuration and are oriented in door shape behind two vertical bar Y-direction of tooth block.
Further, the damper connecting bracket component is in upward triangular plate piece, and the Z-direction of component is highly 0.5-1.2
The length of the damper again.
Further, the tabular outer rocker arm is in koan shape.
Further, Athey wheel or rubber tire are configured in the lower end of the supporting leg.
Further, in the center configuration differential casing of the driving axle housing.
Beneficial effects of the present invention：
By literature search, not find be directed to the damping of balancing rocker arm suspension and adjust the road clearance it is relevant research into
Fruit.The present invention is in view of the shortcomings of the prior art and a kind of need of the mobile robot with composite moving mechanism of research
Ask, propose a kind of achievable shock-absorbing function and the balancing rocker arm suspension of attitude regulation function first.
The present invention passes through to the simple control of electric pushrod and the structure design free to slide of electric pushrod horizontal direction
The control of front and rear supporting leg angle can be realized, so as to reach the clearance distance of control suspension bottom from the ground.The control of electric pushrod
System is active, can conveniently adapt to different load conditions.
The present invention between electric pushrod connector and supporting leg by setting damper and damper and push rod connector and subtracting
The rotation connection design of device stent is shaken, so that the vibrations of suspension are passed on road surface in the traveling process that has the function that to decay.
The present invention between bridge axle shell and both sides rocking arm by being respectively provided with pivoting support, so suspension both sides device can be around
Pivoting support rotates, and suspension is adapted to more multiple road conditions, can make more flat using the mobile platform of this suspension frame structure
Steady passes through complex road condition.
The present invention, it is different according to the height of road surface both sides, manipulate the angle of control arranged on left and right sides support two supporting leg of balancing stand
Size, namely road clearance, reach the travelling box body including vehicle and mobile robot and adapt to such road conditions walking.
The present invention especially adds " a pair of of angle bisection tooth of the upper end of a pair of of supporting leg through Y-direction relative to other improvement projects
Wheel shaft is rotated and is fixed on rocking arm, and angle bisection gear is fixed on the angle bisection gear shaft inside, between outer rocker arm；Being oriented to tooth block is in
Rectangular plate-like is stretched between a pair of angle bisection gear, and both sides are two rack faces being meshed with the angle bisection gear ",
Such structure so that two supporting legs can keep angle bisection symmetrically to rotate all the time so that loading plate, electric pushrod above supporting leg begin
Eventually can one than it is shallower, stablize under conditions of operation, walking, such feature, for running stability it is more demanding " OK
Walk babinet " effect it is especially prominent.
Since two supporting legs can keep angle bisection symmetrically to rotate all the time, electric pushrod is quiet in X-axis under quasi-static situation
Only, but under ground perturbation, and the factor such as dynamic characteristics, electric pushrod can be produced in equilbrium position and slightly moved.
Structure of the present invention is relatively easy, and clear principle is applied widely, can somewhat change to be applied to after structure and much adopt
With the vehicle or mobile robot platform of balancing rocker arm suspension.
Brief description of the drawings
Fig. 1 is a kind of embodiment for the rocking arm type suspension mechanism that the present invention connects travelling box body by three-point mount, its
The axonometric drawing of middle side support balancing stand；
Fig. 2 is a kind of axis of the embodiment for the rocking arm type suspension mechanism that the present invention connects travelling box body by three-point mount
Mapping；
Fig. 3 is another operating mode of Fig. 1, wherein inside and outside rocking arm is in the axonometric drawing of disengaged position；
Fig. 4 is views of the Fig. 2 by Y-direction；
Fig. 5 is Fig. 2 by X reverse views；
Fig. 6 is views of the Fig. 3 by Y-direction, removes outer rocker arm, and the movement state diagram of associated components is presented；
Fig. 7 is the axonometric drawing of another angles of Fig. 3；
Fig. 8 is the Z-direction top view of Fig. 2.
In figure, 1 be to lock bolt, 2 be damper, 3 be damper connecting bracket, 4 be electric pushrod, 5 be push rod connector,
6 be loading plate, 7 be guide rod, 8 be oriented to tooth block, 9 be sleeve, 10 be fixed block, 11 be angle bisection gear, 12 be angle bisection
Gear shaft, 13 be outer rocker arm, 14 be supporting leg, 15 be inner rocker arm, 16 be differential casing, 17 be driving axle housing, 18 be vertical connecting rod,
19 it is counter-jib, 20 be Hooke's joint, 21 is pivoting support.
Embodiment
The structure of suspension of the present invention is further described below in conjunction with attached drawing.
A kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount,
If X is directed toward in the front of travelling box body, left and right is upwards Z-direction to for Y,
Support balancing stand is respectively configured positioned at the both sides of travelling box body；
The support balancing stand is spaced configuration by the outer rocker arm 13 and inner rocker arm 15 with XZ faces parallel planar and forms, in two institutes
It is in the supporting leg 14 of eight shape obliquely to state and clamped a pair between rocking arm, and the upper end of supporting leg 14 is fixed on a pair of of angle bisection of Y-direction
Configuration is rotated on gear shaft 12 on rocking arm, angle bisection gear 11 is fixed on the angle bisection gear shaft 12 inside, between outer rocker arm；
Inside, Configuration Framework shape loading plate 6 between outer rocker arm, the loading plate 6 have the side plate consistent with inside and outside rocking arm plate face,
The electric pushrod 4 of the top of loading plate 6 configuration paralleled by X axis, is rotatablely connected in a manner of push rod connector 5 respectively at 9 both ends of electric pushrod
The inner of damper 2, opened up in the side plate relevant position of the loading plate 6 X to elongated slot, the termination of the push rod connector 5 is stretched
Enter in the elongated slot, place restrictions on the inner of damper 2 in elongated slot along X to moving back and forth；In the outer end of damper 2, rotation connection is solid
It is scheduled on the upper end of the component damper connecting bracket 3 of upward Z-direction on supporting leg 14；Thereby it is ensured that and place restrictions on electric pushrod 4 and both ends
Push rod connector 5 can only be moved back and forth in X-direction.
Two guide rods 7 are stretched out in 6 downward Z-direction of loading plate and are oriented to tooth block 8, are oriented to 8 rectangular tabular of tooth block and are stretched into one
To between the angle bisection gear 11, and both sides are two rack faces being meshed with the angle bisection gear 11；Inside, outer rocker arm
Between fix a fixed block 10, configure or open up on fixed block 10 with the corresponding supporting sleeve 9 of the guide rod 7, make carrying
Plate 6 is moved up and down along Z-direction；Thus, it is ensured that two supporting legs, 14 or so stringent synchronization rotates.
The inner rocker arm rearward stretches out rod-shaped arm along X, and the rod-shaped arm end of left and right two inner rocker arms is respectively articulated with vertically
Vertical connecting rod 18, the lower end of left and right two vertical connecting rods is hinged and connected by the counter-jib 19 of a Y-direction to be connect, the central position of counter-jib
It is set to the hinged fixing point of a travelling box body；Two inner rocker arm central parts for supporting balancing stand are by the driving axle housing of Y-direction
17 both ends can be rotatablely connected through pivoting support 21 around driving axle housing 17；Two side positions set two walkings on the driving axle housing
The fixing point of babinet, a three-point mount point structure is provided together with aforementioned hinge fixing point for travelling box body.
The loading plate 6 in channel steel shape along from X to opening upwards, opened up in the two sides of channel steel X to elongated slot, in channel steel
Base on, the downward fixed guide pole 7 of Z axis and be oriented to tooth block 8.Channel steel shape directly uses channel steel, is a kind of convenient material drawing, adds
Work makes easy section bar.
The guiding tooth block 8 is in door shape, is rack face on the outside of two vertical bars, and middle cavity concedes lower section fixed block 10
Put, fixed block 10 is fixedly connected by bolt with inside and outside rocker plate；Such structure, had both met the engagement of both sides rack and pinion
It is required that and centre position is set to be fixedly connected integrally with inside and outside rocker plate by bolt for fixed block 10.
The guide rod 7 and sleeve 9 are located at balanced configuration and are oriented in door shape behind tooth 8 liang of vertical bar Y-directions of block.Thus reach
It is compact-sized, the technical solution of reliable transmission.
3 component of damper connecting bracket is in upward triangular plate piece, and the Z-direction of component is highly for described in 0.5-1.2 times
The length of damper 2.The damper connecting bracket 3, the fixed position of damper 2 and damper connecting bracket 3 on supporting leg
The triangular relationship of formation therefore need to add and examine to control, whether promote the interference of supporting leg walking, action and the domain of walk, size
Consider.Preferable effect can be obtained in the range of this programme proposition.
The tabular outer rocker arm 13 is in koan shape.It is so shaped so that mechanism is compact, beautiful.
Athey wheel or rubber tire are configured in the lower end of the supporting leg 14.Elect configuration as needed, realizes the object of the invention.
In the center configuration differential casing 16 of the driving axle housing 17.A kind of overall configuration mode is provided.
A kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount, as shown in Fig. 2, suspension or so use pair
Claim structure, the both sides of symmetric design are connected by middle driving axle housing 17, differential casing 16 and revolving support 21.
