CN111267569A - Self-adaptive suspension chassis system based on mechanical link mechanism - Google Patents
Self-adaptive suspension chassis system based on mechanical link mechanism Download PDFInfo
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- CN111267569A CN111267569A CN202010117610.5A CN202010117610A CN111267569A CN 111267569 A CN111267569 A CN 111267569A CN 202010117610 A CN202010117610 A CN 202010117610A CN 111267569 A CN111267569 A CN 111267569A
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- type spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/16—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm itself being resilient, e.g. leaf spring
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- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/045—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on different axles on the same side of the vehicle, i.e. the left or the right side
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a self-adaptive suspension chassis system based on a mechanical link mechanism, which belongs to the technical field of a robot chassis and comprises a completely dependent link suspension, a chassis frame and four Mecanum wheel sets; the completely dependent connecting rods are hung on the chassis frame; a connecting rod type spring damping device is arranged on the completely dependent connecting rod suspension; the two Mecanum wheel sets are symmetrically arranged on one side of the chassis frame and are respectively connected with the completely dependent connecting rods in a suspension mode through connecting rod type spring damping devices, and the other two Mecanum wheel sets are symmetrically arranged on the other side of the chassis frame and are respectively connected with the completely dependent connecting rods in a suspension mode through connecting rod type spring damping devices; the connecting rod type spring damping device is adopted, so that the system can adapt to various special terrains, the phenomena of shaking and inclining caused by the fact that adjacent wheels move towards the same direction during speed changing and turning are effectively avoided, and the system is high in impact resistance, stable in connection and strong in practicability.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a self-adaptive suspension chassis system based on a mechanical link mechanism.
Background
The existing robot chassis suspension system generally follows the design requirement of the traditional suspension, namely only the buffer and damping effect of the suspension is focused. For example, patent document CN108995742A discloses a linkage non-independent suspension chassis based on mecanum wheels, which increases the damping capacity of the chassis system by raising the chassis and lengthening the suspension stroke, and this design has drawbacks in the solution of adding shock absorbers to the non-independent mechanism and other independent chassis solutions using shock absorbers, because the chassis to which the suspension is adapted adopts the mecanum wheel four-wheel drive solution, each wheel of the suspension must generate enough pressure with the ground to ensure the correct execution of the omnidirectional movement of the chassis, however, after installing a similar long shock absorber, when encountering the road conditions such as large ground protrusion or depression, large-amplitude slope, etc., part of the wheels may slip or lack the power supply due to the overlong extension of the suspension, thereby destroying the correct execution of the movement command. In addition, when the chassis and other independent chassis using the shock absorber are accelerated and decelerated and turned, the wheels on one side (rear side during acceleration and front side during deceleration) are compressed, and the wheels on one side are stretched, so that the vehicle body deviates to one side and then shakes, which is particularly serious during starting and braking. This may affect the data received by the robot sensors and also reduce the operating efficiency of the robot.
Disclosure of Invention
In view of the shortcomings in the prior art, it is an object of the present invention to provide an adaptive suspension chassis system based on a mechanical linkage.
The invention provides a self-adaptive suspension chassis system based on a mechanical linkage mechanism, which comprises a completely non-independent linkage suspension, a chassis frame and a Mecanum wheel group 9;
the completely dependent connecting rod is mounted on the chassis frame in a suspension manner, and a connecting rod type spring damping device is arranged on the completely dependent connecting rod in a suspension manner;
the number of the Mecanum wheel sets 9 is 4;
wherein, 2 Mecanum wheel sets 9 are symmetrically arranged on one side of the chassis frame and are respectively connected with a completely dependent connecting rod in a suspension way through a connecting rod type spring damping device; the other 2 Mecanum wheel sets 9 are symmetrically arranged on the other side of the chassis frame and are respectively connected with the completely dependent connecting rods in a suspension mode through connecting rod type spring shock absorption devices.
