CN113147296A - Double-fork-arm suspension mechanism and cleaning robot - Google Patents

Double-fork-arm suspension mechanism and cleaning robot Download PDF

Info

Publication number
CN113147296A
CN113147296A CN202110425683.5A CN202110425683A CN113147296A CN 113147296 A CN113147296 A CN 113147296A CN 202110425683 A CN202110425683 A CN 202110425683A CN 113147296 A CN113147296 A CN 113147296A
Authority
CN
China
Prior art keywords
yoke
support
fork arm
mount
arm
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
Application number
CN202110425683.5A
Other languages
Chinese (zh)
Inventor
李振
韩璞
吉沐园
马祥革
王生贵
程昊天
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Gaussian Automation Technology Development Co Ltd
Original Assignee
Shanghai Gaussian Automation Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Gaussian Automation Technology Development Co Ltd filed Critical Shanghai Gaussian Automation Technology Development Co Ltd
Priority to CN202110425683.5A priority Critical patent/CN113147296A/en
Publication of CN113147296A publication Critical patent/CN113147296A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
    • B60G5/04—Resilient suspensions for a set of tandem wheels or axles having interrelated movements with two or more pivoted arms, the movements of which are resiliently interrelated, e.g. the arms being rigid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4097—Means for exhaust-air diffusion; Exhaust-air treatment, e.g. air purification; Means for sound or vibration damping
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a double-fork arm suspension mechanism. The device comprises a fixed support, an upper fork arm, a lower fork arm, a support and a buffer device; the support is used for mounting a driving wheel; the fixing support, the upper fork arm, the lower fork arm and the support are hinged to each other, and the buffer device is used for buffering and adjusting height change between the lower fork arm and the fixing support. The double-fork-arm suspension mechanism provided by the invention can always keep the effective contact of tires and the stable output of driving force in a larger floating stroke of the driving wheel, avoids the situation of ground slipping, and ensures the adaptability and the safe operation capability to large-fluctuation ground and large-gradient limit positions.

Description

Double-fork-arm suspension mechanism and cleaning robot
Technical Field
The invention relates to the technical field of mobile robots, in particular to a double-fork-arm suspension mechanism and a cleaning robot.
Background
In semi-open occasions such as commercial supermarkets, hospitals, parks, communities and the like, the mobile cleaning robot is gradually used for replacing manpower to carry out ground cleaning and cleaning. With the expansion of application scenes and the improvement of complexity of use environments, the requirement for adapting the cleaning robot to changeable ground is higher and higher.
As shown in fig. 1, a cleaning robot 7 on the market at present is usually directly connected to a chassis by a driving system, that is, a driving wheel 6 is directly mounted on the chassis, the height between the driving wheel 6 and the chassis is fixed and cannot be adjusted, the adaptability of the cleaning robot to uneven and steep ground is poor, the self-adaptive adjustment of the ground cannot be realized, and meanwhile, the fluctuation in driving is transmitted to the upper part of a vehicle body, so that the fixation of electrical components and the service life are not affected; secondly, the driving wheels of the existing mobile robot have weak gripping ability and can only meet the requirement of 5% of climbing, and the existing mobile robot is usually only suitable for climbing on cement or polyurethane rough ground and cannot meet the requirement of 10% of climbing ability of the cleaning robot on smooth floor tiles.
Therefore, a suspension structure is needed to realize stronger adaptability of the mobile robot to the ground under the condition of ensuring the driving force.
Disclosure of Invention
In order to solve the defects of the prior art, the invention mainly aims to provide a double-fork arm suspension mechanism which can always keep the effective contact of tires and the stable output of driving force of the tires in a larger floating stroke of a driving wheel, avoid the situation of ground slipping and ensure the adaptability and the safe operation capability of a cleaning robot to large-fluctuation ground and large-gradient limit positions.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a double-fork-arm suspension mechanism comprises a fixed support, an upper fork arm, a lower fork arm, a support and a buffer device; the support is used for mounting a driving wheel; two ends of the upper fork arm are respectively hinged with the fixed support and the support, and two ends of the lower fork arm are respectively hinged with the fixed support and the support; one end of the buffer device is connected to the lower fork arm, and the other end of the buffer device is connected with the fixed support; the buffer device is used for buffering and adjusting height change between the support connecting end of the lower fork arm and the fixed support.
Optionally, a height difference between the support connecting end of the upper yoke and the fixing bracket is smaller than a height difference between the support connecting end of the lower yoke and the fixing bracket, so that the lower yoke is located below the upper yoke after the double-yoke suspension mechanism is mounted and assembled.
Optionally, the upper yoke arm comprises a first upper yoke and a second upper yoke which are symmetrically mounted; the lower fork arm comprises a first lower fork and a second lower fork which are symmetrically arranged; so that the left side and the right side of the double-fork arm suspension mechanism work independently.
Optionally, the fixed bracket comprises a first fixed part and a second fixed part, the first fixed part is used for being connected with a chassis of the cleaning robot, the second fixed part is fixedly connected to the lower side of the first fixed part, and the upper fork arm and the lower fork arm are respectively hinged with the second fixed part; the first fixing piece and the second fixing piece can be an integral structural piece manufactured integrally or a split structural piece fixedly connected with two parts, and the split design can simplify the production process and reduce the cost.
Optionally, the upper yoke is hinged to the position, close to the first fixing piece, of the second fixing piece, and the lower yoke is hinged to the position, far away from the first fixing piece, of the second fixing piece, so that the lower yoke is located below the upper yoke, the distance between the upper yoke and the lower yoke is increased, and the adjustment range of the driving wheel for adjusting floating is increased.
Optionally, the upper yoke, the lower yoke, the support and the second fixing piece are hinged to form a quadrilateral-like structural member, so that the distance between the upper yoke and the lower yoke can be adjusted, and the adjustment range of the adjustment floating of the driving wheel is increased.
Optionally, one end of the buffer device is hinged to any position between two ends of the lower fork arm, the other end of the buffer device is connected with the first fixing piece, and the buffer capacity of the double-fork-arm suspension mechanism can be adjusted by changing the hinged position of the buffer device and the lower fork arm.
Optionally, a through hole is formed in the first fixing member, and the buffering device is mounted in the through hole through a limiting member; the damping spring is sleeved on the spring base, the spring base can play a role in guiding, and the stability of the buffer device is improved.
Optionally, the damping device comprises a spring base and a damping spring installed on the spring base, and the spring base is hinged to the lower fork arm, so that the damping device has the advantage of low cost.
The invention also provides a cleaning robot, a chassis of the cleaning robot is provided with the double-fork-arm suspension mechanism, and the cleaning robot has the advantages of strong adaptability to large-fluctuation ground and large-gradient limit positions and strong safe operation capability.
The double-fork arm suspension mechanism provided by the invention can work independently from left to right, is arranged on the driving wheel of the support, can automatically adjust and float along with the double-fork arm, always keeps close contact with the ground, and meanwhile, the elastic force of the spring in the buffer device is transmitted to the contact position of the driving wheel and the ground through the structure, so that a certain positive pressure of the driving wheel on the ground is kept, and the driving force requirement of the robot is further ensured.
According to the double-fork-arm suspension mechanism provided by the invention, the driving wheel is always kept in effective contact with the tire and stable output of the driving force in a larger floating stroke, the ground slipping condition is avoided, and the adaptability and the safe operation capability of the cleaning robot to the large-fluctuation ground and the large-gradient limit position are ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art cleaning robot with a drive system directly connected to a chassis;
fig. 2 is a schematic structural diagram of a dual-yoke suspension mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of the dual yoke suspension mechanism according to FIG. 2;
fig. 4 is a schematic configuration diagram of a cleaning robot employing the double-wishbone suspension mechanism shown in fig. 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 2 to 4, the present invention provides a double wishbone suspension mechanism, which may generally include a fixed bracket 1, an upper wishbone 2, a lower wishbone 3, a support 4 and a damping device 5. The fixed bracket 1 is used for being installed at the bottom of the cleaning robot. The upper fork arms 2 are symmetrically arranged at two sides below the fixed support 1, and the upper fork arms 2 at two sides are mutually independent; the lower fork arms 3 are symmetrically arranged on two sides below the fixed support 1, and the lower fork arms 3 on the two sides are mutually independent. Two ends of the upper fork arm 2 are respectively hinged with the fixed support 1 and the support 4 through pin shafts, and two ends of the lower fork arm 3 are respectively hinged with the fixed support 1 and the support 4 through pin shafts. The height difference between the support connecting end of the upper fork arm 2 and the fixed support 1 is smaller than the height difference between the support connecting end of the lower fork arm 3 and the fixed support 1, namely, after the double-fork-arm suspension mechanism is installed and assembled, the lower fork arm 3 is positioned below the upper fork arm 2. The side surface of the support 4 is used for installing a driving wheel 6, and a cleaning robot 7 is driven to travel by the driving wheel 6. The fixed support 1, the upper fork arm 2, the lower fork arm 3 and the support 4 are hinged to form a quadrilateral-like structural member. One end of the buffer device 5 is connected to the lower yoke 3, and the other end is connected to the fixed bracket 1. The buffer device 5 is used for buffering and adjusting height change between the support connecting end of the lower fork arm 3 and the fixed support 1. The invention provides a double-fork arm suspension mechanism, which is particularly suitable for a cleaning robot.A spring force in a buffer device 5 is transmitted to a contact position of a driving wheel 6 and the ground through a structure, and a certain positive pressure of the driving wheel 6 on the ground is kept, so that the driving force requirement of the robot is ensured.
Specifically, as shown in fig. 3, the upper yoke 2 includes a first upper fork 21 and a second upper fork 22. The first upper fork 21 and the second upper fork 22 are independently and symmetrically installed. The lower yoke 3 includes a first lower fork 31 and a second lower fork 32. The first lower fork 31 and the second lower fork 32 are symmetrically installed. The first upper fork 21 and the first lower fork 31 are positioned at one side under the fixed bracket 1, and the second upper fork 22 and the second lower fork 32 are positioned at the other side under the fixed bracket 1, and the two sides work independently. The two sides of the double-fork arm suspension mechanism work independently, so that the driving wheel 6 can float along with the automatic adjustment of the double-fork arm and always keep close contact with the ground. The first upper fork 21 may be a single fork arm or two fork arms. In the example shown in fig. 3, the first upper fork 21 comprises two fork arms and forms a rectangular structure with the hinged pin, which has the advantage of good stability compared to a single fork arm.
In one embodiment, as shown in fig. 3, the fixing bracket 1 includes a first fixing member 11 and a second fixing member 12. The first fixing member 11 is for connection with a chassis of the cleaning robot 7. The second fixing member 12 is fixedly coupled to a lower side of the first fixing member 11. The upper fork arm 2 and the lower fork arm 3 are respectively hinged with the second fixing piece 12. Optionally, the upper yoke 2 is hinged to a position of the second fixing member 12 close to the first fixing member 11, and the lower yoke 3 is hinged to a position of the second fixing member 12 far from the first fixing member 11, so that the second fixing member 12, the upper yoke 2, the lower yoke 3 and the support 4 are hinged to each other to form a quadrilateral-shaped structural member, thereby facilitating automatic adjustment of the height of the floating driving wheel. It should be understood that the first fixing member 11 and the second fixing member 12 may be a unitary structural member integrally formed with each other, or may be a structural member fixedly connected to each other. The driving wheel 6, the upper fork arm 2, the lower fork arm 3 and the support 4 are mutually hinged to form a quadrilateral structural member, so that the heights of the upper fork arm 2, the lower fork arm 3 and the support 4 can be correspondingly changed when the driving wheel 6 passes through a rugged ground surface, and the driving wheel 6 can automatically adjust and float along with the double fork arms through the buffer device 5 and always keep close contact with the ground surface.
One end of the buffer device 5 is hinged to any position between two ends of the lower fork arm 3, and the other end of the buffer device 5 is connected with the first fixing piece 11. The damper 5 includes a spring base 51 and a damper spring 52. The damper spring 52 is mounted on the spring base 51 for providing an elastic force. When the support 4 moves up and down along with the driving wheel 6, the force generated by the extension and contraction of the damping spring 52 is transmitted to the driving wheel 6 through the spring base 51, the lower fork arm 3 and the support 4, so that the self-adaptive capacity of the mobile robot to the ground with different heights is enhanced. Alternatively, the damper spring 52 may employ a coil spring or an air spring. The ring-shaped spring has the advantages of wide application and low cost. The air spring has higher cost and is convenient to adjust the buffer stroke. The spring mount 51 is articulated with the lower yoke 3. Preferably, since the damping spring 52 is approximately in the middle of the lower yoke 3, the adjustment range of the automatic adjustment floating of the driving wheel 6 can be doubled by the proportional amplification effect, so as to enhance the driving capability of the uneven ground; meanwhile, the elastic force of the damping spring 52 is transmitted to the contact position of the driving wheel 6 and the ground through the structure, and a certain positive pressure of the driving wheel 6 on the ground is maintained, so that the driving force requirement of the robot is ensured, and the robot can normally travel on a smooth floor tile with a certain gradient (10%).
The buffer device 5 is arranged for the purpose of: when the driving wheel 6 passes through the uneven ground, the heights of the upper fork arm 2, the lower fork arm 3 and the support 4 can be changed correspondingly along with the height of the ground; when the driving wheel 6 on one side passes through the convex part, the upper fork arm 2, the lower fork arm 3 and the support 4 relatively move upwards, the spring of the buffer device 5 is compressed and plays a role of relatively reducing, so that the upward moving degree of the fixed bracket 1 is far smaller than the upward moving degree of the upper fork arm 2, the lower fork arm 3 and the support 4, and the stability of the cleaning robot is maintained; when the driving wheel 6 on one side passes through the recess, the upper yoke 2, the lower yoke 3 and the support 4 relatively move downwards, the spring of the buffer device 5 is stretched and relatively amplified, so that the downward movement degree of the fixing bracket 1 is far less than the downward movement degree of the upper yoke 2, the lower yoke 3 and the support 4, thereby keeping the cleaning robot stable. Optionally, the position where the buffer device 5 is hinged to the lower yoke 3 may be the middle point of the lower yoke 3 or a position close to the middle point, and the driving wheel 6 can always keep effective contact and stable output of driving force of the tire within a large floating stroke through the buffer device 5 and the double-yoke structure similar to a quadrangle, so that the situation of ground slipping is avoided, and the adaptability and safe operation capability of the cleaning robot 7 to large-fluctuation ground and large-gradient limit positions are ensured.
In one embodiment, as shown in fig. 3, the first fixing member 11 is provided with a through hole 13. The buffer 5 is mounted to the through hole 13 through the stopper 8. When the driving wheel 6 passes through the convex portion, the upper yoke 2, the lower yoke 3 and the support 4 move upward relatively, the spring of the buffering device 5 is compressed, and a part of the structure (central shaft) of the spring base 51 can move upward through the through hole 13. Optionally, the through hole 13 is an elongated hole so as to provide a buffer space for the spring base 51 to move upward. Of course, the damping device 5 may be disposed by a structure commonly used by those skilled in the art, such as a spring fixing portion disposed on the first fixing member 11, and one end of the damping spring 52 is connected to the spring fixing portion, and the other end is connected to the spring base 51.
The double-fork-arm suspension mechanism provided by the invention can realize stronger adaptability of the mobile robot to the ground under the condition of ensuring the driving force, so that the mobile robot can meet the requirements of climbing capacity of 10% on uneven and large-gradient ground and smooth floor tiles.
Fig. 4 is a schematic diagram of a cleaning robot using the dual yoke suspension of the present invention. The chassis of the cleaning robot 7 is provided with the double-fork arm suspension mechanism, and the driving wheel 6 is arranged on the side surface of the support 4 of the double-fork arm suspension mechanism. The specific structure and connection relationship of the double-wishbone suspension mechanism are referred to the foregoing, and are not described in detail herein.
According to the cleaning robot provided by the invention, the double-fork-arm suspension mechanism can respectively work left and right independently, and the floating stroke between the driving wheel 6 and the chassis (namely the distance between the driving wheel 6 and the chassis) is automatically adjusted, so that the driving wheel 6 is always kept in close contact with the ground, and the stable running on the large-fluctuation ground is realized; meanwhile, the elastic force of a spring in the buffer device 5 of the double-fork arm suspension mechanism is transmitted to the contact position of the driving wheel 6 and the ground through the structure, a certain positive pressure of the driving wheel 6 on the ground is kept, the ground gripping capability of tires of the driving wheel 6 is improved, the driving force requirement of the robot is further ensured, the ground slipping condition is avoided, the adaptability and the safe operation capability to a large-gradient limit position are realized, and the requirement on the climbing capability of 10% of a slippery ground (such as a smooth floor tile) can be met.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A dual yoke suspension mechanism comprising: the device comprises a fixed support, an upper fork arm, a lower fork arm, a support and a buffer device; the support is used for mounting a driving wheel; two ends of the upper fork arm are respectively hinged with the fixed support and the support, and two ends of the lower fork arm are respectively hinged with the fixed support and the support; one end of the buffer device is connected to the lower fork arm, and the other end of the buffer device is connected with the fixed support; the buffer device is used for buffering and adjusting height change between the support connecting end of the lower fork arm and the fixed support.
2. The dual yoke suspension mechanism of claim 1 wherein the difference in height between the mount connecting end of the upper yoke and the fixed bracket is less than the difference in height between the mount connecting end of the lower yoke and the fixed bracket.
3. The dual yoke arm suspension mechanism of claim 1 wherein the upper yoke arm includes first and second upper yokes mounted symmetrically; the lower yoke arm comprises a first lower fork and a second lower fork which are symmetrically arranged.
4. The dual yoke suspension of claims 1-3 wherein the fixed bracket includes a first fixed member for coupling to a chassis of the cleaning robot and a second fixed member fixedly coupled to an underside of the first fixed member, the upper yoke and the lower yoke being hingedly coupled to the second fixed member, respectively.
5. The dual yoke suspension of claim 4 wherein the upper yoke is hinged to the second mount at a location proximate the first mount and the lower yoke is hinged to the second mount at a location distal from the first mount.
6. The dual yoke suspension of claim 4 wherein the upper yoke, lower yoke, mount and second mount are articulated into a quadrilateral-like structure.
7. The double wishbone suspension mechanism of claim 4 wherein one end of the damping means is hinged to the lower wishbone at any location between its ends and the other end of the damping means is connected to the first fixing member.
8. The dual yoke suspension of claim 7 wherein the first fixed member has a through hole, and the damping device is mounted to the through hole through a limiting member.
9. The dual yoke suspension of claim 7 wherein the damping means includes a spring mount and a damping spring mounted on the spring mount, the spring mount being hingedly connected to the lower yoke.
10. A cleaning robot characterized in that a chassis of the cleaning robot is mounted with a double wishbone suspension as claimed in any one of claims 1-9.
CN202110425683.5A 2021-04-20 2021-04-20 Double-fork-arm suspension mechanism and cleaning robot Pending CN113147296A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110425683.5A CN113147296A (en) 2021-04-20 2021-04-20 Double-fork-arm suspension mechanism and cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110425683.5A CN113147296A (en) 2021-04-20 2021-04-20 Double-fork-arm suspension mechanism and cleaning robot