Suspension both sides are respectively provided with inner rocker arm 15 and outer rocker arm 13, and connecting flange is set between inner rocker arm 15 and outer rocker arm 13.
Connecting flange one end is connected by screw with inner rocker arm 15, pivoting support 21, and the other end is connected by screw with outer rocker arm 13.This
Sample can ensure that the relative position of interior outer rocker arm rotates together within the specific limits
Suspension sets horizontal horizontal electric pushrod 4, and 4 both ends of electric pushrod, i.e. bottom and top all pass through push rod connector 5
Be rotatablely connected with damper 2, the other end of damper 2 with damper connecting bracket 3 by being rotatablely connected to lock bolt 1, damping
Device connecting bracket 3 welds together with supporting leg 14 again.
The electric pushrod 4 and the push rod connector 5 of 2 junction of damper are set to locking bolt 1, corresponding interior outer swing arm
Elongated slot is slided in design, to be slid back and forth to lock bolt 1 along elongated slot.
Engineering plastic bearing is cased with described pair of lock bolt 1, to be slid back and forth to lock bolt 1 along elongated slot, is subtracted
The friction loss of few energy and the surface abrasion of sliding groove.
Suspension inner rocker arm 15 is connected with vertical connecting rod 18 by Hooke's joint 20, and the vertical connecting rod other end is further through cross axle
Universal joint 18 is connected with counter-jib 19.
The adjusting road clearance principle of suspension of the present invention, as shown in fig. 6, adjusting road clearance function has the following two kinds movement
Mode situation：
Pattern one, the push rod elongation of control electric pushrod 4, the head and bottom of electric pushrod are moved laterally, therewith
Two of connection slide in and out lock bolt 1, promote two supporting legs 14 to rotate down, the angle between two supporting legs 14 subtracts
It is small so that the road clearance increase of suspension, when suspension both sides control at the same time, has so just reached and actively increased liftoff of suspension
The function of gap.
Pattern two, the push rod of control electric pushrod 4 shorten, and the head and bottom of electric pushrod move inward, therewith
Two of connection promote two supporting legs 14 to be rotated up, the angle between two supporting legs 14 increases to locking 1 equal slid inward of bolt
Greatly so that the road clearance of suspension reduces, and when suspension both sides control at the same time, has so just reached and has actively reduced liftoff of suspension
The function of gap.
The principle of suspension shock-absorbing function of the present invention, as shown in Figure 6.When ground is transmitted to one vertical tremor of supporting leg, supporting leg 14
The reciprocating motion of two rotary holes rotation around 13 lower end of outer rocker arm can be passively produced, while is also transmitted to and 3 turns of shock absorber support
The damper 2 of dynamic connection, causes reciprocating motion of the damper 2 along Fig. 6 directions of arrow, and damper 2 plays a role i.e. damping vibrations,
Suspension of the present invention has reached shock-absorbing function.
The present invention can install Hall angular transducer in the outer end of angle bisection organization gear axis, realize the control of supporting leg angle
Real-time Feedback is adjusted, more convenient, accurately adapt to different road conditions.
Claims (7)
1. a kind of rocking arm type suspension mechanism that travelling box body is connected by three-point mount,
If X is directed toward in the front of travelling box body, left and right is upwards Z-direction to for Y, it is characterised in that：
Support balancing stand is respectively configured positioned at the both sides of travelling box body；
The support balancing stand with the configuration of the outer rocker arm (13) and inner rocker arm (15) of XZ faces parallel planar interval by forming, in two institutes
It is in the supporting leg (14) of eight shape obliquely to state and clamped a pair between rocking arm, and the upper end of supporting leg (14) is fixed on the pair of horns of Y-direction
Divide equally on gear shaft (12) and rotate configuration on rocking arm, fixed angles are put down on the angle bisection gear shaft (12) inside, between outer rocker arm
Split gear (11)；
Inside, Configuration Framework shape loading plate (6) between outer rocker arm, the loading plate (6) have consistent with inside and outside rocking arm plate face
Side plate, the electric pushrod (4) of configuration paralleled by X axis above loading plate (6), at electric pushrod (4) both ends respectively with push rod connector
(5) mode is rotatablely connected the inner of damper (2), opened up in the side plate relevant position of the loading plate (6) X to elongated slot, institute
The termination for stating push rod connector (5) is stretched into the elongated slot, places restrictions on the inner of damper (2) in elongated slot along X to moving back and forth；
The outer end rotation connection of damper (2) is fixed on the upper end of the component damper connecting bracket (3) of upward Z-direction on supporting leg (14)；
In loading plate (6), Z-direction stretches out two guide rods (7) and is oriented to tooth block (8) downwards, is oriented to tooth block (8) rectangular tabular and stretches
Between entering a pair of angle bisection gear (11), and both sides are two rack faces being meshed with the angle bisection gear (11)；
Inside, a fixed block (10) is fixed between outer rocker arm, configures or opens up on fixed block (10) and the corresponding guide rod
(7) supporting sleeve (9), make loading plate (6) be moved up and down along Z-direction；
The inner rocker arm (15) rearward stretches out rod-shaped arm along X, and the rod-shaped arm end of left and right two inner rocker arms is respectively articulated with vertically
Vertical connecting rod (18), the lower end of left and right two vertical connecting rods is hinged and connected by the counter-jib (19) of a Y-direction to be connect, in counter-jib
Entreat the hinged fixing point that position is a travelling box body；
Inner rocker arm (15) central part of two support balancing stands is by driving axle housing (17) both ends of Y-direction through pivoting support
(21) can be rotatablely connected around driving axle housing；
Two side positions set the fixing point of two travelling box bodies on the driving axle housing.