Preferably, the chassis frame comprises a first large cross beam 1, a first group of mounting pipes 2, a first front girder 5, a first rotating shaft upper plate 7, a second large cross beam 23, a second group of mounting pipes 24, a second front girder 25 and a second rotating shaft upper plate 26;
the first large cross beam 1 and the second large cross beam 23 are arranged in parallel, and a first mounting gap is arranged between the first large cross beam 1 and the second large cross beam 23;
a first rotating shaft upper plate 7 and a second rotating shaft upper plate 26 which are parallel are sequentially arranged on the first large cross beam 1 and the second large cross beam 23;
a first group of mounting pipes 2, a first front and rear crossbeam 5, a second front and rear crossbeam 25 and a second group of mounting pipes 24 are sequentially arranged below the first large cross beam 1 and the second large cross beam 23.
Preferably, the completely dependent link suspension comprises a first linkage rotating shaft 3, a first triangular supporting body 4, a double-side linkage plate 6, a second linkage rotating shaft 27 and a second triangular supporting body 28;
the link-type spring damper device includes a first link-type spring damper 10, a second link-type spring damper 29, a third link-type spring damper 30, and a fourth link-type spring damper 31;
the first linkage rotating shaft 3 penetrates through the first triangular supporting body 4, and two ends of the first linkage rotating shaft are respectively arranged on the second front and rear girders 25 and the second rotating shaft upper plate 26;
the second linkage rotating shaft 27 passes through the second triangular supporting body 28, and two ends of the second linkage rotating shaft are respectively arranged on the first front and rear girders 5 and the first rotating shaft upper plate 7;
two ends of the bilateral linkage plate 6 are respectively connected with one side of the first triangular supporting body 4 and one side of the second triangular supporting body 28;
the other side of the first triangular supporting body 4 is respectively connected with a third connecting rod type spring damper 30 and a fourth connecting rod type spring damper 31;
the other side of the second triangular supporting body 28 is connected to the first link type spring damper 10 and the second link type spring damper 29, respectively.
Preferably, the first and second triangular supports 4 and 28 each comprise a washer, two hanging triangular plates and two flange bearings;
a gasket is arranged between the two hanging set squares and is pressed and fastened through two flange bearings;
the first linkage rotating shaft 3 and the second linkage rotating shaft 27 are respectively installed on two flange bearings on the two corresponding hanging set squares.
Preferably, the connecting rod type spring damping device comprises an external thread joint bearing 11, a damper spring 12, a wall surface pipe 13, a thimble 14, a small hole fixing collar 15 and an internal thread joint shaft 16;
one end of the wall surface pipe 13 is provided with an internal thread hole, and one end of the external thread joint bearing 11 with external threads is installed in the internal thread hole of the wall surface pipe 13 in a matching mode;
a first accommodating space is arranged inside the wall surface pipe 13, a small hole fixing sleeve ring 15 is arranged at the other end of the wall surface pipe 13, a through hole communicated with the first accommodating space is formed in the small hole fixing sleeve ring 15, one end of the ejector pin 14 is arranged in the first accommodating space, and the other end of the ejector pin 14 passes through the through hole in the small hole fixing sleeve ring 15 and extends to the outside of the wall surface pipe 13 to be connected with an internal thread joint shaft 16;
the damper spring 12 is installed in the first accommodating space, one end of the damper spring 12 abuts against the inner wall of the wall pipe 13, and the other end of the damper spring 12 abuts against the thimble 14.
Preferably, when the stroke of the link-type spring damper reaches the maximum, the damper spring 12 is still in a compressed state;
the thimble 14 can move relative to the wall tube 13 under the driving of external force, when the thimble 14 moves close to the external thread joint bearing 11, the damper spring 12 is compressed and shortened by the thimble 14; when the thimble 14 moves away from the external thread joint bearing 11, the small hole fixing ring 15 can limit the movement of the thimble 14.
