CN112693272A - Parallel adaptive dependent suspension Mecanum wheel chassis system - Google Patents
Parallel adaptive dependent suspension Mecanum wheel chassis system Download PDFInfo
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- CN112693272A CN112693272A CN202011629292.7A CN202011629292A CN112693272A CN 112693272 A CN112693272 A CN 112693272A CN 202011629292 A CN202011629292 A CN 202011629292A CN 112693272 A CN112693272 A CN 112693272A
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- 239000000725 suspension Substances 0.000 title claims abstract description 70
- 230000003044 adaptive effect Effects 0.000 title claims description 14
- 230000001419 dependent effect Effects 0.000 title abstract description 12
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 32
- 229910052782 aluminium Inorganic materials 0.000 claims description 32
- 238000013016 damping Methods 0.000 claims description 28
- 230000003014 reinforcing effect Effects 0.000 claims description 17
- 238000010521 absorption reaction Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 3
- 239000000853 adhesive Substances 0.000 description 11
- 230000001070 adhesive effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000035939 shock Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
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Classifications
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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
- B60G21/045—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 different axles on the same side of the vehicle, i.e. the left or the right side
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/32—Resilient suspensions characterised by arrangement, location or kind of springs having springs of different kinds
- B60G11/48—Resilient suspensions characterised by arrangement, location or kind of springs having springs of different kinds not including leaf springs
- B60G11/56—Resilient suspensions characterised by arrangement, location or kind of springs having springs of different kinds not including leaf springs having helical, spiral or coil springs, and also fluid springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
- B60G2200/34—Stabilising mechanisms, e.g. for lateral stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
- B60G2204/81—Interactive suspensions; arrangement affecting more than one suspension unit front and rear unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
- B60G2204/83—Type of interconnection
- B60G2204/8302—Mechanical
Abstract
The invention discloses a parallel self-adaptive dependent suspension Mecanum wheel chassis system, relates to the technical field of robot chassis, and particularly relates to a parallel self-adaptive dependent suspension Mecanum wheel chassis system for bearing the walking shape of a robot. The invention comprises the following steps: a chassis frame and a non-independent suspension wheel set; the chassis frame is a groined frame structure consisting of two cross beams and two longitudinal beams; the non-independent suspension wheel set consists of two groups of independent suspensions with the same structure, two front wheels and two rear wheels; two groups of independent suspensions are symmetrically arranged at the upper parts of the two ends of the chassis frame; two front wheels and two rear wheels are respectively arranged at the front part and the rear part of the two groups of independent suspensions. The technical scheme of the invention solves the problems that the single wheel in the prior art has time-efficiency of the preset action of stepping on the hollow, the stability of the single wheel passing through obstacles is poor, a suspension system can not play a role when going down a step, the energy absorption is limited, the requirement on the strength of a spring in a connecting rod is high, and the like.
Description
Technical Field
The invention discloses a parallel self-adaptive dependent suspension Mecanum wheel chassis system, relates to the technical field of robot chassis, and particularly relates to a parallel self-adaptive dependent suspension Mecanum wheel chassis system for bearing the walking shape of a robot.
Background
With the development and popularization of robotics, robots are applied to various environments. When the robot walks in a complex environment and a terrain, the chassis with excellent shock absorption has great significance for protecting precise parts on the robot. The existing robot chassis suspension system generally follows the design requirement of the traditional automobile suspension, namely only the buffer and damping effect of the suspension is focused. For example, patent document CN111137089A discloses an independent suspension chassis based on mecanum wheels, which can achieve good damping effect when passing through small uneven road surfaces, but has major drawbacks in other cases: the chassis matched with the suspension adopts a Mecanum wheel four-wheel drive scheme, each wheel of the suspension can generate enough pressure with the ground to ensure the correct execution of the omnidirectional movement of the chassis, when the suspension meets complex environments such as ascending and descending, single wheel treading and the like, the preset action is easy to fail, and when the suspension moves forwards laterally, due to the characteristics of the Mecanum wheels, the front wheel and the rear wheel can be subjected to equal reverse force to generate a pair of moments for the rocker arms, so that the mechanism has larger response.
