CN210258603U - Suspension angle adjusting mechanism for intelligent mobile platform - Google Patents

Abstract

The utility model relates to a suspension angle adjusting mechanism for an intelligent mobile platform, which comprises a main adjusting body, an auxiliary rotating arch wheel, a connecting plate, a worm, a motor, a pull rod and a stop block, wherein the lower part of the main adjusting body is connected with the auxiliary rotating roller, the main adjusting body is of a composite U-shaped structure, the worm is meshed with the auxiliary rotating arch wheel, and the tail end of the worm is connected with an output shaft of the motor; the lower end of the main adjusting body is provided with an arc-shaped groove, the arc-shaped groove is matched with the top structure of the auxiliary rotating arch wheel, and the bottom of the auxiliary rotating arch wheel is fixed on the connecting plate. Through vice rotatory wheel, the worm meshing of encircleing to and vice rotatory wheel and the main control body of encircleing mutually support, realize the angle modulation about the relative intelligent movement platform body of suspension assembly, realize the performance of crossing the obstacle of "V-shaped", "inverted V-shaped" ramp or other complicated ground, reduce the track risk of falling, protection platform security and stability promote the suitability of platform to all kinds of complicated ground environment.

Description

Suspension angle adjusting mechanism for intelligent mobile platform

Technical Field

The utility model belongs to the technical field of intelligent Mobile platform device, concretely relates to intelligent Mobile platform is with hanging angular adjustment mechanism.

Background

The crawler-type mobile chassis has the advantages of flexible action, large contact area with the ground, strong obstacle crossing capability and the like, and has stronger obstacle crossing performance and complex terrain passing capability due to the fact that the crawler-type mobile chassis is provided with the suspension damping mechanism relative to the wheel-type mobile chassis. Therefore, the development direction of the crawler-type mobile chassis and the matched suspension structure as the walking mechanism of the relevant machinery always centers on the development in the aspects of safety and reliability, wide application range, simplicity and convenience in operation, environmental protection, energy conservation, low cost and the like, and the continuous improvement is always made at home and abroad in this respect.

In order to improve the obstacle crossing performance or the trafficability of the mobile chassis, the following methods are often adopted for improvement and optimization:

(1) the suspension structure is changed to realize the horizontal adjustment of left and right or front and back angles of the mobile platform

A typical technical scheme is that a chassis adjusting control system of a tracked vehicle is disclosed in patent 201820105211.5, the chassis inclination angle is detected through an inclination angle sensor, and horizontal setting of the left direction and the right direction of a platform is realized by changing a suspension left-right telescopic mechanism. In addition, the adjustable-angle trolley chassis disclosed in patent No. 201721341789.2 realizes the adjustment of the front and rear angles of the platform by controlling the deformation of the front and rear suspension structures, so that the adjustable-angle trolley chassis is suitable for different slopes.

(2) Suspension structure deformation for realizing height adjustment of mobile platform

The typical technical scheme is an adjustable crawler device disclosed in patent No. 201810575356.6, which adjusts the height of the chassis by adjusting the length of a hydraulic rod, thereby improving the trafficability of the crawler chassis.

(3) Forward heading angle of suspension structure deformation adjustment crawler mechanism

The typical technical scheme is that a crawler angle self-adaptive mechanism of the pipeline robot is disclosed as patent No. 201621305890.8, and the adaptability to pipelines with different pipe diameters is realized by adjusting an electric push rod to change the heading angle of crawler movement on two sides.

The technical scheme has the defects that the angle adjusting mechanism is complex in structure, or the stability and the safety are not good enough when the obstacle is crossed through a V-shaped slope and an inverted V-shaped slope.

Disclosure of Invention

An object of the utility model is to provide a guarantee platform security and stability, hinder performance excellence intelligent mobile platform with hanging angular adjustment mechanism when "V-arrangement" shape, "inverted V" shape ramp.