Preferably, the circumference of the small hole fixing collar 15 is provided with an external thread, one end of the wall surface pipe 13 where the small hole fixing collar 15 is installed is provided with an internal thread, and the small hole fixing collar 15 is installed in the internal thread of the fixing collar 15 through the external thread in a matching manner;
the thimble 14 is provided with an external thread at one end thereof disposed outside the wall tube 13 and is screwed with one end of the internally threaded joint shaft 16 provided with an internally threaded hole.
Preferably, the mecanum wheel assembly 9 includes a suspension 17, a motor mounting plate 18, a motor end plate 19, a motor 20, an axle coupling 21, and a mecanum wheel 22;
the motor mounting plate 18 and the motor end plate 19 are arranged in parallel and are respectively mounted on two sides of the suspension 17, a second accommodating space is formed among the motor mounting plate 18, the suspension 17 and the motor end plate 19, and the motor 20 is mounted in the second accommodating space;
one end of the motor 20 is mounted on one side of the motor mounting plate 18 and extends to the other side of the motor mounting plate 18 to be drivingly connected with the mecanum wheel 22 through the coupling 21, and the other end of the motor 20 is mounted on the motor end plate 19.
Preferably, the mecanum wheel set 9 further includes a first rotating shaft and a second rotating shaft;
the motor mounting plate 18 is provided with a first rotating shaft hole 32 and a second rotating shaft hole 33;
the motor tail end plate 19 is provided with a third rotating shaft hole 34 and a fourth rotating shaft hole 35;
two ends of the first rotating shaft are respectively arranged on the first rotating shaft hole 32 and the third rotating shaft hole 34;
the second rotating shaft is respectively arranged on the second rotating shaft hole 33 and the fourth rotating shaft hole 35;
the mecanum wheel set 9 is mounted on the chassis frame through a second rotating shaft, the mecanum wheel set 9 is connected with the connecting rod type spring damping device through a first rotating shaft, wherein the mecanum wheel set 9 can rotate around the second rotating shaft under the driving of external force, and at the moment, the connecting rod type spring damping device is extruded or stretched by the mecanum wheel set 9.
Preferably, the chassis frame is provided with a rotating point part 8 and two bearings;
the two bearings are respectively arranged on two sides of the rotating point piece 8, and the second rotating shaft penetrates through the rotating point piece 8 and the bearings on the two sides, and two ends of the second rotating shaft are arranged on the second rotating shaft hole 33 and the fourth rotating shaft hole 35.
Compared with the prior art, the invention has the following beneficial effects:
1. through adopting connecting rod and class connecting rod structure to couple together four wheelsets, adopt connecting rod type spring damping device simultaneously to make and to adapt to multiple special topography at the system, when any wheelset is compressed stroke a because of special topography, its adjacent wheel will be stretched to a stroke that is approximately equal to a in the twinkling of an eye, because of adjacent wheel to the rocking and the slope phenomenon that the same direction motion leads to when effectively having solved variable speed and turn.
2. The double-symmetrical triangular structure formed by relative motion of four wheels of the chassis is adopted, so that the chassis can be attached to the ground timely and effectively, the pressure of the wheel set on the ground is approximately constant in the process, and the condition that the chassis movement instruction is wrongly executed due to slipping of a certain wheel or insufficient driving force is avoided. When the impact is larger, the characteristics are kept, and meanwhile, certain buffering and shock absorption capacity is provided.
3. The bending moment at each part in the system is small by adopting the connecting rod structure, so that the shock resistance of the suspension system is strong, the connection is stable, and the robot runs safely and stably.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a link type spring damper;
fig. 3 is a schematic structural diagram of the mecanum wheel set 9.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a self-adaptive suspension chassis system based on a mechanical link mechanism, which comprises a completely non-independent link suspension, a chassis frame and a Mecanum wheel group 9, as shown in figure 1; the completely dependent connecting rods are suspended and installed on the chassis frame; a connecting rod type spring damping device is arranged on the completely dependent connecting rod suspension; the number of the Mecanum wheel sets 9 is 4; wherein, 2 Mecanum wheel sets 9 are symmetrically arranged at one side of the chassis frame and are respectively connected with a completely dependent connecting rod in a suspension way through a connecting rod type spring damping device, preferably, connected through a ramming bolt; the other 2 mecanum wheel sets 9 are symmetrically mounted on the other side of the chassis frame and are each suspended by link-type spring damping means in connection with a completely dependent link, preferably by means of a tuck bolt.
