The embodiment of the invention provides a chassis suspension mechanism, a driving device and a robot. The chassis suspension mechanism comprises at least two joint motion chains which are arranged between a wheel seat and a chassis main body and are used for achieving the linear motion of the wheel seat in a preset direction relative to the chassis main body; each joint motion chain at least comprises a first chain plate and a second chain plate rotationally connected with the first chain plate, the first chain plate is used for being rotationally connected with the chassis main body, and thesecond chain plate is used for being rotationally connected with the wheel seat; and a motion plane formed by one joint motion chain in the at least two joint motion chains is not parallel to a motion plane formed by other joint motion chains, and the motion plane refers to a plane where the first chain plate and the second chain plate move relatively. The chassis suspension mechanism is completely composed of rotatable joints, can achieve linear motion of the wheel seat relative to the chassis body in the preset direction, is simple in structure, low in manufacturing cost and convenient to install and maintain, and guarantees the precision of motion control.
本发明实施例提供一种底盘悬挂机构、驱动装置及机器人,底盘悬挂机构包括:至少两条关节运动链,设置于轮座与底盘主体之间,用于实现轮座相对于底盘主体在预设方向上进行直线运动;关节运动链至少包括:第一链板以及与第一链板转动连接的第二链板,第一链板用于与底盘主体转动连接,第二链板用于与轮座转动连接;至少两条关节运动链中的一条关节运动链所构成的运动平面与其他关节运动链所构成的运动平面之间不平行,运动平面是指第一链板与第二链板进行相对运动所在的平面。该底盘悬挂机构全部是由可转动的关节构成,可以实现轮座相对于底盘主体在预设方向上进行直线运动,结构简单,制造成本低,并且方便安装与维护,保证了对运动控制的精确度。
Chassis suspension mechanism, driving device and robot
底盘悬挂机构、驱动装置及机器人
2020-07-24
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |