The invention relates to an active vehicle body stabilizing mechanism of an all-terrain mobile robot, and belongs to the technical field of mobile robots. Comprising a truss vehicle body module, a double-wishbone type vibration reduction suspension and a vehicle body stabilizing mechanism module. The vehicle body stabilizing mechanism module comprises a stabilizing shock absorber lower support, a stabilizing mechanism base, a sliding rail mounting vertical plate, a sliding block, a sliding rail, an actuator, an actuator mounting plate, an actuator connecting L-shaped plate, a stabilizing shock absorber upper support and a stabilizing shock absorber, and the stabilizing shock absorber lower support is connected with an upper U-shaped swing arm of the double-wishbone type shock absorption suspension; the stable shock absorbers are symmetrically arranged on the left side and the right side, and the stable shock absorbers, the truss vehicle body and the suspension shock absorbers of the double-wishbone type shock absorption suspension form a flexible isosceles triangle. The vehicle body stabilizing mechanism is effectively fused with a suspension damping mechanism, the damping performance of the vehicle body stabilizing mechanism is not affected, meanwhile, the driving torque balance and the vehicle body stability are improved, the vehicle body stabilizing system can intervene in work only when needed, the application range is wide, and meanwhile the intervention degree of the stabilizing system can be actively adjusted according to the road condition so that the vehicle body stability can be accurately controlled.
本发明涉及一种全地形移动机器人主动车身稳定机构,属于移动机器人技术领域。包括桁架车身模块、双横臂式减振悬架及车身稳定机构模块;所述车身稳定机构模块包括稳定减振器下支座、稳定机构底座、滑轨安装竖板、滑块、滑轨、作动器、作动器安装板、作动器连接L型板、稳定减振器上支座、稳定减振器,稳定减振器下支座与双横臂式减振悬架的上U型摆臂连接,稳定减振器左右两侧对称设置,并与桁架车身、双横臂式减振悬架的悬架减振器构成一个柔性等腰三角形。本发明的车身稳定机构有效与悬架减振机构相融合,不影响其减振性能,同时提升驱动力矩平衡与车身稳定性,车身稳定系统在需要时才会介入工作,并且适用范围广,同时其可根据路况主动调节稳定系统介入程度以精准控制车身稳定性。
Active vehicle body stabilizing mechanism of all-terrain mobile robot
一种全地形移动机器人主动车身稳定机构
22.09.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
All-terrain mobile robot body stabilizing system and control method
Europäisches Patentamt | 2023
|Self-stabilizing omnidirectional mobile robot and mobile device
Europäisches Patentamt | 2023
|Adjustable suspension mechanism capable of enhancing terrain adaptability of mobile robot
Europäisches Patentamt | 2022
|