Specifically, in a preferred embodiment, the link-type spring damper device includes a first link-type spring damper 10, a second link-type spring damper 29, a third link-type spring damper 30, and a fourth link-type spring damper 31, wherein the first link-type spring damper 10 is connected to the left rear mecanum wheel set, the second link-type spring damper 29 is connected to the left front mecanum wheel set, the third link-type spring damper 30 is connected to the right rear mecanum wheel set, and the fourth link-type spring damper 31 is connected to the right front mecanum wheel set.
Further, as shown in fig. 1, the chassis frame includes a first large cross beam 1, a first set of mounting pipes 2, a first front and rear cross beam 5, a first rotating shaft upper plate 7, a second large cross beam 23, a second set of mounting pipes 24, a second front and rear cross beam 25, and a second rotating shaft upper plate 26; the first large cross beam 1 and the second large cross beam 23 are arranged in parallel and on a plane, and a first mounting gap is arranged between the first large cross beam 1 and the second large cross beam 23; a first rotating shaft upper plate 7 and a second rotating shaft upper plate 26 which are parallel are sequentially arranged on the first large cross beam 1 and the second large cross beam 23 through screws, and the first rotating shaft upper plate 7 and the second rotating shaft upper plate 26 play roles in reinforcing and supporting; a first group of mounting pipes 2, a first front girder 5, a first rear girder 5, a second front girder 25 and a second group of mounting pipes 24 are sequentially arranged below the first large cross beam 1 and the second large cross beam 23; in a preferred embodiment, the first group of mounting pipes 2, the first front and rear girders 5, the second front and rear girders 25 and the second group of mounting pipes 24 are arranged in parallel in sequence and are welded on the first large cross beam 1 and the second large cross beam 23.
Further, as shown in fig. 1, the completely dependent link suspension further includes a first linkage rotating shaft 3, a first triangular supporting body 4, a double-sided linkage plate 6, a second linkage rotating shaft 27 and a second triangular supporting body 28; the first linkage rotating shaft 3 penetrates through the first triangular supporting body 4, and two ends of the first linkage rotating shaft are respectively arranged on the second front and rear girders 25 and the second rotating shaft upper plate 26; the second linkage rotating shaft 27 passes through the second triangular supporting body 28, and two ends of the second linkage rotating shaft are respectively arranged on the first front and rear girders 5 and the first rotating shaft upper plate 7; two ends of the bilateral linkage plate 6 are respectively connected with one side of the first triangular supporting body 4 and one side of the second triangular supporting body 28 through a stop-and-go bolt, and the connection positions are connected through the stop-and-go bolt; the other side of the first triangular supporting body 4 is respectively connected with a third connecting rod type spring damper 30 and a fourth connecting rod type spring damper 31 through a plug bolt; the other side of the second triangular supporting body 28 is respectively connected with the first connecting rod type spring shock absorber 10 and the second connecting rod type spring shock absorber 29 through a plug bolt, each movable connecting point which is completely and non-independently suspended is hinged, so that the system is prevented from being subjected to bending moment, the bilateral linkage plate 6 is provided with a certain thickness according to the needs of the system, and therefore the system can bear large tensile force and pressure between the left wheel set and the right wheel set, and is equivalent to a stable connecting rod, and under the condition of small impact, the suspension main body is a rigid multi-connecting-rod system.
Specifically, in a preferred embodiment, the lower end of the first linkage rotating shaft 3 is connected with the second front and rear girders 25 through screws, and the upper end of the first linkage rotating shaft 3 is joggled with the second rotating shaft upper plate 26; the lower end of the second linkage rotating shaft 27 is connected with the first front and rear girders 5 through screws, and the upper end of the second linkage rotating shaft 27 is joggled with the first rotating shaft upper plate 7.