The utility model provides a technical scheme that its technical problem adopted is: a suspension angle adjusting mechanism for an intelligent mobile platform comprises a main adjusting body, an auxiliary rotating arch wheel, a connecting plate, a worm, a motor, a pull rod and a stop block, wherein the auxiliary rotating roller is connected below the main adjusting body, the main adjusting body is of a composite U-shaped structure, the middle of the main adjusting body is hollowed out for the worm to pass through, the worm is meshed with the auxiliary rotating arch wheel, and the tail end of the worm is connected with an output shaft of the motor; the lower extreme of main control body is equipped with the arc wall, and the arc wall suits with the top structure of vice rotatory hunch wheel, and on the bottom of vice rotatory hunch wheel was fixed in the connecting plate, the both sides of vice rotatory hunch wheel were equipped with the arch support respectively, and the arch support is last to be provided with the arch notch along arch extending direction, is equipped with in the arch notch and follows the gliding pull rod of arch notch, and the inner wall of vice rotatory hunch wheel is connected to the pull rod upper end, has cup jointed the dog behind the arch notch is passed to the lower extreme of pull rod.

Specifically, the main adjusting body comprises a first body and a second body which are identical in structure and are arranged oppositely, the first body and the second body are of U-shaped structures, and the tops of the first body and the second body are connected through a body support arm.

Furthermore, the lower ends of the first body and the second body are provided with arc grooves, the auxiliary rotating arch wheel is of a semi-cylindrical structure, the upper portion of the auxiliary rotating arch wheel is provided with an arc cylinder, and the arc grooves are matched with the arc cylinder structure.

Further, the worm is located between the body support arm and the auxiliary rotating arch wheel.

Furthermore, a thread wire is arranged on the auxiliary rotating arch wheel, a thread is arranged on the outer surface of the worm, and the thread wire is matched with the thread to realize the meshing of the auxiliary rotating arch wheel and the worm.

Furthermore, the upper wall surface of the stop block is of a smooth arc-shaped surface structure, the lower wall surface of the arc-shaped notch slides, and the area of the upper wall surface of the stop block is larger than the transverse width of the arc-shaped notch.

Furthermore, the connecting plate is fixed on a side plate of the intelligent mobile platform.

Furthermore, terminal surface and motor all set up on intelligent Mobile platform's upper cover plate before the main governing body.

The utility model discloses following beneficial effect has: the utility model discloses a hang angle guiding mechanism and encircle the wheel through vice rotation, the worm meshing is connected, and vice rotation encircles wheel and main control body and mutually supports, realize to hanging the relative intelligent moving platform body of subassembly angle adjustment about, realize to all kinds of "V-arrangement", "the lambda" shape ramp or other complicated ground hinder the performance of passing through more, improved moving platform hinders the performance more, guarantee to hinder the effect more, the track risk is fallen in the reduction, platform security and stability have been protected, the suitability of platform to all kinds of complicated ground environment has further been promoted.

Drawings

Fig. 1 is a three-dimensional structure diagram of the suspension angle adjusting mechanism of the present invention.

Fig. 2 is a front view structural diagram of the suspension angle adjusting mechanism of the present invention.

Fig. 3 is a left side view structure diagram of the suspension angle adjusting mechanism of the present invention.

Fig. 4 is a plan view structural diagram of the suspension angle adjusting mechanism of the present invention.

Fig. 5 is a schematic view of the installation position of the suspension angle adjusting mechanism on the intelligent mobile platform.

Fig. 6 is a schematic diagram of a three-dimensional structure of the intelligent mobile platform of the present invention.

Fig. 7 is a schematic view of the structure of the intelligent mobile platform.

Fig. 8 is a schematic front view of the power transmission component of the present invention.

Fig. 9 is a schematic perspective view of a power transmission component according to the present invention.

Fig. 10 is a schematic view of a power reversing assembly of the middle power transmission component according to the present invention.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings.

As shown in fig. 1-4, a suspension angle adjusting mechanism for an intelligent mobile platform comprises a main adjusting body 4-1, an auxiliary rotating arch wheel 4-2, a connecting plate 4-3, a worm 4-4, a motor 4-5, a pull rod 4-6 and a stop block 4-7.

The main adjusting body 4-1 is of a composite U-shaped structure, the main adjusting body 4-1 comprises a first body 4-1-3 and a second body 4-1-4 which are identical in structure and are oppositely arranged, the first body 4-1-3 and the second body 4-1-4 are of U-shaped structures, and the tops of the first body 4-1-3 and the second body 4-1-4 are connected through a body support arm 4-1-1. The worm 4-4 is positioned between the body support arm 4-1-1 and the auxiliary rotating arch wheel 4-2.

The lower ends of the first body 4-1-3 and the second body 4-1-4 are respectively provided with an arc-shaped groove 4-1-2, the auxiliary rotating arch wheel 4-2 is of a semi-cylindrical structure, the upper part of the auxiliary rotating arch wheel 4-2 is provided with an arc-shaped cylinder 4-2-1, and the arc-shaped grooves 4-1-2 are matched with the arc-shaped cylinder 4-2-1 in structure. The arc-shaped groove 4-1-2 is of a smooth arc body structure, and the auxiliary rotating arch wheel 4-2 can rotate around the axis of the auxiliary rotating arch wheel 4-2 in a low-resistance mode relative to the main adjusting body 4-1.

The bottom end face of the auxiliary rotating arch wheel 4-2 is arranged on the connecting plate 4-3, the two sides of the auxiliary rotating arch wheel 4-2 are respectively provided with an arch support 4-2-3, the arch support 4-2-3 is of an arch thin plate structure, the inner wall is smooth, an arch notch 4-2-4 is arranged on the arch support 4-2-3 along the arch extending direction, and a pull rod 4-6 capable of sliding along the arch notch 4-2-4 is arranged in the arch notch 4-2-4. The upper end of the pull rod 4-6 is connected with the inner wall of the auxiliary rotating arch wheel 4-2, and the lower end of the pull rod 4-6 is sleeved with a stop block 4-7 after passing through the arch-shaped notch 4-2-4. The pull rod 4-6 can slide in the arched notch 4-2-4 under the action of the rotation of the auxiliary rotating arch wheel 4-2 relative to the main adjusting body 4-1. The upper wall surface of the block 4-7 is of a smooth arc surface structure, the lower wall surface slides in the arch-shaped notch 4-2-4, and the area of the upper wall surface of the block 4-7 is larger than the transverse width of the arch-shaped notch 4-2-4. When the auxiliary rotating arch wheel 4-2 slides along the main adjusting body 4-1, the pull rod 4-6 is matched with the stop block 4-7 to realize the tensioning effect of the auxiliary rotating arch wheel 4-2 relative to the main adjusting body 4-1, thereby ensuring that the auxiliary rotating arch wheel 4-2 rotates relative to the axis of the main adjusting body 4-1 without deviating from the axis.

The center of the cylindrical surface of the auxiliary rotating arch wheel 4-2 is provided with a thread 4-2-2 which is used for matching with the worm 4-4 to realize rotation driving, the outer surface of the worm 4-4 is provided with a thread 4-4-1, and the thread 4-2-2 is matched with the thread 4-4-1 to realize the meshing of the auxiliary rotating arch wheel 4-2 and the worm 4-4. The tail end of the worm 4-4 is connected with an output shaft of the motor 4-5, and the front end face of the main adjusting body 4-1 and the motor 4-5 are both arranged on an upper cover plate 1-2 of the intelligent mobile platform. The motor 4-5 rotates to drive the worm 4-4 to rotate, so that the angle of the auxiliary rotating arch wheel 4-2 relative to the main adjusting body 4-1 is adjusted. When the worm 4-4 rotates, the thread 4-4-1 on the worm cooperates with the thread 4-2-2 on the auxiliary rotating arch wheel 4-2 to realize the rotation of the auxiliary rotating arch wheel 4-2 relative to the worm 4-4. Because the worm 4-4 is arranged on the upper cover plate 1-2 through the motor 4-5, the auxiliary rotating arch wheel 4-2 can generate angle deflection relative to the upper cover plate 1-2.

The connecting plate 4-3 is fixed on the side plate 1-3 of the intelligent mobile platform. The connecting plate 4-3 is of a square flat plate structure and is arranged between the auxiliary rotating arch wheel 4-2 and the side plate 1-3, when the auxiliary rotating arch wheel 4-2 deflects angularly, the connecting plate 4-3 is driven to rotate, and the side plate 1-3 is further driven to deflect angularly relative to the vehicle body 1-1 and the upper cover plate 1-2, so that the angle adjustment of the suspension assembly 2 is realized.

