CN107953938B - Rocker arm type suspension mechanism fixedly connected with walking box body through three points - Google Patents
Rocker arm type suspension mechanism fixedly connected with walking box body through three points Download PDFInfo
- Publication number
- CN107953938B CN107953938B CN201711249876.XA CN201711249876A CN107953938B CN 107953938 B CN107953938 B CN 107953938B CN 201711249876 A CN201711249876 A CN 201711249876A CN 107953938 B CN107953938 B CN 107953938B
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- shock absorber
- bearing plate
- push rod
- fixed
- 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.)
- Active
Links
Images
Classifications
-
- 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 invention relates to a suspension structure of a robot moving platform, in particular to a rocker arm type suspension mechanism which is fixedly connected with a walking box body through three points.A supporting balance frame is formed by arranging an inner rocker arm and an outer rocker arm at intervals, clamps a pair of supporting legs (14), and is fixed on an angle bisection gear shaft (12) with an angle bisection gear (11) at the upper end; a bearing plate (6) is arranged, two ends of an electric push rod (4) are rotatably connected with the inner end of the shock absorber (2), a side plate of the bearing plate is provided with a long groove, the end of a push rod joint (5) extends into the long groove, and the outer end of the shock absorber (2) is rotatably connected with the upper end of a shock absorber connecting support (3); the bearing plate (6) extends downwards to form two guide rods (7) and a guide tooth block (8), and two sides of the guide tooth block (8) are two rack surfaces meshed with the angular bisector gear (11); the fixed block (10) is provided with a sleeve (9), and the bearing plate (6) moves up and down; the center of the balance arm (19) is a hinged point of a walking box body, and two sides of the driving axle housing are provided with two fixed points. The extension and the shortening of the push rod of the electric push rod (4) are controlled, and the function of actively increasing or reducing the ground clearance of the suspension is achieved.
Description
Technical Field
The invention relates to the field of vehicle and mobile robot suspensions, in particular to a specific structure of a rocker arm suspension capable of realizing shock absorption and posture adjustment functions and a ground clearance adjusting mechanism.
Background
The invention is provided according to the actual requirement when researching a mobile robot with a composite moving mechanism. The robot has a balance rocker suspension and a walking composite walking device, and has strong complex environment posture regulation and control capability and terrain adaptability. The walking system adopts a configuration scheme of a balance rocker chassis and four joint track swing arms, and has stronger obstacle crossing capability through the coordination control of the four joint track swing arms. The suspension of the mobile robot is required to have a certain damping function, and meanwhile, the four swing arms can freely adjust the postures.
Through the search of documents in the prior art, the following results are found:
chinese utility model patent No.: 201520666955.0, name: deformation track suspension and have its robot moving platform. The utility model relates to a suspension structure complicated comprises middle link, deformation track unit, deformation drive assembly etc. and the motion through the connecting rod drives the athey wheel and rotates, adjusts the ground clearance simultaneously. However, the technical structure is complex, and the damping device cannot be used on a chassis of a balance rocker arm structure, and has no good damping effect.
In order to solve the shock absorption function of the balance rocker arm mobile robot and the function of adjusting the postures of the four swing arms so as to adjust the ground clearance of the robot, the inventor team explores a balance rocker arm suspension capable of achieving the shock absorption and posture adjustment functions through research.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the balance rocker arm suspension with the damping function, which can realize the functions of damping the vibration transmitted from the ground and actively adjusting the ground clearance and has simple and reliable structure.
The purpose of the invention is realized by the following technical scheme.
A rocker arm type suspension mechanism which is fixedly connected with a walking box body through three points,
establish the directional X in place ahead of walking box, the left and right sides is Y, upwards is Z to its characterized in that:
supporting balance frames are respectively arranged at the two sides of the walking box body;
the supporting balancing frame is formed by arranging an outer rocker arm and an inner rocker arm which are parallel to an XZ plane at intervals, a pair of splayed and downward support legs are clamped between the two rocker arms, the upper ends of the support legs are fixed on a pair of angle bisection gear shafts which can rotate around the Y direction and are arranged on the rocker arms in a rotating mode, and angle bisection gears are fixed on the angle bisection gear shafts between the inner rocker arm and the outer rocker arm;
the pair of angle bisection gear shafts can rotate inwards simultaneously along with the angle bisection gears (11) in opposite directions, or rotate outwards in opposite directions simultaneously;
a frame-shaped bearing plate is arranged between the inner rocker arm and the outer rocker arm, the bearing plate is provided with a side plate which is consistent with the surfaces of the inner rocker arm and the outer rocker arm, an electric push rod which is parallel to an X axis is arranged above the bearing plate, two ends of the electric push rod are respectively connected with the inner end of the shock absorber in a rotating manner in a push rod joint mode, an X-direction long groove is formed in the corresponding position of the side plate of the bearing plate, and the end head of the push rod joint extends into the long groove, so that the inner end of the shock absorber moves back; the outer end of the shock absorber is rotatably connected and fixed at the upper end of a component shock absorber connecting bracket above the supporting leg Z;
two guide rods and a guide tooth block extend downwards from the bearing plate in the Z direction, the guide tooth block extends into a space between the pair of angle bisection gears in a rectangular plate shape, and two rack surfaces meshed with the angle bisection gears are arranged on two sides of the guide tooth block;
a fixed block is fixed between the inner rocker arm and the outer rocker arm, and sleeves matched with the corresponding guide rods are arranged or arranged on the fixed block, so that the bearing plate moves up and down along the Z direction;
the inner rocker arm extends out of the rod-shaped arm backwards along the X direction, the rod-shaped arm end parts of the left inner rocker arm and the right inner rocker arm are respectively hinged with a vertical pull rod, the lower ends of the left vertical pull rod and the right vertical pull rod are hinged and connected through a Y-direction balance arm, and the center position of the balance arm is a hinged fixed point of a walking box body;
the central parts of the inner rocker arms of the two supporting balance frames can be rotatably connected around the drive axle housing through slewing bearings from two ends of the drive axle housing in the Y direction;
and two fixed points of the two walking box bodies are arranged at the two sides of the driving axle housing.
Furthermore, the bearing plate is in a channel steel shape with an upward opening along the X direction, X-direction long grooves are formed in two side edges of the channel steel, and a guide rod and a guide tooth block are fixed on the bottom edge of the channel steel in the Z-axis direction.
Furthermore, the guide tooth block is in a door shape, the outer sides of the two vertical bars are tooth bar surfaces, the middle cavity gives way to the position of the lower fixing block, and the fixing block is fixedly connected with the inner rocker arm plate and the outer rocker arm plate through bolts;
the guide rod and the sleeve are positioned behind two vertical bars Y of the door-shaped guide tooth block symmetrically.
Furthermore, the shock absorber connecting bracket component is an upward triangular plate, and the Z-direction height of the component is 0.5-1.2 times of the length of the shock absorber.
Further, the plate-shaped outer rocker arm is in a shape of a heart mark.
Further, a crawler wheel or a rubber wheel is arranged at the lower end of the supporting leg.
Further, a differential case is disposed in the center of the transaxle case.
The invention has the beneficial effects that:
through literature search, research results related to damping of the balance rocker arm suspension and adjustment of ground clearance are not found. Aiming at the defects in the prior art and the requirement of researching a mobile robot with a composite moving mechanism, the invention provides a balance rocker arm suspension capable of realizing a damping function and an attitude adjusting function for the first time.
The invention can realize the control of the included angle of the front and the rear supporting legs by simply controlling the electric push rod and designing the free sliding structure of the electric push rod in the horizontal direction, thereby achieving the purpose of controlling the gap distance between the bottom of the suspension and the ground. The electric push rod is actively controlled, and can be conveniently adapted to different road conditions.
The shock absorber is arranged between the electric push rod joint and the supporting leg, and the shock absorber is connected with the push rod joint and the shock absorber support in a rotating mode, so that the effect of damping the shock transmitted to the suspension from the road surface in the advancing process is achieved.
According to the invention, the slewing bearings are arranged between the axle housing and the rocker arms at the two sides, so that the devices at the two sides of the suspension can rotate around the slewing bearings, the suspension can adapt to more road conditions, and a mobile platform adopting the suspension structure can more stably pass through complicated road conditions.
According to the invention, the included angle between the two support legs of the left and right support balancing frames, namely the ground clearance, is controlled according to the height difference of the two sides of the road surface, so that the walking box body comprising the vehicle and the mobile robot can adapt to the walking on the road condition.
Compared with other improved schemes, the invention particularly adds that the upper ends of a pair of supporting legs are fixed on the rocker arm through a pair of angular bisector gear shafts in the Y direction in a rotating way, and the angular bisector gear is fixed on the angular bisector gear shaft between the inner rocker arm and the outer rocker arm; the guide tooth block is in a rectangular plate shape and extends into a space between the angle bisection gears, and two sides of the guide tooth block are two rack surfaces meshed with the angle bisection gears.