Further, the first triangular supporting body 4 and the second triangular supporting body 28 both comprise a gasket, two hanging triangular plates and two flange bearings; a gasket is arranged between the two hanging set squares, the two hanging set squares are pressed and fastened through two flange bearings, and the two hanging set squares are fastened through screws; the first linkage rotating shaft 3 and the second linkage rotating shaft 27 are respectively installed on two flange bearings on the two corresponding hanging set squares.
Specifically, as shown in fig. 1, the link-type spring damping device includes an external-threaded joint bearing 11, a damper spring 12, a wall pipe 13, a thimble 14, an eyelet fixing collar 15, and an internal-threaded joint shaft 16; one end of the wall surface pipe 13 is provided with an internal thread hole, one end of the external thread joint bearing 11 with external threads is installed in the internal thread hole of the wall surface pipe 13 in a matching mode, and the other end of the external thread joint bearing 11 is provided with an external thread joint bearing and is sleeved on a rotating shaft in the first triangular supporting body 4 or the second triangular supporting body 28; a first accommodating space is arranged inside the wall surface pipe 13, a small hole fixing sleeve ring 15 is arranged at the other end of the wall surface pipe 13, a through hole communicated with the first accommodating space is formed in the small hole fixing sleeve ring 15, one end of the ejector pin 14 is arranged in the first accommodating space, and the other end of the ejector pin 14 passes through the through hole in the small hole fixing sleeve ring 15 and extends to the outside of the wall surface pipe 13 to be connected with an internal thread joint shaft 16; the damper spring 12 is installed in the first accommodating space, one end of the damper spring 12 abuts against the inner wall of the wall pipe 13, and the other end of the damper spring 12 abuts against the thimble 14; the thimble 14 can move relative to the wall tube 13 under the driving of external force, when the thimble 14 moves close to the external thread joint bearing 11, the damper spring 12 is compressed and shortened by the thimble 14; when the thimble 14 moves away from the external thread joint bearing 11, the small hole fixing ring 15 can limit the movement of the thimble 14.
Specifically, in a preferred embodiment, the damper springs 12 are still in compression when the stroke of the link-type spring damper reaches a maximum
Specifically, as shown in fig. 1, the circumference of the small hole fixing collar 15 is provided with an external thread, one end of the wall surface pipe 13 where the small hole fixing collar 15 is installed is provided with an internal thread, and the small hole fixing collar 15 is installed in the internal thread of the fixing collar 15 through the external thread in a matching manner; the thimble 14 is provided with an external thread at one end thereof disposed outside the wall tube 13 and is screwed with one end of the internally threaded joint shaft 16 provided with an internally threaded hole. The other end of the internal thread joint shaft 16 is provided with an external thread joint bearing and is sleeved on the first rotating shaft.
Specifically, as shown in fig. 1, the mecanum wheel assembly 9 includes a suspension 17, a motor mounting plate 18, a motor end plate 19, a motor 20, a coupling 21, and a mecanum wheel 22; the motor mounting plate 18 and the motor end plate 19 are arranged in parallel and are respectively mounted on two sides of the suspension 17, a second accommodating space is formed among the motor mounting plate 18, the suspension 17 and the motor end plate 19, and the motor 20 is mounted in the second accommodating space; one end of the motor 20 is mounted on one side of the motor mounting plate 18 and extends to the other side of the motor mounting plate 18 to be drivingly connected with the mecanum wheel 22 through the coupling 21, and the other end of the motor 20 is mounted on the motor end plate 19.
Specifically, as shown in fig. 1, the mecanum wheel set 9 further includes a first rotating shaft and a second rotating shaft; the motor mounting plate 18 is provided with a first rotating shaft hole 32 and a second rotating shaft hole 33; the motor tail end plate 19 is provided with a third rotating shaft hole 34 and a fourth rotating shaft hole 35; two ends of the first rotating shaft are respectively arranged on the first rotating shaft hole 32 and the third rotating shaft hole 34; the second rotating shaft is respectively arranged on the second rotating shaft hole 33 and the fourth rotating shaft hole 35; the mecanum wheel set 9 is mounted on the chassis frame through a second rotating shaft, the mecanum wheel set 9 is connected with the connecting rod type spring damping device through a first rotating shaft, wherein the mecanum wheel set 9 can rotate around the second rotating shaft under the driving of an external force, the connecting rod type spring damping device is extruded or stretched by the mecanum wheel set 9, and in a preferred embodiment, the first rotating shaft and the second rotating shaft both adopt a stopper bolt.
Specifically, the chassis frame is provided with a rotating point part 8 and two bearings; the two bearings are respectively arranged on two sides of the rotating point piece 8, and the second rotating shaft penetrates through the rotating point piece 8 and the bearings on the two sides, and two ends of the second rotating shaft are arranged on the second rotating shaft hole 33 and the fourth rotating shaft hole 35.
The working principle of the invention is as follows:
the front Mecanum wheel group and the rear Mecanum wheel group are connected through approximately collinear connecting rod type spring shock absorbers to obtain opposite-direction and approximately equal-value motions, the left Mecanum wheel group and the right Mecanum wheel group move oppositely through the middle bilateral linkage plate 6 and have opposite-direction and equal-value motions, so that when any wheel group is compressed or stretched to a stroke a due to special terrain, the adjacent wheels are stretched or compressed to a stroke approximately equal to a instantly, specifically, for example, the adjacent wheels of the left front wheel are the left rear wheel and the right front wheel, when the left front wheel is compressed a suddenly, the left rear wheel and the right front wheel are stretched to a value approximately equal to a instantly, and the right rear wheel is compressed to a value instantly due to the action of the bilateral linkage plate 6, the instant chassis motion of the wheel groups enables the four wheels to form two triangle with different surfaces, the chassis is then an equiangular surface of these two surfaces, so that the chassis can effectively adapt to most special terrains, such as steep slopes, raised or depressed terrains. When the robot moves more slowly and is subjected to smaller impact, the connecting rod type spring shock absorption device does not compress any force due to the impact, and the whole suspension system keeps rigid, so that the mechanism adapts to the ground and does not change the pressure of the wheels on the ground remarkably due to the change of the suspension stroke. When strong impact is applied, the spring is compressed quickly to play a role in buffering and shock absorption, and then rebounds instantly, so that the suspension returns to a rigid state quickly, and the pressure of the wheels on the ground is recovered quickly, thereby greatly reducing the possibility of chassis movement command failure caused by the slipping of a Mecanum wheel due to the reduction of the pressure on the ground or the attenuation of the driving force. Meanwhile, because the wheels on the same side cannot move in the same direction, the problem that the vehicle body shakes to one side during speed change and turning can be effectively avoided.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An adaptive suspension chassis system based on mechanical linkage, characterized by comprising a completely non-independent linkage suspension, a chassis frame and a mecanum wheel set (9);
the completely dependent connecting rod is mounted on the chassis frame in a suspension manner, and a connecting rod type spring damping device is arranged on the completely dependent connecting rod in a suspension manner;
the number of the Mecanum wheel sets (9) is 4;
wherein, 2 Mecanum wheel sets (9) are symmetrically arranged on one side of the chassis frame and are respectively connected with a completely dependent connecting rod in a suspension way through a connecting rod type spring damping device; the other 2 Mecanum wheel sets (9) are symmetrically arranged on the other side of the chassis frame and are respectively connected with the completely dependent connecting rods in a suspension mode through connecting rod type spring shock absorption devices.
