CN110562352A - Four-wheel differential sliding steering power balancing device for independent suspension mobile robot - Google Patents
Four-wheel differential sliding steering power balancing device for independent suspension mobile robot Download PDFInfo
- Publication number
- CN110562352A CN110562352A CN201910902700.2A CN201910902700A CN110562352A CN 110562352 A CN110562352 A CN 110562352A CN 201910902700 A CN201910902700 A CN 201910902700A CN 110562352 A CN110562352 A CN 110562352A
- Authority
- CN
- China
- Prior art keywords
- stabilizer bar
- mobile robot
- independent suspension
- power balancing
- wheel differential
- 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.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 22
- 239000003381 stabilizer Substances 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims description 28
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000035939 shock Effects 0.000 description 9
- 239000003638 chemical reducing agent Substances 0.000 description 7
- 239000006096 absorbing agent Substances 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention relates to a four-wheel differential sliding steering power balancing device for an independent suspension mobile robot, which comprises a chassis wheel bridge and driving system modules which are symmetrically distributed on two sides of the chassis wheel bridge and are in sliding connection with the chassis wheel bridge, wherein an independent suspension module is connected between the chassis wheel bridge and the driving system modules, and a power balancing distribution module connected with the chassis wheel bridge is arranged between the symmetrically distributed driving system modules. According to the invention, the power balance distribution module is arranged between the symmetrically distributed driving system modules, and the driving wheels at two coaxial sides can keep the same horizontal height in time through the stabilizer bars in the power balance distribution module, so that the difference between the friction force between the two driving wheels and the ground is reduced, and the phenomenon of unbalanced or overload output of the motors at two sides is prevented, thereby further influencing the motion performance of the robot; the mobile robot is prevented from turning to the side of the vehicle body, the chassis strength, the vibration reduction effect and the steering stability of the mobile robot are improved, and the load capacity of the mobile robot is enhanced.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a four-wheel differential sliding steering power balancing device for an independent suspension mobile robot.
Background
The four-wheel differential sliding steering all-terrain independent suspension mobile robot has the advantages of simple and reliable structure, flexible and stable operation, wide terrain adaptation, simple control and the like, but because the steering mode is four-wheel differential sliding steering, the steering driving torque is larger, the vehicle body is steered to incline, the friction force between the wheels at the left side and the right side on the same axis and the ground is inconsistent, the output power of the left motor and the right motor on the same axis is inconsistent, the overload of the motor at one side is easy to occur, and the load capacity of the robot is weak.
Disclosure of Invention
in order to solve the technical problems, the invention provides a four-wheel differential sliding steering power balancing device for an independent suspension mobile robot, and aims to reduce the difference of output power of a left motor and an output power of a right motor on the same axis by adopting the four-wheel differential sliding steering all-terrain independent suspension mobile robot power balancing device, improve the utilization rate of driving force and enhance the load capacity of the driving force.
the technical problem to be solved by the invention is realized by adopting the following technical scheme:
The four-wheel differential sliding steering power balancing device for the independent suspension mobile robot comprises a chassis wheel bridge and driving system modules which are symmetrically distributed on two sides of the chassis wheel bridge and are in sliding connection with the chassis wheel bridge, an independent suspension module is connected between the chassis wheel bridge and the driving system modules, and a power balance distribution module connected with the chassis wheel bridge is arranged between the driving system modules which are symmetrically distributed.
further, the power balance distribution module comprises a stabilizer bar mechanism assembly and a swing bar mechanism assembly.
Further, stabilizer bar mechanism subassembly includes that the symmetry is installed stabilizer bar hinged-support on the actuating system module, corresponds the L type stabilizer bar body of rod of installing on stabilizer bar hinged-support, connect through universal joint between the L type stabilizer bar body of rod.
Further, an upward included angle is formed between a horizontal plane formed by the stabilizer bar mechanism assembly and the ground, and the included angle of the L-shaped stabilizer bar body is an obtuse angle.
Furthermore, the swing rod mechanism assembly comprises swing rod hinged supports symmetrically arranged on the chassis wheel bridge, a swing rod correspondingly arranged on the swing rod hinged supports, and a stabilizer bar fixing sleeve sleeved on the stabilizer bar mechanism assembly and connected with the end parts of the swing rods.
Further, the sway bar mechanism assembly is tilted downward.
Further, stabilizer bar fixed cover sets up the three fens points department at stabilizer bar mechanism subassembly, but relative rotation between stabilizer bar fixed cover and the stabilizer bar mechanism subassembly.
the invention has the beneficial effects that:
According to the invention, the power balance distribution module is arranged between the symmetrically distributed driving system modules, and the driving wheels at two coaxial sides can keep the same horizontal height in time through the stabilizer bars in the power balance distribution module, so that the difference between the friction force between the two driving wheels and the ground is reduced, and the phenomenon of unbalanced or overload output of the motors at two sides is prevented, thereby further influencing the motion performance of the robot; the mobile robot is prevented from turning to the side of the vehicle body, the chassis strength, the vibration reduction effect and the steering stability of the mobile robot are improved, and the load capacity of the mobile robot is enhanced.
drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a schematic perspective view of a module of the dynamic balance system of the present invention;
FIG. 4 is a sectional view of a three-dimensional structure of a drive damping system module according to the present invention;
FIG. 5 is a partial enlarged view of the connection structure of the driving system module and the chassis module according to the present invention;
Fig. 6 is a schematic diagram of the principle of the present invention.