The overall working effect of the suspension angle adjusting mechanism 4 is as follows: when the motor 4-5 rotates, the worm 4-4 and the thread 4-4-1 on the worm are driven to rotate, the auxiliary rotating arch wheel 4-2 is driven to bear force through the matching of the thread 4-4-1 and the thread 4-2-2, and the angle deflection of the auxiliary rotating arch wheel 4-2 relative to the main adjusting body 4-1 is realized due to the matching action of the arc-shaped bulge 4-1-1 on the main adjusting body 4-1 and the notch 4-2-1 on the auxiliary rotating arch wheel 4-2. As the auxiliary rotating arch wheel 4-2 is connected with the side plate 1-3 through the rotating flat plate 4-3, and the outer side of the side plate 1-3 is connected with the suspension assembly 2, the left and right angle deflection adjustment of the vehicle body 1-1 on the relative moving chassis 1 of the suspension assembly 2 is finally realized, so that the suspension assembly 2 and the external damping crawler 3 adapt to a specific gradient, the obstacle crossing effect is ensured, the risk of dropping the crawler is reduced, and the safety of the suspension assembly 2 on the moving platform is protected. In the process, the pull rod 4-6 is matched with the stop block 4-7 to realize the tensioning effect of the auxiliary rotating arch wheel 4-2 relative to the main adjusting body 4-1, so that the auxiliary rotating arch wheel 4-2 is ensured to rotate relative to the axis of the main adjusting body 4-1 without deviating from the axis.

In the process of adjusting the angle of the suspension assembly 2 by the suspension angle adjusting mechanism 4, the suspension assembly 2 and the driving wheel 2-3 thereon deflect relative to the vehicle body 1-1, and at the moment, the power transmission angle also deflects as follows: when the angle adjustment of the suspension angle adjusting mechanism 4 to the suspension component 2 is realized to increase the angle, the angle of the suspension component 2 and the connected driving wheel 2-3 is increased and adjusted, so that the angle of the auxiliary power shaft 5-7 on the driving wheel 2-3 is changed, the auxiliary sliding block 5-3 is driven to change along the reversing notch 5-1-1 of the base disc 5-1, and the angle of the auxiliary transmission shaft 5-5 is further driven to be adjusted, therefore, the angle of the second reversing joint 5-8-3 connected with the auxiliary transmission shaft 5-5 is adjusted at the first reversing joint 5-8-2, but the power transmission function is not interrupted at the moment, and the continuous power transmission under the angle increase and adjustment is realized.

The suspension angle adjusting mechanisms 4 are arranged on the intelligent mobile platform, the number of the suspension angle adjusting mechanisms is two, and the suspension angle adjusting mechanisms are respectively arranged at the left and right symmetrical positions of the lower end surface of the upper cover plate 1-2. As shown in fig. 5-7, the intelligent mobile platform further comprises a mobile chassis 1, a suspension assembly 2, a shock absorption crawler 3, a power transmission component 5 and a driving assembly 6.

The mobile chassis 1 provides support, installation, protection and other functions for the intelligent mobile platform and the attached components thereof. The movable chassis 1 comprises a vehicle body 1-1, an upper cover plate 1-2 and side plates 1-3, wherein the vehicle body 1-1 is a supporting body of the whole set of crawler-type movable chassis and is of a plate-shaped structure, and a plurality of baffle plates are arranged outside the vehicle body 1-1 to seal the main structure of the vehicle body. An upper cover plate 1-2 is fixed on the upper end face of the vehicle body 1-1, the upper cover plate 1-2 is of a horizontal rectangular flat plate structure, side plates 1-3 are respectively arranged on two sides of the vehicle body 1-1, and the side plates 1-3 are rectangular plates.

Two sets of suspension assemblies 2, two sets of damping tracks 3, two sets of suspension angle adjusting mechanisms 4, two sets of power transmission parts 5 and two sets of driving assemblies 6 are arranged; the suspension assembly 2 is arranged on the outer side of the side plate 1-3, the suspension assembly 2 is connected with the damping crawler 3, the suspension assembly 2 is further connected with one end of a power transmission part 5, the other end of the power transmission part 5 is connected with a driving assembly 6, the driving assembly 6 is fixed on the crawler-type chassis 1, one end of a suspension angle adjusting mechanism 4 is fixed on the upper cover plate 1-2, and the other end of the suspension angle adjusting mechanism is connected with the side plate 1-3. The angle adjustment of the side plates 1-3 relative to the upper cover plate 1-2 is realized through the adjustment of the suspension angle adjusting mechanism 4.