There are also some designs of suspension, which take the characteristics of the mecanum wheels into better consideration, such as an adaptive suspension chassis system based on mechanical linkage disclosed in patent document CN 111267569A. However, this suspension system has three significant disadvantages: firstly, the lower step is a working condition frequently encountered by robots, but the suspension system does not play a role of attaching to the ground when the robot is suspended on the lower step; secondly, when a single wheel passes through an obstacle, the vehicle body can shake about half of the inclination amplitude of the wheel at most; thirdly, the energy absorption structure is single and the energy absorption is very limited, and the requirement on the strength of the spring in the connecting rod is higher.
In view of the problems in the prior art, it is necessary to develop a novel parallel adaptive dependent suspension mecanum wheel chassis system, thereby overcoming the problems in the prior art.
Disclosure of Invention
According to the technical problems that the stability of single wheel obstacle passing is poor, a suspension system cannot play a role when a user steps down, the energy absorption is limited, the requirement on the strength of a spring in a connecting rod is high and the like when the user steps down on a step, the self-adaptive dependent suspension Mecanum wheel chassis system in parallel is provided. The invention mainly adopts a chassis system combining a parallel self-adaptive non-independent suspension structure and Mecanum wheels to solve the problems in the prior art.
The technical means adopted by the invention are as follows:
a parallel adaptive non-independent suspension mecanum wheel chassis system comprising: a chassis frame and a non-independent suspension wheel set;
furthermore, the chassis frame is a groined frame structure consisting of two cross beams and two longitudinal beams;
furthermore, the non-independent suspension wheel set consists of two groups of independent suspensions with the same structure, two front wheels and two rear wheels; two groups of independent suspensions are symmetrically arranged at the upper parts of the two ends of the chassis frame; two front wheels and two rear wheels are respectively arranged at the front part and the rear part of the two groups of independent suspensions.
Furthermore, a reinforcing cross beam is arranged below the two longitudinal beams of the chassis frame and in the middle of the two cross beams.
Furthermore, the upper parts and the lower parts of the two longitudinal beams are respectively provided with three fixing plates which are bilaterally symmetrical, and the six fixing plates are respectively and simultaneously connected with the two cross beams and the reinforcing cross beam.
Further, the independent suspension comprises: the device comprises an aluminum square tube, a spring for connecting a front rocker arm and a rear rocker arm, a front rocker arm, a spring mounting column, a front damping spring, a rear rocker arm, a motor, a front wheel, a rear wheel and a motor connecting flange;
furthermore, the aluminum square tube is fixedly arranged at the end parts of the two cross beams;
furthermore, a spring connecting the front rocker arm and the rear rocker arm is arranged inside the aluminum square tube;
furthermore, the upper part of the upper end of the front rocker arm is connected with the front end of a spring connecting the front rocker arm and the rear rocker arm through a spring mounting column, the middle upper part of the upper end of the front rocker arm is connected with a front damping spring arranged on an aluminum square tube, and the lower part of the upper end of the front rocker arm is hinged with the front end of the aluminum square tube;
furthermore, the upper part of the upper end of the rear rocker arm is connected with the rear end of a spring connecting the front rocker arm and the rear rocker arm through a spring mounting column, the middle upper part is connected with a rear damping spring arranged on the aluminum square tube, and the lower part is hinged with the rear end of the aluminum square tube;
furthermore, the lower parts of the front rocker arm and the rear rocker arm are provided with motors;
furthermore, the motors on the front rocker arm and the rear rocker arm are respectively provided with a front wheel and a rear wheel through motor connecting flanges.
