KR102572590B1 - Suspension for caterpillar type mobile platform - Google Patents

Abstract

The present invention relates to a suspension, which is applied to a tracked mobile platform, comprising: one suspension; a first roller connected to the suspension to support a load; And by including a plurality of second rollers for transmitting a load to the suspension through the first roller, it is installed in a narrow inner space of the mobile platform to mitigate driving shock and vibration.

Description

Suspension applied to track type mobile platform {Suspension for caterpillar type mobile platform}

The present invention relates to a suspension applied to a tracked mobile platform, and more particularly, to a suspension applied to a tracked mobile platform for mitigating shock and vibration of a moving platform in a confined space.

Small ground robots are subject to space and weight limitations when designing according to the physical limitations of their size. According to the constraints, structures and mechanisms are minimal, and most are assigned to core components such as mission devices and batteries. Accordingly, it is common to rely on the rubber elasticity of the track as the driving shock without applying a suspension mechanism at all. In the case of applying a suspension, there is a method of applying an independent suspension to each of the idle rollers supporting the ground. In this case, the coil spring method is applied, and the torsion bar used in the tank is suitable for large loads, so it is not applied to small ground robots.

If the suspension is not applied, it can cause damage to the robot in adverse operating environments and act as a potential cause of failure because it cannot absorb shock and vibration, which is the basic function of the suspension. To prevent this, structurally and electrically robust designs create a vicious cycle in which the system becomes bulky.

When an independent suspension is applied, the vibration and shock absorption performance is excellent, but the structure is complicated and the weight increases. Suspension has a mechanism characteristic of having to create displacement for buffering, and according to this characteristic, an independent type with multiple suspensions takes up a lot of space. Because of this, the space that can be allocated to the control device and the battery is reduced, which is disadvantageous to miniaturization. In addition, in terms of maintenance, there are many difficulties such as the possibility of causing a failure increases as much as the complicated structure and repetitive work is required in terms of maintenance. In addition, there is a limit to the number of suspensions that can be applied due to the required space. Since the number of idle rollers depends on the suspension, the applicable number is inevitably reduced compared to platforms without suspension. When the number of rollers decreases, the distance between the rollers increases, which can cause a sticking phenomenon due to jamming of the track when driving on a corner road surface such as stairs.

Korean Registered Patent Publication No. 10-0780850

The problem to be solved by the present invention is to provide a suspension that is installed in a narrow inner space of a track-type mobile platform to mitigate driving shock and vibration.

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, the suspension according to an embodiment of the present invention, in the suspension applied to the track-type moving platform, one suspension; a first roller connected to the suspension to support a load; and a plurality of second rollers transmitting loads to the suspension through the first rollers.

In addition, the first roller may transmit an applied load to the suspension through a link structure.

In addition, it may further include a guide that integrally connects the two or more second rollers and transmits a load applied to the second roller to the first roller, wherein the guide prevents the track from departing from the track. It can be formed to be in close contact with.

The return spring assembly unit may further include a return spring assembly unit that operates according to a position change of the guide according to the operation of the suspension, and the return spring assembly unit contracts the spring when the guide rises according to the operation of the suspension. When the load applied to the suspension is reduced, the spring expands to restore the position of the guide.

Other specific details of the invention are included in the detailed description and drawings.

According to embodiments of the present invention, at least the following effects are obtained.

According to the present invention, the maneuverability of the mobile platform can be improved in response to driving shock and vibration during driving on open/rugged terrain. In addition, it improves the operability of the operating environment and reduces the operator's fatigue, alleviates the impact resistance conditions of the mobile platform and mounted equipment, improves the durability quality against fatigue of the structure, and is applicable to the mobile platform in a relatively narrow space. .

Effects according to the present invention are not limited by the contents exemplified above, and more various effects are included in the present specification.

1 is a perspective view of a suspension according to an embodiment of the present invention.
2 shows a movable platform and a suspension to which a suspension is applied according to an embodiment of the present invention.
3 is a side view of a suspension according to an embodiment of the present invention, and FIG. 4 is a view showing that the suspension is applied to a moving platform according to an embodiment of the present invention.
5 is a side view of a suspension according to another embodiment of the present invention.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements.

1 is a perspective view of a suspension according to an embodiment of the present invention, and FIG. 2 shows a movable platform and a suspension to which a suspension according to an embodiment of the present invention is applied.

The suspension according to the embodiment of the present invention is a suspension applied on the track of the track-type moving platform 200 of FIG. . Hereinafter, specific embodiments according to the shape of the orbit will be described separately with reference to FIGS. 3 and 5 .

3 is a side view of a suspension structure 100 according to an embodiment of the present invention.