Because the two supporting legs can always keep angular bisection symmetrical rotation, the electric push rod is static on the X axis under the quasi-static condition, but the electric push rod can slightly move at the balance position under the factors of ground disturbance, dynamic characteristics and the like.
The invention has the advantages of relatively simple structure, clear principle and wide application range, and can be applied to a plurality of vehicles or mobile robot platforms adopting balance rocker arm suspensions after slightly changing the structure.
Drawings
FIG. 1 is an isometric view of a rocker arm suspension mechanism of the present invention with a walking housing connected fixedly by three points, with one side supporting a gimbal;
FIG. 2 is an isometric view of one embodiment of a rocker arm suspension mechanism of the present invention having a travel housing fixedly attached at three points;
FIG. 3 is an isometric view of the alternate operating condition of FIG. 1 with the inner and outer rocker arms disengaged;
FIG. 4 is a view from the Y direction of FIG. 2;
FIG. 5 is a view from the opposite side of FIG. 2 from the view shown at X;
FIG. 6 is a view taken from the Y-direction of FIG. 3, with the outer rocker arm removed, showing the action of the relevant components;
FIG. 7 is an isometric view from another angle of FIG. 3;
fig. 8 is a Z-direction plan view of fig. 2.
In the figure, 1 is a locking bolt, 2 is a shock absorber, 3 is a shock absorber connecting bracket, 4 is an electric push rod, 5 is a push rod joint, 6 is a bearing plate, 7 is a guide rod, 8 is a guide tooth block, 9 is a sleeve, 10 is a fixed block, 11 is an angle bisection gear, 12 is an angle bisection gear shaft, 13 is an outer rocker arm, 14 is a supporting leg, 15 is an inner rocker arm, 16 is a differential housing, 17 is a drive axle housing, 18 is a vertical pull rod, 19 is a balance arm, 20 is a cross shaft universal joint, and 21 is a slewing bearing.
Detailed Description
The structure of the suspension of the present invention will be described in further detail below with reference to the accompanying drawings.
A rocker arm type suspension mechanism which is fixedly connected with a walking box body through three points,
the front direction of the walking box body is set to be X, the left direction and the right direction are Y, the upward direction is Z direction,
supporting balance frames are respectively arranged at the two sides of the walking box body;
the supporting balancing stand is formed by arranging an outer rocker arm 13 and an inner rocker arm 15 which are parallel to an XZ plane at intervals, a pair of splayed and downward supporting legs 14 are clamped between the two rocker arms, the upper ends of the supporting legs 14 are fixed on a pair of angular bisector gear shafts 12 in the Y direction and are rotationally arranged on the rocker arms, and the angular bisector gear 11 is fixed on the angular bisector gear shaft 12 between the inner rocker arm and the outer rocker arm; a frame-shaped bearing plate 6 is arranged between the inner rocker arm and the outer rocker arm, the bearing plate 6 is provided with a side plate which is consistent with the surfaces of the inner rocker arm and the outer rocker arm, an electric push rod 4 which is parallel to an X axis is arranged above the bearing plate 6, two ends of the electric push rod 9 are respectively connected with the inner end of the shock absorber 2 in a rotating mode in a push rod joint 5, an X-direction long groove is arranged at the corresponding position of the side plate of the bearing plate 6, the end head of the push rod joint 5 extends into the long groove, and the inner end of the shock absorber 2 is limited to move back and; the outer end of the shock absorber 2 is rotatably connected with the upper end of a component shock absorber connecting bracket 3 which is fixed on the supporting leg 14 in the upward Z direction; therefore, the electric push rod 4 and the push rod joints 5 at two ends can be ensured and limited to reciprocate in the X direction.
Two guide rods 7 and two guide tooth blocks 8 extend downwards from the bearing plate 6 in the Z direction, the guide tooth blocks 8 are rectangular plate-shaped and extend into the space between the pair of angle bisection gears 11, and two sides of each guide tooth block are two rack surfaces meshed with the angle bisection gears 11; a fixed block 10 is fixed between the inner rocker arm and the outer rocker arm, and a sleeve 9 matched with the corresponding guide rod 7 is configured or arranged on the fixed block 10, so that the bearing plate 6 moves up and down along the Z direction; this ensures that the legs 14 rotate in strict right and left synchronism.