The suspension assembly 2 mainly achieves a damping effect through various structures, so that contact vibration and the like of the crawler and the ground are weakened or even eliminated, and the stability and the safety of the upper equipment are ensured; meanwhile, the obstacle crossing performance of various V-shaped slopes, inverted V-shaped slopes or other complex ground surfaces can be realized by adjusting the angle of the self-hanging framework.

Each set of suspension assembly 2 comprises a suspension framework 2-1, a damping mechanism 2-2, a driving wheel 2-3 and a bearing wheel 2-4, as shown in figure 7. The suspension framework 2-1 is a hollow plate structure, the suspension framework 2-1 is fixed on the outer sides of the side plates 1-3 at two sides of the vehicle body 1-1, and the suspension framework 2-1 is provided with a damping mechanism 2-2, a driving wheel 2-3 and other structures, so that the damping and supporting functions of the chassis are mainly realized. The rear end of the suspension framework 2-1 is provided with a driving wheel 2-3, the driving wheel 2-3 is of a wheel-shaped structure, gear structures are arranged on two sides and used for being meshed with gears on the inner side of the damping crawler 3, the axis of the driving wheel 2-3 is connected with an auxiliary power shaft 5-7 of the power transmission part 5, and the driving wheel 2-3 realizes self-driven rotation through the force transmission effect of the auxiliary power shaft 5-7, so that the damping crawler 3 is driven to rotate, and the power movement effect is realized. The suspension framework 2-1 is connected with a bearing wheel 2-4 below through a damping mechanism 2-2, and the outer edge of a wheel train consisting of the driving wheel 2-3 and the bearing wheel 24 is meshed with a damping crawler 3. The damping mechanisms 2-2 are suspension damping mechanisms formed by damping plates, elastic elements and the like, and the damping mechanisms are multiple sets and support the damping tracks 3. The bearing wheels 2-4 are in contact with the damping crawler 3, so that the contact area of the movable chassis and the ground is ensured, and the chassis and the upper equipment are borne.

The two damping crawler belts 3 are respectively arranged at the periphery of the wheel train outline composed of a driving wheel 2-3 and a bearing wheel 2-4 in the suspension component 2. The shock absorption crawler belt mainly has the function of realizing rotation by being driven by the driving wheels 2-3, so that the continuous rolling laying function is realized by the supporting action of the bearing wheels 2-4 on the shock absorption crawler belt 3, and the moving chassis 1 is driven to move.

As shown in fig. 8-9, the same number of the power transmission parts 5 is two, which are respectively arranged between the driving wheel 2-3 and the speed reducing mechanism 6-2, and the main functions are as follows: when the suspension angle adjusting mechanism 4 adjusts the angle of the suspension assembly 2, the power transmission part 5 realizes that the power is also output to the driving wheel 2-3 from the output shaft of the speed reducing mechanism 6-2 through angle adjustment. Each set of power transmission component 5 comprises a base disc 5-1, a main sliding block 5-2, an auxiliary sliding block 5-3, a main transmission shaft 5-4, an auxiliary transmission shaft 5-5, a main power shaft 5-6, an auxiliary power shaft 5-7 and a power reversing component 5-8.

The base disc 5-1 is vertically arranged on two sides of the rear end of the upper cover plate 1-2, the base disc 5-1 is of a circular disc structure, reversing notches 5-1-1 are respectively arranged on the two sides along the circumferential direction, and a main sliding block 5-2 and an auxiliary sliding block 5-3 are respectively embedded in the two reversing notches 5-1-1 and are used for matching the main sliding block 5-2 and the auxiliary sliding block 5-3 to rotate relative to the base disc 5-1 in an angle mode.

The main sliding block 5-2 is of a square structure and is arranged on one side of the base disc 5-1, a through hole is formed in the main sliding block and used for penetrating through the main power shaft 5-6 and the main transmission shaft 5-4, the rotating shaft 5-2-1 is arranged at the bottom of the main sliding block 5-2 and used for being embedded into the reversing notch 5-1-1, and the angle adjustment of the main sliding block 5-2 relative to the base disc 5-1 is achieved. The inner side of the main sliding block 5-2 is connected with a main transmission shaft 5-4, the outer side of the main sliding block 5-2 is connected with a main power shaft 5-6, and the main transmission shaft 5-4 and one end of the main power shaft 5-6 are connected in a through hole of the main sliding block 5-2 to realize power transmission. The other end of the main power shaft 5-6 is connected with an output shaft of a speed reducing mechanism 6-2 in the driving assembly 6.