Further, the front rocker arm and the rear rocker arm are the same in structure and respectively comprise: the two rocker arm side plates, the rocker arm connecting plate and the limiting reinforcing aluminum pipe are arranged on the rocker arm side plate;
furthermore, the two rocker arm side plates are connected through a rocker arm connecting plate to form a rocker arm main body;
furthermore, a limiting reinforcing aluminum pipe is arranged between the two rocker arm side plates;
further, the limiting reinforcing aluminum pipe is located beside the motor.
Further, the spring connecting the front rocker arm and the rear rocker arm is a gas spring with damping.
The present invention also provides a method of making,
the working principle of the invention is as follows:
the independent suspension systems on two sides are symmetrically installed and are in parallel connection, and can independently move.
The initial installation state of the damping system is that the spring connecting the front rocker arm and the rear rocker arm is in a state with a certain compression amount, the spring connecting the front rocker arm and the rear rocker arm can extend or continue to be compressed, and the spring connecting the front rocker arm and the rear rocker arm is in an uncompressed state or a tensioned undeformed state. The front Mecanum wheel set and the rear Mecanum wheel set on the same side transmit force through springs connected with the front rocker arm and the rear rocker arm, so that the shock absorbers of the front wheel and the rear wheel can rapidly respond to pressure changes of the front wheel and the rear wheel, when any one wheel causes pressure changes of the wheel to the ground due to special terrain changes, the other wheel on the same side can rapidly adapt to the changes, and meanwhile, pressure changes of the shock absorption system on one side can also cause self-adaptation adjustment of the shock absorption system on the other. Under the condition that a spring connecting the front rocker arm and the rear rocker arm is not compressed, the stroke of the front wheel and the rear wheel is equal distance a, the overall stroke of the single-side suspension system is 2a, the other-side suspension system generates a corresponding adjusting force according to the pressure change condition, the stroke of the other-side suspension system is 2b, and the values of a and b are located in the same interval. Under the condition that the springs connecting the front rocker arm and the rear rocker arm are compressed, the stroke of the wheel on one side with large pressure is large, the stroke of the wheel on the other side is small, and the stress of the unilateral damping system is balanced.
Under different working conditions, the invention embodies different adaptive effects:
working condition 1: when the vehicle body moves transversely, due to the characteristics of Mecanum wheels, the front wheels and the rear wheels can be subjected to equal and large reverse forces to generate a pair of moments on the rocker arms, and the moments can not appear when moving back and forth, so that the stress of the rocker arms is not uniform when the rocker arms move in different directions;
working condition 2: when the chassis moves back and forth, and the difference between the adhesive force of the front wheel and the adhesive force of the rear wheel is suddenly increased, the two ends of the spring connecting the front rocker arm and the rear rocker arm are stressed differently and move relative to the chassis frame, and the movement result is to press down the end with smaller adhesive force so as to balance the adhesive force of the front wheel and the rear wheel. When the difference of the adhesive force is extreme, compared with the following step or the step which is inclined downwards, one wheel is suspended, the adhesive force is 0, the other wheel is lifted up by the ground supporting force to drive the spring which is connected with the front rocker arm and the rear rocker arm to move, the spring which is connected with the front rocker arm and the rear rocker arm presses down the suspended wheel, the wheel contacts the ground in advance, and the response speed of the wheel to the terrain change is accelerated; in the process, the suspension time of the half chassis frame is shorter than that of other types of suspensions, the buffering time is increased, and the impact force applied to the vehicle body when the vehicle body falls to the ground is small;
working condition 3: when a single wheel passes through an obstacle, the rocker arm connected with the wheel is lifted, the damping spring is compressed, the spring connected with the front rocker arm and the rear rocker arm presses the rocker arm of the other wheel, the damping springs of the front wheel and the rear wheel and the spring connected with the front rocker arm and the rear rocker arm participate in the damping process at the same time, and meanwhile, the suspension system on the other side also adjusts the pressure change, so that the inclination angle of the chassis generated by the obstacle is smaller;
working condition 4: when chassis pressure sharply increases, the common condition is the impact of falling to the ground, if the four-wheel lands no pressure difference simultaneously, spring damper compresses simultaneously with the spring of connecting the front and back rocking arm, can absorb more energy, very big reduction car body other parts's impact, if the non-four-wheel lands simultaneously, then can understand operating mode 2, adjusts with operating mode 2, absorbs most energy simultaneously.