Suspension structure 100 according to an embodiment of the present invention is composed of a suspension 110, a first roller 120, a second roller 130, a link structure 140, a guide 150, and a return spring An assembly unit 160 may be included.

Suspension structure 100 according to an embodiment of the present invention is composed of a first roller 120 and a plurality of second rollers (130).

The first roller 120 is a roller that rotates along with the rotation of the track, and is connected to the suspension 110 to support a load applied to the suspension track. When a load is applied to the first roller 120, the load applied to the first roller 120 is transferred to the suspension 110. As shown in FIG. 4 , the first roller 120 is positioned at the lowest part of the suspension structure 100 . Referring to FIG. 4 , it can be seen that the position of the front and rear structures is elevated relative to the first roller 120 . Since the first roller 120 is located at the bottom of the suspension structure 100, it first supports the load applied to the track during general movement. The first roller 120 may be referred to as a middle roller.

The plurality of second rollers 130 are arranged along the rotational direction of the track, and when a load is applied to the second roller 130, the load is transmitted to the suspension 110 through the first roller 120.

The suspension 110 is connected to the first roller 120 to relieve the load applied to the first roller 120 . The spring of the suspension relieves the load applied directly to the first roller 120 and the load applied to the second roller transmitted through the first roller. The spring of the suspension can be implemented as a torsion bar or leaf spring.

The load applied to the first roller 120 is transferred to the suspension 110 through the link structure 140 . The first roller 120 is not directly connected to the suspension 110, but is connected through a link structure 140. The link structure 140 transmits the load applied to the first roller 120 to the suspension 110 and at the same time imparts the mobility of the first roller 120, so that the load is applied to the first roller 120 so that the first When the roller 120 rises, it serves to contract the spring so that the suspension 110 can receive the load.

More specifically, the link structure 140 may be formed of two arms. One end of the two arms is connected to the first roller 120, the other end 141 of one arm is fixed, and the other end 142 of the other arm is connected to the suspension 110. When the first roller 120 rises under the load, the load applied to the first roller 120 is transferred to the suspension 110 when the arm with one end fixed and the arm connected to the suspension 110 rotate.

One end of the suspension 110 is fixed, and the other end is connected to one end 142 of one of the two arms of the link structure 140, and as the connected arm rotates, the applied to the first roller 120 Under load, the spring contracts. That is, the load applied to the first roller 120 is relieved by contraction of the spring.

Like the first roller, the second roller 130 rotates along with the rotation of the track, and distributes the load applied to the first roller 120 at normal times. The second roller 130 may be referred to as an idle roller. The load applied to the second roller 130 is transferred to the first roller 120 through the guide 150 . The guide 150 integrally connects the two or more second rollers. The guide 150 has a structure that is formed long along the extension direction of the track, and may be formed to extend in one direction or both directions based on the first roller 120 . One end of the guide 150 is connected to the first roller 120 . The guide 150 may be connected to the first roller 120 through a link structure 140 .

A plurality of second rollers 130 are fixedly connected to the guide 150 . The second roller 130 fixedly connected to the guide 150 may vary depending on the size of the second roller 130 and the size of the track. Since the guide 150 and the second roller 130 move integrally and are connected to the first roller 120, when the first roller 120 receives a load and rises, the first roller 120 and When the connected side moves along the first roller 120 and a load is applied to the second roller 130, the whole rises accordingly, and as the guide 150 rises upward, the force is applied to the first It can be transferred to the roller 120.

The guide 150 is formed to be in close contact with the track as shown in FIG. 4 to prevent the track from departing. The guide 150 fixes and integrates the plurality of second rollers 130 to transmit the load applied to the second roller 130 to the first roller 120 and to prevent the track from escaping can be done together. The guide 150 serves to counteract the force in the lateral direction that the track receives during rotation in place or running on a heeling slope. To this end, a long groove is formed on the inside of the track, and the guide 150 is formed in a shape corresponding to the groove formed on the track, and can be in close contact with the track by being fitted into the groove formed on the track. The guide 150 is inserted into the groove formed in the track and closely adhered to the track, so that the track may be prevented from being detached due to a lateral force applied to the track.

When the first roller 120 rises according to the load applied to the first roller 120 or the second roller 130 rises according to the load applied to the second roller 130, the guide 150 also It rises and leaves the usual position. Since the guide 150 can prevent the track from escaping when it is in close contact with the track, when the load applied to the first roller 120 or the second roller 130 disappears, You have to come back to your place. To this end, the return spring assembly unit 160 may be implemented.