Detailed Description
in order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in fig. 1 to 6, the four-wheel differential sliding steering power balancing device for the independent suspension mobile robot comprises a chassis wheel bridge 4 and driving system modules 1 which are symmetrically distributed on two sides of the chassis wheel bridge 4 and are in sliding connection with the chassis wheel bridge 4, an independent suspension module 3 is connected between the chassis wheel bridge 4 and the driving system modules 1, and a power balancing distribution module 2 connected with the chassis wheel bridge 4 is arranged between the symmetrically distributed driving system modules 3.
Specifically, the driving system module 1 includes a reducer mounting base 101 slidably connected to the chassis wheel axle frame 4 and fixedly connected to the independent suspension module 3, a right-angle reducer 105 and a bearing base module 102 mounted on the reducer mounting base 101, and a wheel module 103 connected to the bearing base module 102, where the right-angle reducer 105 is connected to a servo motor 104.
The independent suspension module 3 comprises a shock absorber adjusting assembly fixedly connected with the speed reducer mounting seat 101, a shock absorption pre-tightening limiting assembly fixedly connected with the chassis wheel bridge 4 and a shock absorption assembly connecting the shock absorber adjusting assembly and the shock absorption pre-tightening limiting assembly.
The shock absorber adjusting assembly comprises a shock absorber movable support 301 and a support adjusting fixed plate 307 which are arranged on the speed reducer mounting seat 101, a shock absorber movable support guide rod 308 and an adjusting bolt 309 are connected between the shock absorber movable support 301 and the support adjusting fixed plate 307, and an anti-skid nut 310 is arranged on the adjusting bolt 309.
The vibration reduction pre-tightening limiting assembly comprises an upper limiting plate 304, a lower limiting plate 311, a flange bushing 302 and a pre-tightening spring guide rod 306, wherein the upper limiting plate 304, the lower limiting plate 311 and the flange bushing 302 are mounted on the chassis wheel bridge 4, the pre-tightening spring guide rod 306 is mounted between the upper limiting plate 304 and the lower limiting plate 311 and penetrates through the flange bushing 302, a pre-tightening spring 303 and a buffering disc spring 312 are correspondingly arranged between the speed reducer mounting seat 101 and the upper limiting plate 304 and the lower limiting plate 311, and the pre-tightening spring 303 is sleeved on the pre.
The vibration damping assembly comprises a vibration damper fixed support 313 arranged on the chassis wheel bridge 4 and a vibration damper 305 connecting the vibration damper fixed support 313 and the vibration damper movable support 301.
The balance distribution module 2 comprises a stabilizer bar mechanism assembly and a swing bar mechanism assembly.
The stabilizer bar mechanism assembly comprises stabilizer bar hinged supports 201 symmetrically arranged on the driving system module 3 and L-shaped stabilizer bar bodies 202 correspondingly arranged on the stabilizer bar hinged supports 201, and the L-shaped stabilizer bar bodies 202 are connected through universal couplings 204.
An upward included angle is formed between a horizontal plane formed by the stabilizer bar mechanism assembly and the ground, and the included angle of the L-shaped stabilizer bar body 202 is an obtuse angle.
The swing rod mechanism assembly comprises a swing rod hinge support 205 symmetrically arranged on the chassis wheel bridge 4, a swing rod 206 correspondingly arranged on the swing rod hinge support 205, and a stabilizer bar fixing sleeve 203 sleeved on the stabilizer bar mechanism assembly and connected with the end part of the swing rod 206.
The swing rod mechanism component inclines downwards, the stabilizer bar fixing sleeve 203 is arranged at three points of the stabilizer bar mechanism component, and the stabilizer bar fixing sleeve 203 and the stabilizer bar mechanism component can rotate relatively.
The working principle is as follows:
When the driving system works on an uneven ground, wheels are impacted by the ground, the driving system module 1 slides up and down relative to the chassis wheel bridge frame 4, when the driving wheels on the left side and the right side on the same axis are not on the same horizontal plane, the stabilizer bar mechanism assembly in the power balance distribution module 2 deforms to generate torque, so that the driving wheels on the left side and the right side on the same axis can timely return to the same horizontal height, the driving wheels on the two sides are kept on the same horizontal height, the difference of the friction force between the two driving wheels and the ground is reduced, the phenomenon of unbalanced or overload output of motors on the two sides is prevented, and the output torque of the servo motors on the left side and the right.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. Four-wheel differential slip steering power balancing device for independent suspension mobile robot, including chassis wheel crane span structure (4), symmetric distribution in chassis wheel crane span structure (4) both sides and rather than sliding connection's actuating system module (1), be connected with independent suspension module (3), its characterized in that between disk wheel crane span structure (4) and actuating system module (1): and power balance distribution modules (2) connected with the chassis wheel bridge (4) are arranged between the symmetrically distributed driving system modules (3).