2. The mechanical linkage based adaptive suspension chassis system according to claim 1, wherein the chassis frame comprises a first large cross beam (1), a first set of mounting tubes (2), a first front and rear cross beam (5), a first pivot upper plate (7), a second large cross beam (23), a second set of mounting tubes (24), a second front and rear cross beam (25), and a second pivot upper plate (26);
the first large cross beam (1) and the second large cross beam (23) are arranged in parallel, and a first mounting gap is formed between the first large cross beam and the second large cross beam;
a first rotating shaft upper plate (7) and a second rotating shaft upper plate (26) which are parallel are sequentially arranged on the first large cross beam (1) and the second large cross beam (23);
a first group of mounting pipes (2), a first front and rear girder (5), a second front and rear girder (25) and a second group of mounting pipes (24) are sequentially arranged below the first large cross beam (1) and the second large cross beam (23).
3. The mechanical linkage based adaptive suspension chassis system according to claim 2, characterized in that the completely dependent linkage suspension comprises a first linkage spindle (3), a first triangular support (4), a double-sided linkage plate (6), a second linkage spindle (27) and a second triangular support (28);
the link type spring shock-absorbing device comprises a first link type spring shock absorber (10), a second link type spring shock absorber (29), a third link type spring shock absorber (30) and a fourth link type spring shock absorber (31);
the first linkage rotating shaft (3) penetrates through the first triangular supporting body (4), and two ends of the first linkage rotating shaft are respectively arranged on the second front and rear girders (25) and the second rotating shaft upper plate (26);
the second linkage rotating shaft (27) penetrates through the second triangular supporting body (28), and two ends of the second linkage rotating shaft are respectively arranged on the first front and rear girders (5) and the first rotating shaft upper plate (7);
two ends of the bilateral linkage plate (6) are respectively connected with one side of the first triangular supporting body (4) and one side of the second triangular supporting body (28);
the other side of the first triangular supporting body (4) is respectively connected with a third connecting rod type spring shock absorber (30) and a fourth connecting rod type spring shock absorber (31);
the other side of the second triangular supporting body (28) is respectively connected with the first connecting rod type spring shock absorber (10) and the second connecting rod type spring shock absorber (29).
4. The mechanical linkage based adaptive suspension chassis system according to claim 1, characterized in that the first (4) and second (28) triangular supports each comprise a washer, two suspension triangles and two flange bearings;
a gasket is arranged between the two hanging set squares and is pressed and fastened through two flange bearings;
the first linkage rotating shaft (3) and the second linkage rotating shaft (27) are respectively installed on two flange bearings on the two corresponding hanging triangular plates.
5. The mechanical linkage based adaptive suspension chassis system according to claim 1, wherein the link type spring shock absorbing device comprises an externally threaded knuckle bearing (11), a shock absorber spring (12), a wall tube (13), a thimble (14), a small hole fixing collar (15), and an internally threaded knuckle shaft (16);
one end of the wall surface pipe (13) is provided with an internal threaded hole, and one end of the external thread joint bearing (11) with external threads is installed in the internal threaded hole of the wall surface pipe (13) in a matching mode;
a first accommodating space is formed in the wall surface pipe (13), a small hole fixing sleeve ring (15) is mounted at the other end of the wall surface pipe (13), a through hole communicated with the first accommodating space is formed in the small hole fixing sleeve ring (15), one end of the ejector pin (14) is mounted in the first accommodating space, and the other end of the ejector pin (14) extends to the outside of the wall surface pipe (13) through the through hole in the small hole fixing sleeve ring (15) and is connected with an internal thread joint shaft (16);
the shock absorber spring (12) is installed in the first accommodating space, one end of the shock absorber spring (12) abuts against the inner wall of the wall surface pipe (13), and the other end of the shock absorber spring (12) abuts against the ejector pin (14).
6. Mechanical linkage based adaptive suspension chassis system according to claim 5, characterized in that the damper springs (12) are still in compression when the link type spring damper stroke reaches a maximum;
the ejector pin (14) can move relative to the wall surface pipe (13) under the driving of external force, and when the ejector pin (14) moves close to the external thread joint bearing (11), the shock absorber spring (12) is extruded by the ejector pin (14) to be shortened; when the thimble (14) moves away from the external thread joint bearing (11), the small hole fixing lantern ring (15) can limit the movement of the thimble (14).