Compared with the prior art, the invention has the following advantages:
1. according to the parallel self-adaptive dependent suspension Mecanum wheel chassis system provided by the invention, the front rocker arm and the rear rocker arm which are connected with the wheels, the damping spring and the gas spring connected with the front rocker arm and the rear rocker arm are connected, so that when one wheel meets an obstacle, the rocker arm connected with the wheel is lifted, the damping spring is compressed, the gas spring connected with the front rocker arm and the rear rocker arm presses down the rocker arm of the other wheel, and the damping springs of the front wheel and the rear wheel and the spring connected with the front rocker arm and the rear rocker arm simultaneously participate in the damping process, so that the damping stroke is at least; a damping spring with smaller stiffness coefficient can be selected, and the requirement on the strength of the spring is lower;
2. according to the parallel self-adaptive dependent suspension Mecanum wheel chassis system, the front rocker arm and the rear rocker arm which are connected with the wheels, the damping spring and the gas spring which is connected with the front rocker arm and the rear rocker arm are used for realizing that when the difference value of the adhesive force of the front wheel and the rear wheel is suddenly increased, two ends of the spring which is connected with the front rocker arm and the rear rocker arm are stressed differently and move relative to a chassis frame, and the movement result is that one end with smaller adhesive force is pressed down to balance the adhesive force of the front wheel and the rear wheel; when the difference of the adhesive force is extreme, compared with the following steps, one wheel is suspended, the adhesive force is 0, the other wheel is lifted up by the ground supporting force to drive the air spring connecting the front rocker arm and the rear rocker arm to move, the suspended wheel is pressed down by the air spring, and the wheel contacts the ground in advance; in the process, the suspension time of the half car body is shorter than that of other types of suspensions, the buffering time is increased, and the impact force applied to the car body when the car body falls to the ground is small.
3. According to the parallel self-adaptive non-independent suspension Mecanum wheel chassis system provided by the invention, when the suspension meets an uneven road surface, such as a single wheel crosses an obstacle, the pressure distribution of the front wheel and the rear wheel is realized by the rotation of the rocker arms relative to the vehicle body and the springs connected with the front rocker arm and the rear rocker arm, and the process does not need the vehicle body to generate extra moment, so that the vehicle body has small shaking
4. According to the parallel self-adaptive dependent suspension Mecanum wheel chassis system, the gas springs connected with the front rocker arm and the rear rocker arm can balance equal large reverse force, and the problem that when the Mecanum wheel moves in the left-right direction of vehicle body assembly, equal large reverse force acting on the front wheel and the rear wheel respectively can be generated, so that the rocker arms of most suspension systems rotate and respond is solved.
In conclusion, the technical scheme of the invention solves the problems that the single wheel in the prior art has time-dependent preset action, the single wheel has poor obstacle-crossing stability, a suspension system cannot play a role when going down a step, the energy absorption is limited, the requirement on the strength of a spring in a connecting rod is high, and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is an exploded view of the present invention.
Fig. 2 is a front view of the present invention.
FIG. 3 is a schematic view of the front rocker arm assembly of the present invention.
In the figure: 1. the chassis comprises a chassis frame 101, a cross beam 102, longitudinal beams 103, a reinforcing cross beam 104, a fixing plate 2, a non-independent suspension wheel set 201, an aluminum square tube 202, a spring 203 for connecting front and rear rocker arms, a front rocker arm 204, a spring mounting column 205, a front damping spring 206, a rear rocker arm 207, a motor 208, a front wheel 209, a rear wheel 210, a motor connecting flange 211, a rocker arm side plate 212, a rocker arm connecting plate 213 and a limiting reinforcing aluminum tube.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1-2, the present invention provides a parallel adaptive dependent suspension mecanum wheel chassis system comprising: a chassis frame 1 and a non-independent suspension wheel set 2; the chassis frame 1 is a groined frame structure consisting of two cross beams 101 and two longitudinal beams 102; the non-independent suspension wheel set 2 consists of two groups of independent suspensions with the same structure, two front wheels 208 and two rear wheels 209; two groups of independent suspensions are symmetrically arranged at the upper parts of two ends of the chassis frame 1; two front wheels 208 and two rear wheels 209 are mounted at the front and rear of the two independent sets of suspensions, respectively.
As shown in fig. 1, a reinforcing cross member 103 is provided below the two longitudinal members 102 of the chassis frame 1 at a position intermediate between the two cross members 101.
As shown in fig. 1, three fixing plates 104 are respectively disposed on the upper and lower portions of two longitudinal beams 102, and six fixing plates 104 simultaneously connect two cross beams 101 and a reinforcing cross beam 103.
As shown in fig. 1-2, the independent suspension includes: the device comprises an aluminum square tube 201, a spring 202 for connecting a front rocker arm and a rear rocker arm, a front rocker arm 203, a spring mounting column 204, a front damping spring 205, a rear rocker arm 206, a front damping spring 207, a front wheel 208, a rear wheel 209, a motor 214 and a motor connecting flange 210; the aluminum square pipe 201 is fixedly arranged at the end parts of the two cross beams 101; a spring 202 connecting the front rocker arm and the rear rocker arm is arranged inside the aluminum square pipe 201; the upper part of the upper end of the front rocker arm 203 is coupled with the front end of a spring 202 connecting the front rocker arm and the rear rocker arm through a spring mounting column 204, the middle upper part is connected with a front damping spring 205 arranged on an aluminum square tube 201, and the lower part is hinged with the front end of the aluminum square tube 201; the upper part of the upper end of the rear rocker arm 206 is connected with the rear end of a spring 202 which is connected with the front and rear rocker arms through a spring mounting column 204, the middle upper part is connected with a rear damping spring 207 which is arranged on the aluminum square tube 201, and the lower part is hinged with the rear end of the aluminum square tube 201; the lower parts of the front rocker arm 203 and the rear rocker arm 206 are provided with motors 214; the motors 214 on the front 203 and rear 206 swing arms are respectively provided with front 208 and rear 209 wheels via motor attachment flanges 210.
As shown in fig. 1-3, the front rocker arm 203 and the rear rocker arm 206 are identical in structure and each include: two rocker arm side plates 211, a rocker arm connecting plate 212 and a limiting reinforcing aluminum pipe 213; the two rocker arm side plates 211 are connected through a rocker arm connecting plate 212 to form a rocker arm main body; a limiting reinforcing aluminum pipe 213 is arranged between the two rocker arm side plates 211; a limiting reinforcing aluminum tube 213 is located next to the motor 214.
As shown in fig. 2, the spring 202 connecting the front and rear rocker arms is a gas spring with damping.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A parallel adaptive non-independently suspended mecanum wheel chassis system, the parallel adaptive non-independently suspended mecanum wheel chassis system comprising: a chassis frame (1) and a non-independent suspension wheel set (2);
the chassis frame (1) is a groined frame structure consisting of two cross beams (101) and two longitudinal beams (102);
the non-independent suspension wheel set (2) consists of two groups of independent suspensions with the same structure, two front wheels (208) and two rear wheels (209); two groups of independent suspensions are symmetrically arranged at the upper parts of two ends of the chassis frame (1); two front wheels (208) and two rear wheels (209) are mounted at the front and rear of the two independent sets of suspensions, respectively.
2. A parallel adaptive non-independent suspension mecanum wheel chassis system according to claim 1, wherein a reinforcing cross beam (103) is provided under the two longitudinal beams (102) of the chassis frame (1) at a position intermediate the two cross beams (101).
3. A parallel adaptive non-independent suspension mecanum wheel chassis system according to claim 2, wherein the upper and lower parts of the two longitudinal beams (102) are respectively provided with three left-right symmetrical fixing plates (104), and the six fixing plates (104) are respectively connected with the two cross beams (101) and the reinforcing cross beam (103) at the same time.
4. A parallel adaptive non-independent suspension mecanum wheel chassis system according to claim 1, wherein the independent suspension comprises: the device comprises an aluminum square tube (201), a spring (202) for connecting a front rocker arm and a rear rocker arm, a front rocker arm (203), a spring mounting column (204), a front damping spring (205), a rear rocker arm (206), a motor (214) and a motor connecting flange (210);
the aluminum square tubes (201) are fixedly arranged at the end parts of the two cross beams (101);
the spring (202) connecting the front rocker arm and the rear rocker arm is arranged inside the aluminum square tube (201);
the upper part of the upper end of the front rocker arm (203) is connected with the front end of a spring (202) connecting the front rocker arm and the rear rocker arm through a spring mounting column (204), the middle upper part is connected with a front damping spring (205) arranged on an aluminum square tube (201), and the lower part is hinged with the front end of the aluminum square tube (201);
the upper part of the upper end of the rear rocker arm (206) is in shaft connection with the rear end of a spring (202) connecting the front rocker arm and the rear rocker arm through a spring mounting column (204), the middle upper part of the upper end of the rear rocker arm is connected with a rear damping spring (207) arranged on an aluminum square tube (201), and the lower part of the upper end of the rear rocker arm is hinged with the rear end of the aluminum square tube (201);
the lower parts of the front rocker arm (203) and the rear rocker arm (206) are provided with motors (214);
the motors (214) on the front rocker arm (203) and the rear rocker arm (206) are respectively provided with a front wheel (208) and a rear wheel (209) through a motor connecting flange (210).
5. A parallel adaptive non-independent suspension mecanum wheel chassis system according to claim 4, wherein the front rocker arm (203) and the rear rocker arm (206) are identical in structure and each comprise: the rocker arm comprises two rocker arm side plates (211), a rocker arm connecting plate (212) and a limiting reinforcing aluminum pipe (213);
the two rocker arm side plates (211) are connected through a rocker arm connecting plate (212) to form a rocker arm main body;
a limiting reinforcing aluminum pipe (213) is arranged between the two rocker arm side plates (211);
the limiting reinforcing aluminum pipe (213) is positioned beside the motor (214).
6. A parallel adaptive non-independent suspension Mecanum wheel chassis system according to claim 4, wherein the springs (202) connecting the front and rear rocker arms are gas springs with damping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629292.7A CN112693272A (en) | 2020-12-31 | 2020-12-31 | Parallel adaptive dependent suspension Mecanum wheel chassis system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629292.7A CN112693272A (en) | 2020-12-31 | 2020-12-31 | Parallel adaptive dependent suspension Mecanum wheel chassis system |
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| Publication Number | Publication Date |
|---|---|
| CN112693272A true CN112693272A (en) | 2021-04-23 |
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| CN202011629292.7A Pending CN112693272A (en) | 2020-12-31 | 2020-12-31 | Parallel adaptive dependent suspension Mecanum wheel chassis system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114211923A (en) * | 2021-11-01 | 2022-03-22 | 佛山科学技术学院 | Self-adaptive suspended wheel type chassis of robot |
| CN114623314A (en) * | 2022-03-18 | 2022-06-14 | 西安热工研究院有限公司 | Pipeline crawling robot for ultrasonic detection |
| CN114719672A (en) * | 2022-05-26 | 2022-07-08 | 西安航空学院 | Multifunctional individual soldier simulated combat platform with Mecanum wheels |
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| CN114719672B (en) * | 2022-05-26 | 2023-06-20 | 西安航空学院 | Multifunctional individual soldier simulated combat platform with Mecanum wheels |
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Application publication date: 20210423 |