CN114789634A - Mecanum wheel omnidirectional active suspension device for vehicle - Google Patents
Mecanum wheel omnidirectional active suspension device for vehicle Download PDFInfo
- Publication number
- CN114789634A CN114789634A CN202210477081.9A CN202210477081A CN114789634A CN 114789634 A CN114789634 A CN 114789634A CN 202210477081 A CN202210477081 A CN 202210477081A CN 114789634 A CN114789634 A CN 114789634A
- Authority
- CN
- China
- Prior art keywords
- actuator
- frame
- displacement meter
- active suspension
- plate
- 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.)
- Granted
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 97
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims description 78
- 230000003014 reinforcing effect Effects 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 claims 1
- 230000002787 reinforcement Effects 0.000 claims 1
- 230000001976 improved effect Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- 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
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a Mecanum wheel omnidirectional active suspension device for a vehicle, which comprises an active suspension, a laser sensor and a pose sensing controller. The driving suspension is connected with the Mecanum wheel driving wheel set and then is installed on the frame. When the omnidirectional vehicle works, the active suspension frame does reciprocating linear motion in the vertical direction, when the pose sensing controller detects that the Mecanum wheels are in poor contact with the ground, the length of a push rod of the suspension frame actuator is actively adjusted, the inclination of the vehicle body is monitored until the wheels are in reliable contact with the ground and drive the vehicle frame to return to the horizontal state, and the wheelbase of the omnidirectional vehicle are not changed in the whole process, so that the omnidirectional motion performance and the running precision of the omnidirectional vehicle are ensured at the same time. The active suspension can also automatically adjust the height of the frame from the ground as required, and the trafficability characteristic and the driving stability of the omnidirectional vehicle are considered. In addition, the arrangement of the limiting device of the guide mechanism and the rubber cushion block can prevent each part of the active suspension from being damaged due to overranging and generating rigid collision.
Description
Technical Field
The invention belongs to the field of intelligent omnidirectional vehicle matching equipment, and relates to an active suspension device for a Mecanum wheel omnidirectional vehicle.
Background
The omnidirectional vehicle based on the Mecanum wheels is widely applied to the fields of intelligent carrying, processing, assembling and the like due to the flexible maneuverability. The Mecanum wheel omnidirectional vehicle realizes omnidirectional movement by means of cooperative matching of the four Mecanum wheels, the reliable contact of the four wheels and the ground is required to be ensured in the operation process, and meanwhile, the kinematic performance of omnidirectional movement is directly related to the wheel base and the wheel base. Therefore, the suspension system is necessary for the Mecanum wheel omni-directional vehicle, and the wheel base of the whole vehicle are not changed when the suspension works.
Most of the existing omnidirectional vehicle suspension devices are based on the suspension form of the traditional automobile, and adopt a passive spring and a damper to realize impact mitigation and ensure the grounding performance of wheels. The suspension device in the form can passively raise or lower the wheels when facing a rugged road surface, and ensures the reliable contact between the wheels and the ground to a certain extent. But the following problems also exist in the application of the intelligent omnidirectional vehicle: the wheel track or the wheel base of the whole vehicle is changed, so that the running precision of the Mecanum wheel omnidirectional vehicle is influenced; the height of the chassis cannot be actively adjusted, and when the vehicle faces an overhigh obstacle, the vehicle cannot pass through the chassis smoothly; the vehicle body can incline, so that the stability of the whole vehicle in the carrying process is reduced, and the vehicle is easy to rollover and damage when being carried; the suspension device takes long time to reach stability, and the vibration intensity is attenuated along with time in the processes of relaxation and vibration absorption of the spring and the damper, so that the unstable time of the vehicle body is longer.
Disclosure of Invention
In order to solve the problems, the invention provides a driving suspension device for a Mecanum wheel omnidirectional vehicle, and aims to solve the problems that the Mecanum wheel is in poor contact with the ground under a certain condition, a vehicle body inclines, and the wheel base are changed when the conventional suspension works.
In order to achieve the purpose, the invention adopts the technical scheme that:
an active suspension device for a Mecanum wheel omnidirectional vehicle comprises an active suspension, a laser sensor 5 and a pose sensing controller 8. The laser sensor 5 is communicated with the position and posture sensing controller 8, the position and posture sensing controller 8 is communicated with the active suspension, and the priority of the position and posture sensing controller 8 is prior to the signal of the laser sensor 5, so that the laser sensor 5 is not triggered when the omnidirectional vehicle ascends the slope, and the conflict with the process that the position and posture sensing controller adjusts the level of the vehicle frame 7 is avoided. The pose sensing controller 8 consists of a pose sensor and a control chip, is arranged at the central position of the frame 7, and is used for monitoring the tilting state of the vehicle body caused by the poor contact of the Mecanum wheels 61 with the ground in real time, actively sending a control signal of the active suspension to monitor the contact condition of the Mecanum wheels 61 with the ground in real time, and timely adjusting the active suspension when the Mecanum wheels 61 are not reliably grounded. The laser sensor 5 is arranged at the center of the bottommost part of the frame 7 and can detect front, back, left and right obstacles, and when the laser sensor 5 detects the obstacle higher than the minimum ground clearance in the omnidirectional vehicle driving direction, the laser sensor sends a signal to adjust the active suspension to increase the minimum ground clearance of the frame so as to smoothly cross the obstacle. The active suspension is totally four groups, and each group of active suspension is respectively connected with a Mecanum wheel driving wheel group 6 through a support mounting seat 4 and is fixedly connected with the left front side, the left rear side, the right front side and the right rear side of a frame 7 through an L-shaped plate frame 1. The active suspension comprises a guide mechanism 2, a lifting sensing mechanism 3, an L-shaped plate frame 1 fixed on a frame 7 and a support mounting seat 4. The lifting sensing mechanism 3 comprises an actuator 31, a displacement meter 34, an actuator bottom connecting end support 32, a displacement meter bottom connecting end support 35, an actuator push rod telescopic end support 33 and a displacement meter movable end support 36. The actuator 31 and the displacement meter 34 are axially and parallelly installed, the bottom connecting end of the actuator 31 and the bottom connecting end of the displacement meter 34 are respectively connected to an actuator bottom connecting end support 32 and a displacement meter bottom connecting end support 35 which are fixed on the bottom surface of the top plate of the L-shaped plate frame 1, the telescopic end of a push rod of the actuator 31 is installed on a support installation seat 4 fixed on the guide mechanism 2, and the movable end of the displacement meter 34 is installed on a displacement meter movable end support 36 fixed on the support installation seat 4; the bottom of the bracket mounting seat 4 is connected with a motor bracket 64 to realize the connection with the Mecanum wheel driving wheel set 6, and the back is connected with the guide mechanism 2.