The return spring assembly unit 160 operates according to the position change of the guide 150 according to the operation of the suspension 110 . That is, when the suspension 110 operates according to the rise of the first roller 120 or the rise of the second roller 130 and the guide 150 rises accordingly, the degree of freedom is applied to the change in the position of the guide 150. When the structure 162 and the spring of the suspension 110 are contracted by a load and then expanded again after the load is gone, the spring 163 and the guide are attached to the guide 150 so that the position of the guide 150 also returns to its original position. It may be composed of a link 161 connecting a structure giving a degree of freedom and a spring.

In the return spring assembly 160, the spring contracts when the guide 150 rises according to the operation of the suspension 110, and when the load applied to the suspension 110 decreases, the spring expands to adjust the position of the guide 150. can be restored. If the guide 150 does not return to its original position after rising, a gap is created between the guide 150 and the track, making it impossible for the guide 150 to prevent the track from departing. Therefore, according to the operation of the suspension 110, the position of the guide 150 must be returned to its original position.

The link 161 is formed as one arm, one end is connected to the fixed assembly unit, and the other end is formed to move along the through hole 162 structure. When the guide 150 rises according to the operation of the suspension 110, the link 161 moves along the through hole 162, and the spring 163 contracts. Then, when the load applied to the suspension 110 is reduced, the spring 163 expands, the link 161 moved along the through hole 162 returns to its original position, and the position of the guide 150 is also restored. . The position of the guide 150 is restored to maintain close contact with the track.

As described above, the guide 150 may be formed back and forth with respect to the first roller 120 . The guide 150 may be formed in a plate shape, and a plurality of second rollers 130 may be formed in two rows on both sides. Based on the first roller 120, the number of guides 150 formed forward and the number of second rollers 130 connected to the guide 150 formed backward may be different. It may vary depending on the center.

FIG. 3 is an embodiment applied to the front track of the tracked mobile platform of FIG. 2 , and FIG. 5 is an embodiment applied to the rear track of the tracked mobile platform of FIG. 2 .

The suspension structure 500 of FIG. 5 is composed of a suspension 510, a first roller 520, a second roller 530, a link structure 540, a guide 550, and a return spring assembly 560. can

Unlike the suspension structure 100 of FIG. 3, the first roller 520 is formed at the rear, and one guide 550 is formed toward the front of the first roller 520. Since the first roller 520 serves to rotate the track, it is formed larger than the first roller 120 in the suspension structure 100 of FIG. 3 according to the shape of the track. Depending on the structure of the track, the suspension 510 is also formed horizontally rather than vertically. In the link structure 540, one end of the two arms is fixed, the other end of one arm is connected to the first roller 520, and the other end of the other arm is connected to the suspension 510 so that the first roller 520 ) and transmits the load applied to the suspension 510. When a load is applied to the first roller 520 and rises according to the difference in the link structure 540, one end 542 of the arm connected to the suspension goes down due to rotation according to the link structure, and the spring of the suspension 510 contracts do.

The guide 550 of the suspension structure 500 of FIG. 5 is formed as one instead of two, and other components are the same as the guide 150 of the suspension structure of FIG. 3 in configuration and operation.

When driving on flat ground, loads and shocks are transmitted to the suspension through the first roller in contact with the ground. The second roller comes into contact with irregular surfaces such as low obstacles or wild and rough terrain first, and loads and shocks are transmitted to the suspension through the combined guide and link structure. According to the operation of the suspension, the guide and the second roller are interlocked and moved. At this time, a link structure of the position return spring assembly unit exists to satisfy the degree of freedom for the length change of the guide. Even if the guide has a degree of freedom, the position return spring assembly part plays a role in close contact with the track to ensure that the track does not depart.

Those skilled in the art to which the present invention pertains will understand that the present invention can be embodied in other specific forms without changing its technical spirit or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention. do.

110: Suspension
120: first roller
130: second roller
140: link structure
150: guide
160: return spring assembly

Claims (6)

In the suspension applied to the tracked moving platform,
one suspension;
a first roller connected to the suspension to support a load;
a plurality of second rollers transmitting a load to the suspension through the first roller;
a guide integrally connecting the two or more second rollers and transferring a load applied to the second rollers to the first roller; and
Suspension comprising a return spring assembly that operates according to the position change of the guide according to the operation of the suspension. According to claim 1,
The first roller,
Suspension, characterized in that for transmitting the applied load to the suspension through a link structure. delete According to claim 1,
The guide,
Suspension characterized in that formed to be in close contact with the track to prevent the track from departing. delete According to claim 1,
The return spring assembly part,
The suspension according to the suspension, characterized in that when the guide rises according to the operation of the suspension, the spring contracts, and when the load applied to the suspension is reduced, the spring expands to return the position of the guide.

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