2. rocking arm type suspension mechanism according to claim 1, it is characterised in that the loading plate (6) is in along X to opening upwards
Channel steel shape, opened up in the two sides of channel steel X to elongated slot, on the base of channel steel, the downward fixed guide pole of Z axis (7) and lead
To tooth block (8).
3. rocking arm type suspension mechanism according to claim 1, it is characterised in that the guiding tooth block (8) is in door shape, and two is perpendicular
It is rack face on the outside of bar, middle cavity concedes lower section fixed block (10) position, and fixed block (10) passes through bolt and inside and outside rocker plate
It is fixedly connected；
The guide rod (7) and sleeve (9) are located at balanced configuration and are oriented in door shape behind (8) two vertical bar Y-direction of tooth block.
4. rocking arm type suspension mechanism according to claim 1, it is characterised in that damper connecting bracket (3) component be in
Upper triangular plate piece, the Z-direction of component is highly the length of 0.5-1.2 times of dampers (2).
5. rocking arm type suspension mechanism according to claim 1, it is characterised in that the tabular outer rocker arm (13) is in koan shape.
6. rocking arm type suspension mechanism according to claim 1, it is characterised in that configure crawler belt in the lower end of the supporting leg (14)
Wheel or rubber tire.
7. rocking arm type suspension mechanism according to claim 1, it is characterised in that in the center configuration differential of the driving axle housing
Device housing (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249876.XA CN107953938B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism fixedly connected with walking box body through three points |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711249876.XA CN107953938B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism fixedly connected with walking box body through three points |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107953938A true CN107953938A (en) | 2018-04-24 |
| CN107953938B CN107953938B (en) | 2020-05-29 |
Family
ID=61962814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711249876.XA Active CN107953938B (en) | 2017-12-01 | 2017-12-01 | Rocker arm type suspension mechanism fixedly connected with walking box body through three points |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953938B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621731A (en) * | 2018-06-08 | 2018-10-09 | 北京汽车股份有限公司 | Suspension assembly and vehicle with it |
| CN109017183A (en) * | 2018-09-18 | 2018-12-18 | 天津职业技术师范大学 | A kind of multistage for all-terrain vehicle is adjustable suspension |
| CN110329031A (en) * | 2019-06-06 | 2019-10-15 | 中国北方车辆研究所 | A kind of rocker arm suspension that achievable big angle rotary is adjusted |
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| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN106218339A (en) * | 2016-08-03 | 2016-12-14 | 山东建筑大学 | Damping and stabilizing mechanism for omni-directional moving platform |
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| KR20070093685A (en) * | 2006-03-15 | 2007-09-19 | 대우조선해양 주식회사 | Robot for high place works |
| CN102390462A (en) * | 2011-09-17 | 2012-03-28 | 广州大学 | Robot traveling device with liftable frame |
| CN105109568A (en) * | 2015-08-31 | 2015-12-02 | 中国矿业大学 | Transformable-crawler suspension bracket and robot moving platform with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108621731A (en) * | 2018-06-08 | 2018-10-09 | 北京汽车股份有限公司 | Suspension assembly and vehicle with it |
| CN109017183A (en) * | 2018-09-18 | 2018-12-18 | 天津职业技术师范大学 | A kind of multistage for all-terrain vehicle is adjustable suspension |
| CN110329031A (en) * | 2019-06-06 | 2019-10-15 | 中国北方车辆研究所 | A kind of rocker arm suspension that achievable big angle rotary is adjusted |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107953938B (en) | 2020-05-29 |
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