The guide mechanism 2 comprises a slide block 22, a U-shaped shroud plate 23, a rubber cushion block 24, a limiting block 25 and a guide rail 21. Two top ends, namely tail ends, of the guide rail 21 of the guide mechanism 2 are provided with limiting blocks 25 which are used for limiting the limit extension lengths of the actuator 3 and the displacement meter 5 and preventing parts from being damaged; a rubber cushion block 24 is arranged at the position, opposite to the sliding block 22, of the limiting block 25, so that the sliding block 22 is prevented from rigidly colliding with the limiting block 25; the U-shaped shroud plate 23 is connected with the sliding block 22 and fixed on the bracket mounting seat 4, and the sliding block 22 is arranged in a cylindrical groove of the guide rail 21; the guide rail 21 is vertically fixed on the L-shaped plate frame 1; when the telescopic end of the actuator 31 of the active suspension extends, the displacement meter 34 and the Mecanum wheel driving wheel set 6 can be driven to do reciprocating linear motion in the vertical direction under the constraint of the guide mechanism 2 in a coordinated manner, and one side of the frame 7 connected with the active suspension is driven to rise or fall in the vertical direction, so that the Mecanum wheel 61 is driven to rise and fall to reliably ground when the active suspension is adjusted, and the frame 7 is driven to return to the horizontal position in a coordinated manner.
Furthermore, the right angle of the L-shaped plate frame 1 is reinforced by a right angle reinforcing support 9.
Further, guide rail 21 of guiding mechanism 2 is through connecting that L type grillage 1 is vertical to be fixed on frame 7, the slider 22 of fixing on U type shroud plate 23 that places in guide rail 21 and the guide rail 21 forms clearance fit, and slider 22 can only make guiding mechanism 2 drive the flexible end of 2 push rods of the actuator of fixing on guiding mechanism 2 and be reciprocating linear motion in vertical direction under the restriction of guide rail 21 to axle base, the wheel track of car of qxcomm technology can not be influenced when making initiative suspension work.
Further, the L-shaped plate frame 1 is composed of a vertical plate and a top plate which are perpendicular to each other, a plurality of straight grooves are formed in the vertical direction of the vertical plate of the L-shaped plate frame 1, and the axes of the straight grooves formed in the vertical plate are on the same vertical plane; a top plate of the L-shaped plate frame is symmetrically provided with a plurality of groups of straight grooves along the vertical plane, and a vertical plate and a top plate of the L-shaped plate frame 1 are provided with a plurality of through holes which correspond to the through holes of the frame 7; the guide rail 21 of the guide mechanism 2 is vertically arranged in a straight groove of the L-shaped plate frame vertical plate 1, and the connecting end support 32 at the bottom of the actuator and the connecting end support 35 at the bottom of the displacement meter are connected to a through hole or a straight groove corresponding to the bottom surface of the top plate of the L-shaped plate frame 1 through bolt fasteners.
Furthermore, the bottom connecting end of the actuator 3 is provided with a radial connecting hole, and the axis of the radial connecting hole is vertical to the axis of the actuator bottom connecting end bracket 31; the bottom connecting end of the displacement meter 5 is provided with a radial connecting hole, and the axis of the radial connecting hole is vertical to the axis of the bottom connecting end bracket 51 of the displacement meter; actuator bottom link support 31, the equal level of roof of displacement meter bottom link support 51 are fixed at the roof downside of L type frame plate 1 to the axial direction parallel of the displacement meter 5 that makes actuator 3 and displacement meter bottom link support 51 that actuator bottom link support 31 connects, guarantee that the displacement value that displacement meter 5 surveyed is 3 push rod expansion values of actuator promptly, with accurate feedback, control actuator 3 stretch out and draw back, guarantee the control that can be accurate and monitor the displacement adjustment volume that the initiative hung.
Further, radial through holes are formed in the connecting end of the bottom of the actuator 31, the telescopic end of a push rod of the actuator 31, the connecting end of the bottom 34 of the displacement meter and the movable end of the displacement meter 34; actuator bottom link support 32, displacement meter bottom link support 35, the flexible end support 33 of actuator push rod, displacement meter expansion end support 36 are "pi" type structure, all include roof and coexistence board, roof and coexistence board mutually perpendicular put the through-hole of opening the horizontal direction at coexistence board central point, and the through-hole that two risers were opened is coaxial. The top plate of the end support is connected with the bottom of the actuator and the end support is connected with the bottom of the displacement meter, and the top plate is arranged on the bottom surface of the top of the L-shaped plate frame.
Further, radial through holes of the connecting end at the bottom of the actuator 31, the telescopic end of the push rod of the actuator 31, the connecting end at the bottom of the displacement meter 34 and the movable end of the displacement meter 34 respectively correspond to through holes of two vertical plates of the connecting end bracket 32 at the bottom of the actuator, the connecting end bracket 35 at the bottom of the displacement meter, the telescopic end bracket 33 of the push rod of the actuator and the movable end bracket 36 at the movable end of the displacement meter and are connected through a pin shaft; the top plates of the actuator bottom connecting end bracket 32 and the displacement meter bottom connecting end bracket 35 are both arranged on the bottom surface of the top plate of the L-shaped plate frame 1; the side plate of the telescopic end bracket 36 of the push rod of the actuator is vertically arranged, a plurality of coaxial through holes are formed in the lower ends of the front surfaces of the top plate and the U-shaped shroud plate 23 of the guide mechanism 2, and bolt fasteners are used for penetrating the through holes to connect the top plate and the U-shaped shroud plate; the movable end of the displacement meter 34 is arranged on a movable end bracket 36 of the displacement meter fixed on the mounting seat bracket 4; the mounting seat support 4 is of a U-shaped structure and comprises a wide vertical plate, a narrow vertical plate and a bottom plate which are perpendicular to each other, the wide vertical plate and the narrow vertical plate are parallel to each other and are arranged on the same side of the bottom plate, the narrow vertical plate is provided with a plurality of symmetrical through holes in the vertical direction, the wide vertical plate is provided with a plurality of symmetrical through holes in the vertical direction, and a group of through holes in the outer side of the wide vertical plate are connected with a top plate through hole of a displacement meter movable end support 36, which is vertically arranged on a side plate, through a bolt.
Further, the U-shaped shroud plate 23 is composed of two side plates and a vertical plate which are perpendicular to each other, the bottoms of the two side plates are provided with coaxial symmetrical through holes, and the other group of through holes of the wide vertical plate and the narrow vertical plate of the mount base bracket 4 are fixedly mounted on the through holes at the bottom of the side surface of the U-shaped shroud plate 23; a plurality of through holes are symmetrically formed in the upper side of the vertical plate of the U-shaped shroud plate 23 along a vertical axis, a plurality of corresponding threaded holes are symmetrically formed in the long axis of the slide block 22, and the position, where the through hole is formed in the back of the upper side of the vertical plate of the U-shaped shroud plate 23, is fixedly connected with the threaded hole of the slide block 22 through a screw; the sliding block 22 is arranged in a cylindrical groove of the guide rail 21 vertically arranged on the L-shaped plate frame 1 to form clearance fit and can reciprocate linearly along the guide rail 21; the guide rail 21 is provided with a limiting block 25 at two ends, and a rubber cushion block 24 is arranged on one side of the limiting block 25 facing the sliding block 22.
Further, the mecanum wheel driving wheel set 6 comprises a mecanum wheel 61, a coupling 62, a servo deceleration driving motor 63, a motor bracket 64 and an auxiliary reinforcing bracket 65. The Mecanum wheel 61 is connected with a servo deceleration driving motor 63 through a coupler 62, the servo deceleration driving motor 63 is fixed on a motor bracket 64 through an auxiliary reinforcing bracket, and the motor bracket 64 is arranged on the upper side of the bottom plate of the bracket mounting seat 4; the auxiliary reinforcing bracket 65 comprises an auxiliary reinforcing bracket upper plate 651, an auxiliary reinforcing bracket lower plate 652 and bolt fasteners; the auxiliary reinforcing bracket 65 is fastened by a bolt and nut assembly to clamp the servo deceleration driving motor 63 so as to resist the moment generated when the servo deceleration driving motor 63 works, namely, the moment is used for resisting the bending moment transmitted to the servo deceleration driving motor 63 and the motor bracket 64 by the Mecanum wheel 61, and the structural rigidity is improved.
The invention applies for a master suspension device for a Mecanum wheel omnidirectional vehicle, which is connected with a Mecanum wheel driving wheel set 6 and then is arranged on a frame 7 of the omnidirectional vehicle, a posture sensing controller 8 arranged on the frame 7 monitors the inclination state of the vehicle body 7 generated by poor contact between a Mecanum wheel 61 and the ground in real time, when the Mecanum wheel 61 is in poor contact with the ground, the master suspension moves linearly and reciprocally in the vertical direction, the length of a push rod of a suspension actuator 31 is actively adjusted, the inclination of the vehicle body is monitored until the Mecanum wheel 61 is reliably contacted with the ground and the frame 7 is driven to return to the horizontal state, and the wheelbase and wheelbase of the omnidirectional vehicle are not changed in the whole process, so that the omnidirectional movement performance and the operation precision of the omnidirectional vehicle and the stability of carrying articles or carrying equipment are ensured at the same time. In addition, when the omnidirectional vehicle runs, and when the laser sensor 5 detects an obstacle which cannot be crossed, the position and orientation sensing controller 8 controls the active suspension to automatically adjust the ground clearance of the vehicle frame, increases the ground clearance of the vehicle frame 7, so that the omnidirectional vehicle smoothly passes through, and reduces the ground clearance after crossing the obstacle, so that the gravity center position of the whole vehicle is reduced, and the trafficability and the running stability of the omnidirectional vehicle are considered. In addition, the arrangement of the limiting block 25 and the rubber cushion block 24 of the guide mechanism 2 can prevent the parts of the active suspension from being damaged due to over-range and generating rigid collision.
The invention has the following beneficial effects:
(1) the guide mechanism 2 in the active suspension device for the Mecanum wheel omnidirectional vehicle reciprocates in a vertical straight line, so that the wheel base and the wheel base of the whole vehicle can be ensured not to change in the working process of the suspension device, and the running precision of the omnidirectional vehicle cannot be influenced by the change of the wheel base and the wheel base.
(2) The position and posture sensing controller 8 in the active suspension device for the Mecanum wheel omnidirectional vehicle can monitor the contact condition of the Mecanum wheel 6 and the ground in real time, and actively controls the active suspension when the Mecanum wheel 6 is in poor grounding, so that the Mecanum wheel 61 is reliably grounded, and the vehicle body 7 is driven to return to the horizontal state.
(3) When the laser sensor 5 in the active suspension device for the Mecanum wheel omnidirectional vehicle detects an obstacle exceeding the bottommost part of the vehicle frame, the position and posture sensing controller 8 controls the four groups of active suspensions to extend cooperatively, so that the minimum ground clearance of the vehicle frame is increased, the minimum ground clearance of the vehicle frame 7 is reduced on a platform road surface after the omnidirectional vehicle smoothly crosses the obstacle, the gravity center of the whole vehicle is reduced, and the running stability is improved.
(4) The auxiliary reinforcing bracket 65 in the active suspension device for the Mecanum wheel omnidirectional vehicle is clamped on the servo deceleration driving motor 63 through the bolt and the nut, so that the bending moment transmitted to the servo deceleration driving motor 63 and the motor bracket 64 by the Mecanum wheel 61 is resisted, and the structural rigidity is improved.
(5) A right-angle reinforcing support 9 in the active suspension device for the Mecanum wheel omnidirectional vehicle is fixed at the right angle of the L-shaped plate frame 1 and is used for enhancing the structural rigidity of the active suspension.
(6) According to the active suspension device for the Mecanum wheel omnidirectional vehicle, the actuator 31 and the displacement meter 34 are axially and parallelly installed, the measured value of the displacement meter 34 is the real-time length of the actuator 31, the length value of the feedback actuator 31 can be accurately measured without complex calculation, and the control precision of the extension amount of the push rod of the actuator 31 is further improved.
(7) The limit block 25 is arranged on the guide mechanism 2 in the active suspension device for the Mecanum wheel omnidirectional vehicle, the limit extension length of the actuator 31 and the displacement meter 34 is limited, and parts are prevented from being damaged. The position of the limiting block 25, which is opposite to the sliding block 22, is provided with a rubber cushion block 24, so that the sliding block 22 is prevented from rigidly colliding with the limiting block 24.
Drawings
FIG. 1 is a schematic diagram of a suspension assembly including a Mecanum wheel assembly and an active suspension mechanism with the suspension in a fully retracted state;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is an isometric view of FIG. 1;
FIG. 4 is a schematic diagram of the suspension assembly with the Mecanum wheel hidden for ease of viewing;
FIG. 5 is a schematic view of a Mecanum wheel drive train;
FIG. 6 is an exploded view of the track slide and the shroud assembly;
FIG. 7 is a three-view illustration of a bracket mount; FIG. (a) is a front view; FIG. (b) is a side view; FIG. (c) is a top view; FIG. d is a schematic view of the entire structure;
FIG. 8 is a schematic view of the active suspension mechanism fully extended; FIG. (a) is a schematic view of the entire structure; FIG. (b) is a front view; FIG. (c) is a side view; FIG. (d) is a top view;
FIG. 9 is a schematic structural view of an embodiment of a Mecanum wheel vehicle employing such a suspension assembly;
FIG. 10 is a three-dimensional view of FIG. 9;
FIG. 11 is a schematic view of an embodiment of a Mecanum wheel vehicle employing such a suspension assembly leveling over potholes, with the view in the direction of the side of the Mecanum wheel vehicle;
fig. 12 is a schematic view of the mecanum cycle embodiment employing the suspension assembly shown in fig. 11 as it would appear when leveled on a slope, and shown in the front view of the mecanum cycle.
FIG. 13 is a schematic view of an embodiment of a Mecanum wheel vehicle employing such a suspension assembly actively adjusting the frame ground clearance with the suspension in a retracted state;
FIG. 14 is a schematic view of an embodiment of a Mecanum wheel vehicle employing such a suspension assembly to actively adjust the frame ground clearance with the suspension in an extended state.
In the figure: 1-L-shaped plate frame; 2-a guiding mechanism; 21-a guide rail; 22-a slide block; 23-U-shaped shroud plate, 24-rubber cushion block; 25-a limiting block; 3 lifting sensing mechanism 31-actuator; 32-actuator bottom connection end bracket; 33-actuator push rod telescopic end bracket; 34-a displacement meter; 35-connecting the bottom of the displacement meter with a end bracket; 36-displacement meter movable end support; 4-a bracket mounting seat; 5-a laser sensor; 6-Mecanum wheel driving wheel group; 61-Mecanum wheels; 62-a coupling; 63-servo deceleration drive motor; 64-a motor mount; 65-auxiliary reinforcing support; 651-auxiliary reinforcing support upper plate; 652-auxiliary reinforcing bracket lower plate; 7-a frame; 71-a front-back direction square tube beam frame; 72-left and right square tube beam frame; 73-square tube beam frame for height padding; 74-bottom plate square tube frame; 75-a base plate; 8-pose sensing controller; 9-right angle reinforcing support.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the connection can be mechanical connection or welding; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The invention provides a Mecanum wheel omnidirectional vehicle active suspension device which comprises an L-shaped plate frame 1, a right-angle reinforcing support 9, a guide mechanism 2, a lifting sensing mechanism 3, a support mounting seat 4, a laser sensor 5, a Mecanum wheel driving wheel set 6, a vehicle frame 7, a position and posture sensing controller 8 and a right-angle reinforcing support 9, wherein the lifting sensing mechanism 3 comprises: the device comprises an actuator 31, an actuator bottom connecting end bracket 32, an actuator push rod telescopic end bracket 33, a displacement meter 34, a displacement meter bottom connecting end bracket 35 and a displacement meter movable end bracket 36. The pose sensing controller 8 consists of a pose sensor and a control chip, is arranged at the central position of the frame, monitors the tilting state of the vehicle body caused by poor contact between the Mecanum wheels and the ground in real time when the omnidirectional vehicle runs, and can send a control signal for controlling the active suspension when the wheels are in poor contact with the ground, and the active suspension can lift until the Mecanum wheels 61 are completely in contact with the ground and drive the frame 7 to return to the horizontal state. The laser sensor 5 is arranged at the center of the bottommost part of the frame and can detect obstacles in all directions, and when the omnidirectional vehicle runs, if the running direction of the omnidirectional vehicle is higher than the position of the laser sensor, namely the obstacle with the smallest ground clearance of the frame, the laser sensor sends a signal to the pose sensing controller to control the four active suspensions to extend in coordination, so that the vehicle body is driven to be horizontally lifted to increase the ground clearance.
As shown in fig. 1 to 4, the L-shaped plate frame 1 includes a right-angle reinforcing bracket 9, and a part of one side of the L-shaped plate frame 9 is cut away to avoid interference with the mecanum wheel assembly during installation.
As shown in fig. 6, the guide mechanism 2 is composed of a guide rail 21, a slide block 22, a U-shaped shroud plate 23, a rubber cushion block 24 and a limit block 25, the U-shaped shroud plate 23 is connected with the slide block 22 through four countersunk head screws, the guide rail 21 is connected with the L-shaped plate frame 1 through three pairs of bolts and nuts, and is fixed in three straight notches on the back of the vertical plate of the L-shaped plate frame 1, and the slide block 22 is installed in a cylindrical groove of the guide rail 21; the top and the bottom of the guide rail 21 are provided with limit blocks 25 for limiting the extreme displacement of the slide block 22; the position of the limiting block 25, which is opposite to the sliding block 22, is provided with a rubber cushion block 24, so that the sliding block 22 is prevented from rigidly colliding with the limiting block 25.
As shown in fig. 2 and 4, 31 bottom connection ends of actuator are articulated with actuator bottom connection end support 32 through round pin axle, and actuator bottom connection end 32 uses bolt fastening spare to fix on L type grillage 1, and 31 telescopic ends of push rod of actuator are articulated with the telescopic end support 32 of push rod of actuator, and the telescopic end support 32 of push rod of actuator uses bolt fastening spare to fix on U type shroud plate 23.
As shown in fig. 1, 2 and 4, the bottom connecting end of the displacement meter 34 is connected to a bottom connecting end support 35 of the displacement meter through a pin, the bottom connecting end support 35 of the displacement meter is fixed on the L-shaped plate frame 1 through a bolt and a nut, the movable end of the displacement meter 31 is connected to a movable end support 36 of the displacement meter through a pin, the movable end support 36 of the displacement meter is fixed on the support mounting seat 4 through a bolt and a nut, and the support mounting seat 4 is fixed on the side surface of the lower end of the U-shaped shroud plate 23 through a bolt and a nut.
As shown in fig. 1 and 5, the mecanum wheel driving wheel assembly includes a mecanum wheel 61, a coupler 62, a servo deceleration driving motor 63, a motor bracket 64, and an auxiliary reinforcing bracket 65, wherein the auxiliary reinforcing bracket 65 includes an auxiliary reinforcing bracket upper plate 651 and an auxiliary reinforcing bracket lower plate 652, the auxiliary reinforcing bracket 65 is fastened by a bolt and nut assembly to clamp the servo deceleration driving motor 63, and the mecanum wheel 61 is connected with the servo deceleration driving motor 63 by the coupler 62.
As shown in fig. 8, the push rod of the actuator 31 extends to drive the U-shaped cover plate 23, the slide block 22, the bracket mounting seat 4, the movable end bracket 36 of the displacement meter, the movable end of the displacement meter 34 and the mecanum wheel driving wheel unit 6 to make reciprocating linear movement on the guide rail 21.
As shown in fig. 9 and 10, the embodiment of the mcanum vehicle with active suspension according to the present invention includes four active suspension devices, which are disposed on two sides of the frame. The four groups of active suspension devices are connected by a frame 7, and the frame 7 includes a front-rear direction square tube beam frame 71, a left-right direction square tube beam frame 72, a square tube beam frame 73 for padding, a bottom plate square tube frame 74, and a bottom plate 75. The front and rear active suspension devices are connected by a front and rear square pipe beam frame 71, and the L-shaped plate frame 1 and the front and rear square pipe beam frame 71 are provided with corresponding through holes and can be fixed by bolts and nuts. The right-left direction active suspension device is first connected to a square tube beam frame 73 for height adjustment by bolts and nuts, and the square tube beam frame 73 for height adjustment is connected to a right-left direction square tube beam frame 72 by bolts and nuts. The bottom plate square pipe frames 74 are mounted on two front and rear left and right square pipe frames 72, and are connected to the left and right square pipe frames 72 by bolts and nuts. The bottom plate 75 is connected with the bottom plate square pipe frame 74 through bolts and nuts and is used for bearing vehicle-mounted electronic components such as a pose sensor. The pose sensor 8 is arranged at the right center position of the upper side of the bottom plate 75 of the vehicle frame 7, and the laser sensor 5 is arranged at the right center position of the lower side of the bottom plate 75 of the vehicle frame 7.
Example 1: the active suspension of claim 1 in a Mecanum wheel omni-directional vehicle. The embodiment of actively adjusting the vehicle body level and the Mecanum wheel driving wheel set to reliably ground on a pothole is shown in FIGS. 11 and 12. When the Mecanum omni-directional vehicle runs on uneven road surfaces, the vehicle frame can incline. At this time, after the posture sensing controller 8 arranged on the vehicle frame 7 detects the vehicle frame inclination, the displacement of the four groups of suspension devices which should be lifted or lowered is calculated, and the displacement command is continuously transmitted to the actuators 31, and after the actuators 31 of the four sets of suspension devices receive the command, the extension length of the push rod of the actuator 31 is actively adjusted, the push rod of the actuator 31 drives the U-shaped shroud plate 23, the slide block 22, the bracket mounting seat 4, the movable end bracket 36 of the displacement meter and the movable end of the displacement meter 34, and the mecanum wheel driving wheel set 6 to generate vertical displacement on the guide rail 21, after the mecanum wheel driving wheel set 6 contacts the ground, under the action of the ground supporting force, one end of the vehicle frame 7 connected with the active suspension device is driven to rise or fall, meanwhile, the displacement meter 34 installed in parallel with the actuator 31 monitors the length amount of the feedback actuator in real time to ensure accurate control of the length of the push rod of the actuator 31. And stopping the work of the actuator until the pose sensing controller 8 detects that the vehicle returns to the horizontal state of the vehicle frame 7, and finishing the adjustment of the active suspension device on the vehicle body 7.
Example 2: the active suspension arrangement of claim 1 for a mecanum wheel omni-directional vehicle. The embodiment of actively adjusting the vehicle frame ground clearance is shown in fig. 13 and 14. When the laser sensor 5 carried at the bottom of the frame of the Mecanum wheel omnidirectional vehicle detects an obstacle with a clearance higher than the ground clearance of the frame at the time, a signal is sent to the attitude sensing controller 8, the attitude and posture sensing controller 8 cooperatively adjusts the pushrods of the actuators 31 of the four sets of active suspension devices, at this time, the vertical movement process of the vehicle body is the same as that of embodiment 1, before the mecanum wheel 61 touches an obstacle, however, the pushrods of the actuators 31 of the four active suspension devices are controlled to displace in unison, so that the frame 7 is horizontally lifted, the ground clearance of the frame 7 is improved, the Mecanum wheel omnidirectional vehicle can smoothly pass through the barrier, after the omnidirectional vehicle completely passes through the barrier, the actuators 31 of the four groups of active suspension devices contract, the active suspensions return to the state before adjustment, and the minimum ground clearance of the frame 7 is recovered, so that the gravity center of the whole vehicle is reduced, and the running stability of the omnidirectional vehicle is improved.
The above description is only one preferred embodiment of the invention. It should be noted that, the technical solutions described in the present invention or those skilled in the art can design similar technical solutions to achieve the above technical effects under the initiation of the technical solutions of the present invention, and all that should be taken into the scope of the present invention.
Claims (9)
1. An active suspension device for a Mecanum wheel omnidirectional vehicle is characterized by comprising an active suspension, a laser sensor (5) and a pose sensing controller (8); the laser sensor (5) is communicated with the pose sensing controller (8), and the pose sensing controller (8) is communicated with the active suspension; the pose sensing controller (8) consists of a pose sensor and a control chip, is arranged at the central position of the frame (7) and is used for monitoring the state of the vehicle body in real time and actively issuing an active suspension control signal to adjust the active suspension; the laser sensor (5) is arranged at the center of the bottommost part of the frame (7) and can detect front, back, left and right obstacles; the driving suspensions are four groups, each group of driving suspensions is respectively connected with a Mecanum wheel driving wheel group (6) through a support mounting seat (4), and is fixedly connected to the left front side, the left rear side, the right front side and the right rear side of the frame (7) through L-shaped plate racks (1); the active suspension comprises a guide mechanism (2), a lifting sensing mechanism (3), an L-shaped plate frame (1) fixed on a frame (7) and a support mounting seat (4); the lifting sensing mechanism (3) comprises an actuator (31), a displacement meter (34), an actuator bottom connecting end support (32), a displacement meter bottom connecting end support (35), an actuator push rod telescopic end support (33) and a displacement meter movable end support (36); the actuator (31) and the displacement meter (34) are axially and parallelly installed, the bottom connecting end of the actuator (31) and the bottom connecting end of the displacement meter (34) are respectively connected to an actuator bottom connecting end support (32) and a displacement meter bottom connecting end support (35) which are fixed on the bottom surface of a top plate of the L-shaped plate frame (1), the telescopic end of a push rod of the actuator (31) is installed on a support installation seat (4) fixed on the guide mechanism (2), and the movable end of the displacement meter (34) is installed on a displacement meter movable end support (36) fixed on the support installation seat (4); the bottom of the bracket mounting seat (4) is connected with a motor bracket (64) to realize the connection with a Mecanum wheel driving wheel set (6), and the back of the bracket mounting seat is connected with the guide mechanism (2);
the guide mechanism (2) comprises a sliding block (22), a U-shaped shroud plate (23), a rubber cushion block (24), a limiting block (25) and a guide rail (21); two top ends of a guide rail (21) of the guide mechanism (2) are provided with limiting blocks (25), and rubber cushion blocks (24) are arranged at positions, which are opposite to the sliding blocks (22), of the limiting blocks (25); the U-shaped shroud plate (23) is connected with a sliding block (22) and fixed on the support mounting seat (4), and the sliding block (22) is mounted in a cylindrical groove of the guide rail (21); the guide rail (21) is vertically fixed on the L-shaped plate frame (1); when the telescopic end of the actuator (31) of the driving suspension is telescopic, the actuator can cooperatively drive the displacement meter (34) and the Mecanum wheel driving wheel set (6) to do reciprocating linear motion in the vertical direction under the constraint of the guide mechanism (2), and drive one side of the frame (7) connected with the driving suspension to rise or fall in the vertical direction and cooperatively drive the frame (7) to return to the horizontal position.
2. A mecanum wheel omni-directional active suspension system according to claim 1, wherein the pose sensing controller (8) has priority over the laser sensor (5) signal to ensure that the laser sensor (5) is not triggered when the omni-directional vehicle is ascending a slope, so as to avoid conflict with the process of the pose sensing controller adjusting the vehicle frame (7) level.
3. A mecanum wheel omni-directional active suspension system as claimed in claim 1 wherein the right angle of the L-shaped frame (1) is reinforced by right angle reinforcing brackets (9).
4. The active suspension device for the Mecanum wheel omnidirectional vehicle as claimed in claim 1, wherein the guide rail (21) of the guide mechanism (2) is vertically fixed on the frame (7) by connecting the L-shaped plate frame (1), the guide rail (21) and a sliding block (22) which is arranged in the guide rail (21) and fixed on a U-shaped cover plate (23) form a clearance fit, and the sliding block (22) can only make the guide mechanism (2) drive a telescopic end of a push rod of an actuator fixed on the guide mechanism (2) to perform reciprocating linear motion in the vertical direction under the limitation of the guide rail (21), so that the axle distance and wheel distance of the omnidirectional vehicle cannot be affected when the active suspension device works.
5. The active suspension device for the Mecanum wheel omni-directional vehicle as claimed in claim 1, wherein the L-shaped plate frame (1) is composed of a vertical plate and a top plate which are perpendicular to each other, and a plurality of straight grooves are vertically formed on the vertical plate of the L-shaped plate frame (1); a top plate of the L-shaped plate frame is symmetrically provided with a plurality of groups of straight grooves along the vertical plane, and a vertical plate and the top plate of the L-shaped plate frame (1) are provided with a plurality of through holes which correspond to the through holes of the frame (7); guide rail (21) of guiding mechanism (2) are vertically installed in the straight flute of L type grillage riser (1), actuator bottom link support (32), displacement meter bottom link support (35) are connected to through-hole or the straight flute that the bottom surface of L type grillage (1) roof corresponds through bolt fastening spare in.
6. A mecanum wheel omni-directional active suspension system as claimed in claim 1 wherein the actuator (3) bottom attachment end has radial attachment holes with an axis perpendicular to the axis of the actuator bottom attachment end bracket (31); the bottom connecting end of the displacement meter (5) is provided with a radial connecting hole, and the axis of the radial connecting hole is vertical to the axis of the displacement meter bottom connecting end bracket (51); actuator bottom link support (31), the roof downside at L type frame plate (1) is fixed to the equal level of roof of displacement meter bottom link support (51), so that the axial direction parallel of displacement meter (5) that actuator (3) and displacement meter bottom link support (51) that actuator bottom link support (31) are connected, guarantee that displacement meter (5) measured displacement value is actuator (3) push rod expansion value promptly, with accurate feedback, the flexible of control actuator (3), guarantee the control that can be accurate and monitor the displacement adjustment volume that the initiative was hung.
7. A mecanum wheel omni-directional active suspension system according to claim 1, wherein the bottom connecting end of the actuator (31), the push rod extension end of the actuator (31), the bottom connecting end of the displacement meter (34) and the movable end of the displacement meter (34) are all provided with radial through holes; actuator bottom link support (32), displacement meter bottom link support (35), the flexible end support of actuator push rod (33), displacement meter expansion end support (36) are "pi" type structure, all include roof and coexistence board, roof and coexistence board mutually perpendicular, put the through-hole that has the horizontal direction at coexistence board central point, the through-hole that two risers were opened is coaxial.
8. A macnam wheel omni-directional active suspension device as claimed in claim 1, wherein the U-shaped shroud plate (23) is composed of two side plates and a vertical plate which are perpendicular to each other, the bottom of the two side plates is provided with coaxial symmetrical through holes, and the other group of through holes of the wide vertical plate and the narrow vertical plate of the mount bracket 4 are fixedly mounted on the through holes of the bottom of the side surface of the U-shaped shroud plate (23); a plurality of through holes are symmetrically formed in the upper side of a vertical plate of the U-shaped shroud plate (23) along a vertical axis, a plurality of corresponding threaded holes are symmetrically formed in the long axis of the sliding block (22), and the position, where the through hole is formed in the back of the upper side of the vertical plate of the U-shaped shroud plate (23), is fixedly connected with the threaded hole of the sliding block (22) through a screw; the slider (22) is placed in the vertical guide rail (21) cylindrical groove of installing in L type grillage (1) and is formed clearance fit to can be along guide rail (21) reciprocating linear motion.
9. A mecanum wheel omni-directional active suspension arrangement for a vehicle according to claim 1, wherein the mecanum wheel drive wheel sets (6) comprise mecanum wheels (61), a coupling (62), a servo deceleration drive motor (63), a motor bracket (64), and an auxiliary reinforcement bracket (65); the Mecanum wheel (61) is connected with a servo deceleration driving motor (63) through a coupler (62), the servo deceleration driving motor (63) is fixed on a motor bracket (64) through an auxiliary reinforcing bracket, and the motor bracket (64) is installed on the upper side of a bottom plate of the bracket mounting seat (4); the auxiliary reinforcing bracket (65) comprises an auxiliary reinforcing bracket upper plate (651), an auxiliary reinforcing bracket lower plate (652) and bolt fasteners; the auxiliary reinforcing support (65) is clamped with the servo deceleration driving motor (63) through a bolt and nut assembly so as to resist the moment generated when the servo deceleration driving motor (63) works.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210477081.9A CN114789634B (en) | 2022-05-02 | 2022-05-02 | Active suspension device for Mecanum wheel omnidirectional vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210477081.9A CN114789634B (en) | 2022-05-02 | 2022-05-02 | Active suspension device for Mecanum wheel omnidirectional vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114789634A true CN114789634A (en) | 2022-07-26 |
| CN114789634B CN114789634B (en) | 2024-08-06 |
Family
ID=82462408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210477081.9A Active CN114789634B (en) | 2022-05-02 | 2022-05-02 | Active suspension device for Mecanum wheel omnidirectional vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114789634B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743422A (en) * | 2022-11-18 | 2023-03-07 | 安徽工程大学 | Self-adaptive foldable series joint belt conveyor and working method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105278533A (en) * | 2015-11-10 | 2016-01-27 | 北京特种机械研究所 | Omnidirectional moving platform navigation method |
| CN107351932A (en) * | 2017-07-18 | 2017-11-17 | 电子科技大学 | A kind of complicated landform mobile robot |
| CN109131618A (en) * | 2018-09-10 | 2019-01-04 | 华南理工大学 | A kind of lifting chassis and its operation method based on ball screw |
| CN110510026A (en) * | 2019-08-16 | 2019-11-29 | 东南大学 | A kind of independent vehicle frame forearm aiding overpass obstacle chassis based on Mecanum wheel |
| CN112319170A (en) * | 2020-11-20 | 2021-02-05 | 大连交通大学 | Independent suspension device capable of keeping specific wheel track |
-
2022
- 2022-05-02 CN CN202210477081.9A patent/CN114789634B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105278533A (en) * | 2015-11-10 | 2016-01-27 | 北京特种机械研究所 | Omnidirectional moving platform navigation method |
| CN107351932A (en) * | 2017-07-18 | 2017-11-17 | 电子科技大学 | A kind of complicated landform mobile robot |
| CN109131618A (en) * | 2018-09-10 | 2019-01-04 | 华南理工大学 | A kind of lifting chassis and its operation method based on ball screw |
| CN110510026A (en) * | 2019-08-16 | 2019-11-29 | 东南大学 | A kind of independent vehicle frame forearm aiding overpass obstacle chassis based on Mecanum wheel |
| CN112319170A (en) * | 2020-11-20 | 2021-02-05 | 大连交通大学 | Independent suspension device capable of keeping specific wheel track |
Non-Patent Citations (1)
| Title |
|---|
| 朱艳杰;宜亚丽;景常海;戴勇波: "全向车测量轮导引方式的设计与仿真", 工程设计学报, vol. 23, no. 004, 31 December 2016 (2016-12-31) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743422A (en) * | 2022-11-18 | 2023-03-07 | 安徽工程大学 | Self-adaptive foldable series joint belt conveyor and working method thereof |
| CN115743422B (en) * | 2022-11-18 | 2024-01-05 | 安徽工程大学 | Self-adaptive foldable serial joint belt conveyor and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114789634B (en) | 2024-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101068706B (en) | Adjusting device, air deflecting system , control member and device enabling aerodynamic resistance of a semi-trailer to be reduced | |
| CN106476550A (en) | A kind of wheeled robot chassis | |
| CN210149098U (en) | Rear suspension system for electric vehicle | |
| WO2021093498A1 (en) | Omnidirectional movement chassis | |
| CN114789634A (en) | Mecanum wheel omnidirectional active suspension device for vehicle | |
| KR20230054727A (en) | Active suspension inertia adjustment method and control system based on vehicle front terrain | |
| CN112319170B (en) | Independent suspension device capable of keeping specific wheel track | |
| CN214374492U (en) | Flaw detection device | |
| CN210774721U (en) | Crash test trolley | |
| CN111409056A (en) | Omnidirectional mobile robot | |
| CN112710475B (en) | Collision test trolley | |
| CN2774889Y (en) | Side frame of automobile | |
| KR20210070448A (en) | Suspension device for vehicle | |
| US6709046B2 (en) | Supporting structure of an operator cab for a work machine | |
| CN213594039U (en) | Spring suspension device for heavy-load AGV Mecanum wheel | |
| CN204801910U (en) | Suspension device behind modified heavy truck driver's cabin | |
| CN215097923U (en) | Six-wheel leg wall obstacle crossing robot | |
| CN114771185A (en) | Mobile robot and suspension system | |
| CN221561406U (en) | Truss robot adjusting base | |
| CN115199046A (en) | Leveling equipment | |
| CN112676856A (en) | Cutting auxiliary device for industrial product design | |
| CN214648670U (en) | AGV dolly | |
| CN218138042U (en) | Industrial operation robot based on deep learning | |
| CN111137122A (en) | Omnidirectional mobile robot chassis mechanism based on hub motor | |
| CN211107680U (en) | Shock attenuation formula intelligence floor truck suitable for complicated topography |
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 |