The inner rocker arms extend out of the rod-shaped arms backwards along the X direction, the rod-shaped arm end parts of the left inner rocker arm and the right inner rocker arm are respectively hinged with vertical pull rods 18, the lower ends of the left vertical pull rod and the right vertical pull rod are hinged and connected through a Y-direction balance arm 19, and the center position of the balance arm is a hinged fixed point of a walking box body; the central parts of the inner rocker arms of the two supporting balance frames can be rotatably connected around the drive axle housing 17 through slewing bearings 21 from two ends of the drive axle housing 17 in the Y direction; the two sides of the driving axle housing are provided with two fixed points of the traveling box body, and the two fixed points and the hinged fixed points provide a three-point fixed point structure for the traveling box body.
The bearing plate 6 is in a channel steel shape with an upward opening along the X direction, the two sides of the channel steel are provided with X-direction long grooves, and a guide rod 7 and a guide tooth block 8 are fixed downwards along the Z axis on the bottom edge of the channel steel. The channel steel is in a channel steel shape or directly adopts channel steel, and is a section bar which is convenient to obtain materials and easy to process and manufacture.
The guide tooth block 8 is in a door shape, the outer sides of the two vertical bars are tooth bar surfaces, the middle cavity is set aside from the position of the lower fixed block 10, and the fixed block 10 is fixedly connected with the inner rocker arm plate and the outer rocker arm plate through bolts; with the structure, the meshing requirement of the racks and the gears on the two sides is met, and the middle position can be used for fixedly connecting the fixed block 10 with the inner rocker arm plate and the outer rocker arm plate into a whole through bolts.
The guide rod 7 and the sleeve 9 are positioned behind two vertical bars Y symmetrically arranged on the door-shaped guide tooth block 8. Therefore, the technical scheme of compact structure and reliable transmission is achieved.
The shock absorber connecting bracket 3 is an upward triangular plate, and the Z-direction height of the member is 0.5-1.2 times of the length of the shock absorber 2. The triangle formed by the shock absorber connecting bracket 3, the shock absorber 2 and the fixed position of the shock absorber connecting bracket 3 on the supporting leg is related to whether the supporting leg is controlled and pushed to walk or not, and whether the action is interfered or not, and the walking range and the size of the supporting leg are considered. Better effect can be obtained within the range provided by the scheme.
The plate-shaped outer rocker arm 13 is in the shape of a heart. The structure is compact and beautiful.
A crawler wheel or a rubber wheel is disposed at the lower end of the leg 14. The configuration is selected according to the requirement, and the aim of the invention is achieved.
A differential case 16 is disposed in the center of the transaxle case 17. An overall arrangement is provided.
A rocker arm type suspension mechanism fixedly connected with a walking box body through three points is characterized in that the left side and the right side of a suspension are in a symmetrical structure, and the two sides of the symmetrical structure are connected through a drive axle housing 17, a differential housing 16 and a rotary support 21 in the middle.
An inner rocker arm 15 and an outer rocker arm 13 are arranged on two sides of the suspension, and a connecting flange is arranged between the inner rocker arm 15 and the outer rocker arm 13. One end of the connecting flange is connected with the inner rocker arm 15 and the slewing bearing 21 through screws, and the other end of the connecting flange is connected with the outer rocker arm 13 through screws. Thus, the relative positions of the inner rocker arm and the outer rocker arm can be ensured to rotate together within a certain range
The suspension sets up horizontal electric putter 4, and electric putter 4 both ends, bottom and top all are connected with 2 rotations of bumper shock absorber through push rod joint 5 promptly, and the other end and the bumper shock absorber linking bridge 3 of bumper shock absorber 2 are connected through rotating locking bolt 1, and bumper shock absorber linking bridge 3 welds with landing leg 14 again together.
The locking bolt 1 is arranged on a push rod joint 5 at the joint of the electric push rod 4 and the shock absorber 2, and sliding elongated slots are designed on the corresponding inner swing arm and the outer swing arm so that the locking bolt 1 can slide back and forth along the elongated slots.
The locking bolt 1 is sleeved with an engineering plastic bearing so that the locking bolt 1 can slide back and forth along the long groove, and friction loss of energy and surface abrasion of the sliding groove are reduced.
The inner rocker arm 15 of the suspension is connected with a vertical pull rod 18 through a universal joint 20, and the other end of the vertical pull rod is connected with a balance arm 19 through the universal joint 18.