Publications (1)

Publication Number Publication Date
CN113147296A true CN113147296A (en) 2021-07-23

Family

ID=76869093

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110425683.5A Pending CN113147296A (en) 2021-04-20 2021-04-20 Double-fork-arm suspension mechanism and cleaning robot

Country Status (1)

Country Link
CN (1) CN113147296A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3087742A (en) * 1958-06-21 1963-04-30 Daimler Benz Ag Support means for an independent wheel suspension
GB1168153A (en) * 1966-02-18 1969-10-22 Bayerische Motoren Werke Ag A Motor Vehicle Wheel and Final Drive Mechanism Suspension Assembly
CN201021088Y (en) * 2007-04-04 2008-02-13 梁观源 Independent front suspension of four-wheel vehicle
CN102616097A (en) * 2012-04-13 2012-08-01 苏州市迅特液压升降机械有限公司 Independent wheel carrier of omni-directional self-propelled scissor aerial work platform
CN106114103A (en) * 2016-07-20 2016-11-16 浙江大学昆山创新中心 A kind of multi link suspension for wheeled mobile robot
CN207773299U (en) * 2018-01-18 2018-08-28 中山市百佳大谷电子科技有限公司 Safety protection robot four-wheel drive structure
WO2019027042A1 (en) * 2017-08-03 2019-02-07 マツダ株式会社 Suspension device for vehicle
CN212400804U (en) * 2020-06-12 2021-01-26 佛山智控未来科技有限公司 Axle suspension device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3087742A (en) * 1958-06-21 1963-04-30 Daimler Benz Ag Support means for an independent wheel suspension
GB1168153A (en) * 1966-02-18 1969-10-22 Bayerische Motoren Werke Ag A Motor Vehicle Wheel and Final Drive Mechanism Suspension Assembly
CN201021088Y (en) * 2007-04-04 2008-02-13 梁观源 Independent front suspension of four-wheel vehicle
CN102616097A (en) * 2012-04-13 2012-08-01 苏州市迅特液压升降机械有限公司 Independent wheel carrier of omni-directional self-propelled scissor aerial work platform
CN106114103A (en) * 2016-07-20 2016-11-16 浙江大学昆山创新中心 A kind of multi link suspension for wheeled mobile robot
WO2019027042A1 (en) * 2017-08-03 2019-02-07 マツダ株式会社 Suspension device for vehicle
CN207773299U (en) * 2018-01-18 2018-08-28 中山市百佳大谷电子科技有限公司 Safety protection robot four-wheel drive structure
CN212400804U (en) * 2020-06-12 2021-01-26 佛山智控未来科技有限公司 Axle suspension device

Similar Documents

Publication Publication Date Title
CN206870775U (en) Mobile platform
CN108583187A (en) A kind of independent suspension type AGV trolleies
CN111839364B (en) Cleaning assembly and cleaning robot
CN112298395A (en) Six-wheel bionic chassis
CN113147296A (en) Double-fork-arm suspension mechanism and cleaning robot
CN205836411U (en) Wheeled mobile robot chassis straight line suspended shock damper
CN211730965U (en) Bear universal two drive AGV's drive wheel lift adjusting device
CN208100358U (en) A kind of chassis parallelogram sturcutre and chassis
CN1464208A (en) Magnetic suspension shock absorber
CN107571703B (en) Single swing arm air suspension system with air bag lifting device for non-driving supporting bridge
CN208069327U (en) Air suspension lifting device
CN205273091U (en) A hang damping device and moving platform for moving platform
CN206703865U (en) Hang shock mitigation system
CN210526699U (en) Robot walking mechanism
CN209831625U (en) Linkage and robot
CN100384648C (en) Elastic connecting device for air-cushion mixed vehicle
CN112302455A (en) Swinging self-adjusting hanging wheel structure
CN218289268U (en) AGV dolly strenghthened type independent suspension
CN209740592U (en) Lifting support with adjustable auto repair is used
CN221068224U (en) Mobile device and walking wheel assembly
CN218343205U (en) Automatic unmanned vehicle with steering mechanism
CN220886709U (en) Automatic dead hoisting clamp of lock
CN211543176U (en) Suspension structure chassis of mobile device
CN219130053U (en) Sucking disc running gear
CN219727777U (en) Damping suspension device of explosion-proof robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20210723

RJ01 Rejection of invention patent application after publication