CN110562352B - Four-wheel differential sliding steering power balancing device for independent suspension mobile robot - Google Patents
Four-wheel differential sliding steering power balancing device for independent suspension mobile robot Download PDFInfo
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- CN110562352B CN110562352B CN201910902700.2A CN201910902700A CN110562352B CN 110562352 B CN110562352 B CN 110562352B CN 201910902700 A CN201910902700 A CN 201910902700A CN 110562352 B CN110562352 B CN 110562352B
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- stabilizer
- mobile robot
- mechanism assembly
- independent suspension
- wheel bridge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a four-wheel differential sliding steering power balance device for an independent suspension mobile robot, which comprises a chassis wheel bridge and driving system modules symmetrically distributed on two sides of the chassis wheel bridge and in sliding connection with the chassis wheel bridge, wherein an independent suspension module is connected between the chassis wheel bridge and the driving system modules, and power balance distribution modules connected with the chassis wheel bridge are arranged between the symmetrically distributed driving system modules. The power balance distribution modules are arranged between symmetrically distributed driving system modules, and the stabilizer bars in the power balance distribution modules enable the driving wheels on two coaxial sides to keep the same horizontal height in time, so that the difference of friction force between the two driving wheels and the ground is reduced, the phenomenon of unbalanced output or overload of motors on two sides is prevented, and the movement performance of the robot is further influenced; the steering car body of the mobile robot is prevented from rolling, the chassis strength, the vibration reduction effect and the steering stability of the mobile robot are improved, and the loading capacity of the mobile robot is enhanced.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a four-wheel differential sliding steering power balance device for an independent suspension mobile robot.
Background
The four-wheel differential sliding steering all-terrain independent suspension mobile robot has the advantages of simple and reliable structure, flexible and stable operation, wide terrain adaptation, simple control and the like, but because the steering mode is four-wheel differential sliding steering, the steering driving moment is larger, the steering vehicle body is simultaneously subjected to a roll phenomenon, the friction force between the wheels on the left side and the right side on the same axis is inconsistent with the friction force on the ground, the output power of the left motor and the output power of the right motor on the same axis are inconsistent, single-side motor overload is easy to occur, and the load capacity of the single-side motor is weak.
Disclosure of Invention
In order to solve the technical problems, the invention provides a four-wheel differential sliding steering power balancing device for an independent suspension mobile robot, and aims to reduce the output power difference of a left motor and a right motor on the same axis, improve the driving force utilization rate and enhance the load capacity of the four-wheel differential sliding steering all-terrain independent suspension mobile robot.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
The four-wheel differential sliding steering power balancing device for the independent suspension mobile robot comprises a chassis wheel bridge and driving system modules symmetrically distributed on two sides of the chassis wheel bridge and in sliding connection with the chassis wheel bridge, wherein the independent suspension modules are connected between the chassis wheel bridge and the driving system modules, and power balance distribution modules connected with the chassis wheel bridge are arranged between the symmetrically distributed driving system modules.
Further, the power balance distribution module comprises a stabilizer bar mechanism assembly and a swing bar mechanism assembly.
Further, the stabilizer mechanism assembly comprises stabilizer hinge supports symmetrically arranged on the driving system module and L-shaped stabilizer rod bodies correspondingly arranged on the stabilizer hinge supports, and the L-shaped stabilizer rod bodies are connected through universal couplings.
Further, an upward included angle is formed between the horizontal plane formed by the stabilizer mechanism component and the ground, and the included angle of the L-shaped stabilizer rod body is an obtuse angle.
Further, the swing rod mechanism assembly comprises swing rod hinge supports symmetrically arranged on the chassis wheel bridge, swing rods correspondingly arranged on the swing rod hinge supports, and stabilizer rod fixing sleeves sleeved on the stabilizer rod mechanism assembly and connected with the ends of the swing rods.
Further, the swing lever mechanism assembly is inclined downward.
Further, the stabilizer bar fixed sleeve is arranged at the trisection of the stabilizer bar mechanism assembly, and the stabilizer bar fixed sleeve and the stabilizer bar mechanism assembly can rotate relatively.