7. The adaptive suspension chassis system based on the mechanical linkage mechanism is characterized in that the circumference of the small hole fixing collar (15) is provided with an external thread, one end of the wall surface pipe (13) where the small hole fixing collar (15) is installed is provided with an internal thread, and the small hole fixing collar (15) is installed in the internal thread of the fixed collar (15) in a matching mode through the external thread;
the thimble (14) is arranged at one end outside the wall surface pipe (13) and is provided with an external thread and is in threaded connection with one end of the internal thread joint shaft (16) provided with an internal thread hole.
8. Mechanical linkage based adaptive suspension chassis system according to claim 1, characterized in that the mecanum wheel set (9) comprises a suspension (17), a motor mounting plate (18), a motor end plate (19), a motor (20), a coupling (21) and a mecanum wheel (22);
the motor mounting plate (18) and the motor tail end plate (19) are arranged in parallel and are respectively mounted on two sides of the suspension (17), a second accommodating space is formed among the motor mounting plate (18), the suspension (17) and the motor tail end plate (19), and the motor (20) is mounted in the second accommodating space;
one end of the motor (20) is installed on one side of the motor installation plate (18) and extends to the other side of the motor installation plate (18) to be in driving connection with the Mecanum wheel (22) through a coupling (21), and the other end of the motor (20) is installed on the motor tail end plate (19).
9. The mechanical linkage based adaptive suspension chassis system according to claim 8, wherein the mecanum wheel set (9) further comprises a first axle and a second axle;
a first rotating shaft hole (32) and a second rotating shaft hole (33) are formed in the motor mounting plate (18);
a third rotating shaft hole (34) and a fourth rotating shaft hole (35) are formed in the motor tail end plate (19);
two ends of the first rotating shaft are respectively arranged on the first rotating shaft hole (32) and the third rotating shaft hole (34);
the second rotating shaft is respectively arranged on the second rotating shaft hole (33) and the fourth rotating shaft hole (35);
the Mecanum wheel set (9) is mounted on the chassis frame through a second rotating shaft, the Mecanum wheel set (9) is connected with the connecting rod type spring damping device through a first rotating shaft, the Mecanum wheel set (9) can rotate around the second rotating shaft under the driving of external force, and the connecting rod type spring damping device is extruded or stretched by the Mecanum wheel set (9).
10. Mechanical linkage based adaptive suspension chassis system according to claim 9, characterized in that the chassis frame is provided with a turning point (8) and two bearings;
the two bearings are respectively arranged on two sides of the rotating point piece (8), the second rotating shaft penetrates through the rotating point piece (8) and the bearings on the two sides, and two ends of the second rotating shaft are arranged on the second rotating shaft hole (33) and the fourth rotating shaft hole (35).
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| CN202010117610.5A CN111267569B (en) | 2020-02-25 | 2020-02-25 | Self-adaptive suspension chassis system based on mechanical link mechanism |
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| CN202010117610.5A CN111267569B (en) | 2020-02-25 | 2020-02-25 | Self-adaptive suspension chassis system based on mechanical link mechanism |
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| CN112776533A (en) * | 2021-03-29 | 2021-05-11 | 大连交通大学 | Self-adaptive chassis system based on Mecanum wheels |
| CN112918588A (en) * | 2021-03-31 | 2021-06-08 | 华南理工大学 | Terrain self-adaptive transfer robot chassis |
| CN114714322A (en) * | 2022-04-08 | 2022-07-08 | 常熟理工学院 | Picking robot |
| CN114954735A (en) * | 2022-07-05 | 2022-08-30 | 常熟理工学院 | Omnidirectional mobile storage and carrying engineering robot |
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| CN111267569B (en) | 2021-08-17 |
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