The auxiliary sliding block 5-3 is similar to the main sliding block 5-2 in function and structure and is arranged at the other side of the base disc 5-1. The inner part of the base is provided with a through hole for penetrating through an auxiliary power shaft 5-7 and an auxiliary transmission shaft 5-5, the bottom of an auxiliary sliding block 5-3 is provided with a rotating shaft 5-2-1 for being embedded into a reversing notch 5-1-1, and the angle adjustment of the auxiliary sliding block 5-3 relative to a base disc 5-1 is realized. The inner side of the auxiliary sliding block 5-3 is connected with an auxiliary transmission shaft 5-5, the outer side of the auxiliary sliding block 5-3 is connected with an auxiliary power shaft 5-7, and one end of the auxiliary transmission shaft 5-5 and one end of the auxiliary power shaft 5-7 are connected in a through hole of the auxiliary sliding block 5-3 to realize power transmission. The other end of the auxiliary power shaft 5-7 is connected with the axle center of a driving wheel 2-3 in the suspension component 2.

The main transmission shaft 5-4 is arranged opposite to the auxiliary transmission shaft 5-5, and the main transmission shaft 5-4 is connected with the auxiliary transmission shaft 5-5 through a power reversing assembly 5-8. The power reversing component 5-8 mainly realizes self angle adjustment and realizes the angle adjustment between the main transmission shaft 5-4 and the auxiliary transmission shaft 5-5 which are connected with the left and the right of the power reversing component.

As shown in fig. 10, the power reversing assembly 5-8 includes a first reversing seat 5-8-1, a first reversing segment 5-8-2, a second reversing segment 5-8-3, and a second reversing seat 5-8-4.

The first reversing seat 5-8-1 is in a circular truncated cone structure, one end face of the first reversing seat 5-8-1 is fixed at the end part of the main transmission shaft 5-4, the other end face of the first reversing seat 5-8-1 is connected with two sets of first reversing joints 5-8-2, the two sets of first reversing joints 5-8-2 are oppositely arranged and respectively arranged at the front and rear symmetrical positions of the axis of the first reversing seat 5-8-1, the first reversing joint 5-8-2 is in a semi-cylinder shape, a gap is reserved between the two cylinders, the direction of the gap is vertical, and the second reversing joint 5-8-3 is placed.

The second reversing seat 5-8-4 is in a circular truncated cone structure, one end face of the second reversing seat 5-8-4 is fixed to the end portion of the auxiliary transmission shaft 5-5, the other end face of the second reversing seat 5-8-4 is connected with the second reversing joint 5-8-3, the second reversing joint 5-8-3 is in a semi-cylinder structure, and the second reversing joint 5-8-3 is embedded into a gap between the two sets of first reversing joints 5-8-2. The second reversing joint 5-8-3 is in clearance fit with the two sets of first reversing joints 5-8-2 to realize vertical angle passive transformation.

The overall working mechanism of the power reversing assemblies 5 to 8 is as follows:

1) the power transmission function: the main transmission shaft 5-4 rotates to drive the first reversing seat 5-8-1 to rotate, the first reversing seat 5-8-1 drives the first reversing joint 5-8-2 and the second reversing joint 5-8-3 embedded in the first reversing joint 5-8-2 to rotate, and then the second reversing seat 5-8-4 is driven to rotate, and the power transmission function is achieved.

2) Power transmission angle adjustment function: when the suspension angle adjusting mechanism 4 is used for angle adjustment, the suspension assembly 2 and the connected driving wheel 2-3 and the like are subjected to angle adjustment, so that the auxiliary power shaft 5-7 on the driving wheel 2-3 is subjected to angle change, the auxiliary sliding block 5-3 is driven to undergo angle change along the reversing notch 5-1-1 of the base disc 5-1, the auxiliary transmission shaft 5-5 is driven to undergo angle adjustment, the second reversing joint 5-8-3 connected with the auxiliary transmission shaft 5-5 drives the first reversing joint 5-8-2 to undergo angle adjustment, but the power transmission function is not interrupted at the moment, and power under the angle adjustment is continuously transmitted.