The beneficial effects of the invention are as follows:
the power balance distribution modules are arranged between symmetrically distributed driving system modules, and the stabilizer bars in the power balance distribution modules enable the driving wheels on two coaxial sides to keep the same horizontal height in time, so that the difference of friction force between the two driving wheels and the ground is reduced, the phenomenon of unbalanced output or overload of motors on two sides is prevented, and the movement performance of the robot is further influenced; the steering car body of the mobile robot is prevented from rolling, the chassis strength, the vibration reduction effect and the steering stability of the mobile robot are improved, and the loading capacity of the mobile robot is enhanced.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of a power balance system module in a three-dimensional structure according to the present invention;
FIG. 4 is a perspective cross-sectional view of a drive damping system module according to the present invention;
FIG. 5 is a partial enlarged view of the connection between the drive system module and the chassis module according to the present invention;
Fig. 6 is a schematic diagram of the present invention.
Detailed Description
In order that the manner in which the invention is attained, as well as the features and advantages thereof, will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings.
As shown in fig. 1 to 6, the four-wheel differential sliding steering power balance device for the independent suspension mobile robot comprises a chassis wheel bridge 4 and driving system modules 1 symmetrically distributed on two sides of the chassis wheel bridge 4 and in sliding connection with the chassis wheel bridge 4, wherein an independent suspension module 3 is connected between the chassis wheel bridge 4 and the driving system modules 1, and a power balance distribution module 2 connected with the chassis wheel bridge 4 is arranged between the symmetrically distributed driving system modules 3.
Specifically, the driving system module 1 comprises a reducer mounting seat 101 which is in sliding connection with the chassis wheel bridge 4 and is fixedly connected with the independent suspension module 3, a right-angle reducer 105 and a bearing seat module 102 which are arranged on the reducer mounting seat 101, and a wheel module 103 which is connected with the bearing seat module 102, wherein the right-angle reducer 105 is connected with a servo motor 104.
The independent suspension module 3 comprises a damper adjusting assembly fixedly connected with the reducer mounting seat 101, a damping pre-tightening limiting assembly fixedly connected with the chassis wheel bridge 4 and a damping assembly connected with the damper adjusting assembly and the damping pre-tightening limiting assembly.
The damper adjusting assembly comprises a damper movable support 301 and a support adjusting and fixing plate 307 which are arranged on a speed reducer mounting seat 101, a damper movable support guide rod 308 and an adjusting bolt 309 are connected between the damper movable support 301 and the support adjusting and fixing plate 307, and an anti-slip nut 310 is arranged on the adjusting bolt 309.
The vibration reduction pre-tightening limiting assembly comprises an upper limiting plate 304, a lower limiting plate 311, a flange bushing 302 and a pre-tightening spring guide rod 306, wherein the upper limiting plate 304 and the lower limiting plate 311 are arranged on the chassis wheel bridge 4, the pre-tightening spring guide rod 306 is arranged between the upper limiting plate 304 and the lower limiting plate 311 and penetrates through the flange bushing 302, a pre-tightening spring 303 and a buffering disc spring 312 are correspondingly arranged between the speed reducer mounting seat 101 and the upper limiting plate 304 and between the speed reducer mounting seat and the lower limiting plate 311, and the pre-tightening spring 303 is sleeved on the pre-tightening spring guide rod 306.
The vibration damping assembly comprises a vibration damper fixed support 313 arranged on the chassis wheel bridge 4 and a vibration damper 305 connecting the vibration damper fixed support 313 and the vibration damper movable support 301.
The balanced dispensing module 2 includes a stabilizer bar mechanism assembly and a swing bar mechanism assembly.
The stabilizer mechanism assembly comprises stabilizer hinge supports 201 symmetrically arranged on the driving system module 3 and L-shaped stabilizer rod bodies 202 correspondingly arranged on the stabilizer hinge supports 201, and the L-shaped stabilizer rod bodies 202 are connected through universal couplings 204.
An upward included angle is formed between the horizontal plane formed by the stabilizer mechanism component and the ground, and the included angle of the L-shaped stabilizer rod body 202 is an obtuse angle.
The swing rod mechanism assembly comprises a swing rod hinged support 205 symmetrically arranged on the chassis wheel bridge 4, a swing rod 206 correspondingly arranged on the swing rod hinged support 205, and a stabilizer rod fixing sleeve 203 sleeved on the stabilizer rod mechanism assembly and connected with the end part of the swing rod 206.
The swing rod mechanism assembly is inclined downwards, the stabilizer bar fixing sleeve 203 is arranged at the trisection point of the stabilizer rod mechanism assembly, and the stabilizer bar fixing sleeve 203 and the stabilizer rod mechanism assembly can rotate relatively.
Working principle:
When the power balance distribution module 2 works on uneven ground, the wheels are subjected to impact force from the ground, the driving system module 1 slides up and down relative to the chassis wheel bridge 4, when the driving wheels on the left side and the right side on the same axis are not on the same horizontal plane, the stabilizer bar mechanism components in the power balance distribution module 2 deform to generate torque, so that the driving wheels on the left side and the right side on the same axis timely recover to the same horizontal height, the driving wheels on the two sides are kept at the same horizontal height, the difference of the friction force between the two driving wheels and the ground is reduced, the phenomenon of unbalanced output or overload of motors on the two sides is prevented, and the output torque of the servo motors on the left side and the right side on the same axis is balanced.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides an independent suspension mobile robot is with four-wheel differential slip steering power balancing unit, includes chassis wheel crane span structure (4), symmetric distribution in chassis wheel crane span structure (4) both sides and rather than sliding connection's actuating system module (1), be connected with independent suspension module (3), its characterized in that between chassis wheel crane span structure (4) and actuating system module (1): the power balance distribution modules (2) connected with the chassis wheel bridge (4) are arranged between the symmetrically distributed driving system modules (3); the power balance distribution module (2) comprises a stabilizer bar mechanism assembly and a swinging bar mechanism assembly; the stabilizer mechanism assembly comprises stabilizer hinge supports (201) symmetrically arranged on the driving system module (3) and L-shaped stabilizer rod bodies (202) correspondingly arranged on the stabilizer hinge supports (201), and the L-shaped stabilizer rod bodies (202) are connected through universal couplings (204); an upward included angle is formed between the horizontal plane formed by the stabilizer mechanism component and the ground, and the included angle of the L-shaped stabilizer rod body (202) is an obtuse angle; the swing rod mechanism assembly comprises swing rod hinged supports (205) symmetrically arranged on the chassis wheel bridge frame (4), swing rods (206) correspondingly arranged on the swing rod hinged supports (205), and stabilizer rod fixing sleeves (203) sleeved on the stabilizer rod mechanism assembly and connected with the end parts of the swing rods (206).
2. The four-wheel differential slip steering power balancing device for an independent suspension mobile robot according to claim 1, wherein: the swing lever mechanism assembly is inclined downward.
3. The four-wheel differential slip steering power balancing device for an independent suspension mobile robot according to claim 1, wherein: the stabilizer bar fixed sleeve (203) is arranged at the trisection of the stabilizer bar mechanism assembly, and the stabilizer bar fixed sleeve (203) and the stabilizer bar mechanism assembly can rotate relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902700.2A CN110562352B (en) | 2019-09-23 | 2019-09-23 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902700.2A CN110562352B (en) | 2019-09-23 | 2019-09-23 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN110562352A CN110562352A (en) | 2019-12-13 |
| CN110562352B true CN110562352B (en) | 2024-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910902700.2A Active CN110562352B (en) | 2019-09-23 | 2019-09-23 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537546B (en) * | 2022-01-28 | 2024-03-12 | 安徽工程大学 | Driving gear-shifting mechanism for all-terrain mobile robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211223672U (en) * | 2019-09-23 | 2020-08-11 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differential sliding steering dynamic balance device for mobile robot with independent suspension |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8875816B2 (en) * | 2012-03-20 | 2014-11-04 | Irobot Corporation | High travel suspension for small ground mobile robots |
| CN102887042B (en) * | 2012-09-26 | 2015-07-22 | 柳州孔辉汽车科技有限公司 | Independent front suspension with transversely arranged steel plate spring |
| CN106627024A (en) * | 2016-12-01 | 2017-05-10 | 浙江吉利控股集团有限公司 | Macpherson independent suspension structure |
| CN108860362A (en) * | 2018-07-26 | 2018-11-23 | 天津中德应用技术大学 | A kind of Omnibearing wheel type mobile robot chassis |
| CN110239336A (en) * | 2019-06-21 | 2019-09-17 | 深圳市安泽智能机器人有限公司 | Chassis system and robot |
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- 2019-09-23 CN CN201910902700.2A patent/CN110562352B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211223672U (en) * | 2019-09-23 | 2020-08-11 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differential sliding steering dynamic balance device for mobile robot with independent suspension |
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| CN110562352A (en) | 2019-12-13 |
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