According to the principle of adjusting the ground clearance of the suspension disclosed by the invention, as shown in fig. 6, the function of adjusting the ground clearance has the following two motion mode conditions:
mode one, the extension of the push rod of control electric putter 4, electric putter's head and bottom all move to the outside, and two of being connected with it are all outwards slided to lockbolt 1, promote two landing legs 14 and all rotate downwards, and the contained angle between two landing legs 14 reduces for the ground clearance increase of suspension, when suspension both sides simultaneous control, just so reached the function of initiative increase suspension ground clearance.
Mode two, the push rod of control electric putter 4 shortens, and electric putter's head and bottom all move to the inboard, and two of being connected with it all slide inwards to lockbolt 1, promote two landing legs 14 and all upwards rotate, and the contained angle between two landing legs 14 increases for the ground clearance of suspension reduces, when the suspension both sides simultaneous control, has just so reached the function that initiatively reduces suspension ground clearance.
The principle of the suspension damping function of the present invention is shown in fig. 6. When the ground transmits an up-and-down vibration to the supporting leg, the supporting leg 14 can passively generate reciprocating motion rotating around two rotary holes at the lower end of the outer rocker arm 13 and also transmits the reciprocating motion to the shock absorber 2 rotatably connected with the shock absorber support 3, so that the shock absorber 2 reciprocates along the arrow direction in the figure 6, the shock absorber 2 plays a role, namely attenuates the vibration, and the suspension disclosed by the invention achieves a shock absorption function.
According to the invention, the Hall angle sensor can be arranged at the outer end of the gear shaft of the angular bisector mechanism, so that the real-time feedback adjustment of the leg included angle control is realized, and the leg angle control device is more convenient and more accurate to adapt to different road conditions.
Claims (7)
1. A rocker arm type suspension mechanism which is fixedly connected with a walking box body through three points,
establish the directional X in place ahead of walking box, the left and right sides is Y, upwards is Z to its characterized in that:
supporting balance frames are respectively arranged at the two sides of the walking box body;
the supporting balancing stand is formed by an outer rocker arm (13) and an inner rocker arm (15) which are parallel to an XZ plane and are in a plate shape at intervals, a pair of splayed and downward support legs (14) are clamped between the two rocker arms, the upper ends of the support legs (14) are fixed on a pair of angular bisector gear shafts (12) in the Y direction and are rotationally arranged on the rocker arms, and an angular bisector gear (11) is fixed on the angular bisector gear shaft (12) between the inner rocker arm and the outer rocker arm;
a frame-shaped bearing plate (6) is arranged between the inner rocker arm and the outer rocker arm, the bearing plate (6) is provided with a side plate which is consistent with the surfaces of the inner rocker arm and the outer rocker arm, an electric push rod (4) which is parallel to an X axis is arranged above the bearing plate (6), the two ends of the electric push rod (4) are respectively connected with the inner end of the shock absorber (2) in a rotating mode in a push rod joint (5), an X-direction long groove is formed in the corresponding position of the side plate of the bearing plate (6), the end head of the push rod joint (5) extends into the long groove, and the inner end of the shock absorber (2) is limited to move back and; the outer end of the shock absorber (2) is rotatably connected and fixed on the upper end of the component shock absorber connecting bracket (3) which is arranged on the supporting leg (14) and faces upwards in the Z direction;
two guide rods (7) and two guide tooth blocks (8) extend downwards from the bearing plate (6) in the Z direction, the guide tooth blocks (8) are rectangular plate-shaped and extend into the space between the pair of angle bisection gears (11), and two sides of each guide tooth block are two rack surfaces meshed with the angle bisection gears (11);
a fixed block (10) is fixed between the inner rocker arm and the outer rocker arm, and a sleeve (9) matched with the corresponding guide rod (7) is configured or arranged on the fixed block (10) to enable the bearing plate (6) to move up and down along the Z direction;
the inner rocker arm (15) extends out of the rod-shaped arm backwards along the X direction, the end parts of the rod-shaped arms of the left inner rocker arm and the right inner rocker arm are respectively hinged with a vertical pull rod (18), the lower ends of the left vertical pull rod and the right vertical pull rod are hinged and connected through a Y-direction balance arm (19), and the center position of the balance arm is a hinged fixing point of a walking box body;
the central parts of the inner rocker arms (15) of the two supporting balance frames are rotatably connected around the drive axle housing (17) through slewing bearings (21) from two ends of the drive axle housing in the Y direction;
and two fixed points of the two walking box bodies are arranged at the two sides of the driving axle housing.