2. The four-wheel differential skid-steer power balancing apparatus for an independent suspension mobile robot according to claim 1, wherein: the power balance distribution module (2) comprises a stabilizer bar mechanism assembly and a swing rod mechanism assembly.
3. The four-wheel differential skid-steer power balancing apparatus for an independent suspension mobile robot according to claim 2, wherein: the stabilizer bar mechanism assembly comprises stabilizer bar hinged supports (201) symmetrically installed on the driving system module (3) and L-shaped stabilizer bar bodies (202) correspondingly installed on the stabilizer bar hinged supports (201), and the L-shaped stabilizer bar bodies (202) are connected through universal couplings (204).
4. The four-wheel differential skid-steer power balancing apparatus for an independent suspension mobile robot according to claim 3, wherein: an upward included angle is formed between a horizontal plane formed by the stabilizer bar mechanism assembly and the ground, and the included angle of the L-shaped stabilizer bar body (202) is an obtuse angle.
5. The four-wheel differential skid-steer power balancing apparatus for an independent suspension mobile robot according to claim 2, wherein: the swing rod mechanism component comprises a swing rod hinged support (205) symmetrically arranged on the chassis wheel bridge (4), a swing rod (206) correspondingly arranged on the swing rod hinged support (205), and a stabilizer bar fixing sleeve (203) sleeved on the stabilizer bar mechanism component and connected with the end part of the swing rod (206).
6. the four-wheel differential skid-steer power balancing apparatus for an independent suspension mobile robot according to claim 5, wherein: the sway bar mechanism assembly slopes downwardly.
7. The four-wheel differential skid-steer power balancing apparatus for an independent suspension mobile robot according to claim 5, wherein: the stabilizer bar fixing sleeve (203) is arranged at a three-point position of the stabilizer bar mechanism assembly, and the stabilizer bar fixing sleeve (203) and the stabilizer bar mechanism assembly can rotate relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902700.2A CN110562352A (en) | 2019-09-23 | 2019-09-23 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902700.2A CN110562352A (en) | 2019-09-23 | 2019-09-23 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110562352A true CN110562352A (en) | 2019-12-13 |
Family
ID=68781975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910902700.2A Pending CN110562352A (en) | 2019-09-23 | 2019-09-23 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110562352A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537546A (en) * | 2022-01-28 | 2022-05-27 | 安徽工程大学 | A drive stepping mechanism for all-terrain mobile robot |
Citations (6)
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|---|---|---|---|---|
| CN102887042A (en) * | 2012-09-26 | 2013-01-23 | 柳州孔辉汽车科技有限公司 | Independent front suspension with transversely arranged steel plate spring |
| US20140138168A1 (en) * | 2012-03-20 | 2014-05-22 | Irobot Corporation | High Travel Suspension for Small Ground Mobile Robots |
| CN106627024A (en) * | 2016-12-01 | 2017-05-10 | 浙江吉利控股集团有限公司 | Macpherson independent suspension structure |
| CN108860362A (en) * | 2018-07-26 | 2018-11-23 | 天津中德应用技术大学 | A kind of Omnibearing wheel type mobile robot chassis |
| CN110239336A (en) * | 2019-06-21 | 2019-09-17 | 深圳市安泽智能机器人有限公司 | Chassis system and robot |
| CN211223672U (en) * | 2019-09-23 | 2020-08-11 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
-
2019
- 2019-09-23 CN CN201910902700.2A patent/CN110562352A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140138168A1 (en) * | 2012-03-20 | 2014-05-22 | Irobot Corporation | High Travel Suspension for Small Ground Mobile Robots |
| CN102887042A (en) * | 2012-09-26 | 2013-01-23 | 柳州孔辉汽车科技有限公司 | Independent front suspension with transversely arranged steel plate spring |
| CN106627024A (en) * | 2016-12-01 | 2017-05-10 | 浙江吉利控股集团有限公司 | Macpherson independent suspension structure |
| CN108860362A (en) * | 2018-07-26 | 2018-11-23 | 天津中德应用技术大学 | A kind of Omnibearing wheel type mobile robot chassis |
| CN110239336A (en) * | 2019-06-21 | 2019-09-17 | 深圳市安泽智能机器人有限公司 | Chassis system and robot |
| CN211223672U (en) * | 2019-09-23 | 2020-08-11 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differential sliding steering power balancing device for independent suspension mobile robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537546A (en) * | 2022-01-28 | 2022-05-27 | 安徽工程大学 | A drive stepping mechanism for all-terrain mobile robot |
| CN114537546B (en) * | 2022-01-28 | 2024-03-12 | 安徽工程大学 | Driving gear-shifting mechanism for all-terrain mobile robot |
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