The drive assembly 6 is a power drive source and a torque transmission medium for the robot. As shown in fig. 5, the driving assembly 6 includes a servo motor 6-1 and a speed reducing mechanism 6-2, the servo motor 6-1 is a power source for the robot to move, the number of the servo motor 6-1 is two, the servo motor 6-1 is respectively installed at the rear positions of the left side and the right side inside the vehicle body 1-1, the rotating shaft of the servo motor 6-1 is connected with the speed reducing mechanism 6-2, and the output end of the speed reducing mechanism 6-2 is connected with the main power shaft 5-6 of the power transmission part 5. The speed reducing mechanisms 6-2 are wheel shaft structures, the number of the speed reducing mechanisms is two, power transmission and speed reducing effects are achieved through mechanisms such as belts and belt pulleys in the middle, the speed reducing mechanisms 6-2 convert high-speed and low-torque of the servo motor 6-1 into low-speed and high-torque power, and therefore power strength and load capacity of the robot are improved.

The overall working effect of the driving assembly 6 is as follows: the servo motor 6-1 rotates to drive the speed reducing mechanism 6-2 to operate, so that power is transmitted to the main power shaft 5-6 and transmitted to the driving wheel 2-3 through the power transmission part 5, and power driving of the moving chassis is achieved.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the spirit and scope of the present invention. Under the prerequisite that does not deviate from the design concept of the utility model, the ordinary person in the art should fall into the protection scope of the utility model to the various changes and improvements that the technical scheme of the utility model made.

The technology, shape and construction parts which are not described in detail in the present invention are all known technology.

Claims (8)

1. A suspension angle adjusting mechanism for an intelligent mobile platform is characterized by comprising a main adjusting body, an auxiliary rotating arch wheel, a connecting plate, a worm, a motor, a pull rod and a stop block, wherein the auxiliary rotating roller is connected below the main adjusting body; the lower extreme of main control body is equipped with the arc wall, and the arc wall suits with the top structure of vice rotatory hunch wheel, and on the bottom of vice rotatory hunch wheel was fixed in the connecting plate, the both sides of vice rotatory hunch wheel were equipped with the arch support respectively, and the arch support is last to be provided with the arch notch along arch extending direction, is equipped with in the arch notch and follows the gliding pull rod of arch notch, and the inner wall of vice rotatory hunch wheel is connected to the pull rod upper end, has cup jointed the dog behind the arch notch is passed to the lower extreme of pull rod.

2. The suspension angle adjusting mechanism of claim 1, wherein the main adjusting body comprises a first body and a second body which have the same structure and are oppositely arranged, the first body and the second body are both U-shaped, and the tops of the first body and the second body are connected through a body support arm.

3. The suspension angle adjusting mechanism of claim 2, wherein the lower ends of the first body and the second body are provided with arc-shaped grooves, the auxiliary rotating arch wheel is of a semi-cylindrical structure, the upper part of the auxiliary rotating arch wheel is provided with an arc-shaped cylinder, and the arc-shaped grooves are matched with the arc-shaped cylinder structure.

4. The suspension angle adjustment mechanism for smart mobile platforms as recited in claim 2, wherein the worm is located between the body arm and the secondary rotating arch wheel.

5. The suspension angle adjusting mechanism for the intelligent mobile platform as claimed in claim 1, wherein the auxiliary rotating arch wheel is provided with a thread, the worm is externally provided with a thread, and the thread is matched with the thread to realize the meshing of the auxiliary rotating arch wheel and the worm.

6. The suspension angle adjusting mechanism for intelligent mobile platforms according to claim 1, wherein the upper wall of the block is a smooth arc-shaped structure, the lower wall slides in the arch-shaped notch, and the area of the upper wall of the block is larger than the transverse width of the arch-shaped notch.

7. The suspension angle adjusting mechanism for smart mobile platforms as recited in claim 1, wherein the connecting plate is fixed to a side plate of the smart mobile platform.

8. The suspension angle adjusting mechanism of claim 1, wherein the front end surface of the main adjusting body and the motor are disposed on an upper cover plate of the intelligent mobile platform.

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