2. The rocker arm type suspension mechanism of claim 1, wherein the bearing plate (6) is in the shape of a channel steel with an upward opening along the X direction, two sides of the channel steel are provided with X-direction long grooves, and a guide rod (7) and a guide tooth block (8) are fixed downwards along the Z-axis direction on the bottom edge of the channel steel.
3. The rocker arm type suspension mechanism according to claim 1, wherein the guide gear block (8) is in a door shape, the outer sides of the two vertical bars are gear surfaces, the middle cavity gives way to the position of the lower fixed block (10), and the fixed block (10) is fixedly connected with the inner rocker arm plate and the outer rocker arm plate through bolts;
the guide rod (7) and the sleeve (9) are positioned behind two vertical bars Y symmetrically arranged on the door-shaped guide tooth block (8).
4. The rocker arm suspension mechanism according to claim 1, wherein the shock absorber attachment bracket (3) member is an upwardly triangular plate having a Z-direction height of 0.5 to 1.2 times the length of the shock absorber (2).
5. The rocker arm suspension mechanism according to claim 1, wherein the outer rocker arm (13) is in the form of a cardiac imprint.
6. The rocker arm suspension mechanism according to claim 1, wherein a track wheel or a rubber wheel is provided at the lower end of the leg (14).
7. The rocker arm suspension mechanism of claim 1, wherein a differential housing (16) is disposed centrally of the transaxle case.
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 CN107953938A (en) | 2018-04-24 |
| CN107953938B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621731B (en) * | 2018-06-08 | 2021-07-16 | 北京汽车股份有限公司 | Suspension assembly and vehicle with same |
| 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 |
| CN110329031B (en) * | 2019-06-06 | 2022-03-04 | 中国北方车辆研究所 | Rocker arm suspension capable of realizing large-angle rotation adjustment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100776062B1 (en) * | 2006-03-15 | 2007-11-15 | 대우조선해양 주식회사 | Robot for high place works |
| CN102390462B (en) * | 2011-09-17 | 2013-03-13 | 广州大学 | Robot traveling device with liftable frame |
| CN105109568B (en) * | 2015-08-31 | 2017-12-26 | 中国矿业大学 | Deformed caterpillar suspension and there is its robot moving platform |
| CN105479433B (en) * | 2016-01-04 | 2017-06-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile transfer robot |
| CN106218339B (en) * | 2016-08-03 | 2018-05-25 | 山东建筑大学 | Damping and stabilizing mechanism for omni-directional moving platform |
-
2017
- 2017-12-01 CN CN201711249876.XA patent/CN107953938B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107953938A (en) | 2018-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109501880B (en) | Single-wheel biped walking robot | |
| CN107953938B (en) | Rocker arm type suspension mechanism fixedly connected with walking box body through three points | |
| CN207328036U (en) | The suspended rack assembly and chassis vehicle of chassis vehicle | |
| CN106476550A (en) | A kind of wheeled robot chassis | |
| CN104890759A (en) | Four-footed robot | |
| CN103241303A (en) | Wheel leg type mobile robot with flexible trunk | |
| CN206327100U (en) | A kind of wheeled robot chassis | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN109606501B (en) | Quadruped robot based on four-bar mechanism | |
| CN108673469B (en) | Caterpillar band deformable robot moving platform for dangerous disaster site environment | |
| CN109641628A (en) | Chassis vehicle | |
| CN112319170B (en) | Independent suspension device capable of keeping specific wheel track | |
| CN108773426A (en) | Single power source carries the bionical quadruped robot of elastic leg | |
| CN103144694A (en) | Pivot-steering mechanism of quadruped bio-robot | |
| CN102700634B (en) | Small track robot based on connecting rod mechanism | |
| CN106167059A (en) | Use the running part of rackwork deformation and there is its firefighting movable platform | |
| CN103879467A (en) | Passive self-adaption crawler belt deformable rocking bar differential motion mobile robot platform | |
| CN206954343U (en) | It is a kind of to balance telescoping mechanism and include its balance car | |
| CN110154012B (en) | Four-footed bionic robot and control method thereof | |
| CN111790551A (en) | Wall-climbing paint spraying robot | |
| CN107902007B (en) | Rocker arm type suspension mechanism of high-stability walking box body | |
| CN106976496B (en) | Balanced telescopic machanism and contain its balance car | |
| CN103963871A (en) | Five-wheel survey vehicle with automatic leveling platform | |
| CN102114879A (en) | Biped walking four-bar mechanism | |
| Kim et al. | Development of a two-wheeled mobile tilting & balancing (MTB) robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |