ABSTRACT
Abstract
A suspension damping device installed at a chassis of a mobile robot comprises a vehicle frame, a controlling arm set and a damping device. The vehicle frame is fixed to the chassis and arranged on the ground. One end of the controlling arm set is hinged to the vehicle frame, and the other end of the controlling arm set is hinged to a steering device, so the controlling arm set controls the motion stability of the steering device. One end of the damping device opposite to the ground is hinged to the vehicle frame, and the other end of the damping device faced to the ground is hinged to the steering device. A six-wheeled bionic chassis which comprises a chassis frame, a controller, a sensor, front wheel suspension assemblies, middle wheel suspension assemblies and rear wheel suspension assemblies is also disclosed in the present invention.
Description
FIELD OF THE INVENTION
The present invention relates to chassis machinery technical field, more particularly, a suspension device, a suspension damping device and a six-wheels bionic chassis applying on robots, mobile robots or mobile vehicles. The suspension device and the suspension damping device are used to increase the obstacle-crossing capabilities of the robots, mobile robots or the mobile vehicles.
BACKGROUND OF THE INVENTION
In the relate art, an important mechanism in the mobile robot is a suspension damping device. The suspension damping device can decrease oscillations occurred during a movement of the mobile robot, so the mobile robot can work stably. The conventional suspension damping device uses a linear-bearing suspension system. However, the structure of the linear-bearing suspension system is not compact, the dedicated space of the linear-bearing suspension system is large, and the cost of the linear-bearing suspension system is expensive, too. Moreover, when the linear-bearing suspension system is installed at the suspension damping device, a higher processing accuracy is needed on an installing surface. Thus, the life span of the whole suspension damping device is decreased, and the cost is also expensive.
Furthermore, the vehicle engineering is progressing with the rapid development of technology. A general mobile vehicle is divided into two parts: vehicle body and wheeled chassis. A common wheeled chassis includes at least wheels, a vehicle frame, a steering device (or turning device), a motive supplying device, a brake and a suspension device. Therein, the wheels, the steering device and the suspension system are the most important assemblies to control a moving direction and avoid rollover of the mobile vehicle. The general mobile vehicle will encounter some problems such as turning or obstacles crossing. Therefore, how to keep stable when the mobile vehicle is moving forward and keep smooth when the mobile vehicle is turning are the topics which is keeping studying for vehicle engineering.
With reference to the turning topic, the wheels and the steering device are core subjects when the mobile vehicle is controlled to turn. The conventional steering device is a single-linkage type steering device, which is characterized in that: the driver can control the tires of the front wheels individually and directly. For example, in a four wheels mobile vehicle, there are two steering devices used to control the two front wheels. When the mobile vehicle wants to turn, the driver will rotate the steering wheel to control the wheels to a predetermined direction that the mobile vehicle wants to turn, the front wheels controlled by the steering device will turn to the predetermined direction, and the rear wheels will be associated to turn to the predetermined direction and move forward. This type of the steering device is enough for the general four-wheels mobile vehicle, however, the single-linkage type steering device can not apply to some special mobile vehicles which have a plurality of wheels, such as a bus or a tank which has many wheels and belts.
On the other hand, the suspension device of the mobile vehicle is used to stabilize the mobile vehicle, so the mobile vehicle can keep stability in a plurality of moving situations, such as moving on a horizontal plane, climbing along an incline or crossing an obstacle. The suspension device is composed of a spring and a damping cylinder, so the suspension device is viewed as a damping device. For mobile vehicles that the general people use, the suspension device can be an individual suspension device or a non-individual suspension device, in which the individual suspension device is characterized in that the left part and the right part of the wheels are controlled separately, and the non-individual suspension device is characterized in that all wheels of the mobile vehicle are integrally controlled. The suspension devices can be further divided into an active type or a passive type. The deference between the two type suspension devices is that the active suspension device can compute to accommodate different road environments according to elasticity constant and damping coefficient of the suspension devices, and elasticity constant and damping coefficient of the passive suspension device are both fixed, which is not changed due to different environments.
In recent years, robots are applied on the wheeled chassis of the mobile vehicle. The general robots are usually used at outdoors, the environment with rough ground or a disaster scene, so the wheeled chassis used on the robots need better topographic adaptability and mobility than the wheeled chassis used on the mobile vehicle. Thus, there is still a long way to go for improving the technology when applying the wheeled chassis used on the mobile vehicle on the robots. A conventional mobile vehicle which has a slipknot type suspension device and using method of the slipknot type suspension device thereof is disclosed, in which the disclosed chassis device is used to military mobile vehicles, i.e., the environment with rough ground, and the chassis device has good topographic adaptability, obstacle crossing ability and tires which have good mobility. Nonetheless, the conventional chassis device of the related art cannot drive the robot to climb stairs, turn to different directions or have random moving directions, and the mobility device which the conventional chassis device connected is not disclosed, such as a robot moving device or only has a vehicle body. It is to say that the effect of changing the moving device for operating the chassis is not considered.
SUMMARY OF THE INVENTION
It is an object of the present invention is to provide a suspension damping device, when the suspension damping device is acting, the wheel set can be driven to move up and down, and can maintain the wheel set in contact to the ground or a road surface, so a chassis installed with the suspension damping device can cross obstacles smoothly.
According to the above objective, the present invention discloses a suspension damping device installed at a chassis of a mobile robot. The suspension damping device includes a vehicle frame, a controlling arm set, a spring damping device and a steering device. The vehicle frame is arranged at the ground and fixed to the chassis. The controlling arm set includes an upper supporting arm and a lower supporting arm, one ends of the upper controlling arm and the lower controlling arm are respectively hinged to the vehicle frame, and the other ends of the upper controlling arm and the lower controlling arm are respectively hinged to the steering device, so the controlling arm set controls the motion stability of the steering device. One end of the damping device opposite to the ground is hinged to the vehicle frame, and the other end of the damping device faced to the ground that is hinged to the steering device.
The present invention further discloses a suspension damping device installed at a chassis of a mobile robot. The suspension damping device includes a vehicle frame, a controlling arm set, a suspension damping device and a steering device. The vehicle frame is arranged on the ground and fixed to the chassis. The controlling arm set includes an upper controlling arm and a lower controlling arm, one ends of the of the upper controlling arm and the lower controlling arm are respectively hinged to the chassis, and the other ends of the upper controlling arm and the lower controlling arm are respectively hinged to the steering device, so the controlling arm set controls the motion stability of the steering device. The damping device is perpendicular to the ground, one end of the damping device opposite to the ground is hinged to the chassis, and the other end of the damping device faced to the ground is hinged to the lower controlling arm.
The present invention still further discloses a suspension damping device installed at a chassis of a mobile robot. The suspension damping device includes a vehicle frame, a wheel set hinged seat, a damping device and a steering device. The vehicle frame is arranged on the ground and fixed to the chassis, one end of the wheel set hinged seat is hinged to the vehicle frame and the other end of the wheel set hinged seat is fixed to the steering device, so the wheel set hinged seat controls the motion stability of the steering device. The damping device is arranged on the vehicle frame, one end of the damping device opposite to the ground is hinged to the vehicle frame, the other end of the damping device faced to the ground is arranged on the wheel set hinged seat, and the other end of the damping device is hinged to the wheel set hinged seat.
In addition, the present invention further discloses a suspension assembly. The suspension assembly can be applied to a robot or a mobile vehicle, so the robot or the mobile vehicle can move on a scraggly surface of the horizontal plane such as an unpaved road or a dirt road to smoothly cross over a deceleration zone or a vertical obstacle.
The suspension assembly disclosed by the present invention can adjust toughness of the suspension assembly to compress a height of a wheel set, so the robot or the mobile vehicle has a damping stroke corresponding to the positive and negative range the compression height.
According to the above, the present invention discloses a suspension assembly, includes: a supporting arm set is composed by a first supporting arm and a second supporting arm; a suspension spring assembly is arranged between the first supporting arm and the second supporting arm, and two ends of the suspension spring assembly are respectively hinged to two end of the first supporting arm and the second supporting arm; and a steering supporting frame, one end of the steering supporting frame is hinged to one ends of the first supporting arm and the second supporting arm, the other end of the steering supporting frame is hinged to a steering mechanism, and one end of the steering mechanism faced to the horizontal plane is pivotally connected to a wheel set.
It is another objective of the present invention is to disclose a six-wheel bionic chassis. The front wheel suspension spring assembly, a middle wheel suspension spring assembly and a rear wheel suspension spring assembly of the six-wheel bionic chassis can drive the wheel set to move up and down, and can maintain front wheel set, middle wheel set and rear wheel set in contact to the horizontal plane to maintain the balance of the six-wheel bionic chassis.
It is another objective of the present invention is to disclose a six-wheel bionic chassis, the entire structure of the six-wheel bionic chassis is compact, and the load capacity of the six-wheel bionic chassis can be adjusted by adjusting the front wheel suspension spring assembly, the middle wheel suspension spring assembly and the rear wheel suspension spring assembly.
It is still another objective of the present invention is to disclose a six-wheel bionic chassis that can adjust the toughness of front wheel suspension assembly, middle wheel suspension assembly and rear wheel suspension assembly to compress heights of front wheel set, middle wheel set and rear wheel set, so the entire six-wheel bionic chassis has a damping stroke corresponding to the positive and negative range of the compression height.
According to the above objectives, the present invention discloses a six-wheel bionic chassis that includes a chassis frame, a controller, a sensor, and front wheel suspension assemblies are pivotally connected to both sides of a front end of the chassis frame toward the horizontal plane, middle wheel suspension assemblies are pivotally connected to middle two sides of the chassis frame, and rear wheel suspension assemblies are pivotally connected to both sides of a rear end of the chassis frame, and the controller and the sensor are electrically connected to the front wheel suspension assemblies, the middle suspension assemblies and the rear wheel suspension assemblies respectively. Each of the front wheel suspension assemblies includes: a front wheel auxiliary wheel-lifting supporting frame, one end of the front wheel auxiliary wheel-lifting supporting frame is hinged to the front end of the chassis frame; a front wheel upper supporting arm set composed by a by a first front wheel upper supporting arm and a pair of second front wheel upper supporting arms, the first front wheel upper supporting arm is arranged above the pair of second front wheel upper supporting anus, one end of the first front wheel upper supporting arm is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of the first front wheel upper supporting arm is hinged to a front wheel steering supporting frame, one end of each of the second front wheel upper supporting anus is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of each of the second front wheel upper supporting arms is hinged to the front wheel steering supporting frame; both ends of a front wheel suspension spring assembly are hinged to the both ends of the front wheel upper supporting arm set; and one end of the front wheel steering supporting frame is fixedly connected to a front wheel steering mechanism, one end of the front wheel steering mechanism faced to a ground direction is pivotally connected to a front wheel set, the front wheel set is pivotally connected to a front wheel hub motor, so the front wheel upper supporting arm set, the front wheel auxiliary wheel-lifting supporting frame and the front wheel steering supporting frame of the front steering assembly constitute a front wheel linkage mechanism to control a movement trajectory of the front wheel set when the front wheel set encounters a vertical obstacle.
Each of the middle wheel suspension assemblies comprises: a middle wheel upper supporting arm set composed by a first middle wheel upper supporting arm and a pair of second middle upper supporting arms, the first middle upper supporting arm is arranged above the pair of second middle wheel upper supporting arm, one end of the middle wheel upper supporting arm is hinged to the middle of the chassis frame, the other end of the first middle wheel upper supporting arm is hinged to a middle wheel steering supporting frame, one end of each of the second middle wheel upper supporting arms is hinged to the middle of the chassis frame respectively, and the other end of each of the second middle upper supporting arms is hinged to a middle wheel steering supporting frame respectively; a middle wheel suspension spring assembly, where both ends of the middle wheel suspension spring assembly are hinged to the two ends of the middle wheel upper supporting arm set respectively; and the middle wheel steering supporting frame, one end of the middle wheel steering supporting frame is fixedly connected to a middle wheel steering mechanism and the other end faced to a ground direction of the middle wheel steering mechanism is pivotally connected to a middle wheel set, the middle wheel set is pivotally connected to a middle wheel hub motor, so the middle wheel upper supporting arm set and the middle wheel steering supporting frame of the middle wheel steering assembly constitute a middle wheel linkage mechanism to control a movement trajectory of the middle wheel set when the middle wheel set encounters a vertical obstacle.
Each of the rear wheel suspension assemblies comprises: a rear wheel upper supporting arm set composed by a first rear wheel upper supporting arm and a pair of second rear wheel upper supporting arms, the first rear wheel upper supporting arm is arranged above the pair of second rear wheel upper supporting arm, one end of the first rear wheel upper supporting arm is hinged to a rear end of the chassis frame, the other end of the first rear wheel upper supporting arm is hinged to a rear wheel steering supporting frame, one ends of each of the second rear wheel upper supporting arms is hinged to the rear end of the chassis frame respectively, and the other ends of each of the second rear wheel upper supporting arms is hinged to the rear wheel steering supporting frame respectively; a rear wheel suspension spring assembly, where both ends of the rear wheel suspension spring assembly are hinged to the rear wheel upper supporting arm respectively; and the rear wheel steering supporting frame, one end of the rear wheel steering supporting frame is fixedly connected to a rear wheel steering mechanism and one end faced to a horizontal plane direction of the rear wheel steering mechanism is pivotally connected to a rear wheel set, and the rear wheel set is pivotally connected to a rear wheel hub motor, so the rear wheel upper supporting arm set and the rear wheel steering supporting frame of the rear wheel steering assembly constitute a rear wheel linkage mechanism to control a movement trajectory of the rear wheel set when the rear wheel set encounters a vertical obstacle.
The present invention further discloses a six-wheel bionic chassis comprising a ch
FIELD OF THE INVENTION
The present invention relates to chassis machinery technical field, more particularly, a suspension device, a suspension damping device and a six-wheels bionic chassis applying on robots, mobile robots or mobile vehicles. The suspension device and the suspension damping device are used to increase the obstacle-crossing capabilities of the robots, mobile robots or the mobile vehicles.
BACKGROUND OF THE INVENTION
In the relate art, an important mechanism in the mobile robot is a suspension damping device. The suspension damping device can decrease oscillations occurred during a movement of the mobile robot, so the mobile robot can work stably. The conventional suspension damping device uses a linear-bearing suspension system. However, the structure of the linear-bearing suspension system is not compact, the dedicated space of the linear-bearing suspension system is large, and the cost of the linear-bearing suspension system is expensive, too. Moreover, when the linear-bearing suspension system is installed at the suspension damping device, a higher processing accuracy is needed on an installing surface. Thus, the life span of the whole suspension damping device is decreased, and the cost is also expensive.
Furthermore, the vehicle engineering is progressing with the rapid development of technology. A general mobile vehicle is divided into two parts: vehicle body and wheeled chassis. A common wheeled chassis includes at least wheels, a vehicle frame, a steering device (or turning device), a motive supplying device, a brake and a suspension device. Therein, the wheels, the steering device and the suspension system are the most important assemblies to control a moving direction and avoid rollover of the mobile vehicle. The general mobile vehicle will encounter some problems such as turning or obstacles crossing. Therefore, how to keep stable when the mobile vehicle is moving forward and keep smooth when the mobile vehicle is turning are the topics which is keeping studying for vehicle engineering.
With reference to the turning topic, the wheels and the steering device are core subjects when the mobile vehicle is controlled to turn. The conventional steering device is a single-linkage type steering device, which is characterized in that: the driver can control the tires of the front wheels individually and directly. For example, in a four wheels mobile vehicle, there are two steering devices used to control the two front wheels. When the mobile vehicle wants to turn, the driver will rotate the steering wheel to control the wheels to a predetermined direction that the mobile vehicle wants to turn, the front wheels controlled by the steering device will turn to the predetermined direction, and the rear wheels will be associated to turn to the predetermined direction and move forward. This type of the steering device is enough for the general four-wheels mobile vehicle, however, the single-linkage type steering device can not apply to some special mobile vehicles which have a plurality of wheels, such as a bus or a tank which has many wheels and belts.
On the other hand, the suspension device of the mobile vehicle is used to stabilize the mobile vehicle, so the mobile vehicle can keep stability in a plurality of moving situations, such as moving on a horizontal plane, climbing along an incline or crossing an obstacle. The suspension device is composed of a spring and a damping cylinder, so the suspension device is viewed as a damping device. For mobile vehicles that the general people use, the suspension device can be an individual suspension device or a non-individual suspension device, in which the individual suspension device is characterized in that the left part and the right part of the wheels are controlled separately, and the non-individual suspension device is characterized in that all wheels of the mobile vehicle are integrally controlled. The suspension devices can be further divided into an active type or a passive type. The deference between the two type suspension devices is that the active suspension device can compute to accommodate different road environments according to elasticity constant and damping coefficient of the suspension devices, and elasticity constant and damping coefficient of the passive suspension device are both fixed, which is not changed due to different environments.
In recent years, robots are applied on the wheeled chassis of the mobile vehicle. The general robots are usually used at outdoors, the environment with rough ground or a disaster scene, so the wheeled chassis used on the robots need better topographic adaptability and mobility than the wheeled chassis used on the mobile vehicle. Thus, there is still a long way to go for improving the technology when applying the wheeled chassis used on the mobile vehicle on the robots. A conventional mobile vehicle which has a slipknot type suspension device and using method of the slipknot type suspension device thereof is disclosed, in which the disclosed chassis device is used to military mobile vehicles, i.e., the environment with rough ground, and the chassis device has good topographic adaptability, obstacle crossing ability and tires which have good mobility. Nonetheless, the conventional chassis device of the related art cannot drive the robot to climb stairs, turn to different directions or have random moving directions, and the mobility device which the conventional chassis device connected is not disclosed, such as a robot moving device or only has a vehicle body. It is to say that the effect of changing the moving device for operating the chassis is not considered.
SUMMARY OF THE INVENTION
It is an object of the present invention is to provide a suspension damping device, when the suspension damping device is acting, the wheel set can be driven to move up and down, and can maintain the wheel set in contact to the ground or a road surface, so a chassis installed with the suspension damping device can cross obstacles smoothly.
According to the above objective, the present invention discloses a suspension damping device installed at a chassis of a mobile robot. The suspension damping device includes a vehicle frame, a controlling arm set, a spring damping device and a steering device. The vehicle frame is arranged at the ground and fixed to the chassis. The controlling arm set includes an upper supporting arm and a lower supporting arm, one ends of the upper controlling arm and the lower controlling arm are respectively hinged to the vehicle frame, and the other ends of the upper controlling arm and the lower controlling arm are respectively hinged to the steering device, so the controlling arm set controls the motion stability of the steering device. One end of the damping device opposite to the ground is hinged to the vehicle frame, and the other end of the damping device faced to the ground that is hinged to the steering device.
The present invention further discloses a suspension damping device installed at a chassis of a mobile robot. The suspension damping device includes a vehicle frame, a controlling arm set, a suspension damping device and a steering device. The vehicle frame is arranged on the ground and fixed to the chassis. The controlling arm set includes an upper controlling arm and a lower controlling arm, one ends of the of the upper controlling arm and the lower controlling arm are respectively hinged to the chassis, and the other ends of the upper controlling arm and the lower controlling arm are respectively hinged to the steering device, so the controlling arm set controls the motion stability of the steering device. The damping device is perpendicular to the ground, one end of the damping device opposite to the ground is hinged to the chassis, and the other end of the damping device faced to the ground is hinged to the lower controlling arm.
The present invention still further discloses a suspension damping device installed at a chassis of a mobile robot. The suspension damping device includes a vehicle frame, a wheel set hinged seat, a damping device and a steering device. The vehicle frame is arranged on the ground and fixed to the chassis, one end of the wheel set hinged seat is hinged to the vehicle frame and the other end of the wheel set hinged seat is fixed to the steering device, so the wheel set hinged seat controls the motion stability of the steering device. The damping device is arranged on the vehicle frame, one end of the damping device opposite to the ground is hinged to the vehicle frame, the other end of the damping device faced to the ground is arranged on the wheel set hinged seat, and the other end of the damping device is hinged to the wheel set hinged seat.
In addition, the present invention further discloses a suspension assembly. The suspension assembly can be applied to a robot or a mobile vehicle, so the robot or the mobile vehicle can move on a scraggly surface of the horizontal plane such as an unpaved road or a dirt road to smoothly cross over a deceleration zone or a vertical obstacle.
The suspension assembly disclosed by the present invention can adjust toughness of the suspension assembly to compress a height of a wheel set, so the robot or the mobile vehicle has a damping stroke corresponding to the positive and negative range the compression height.
According to the above, the present invention discloses a suspension assembly, includes: a supporting arm set is composed by a first supporting arm and a second supporting arm; a suspension spring assembly is arranged between the first supporting arm and the second supporting arm, and two ends of the suspension spring assembly are respectively hinged to two end of the first supporting arm and the second supporting arm; and a steering supporting frame, one end of the steering supporting frame is hinged to one ends of the first supporting arm and the second supporting arm, the other end of the steering supporting frame is hinged to a steering mechanism, and one end of the steering mechanism faced to the horizontal plane is pivotally connected to a wheel set.
It is another objective of the present invention is to disclose a six-wheel bionic chassis. The front wheel suspension spring assembly, a middle wheel suspension spring assembly and a rear wheel suspension spring assembly of the six-wheel bionic chassis can drive the wheel set to move up and down, and can maintain front wheel set, middle wheel set and rear wheel set in contact to the horizontal plane to maintain the balance of the six-wheel bionic chassis.
It is another objective of the present invention is to disclose a six-wheel bionic chassis, the entire structure of the six-wheel bionic chassis is compact, and the load capacity of the six-wheel bionic chassis can be adjusted by adjusting the front wheel suspension spring assembly, the middle wheel suspension spring assembly and the rear wheel suspension spring assembly.
It is still another objective of the present invention is to disclose a six-wheel bionic chassis that can adjust the toughness of front wheel suspension assembly, middle wheel suspension assembly and rear wheel suspension assembly to compress heights of front wheel set, middle wheel set and rear wheel set, so the entire six-wheel bionic chassis has a damping stroke corresponding to the positive and negative range of the compression height.
According to the above objectives, the present invention discloses a six-wheel bionic chassis that includes a chassis frame, a controller, a sensor, and front wheel suspension assemblies are pivotally connected to both sides of a front end of the chassis frame toward the horizontal plane, middle wheel suspension assemblies are pivotally connected to middle two sides of the chassis frame, and rear wheel suspension assemblies are pivotally connected to both sides of a rear end of the chassis frame, and the controller and the sensor are electrically connected to the front wheel suspension assemblies, the middle suspension assemblies and the rear wheel suspension assemblies respectively. Each of the front wheel suspension assemblies includes: a front wheel auxiliary wheel-lifting supporting frame, one end of the front wheel auxiliary wheel-lifting supporting frame is hinged to the front end of the chassis frame; a front wheel upper supporting arm set composed by a by a first front wheel upper supporting arm and a pair of second front wheel upper supporting arms, the first front wheel upper supporting arm is arranged above the pair of second front wheel upper supporting anus, one end of the first front wheel upper supporting arm is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of the first front wheel upper supporting arm is hinged to a front wheel steering supporting frame, one end of each of the second front wheel upper supporting anus is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of each of the second front wheel upper supporting arms is hinged to the front wheel steering supporting frame; both ends of a front wheel suspension spring assembly are hinged to the both ends of the front wheel upper supporting arm set; and one end of the front wheel steering supporting frame is fixedly connected to a front wheel steering mechanism, one end of the front wheel steering mechanism faced to a ground direction is pivotally connected to a front wheel set, the front wheel set is pivotally connected to a front wheel hub motor, so the front wheel upper supporting arm set, the front wheel auxiliary wheel-lifting supporting frame and the front wheel steering supporting frame of the front steering assembly constitute a front wheel linkage mechanism to control a movement trajectory of the front wheel set when the front wheel set encounters a vertical obstacle.
Each of the middle wheel suspension assemblies comprises: a middle wheel upper supporting arm set composed by a first middle wheel upper supporting arm and a pair of second middle upper supporting arms, the first middle upper supporting arm is arranged above the pair of second middle wheel upper supporting arm, one end of the middle wheel upper supporting arm is hinged to the middle of the chassis frame, the other end of the first middle wheel upper supporting arm is hinged to a middle wheel steering supporting frame, one end of each of the second middle wheel upper supporting arms is hinged to the middle of the chassis frame respectively, and the other end of each of the second middle upper supporting arms is hinged to a middle wheel steering supporting frame respectively; a middle wheel suspension spring assembly, where both ends of the middle wheel suspension spring assembly are hinged to the two ends of the middle wheel upper supporting arm set respectively; and the middle wheel steering supporting frame, one end of the middle wheel steering supporting frame is fixedly connected to a middle wheel steering mechanism and the other end faced to a ground direction of the middle wheel steering mechanism is pivotally connected to a middle wheel set, the middle wheel set is pivotally connected to a middle wheel hub motor, so the middle wheel upper supporting arm set and the middle wheel steering supporting frame of the middle wheel steering assembly constitute a middle wheel linkage mechanism to control a movement trajectory of the middle wheel set when the middle wheel set encounters a vertical obstacle.
Each of the rear wheel suspension assemblies comprises: a rear wheel upper supporting arm set composed by a first rear wheel upper supporting arm and a pair of second rear wheel upper supporting arms, the first rear wheel upper supporting arm is arranged above the pair of second rear wheel upper supporting arm, one end of the first rear wheel upper supporting arm is hinged to a rear end of the chassis frame, the other end of the first rear wheel upper supporting arm is hinged to a rear wheel steering supporting frame, one ends of each of the second rear wheel upper supporting arms is hinged to the rear end of the chassis frame respectively, and the other ends of each of the second rear wheel upper supporting arms is hinged to the rear wheel steering supporting frame respectively; a rear wheel suspension spring assembly, where both ends of the rear wheel suspension spring assembly are hinged to the rear wheel upper supporting arm respectively; and the rear wheel steering supporting frame, one end of the rear wheel steering supporting frame is fixedly connected to a rear wheel steering mechanism and one end faced to a horizontal plane direction of the rear wheel steering mechanism is pivotally connected to a rear wheel set, and the rear wheel set is pivotally connected to a rear wheel hub motor, so the rear wheel upper supporting arm set and the rear wheel steering supporting frame of the rear wheel steering assembly constitute a rear wheel linkage mechanism to control a movement trajectory of the rear wheel set when the rear wheel set encounters a vertical obstacle.
The present invention further discloses a six-wheel bionic chassis comprising a chassis frame, a controller, a sensor, and front wheel suspension assemblies are pivotally connected to both sides of a front end of the chassis frame, middle wheel suspension assemblies are pivotally connected to middle two sides of the chassis frame, and rear wheel suspension assemblies are pivotally connected to both sides of a rear end of the chassis frame, the controller and the sensor are electrically connected to the front wheel suspension assemblies, the middle wheel suspension assemblies and the rear wheel suspension assemblies. Each of the front wheel suspension assemblies includes: a front wheel suspension fixing seat is fixedly connected to the front end of the chassis frame; a front wheel auxiliary wheel-lifting supporting frame, one end of the front wheel auxiliary wheel-lifting supporting frame is hinged to the front wheel suspension fixing seat; a front wheel auxiliary wheel-lifting spring assembly, one end of the front wheel auxiliary wheel-lifting spring assembly is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of the front wheel auxiliary wheel-lifting spring assembly is hinged to the front wheel suspension fixing seat; a front wheel upper supporting arm set composed by a front wheel upper supporting arm and a pair of second supporting arms, the first front wheel upper supporting arm is arranged above the pair of second front wheel upper supporting arms, one end of the first front wheel upper supporting arm is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of the first front wheel upper supporting arm is hinged to a front wheel steering supporting frame, one ends of each of the second front wheel upper supporting arms is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other ends of each of the second front wheel upper supporting arms is hinged to the front wheel steering supporting frame; both ends of a front wheel suspension spring assembly are hinged to both ends of the front wheel upper supporting arm set respectively; and the front wheel steering supporting frame, one end of the front wheel steering supporting frame is fixedly connected to a front wheel steering mechanism, one end of the front wheel steering mechanism faced to a ground direction is pivotally connected to a front wheel set, and the front wheel set is pivotally connected to a front wheel hub motor, so the front wheel upper supporting arm set, the front wheel auxiliary wheel-lifting supporting frame and the front wheel steering supporting frame of the front steering assembly constitute a front wheel linkage mechanism to control a movement trajectory of the front wheel set when the front wheel set encounters a vertical obstacle.
Each of the middle wheel suspension assemblies includes: a middle wheel suspension fixing seat is fixedly connected to the chassis frame; a middle wheel upper supporting arm set composed by a first middle wheel upper supporting arm and a pair of second middle upper supporting arms, the first middle upper supporting arm is arranged above the pair of second middle wheel upper supporting arm, one end of the middle wheel upper supporting arm is hinged to the other end of the middle wheel suspension fixing seat, the other end of the first middle upper supporting arm is hinged to a middle wheel steering supporting frame, one ends of each of the second upper supporting arms is hinged to the other end of the middle wheel suspension fixing seat, and the other ends of each of the second middle wheel upper supporting arms is hinged to a middle wheel steering supporting frame respectively; a middle wheel suspension spring assembly, both ends of the middle wheel suspension spring assembly are hinged to the middle wheel upper supporting arm set respectively; and the middle wheel steering supporting frame, one end of the middle wheel steering supporting frame is fixedly connected to a middle wheel steering mechanism, one end faced to a ground direction of the middle wheel steering mechanism is pivotally connected to a middle wheel set, and the middle wheel set is pivotally connected to a middle wheel hub motor, so the middle wheel upper supporting arm set and the middle wheel steering supporting frame of the middle wheel steering assembly constitute a middle wheel linkage mechanism to control a movement trajectory of the middle wheel set when the middle wheel set encounters a vertical obstacle.
Each of the rear wheel suspension assemblies includes: a rear wheel suspension fixing seat fixed to the rear end of the chassis frame; a rear wheel upper supporting arm set composed by a first rear wheel upper supporting arm and a set of second rear wheel upper supporting arms, the first rear wheel upper supporting arm is arranged above the pair of second rear wheel upper supporting arm, one end of the first rear wheel upper supporting arm is hinged to the other end of the rear wheel suspension fixing seat, and the other end of the first rear wheel upper supporting arm is hinged to a rear wheel steering supporting frame, one ends of each of the second rear wheel supporting arms is hinged to the other end of the rear wheel suspension fixing seat and the other ends of each of the second rear wheel upper supporting arms is hinged to the rear wheel steering supporting frame respectively; a rear wheel suspension spring assembly, two ends of the rear wheel suspension spring assembly are hinged to the two ends of the rear wheel upper supporting arm set respectively; and the rear wheel steering supporting frame, one end of the rear wheel steering supporting frame is fixedly connected to a rear wheel steering mechanism, one end faced to a ground direction of the rear wheel steering mechanism is pivotally connected to a rear wheel set, and the rear wheel set is pivotally connected to a rear wheel hub motor. So the rear wheel upper supporting arm set and the rear wheel steering supporting frame of the rear wheel steering assembly constitute a rear wheel linkage mechanism to control a movement trajectory of the rear wheel set when the rear wheel set encounters a vertical obstacle.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective schematic view of a suspension damping device in accordance with the present invention.
FIG. 2 is a side view of the suspension damping device in accordance with the present invention.
FIG. 3 is a side view of the suspension damping device installed at the chassis of the mobile robot in accordance with the present invention.
FIG. 4 is a perspective schematic view of the suspension damping device installed at the chassis of the mobile robot in accordance with the present invention.
FIG. 5 is a perspective schematic view of the suspension damping device in accordance with the present invention.
FIG. 6 is a side view of the suspension damping device in accordance with the present invention.
FIG. 7 is a perspective schematic view of the suspension damping device installed at the chassis of the mobile robot in accordance with the present invention.
FIG. 8 is a side view of a suspension damping device in accordance with the present invention.
FIG. 9 is a perspective schematic view of the suspension damping device in accordance with the present invention.
FIG. 10 is a perspective schematic view of the suspension damping device installed at a chassis of a mobile robot in accordance with the present invention.
FIG. 11 A is a side view of a suspension assembly in an embodiment in accordance with the present invention.
FIG. 11 B is a stereogram schematic view of a suspension assembly in an embodiment in accordance with the present invention.
FIG. 12 A is a perspective structure schematic view of a suspension assembly in another embodiment in accordance with the present invention.
FIG. 12 B is a side view of a suspension assembly in another embodiment in accordance with the present invention.
FIG. 13 A is a perspective view of a six-wheel bionic chassis in an embodiment in accordance with the present invention.
FIG. 13 B is a top view of the six-wheel bionic chassis in an embodiment in accordance with the present invention.
FIG. 13 C a top view of the six-wheel bionic chassis along A-A line segment of FIG. 13 B in an embodiment in accordance with the present invention.
FIG. 13 D is a side view of the six-wheel bionic chassis in an embodiment in accordance with the present invention.
FIG. 14 A is a perspective schematic view of a six-wheel bionic chassis in accordance with the present invention.
FIG. 14 B is a top view of the six-wheel bionic chassis in accordance with the present invention.
FIG. 14 C is a cross-sectional view of the six-wheel bionic chassis along B-B line segment of FIG. 14 B in accordance with the present invention.
FIG. 15 A is a structural schematic view of a front wheel suspension assembly of a six-wheel bionic chassis in accordance with the present invention.
FIG. 15 B is a side view of the front wheel suspension assembly in accordance with the present invention.
FIG. 16 is a structural schematic view of a middle wheel suspension assembly of a six-wheel bionic chassis in accordance with the present invention.
FIG. 17 is a structural schematic view of a rear wheel suspension assembly of a six-wheel bionic chassis in accordance with the present invention.
FIG. 18 A is a structural schematic view of a six-wheel bionic chassis moving down in accordance with the present invention.
FIG. 18 B is a structural schematic view of a six-wheel bionic chassis moving up in accordance with the present invention.
FIG. 19 is a schematic view of a six-wheel bionic chassis when crossing an obstacle in an embodiment in accordance with the present invention.
FIG. 20 is a schematic view of calculating a height of crossing an obstacle of a six-wheel bionic chassis in accordance with the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
First, please refer to FIG. 1 and FIG. 2 together. FIG. 1 is a perspective schematic view of a suspension damping assembly and FIG. 2 is a side view of the suspension damping assembly. In FIG. 1 and FIG. 2 , the suspension damping device 1 a includes a vehicle frame 11 , a controlling arm set 12 , a damping device 13 and a steering device 14 , in which the vehicle frame 11 is arranged on the ground R and is fixed at a chassis of a mobile robot (not shown). The controlling arm set 12 is composed of an upper first supporting arm 121 and a lower supporting arm 122 , in which one ends of the upper supporting arm 121 and the lower supporting arm 122 are hinged to the vehicle frame 11 , and the other ends of the upper supporting arm 121 and the lower supporting arm 122 are hinged to the steering device 14 . An appropriate distance is between the upper supporting arm 121 and the lower supporting arm 122 , so the appropriate distance will not cause that the upper supporting arm 121 is interfered with the lower supporting arm 122 during operation. In addition, two ends of the upper supporting arm 121 and the lower supporting arm 122 are hinged to the vehicle frame 11 and the steering device 14 respectively, so the controlling arm set 12 can control a motion stability of the steering device 14 . It should also be added that the horizontal plane R can be a road surface or the ground in this embodiment.
Furthermore, one end 131 of the damping device 13 opposite to the horizontal plane R is hinged to the vehicle frame 11 , and the other end 132 of the damping device 13 faced to the ground R is hinged to the steering device 14 . In this embodiment, the damping device 13 achieves damping effect through a steel spring (not shown), however, the damping device 13 can also achieve the similar damping effect through other materials such as rubber, polyurethane, air damping or other materials.
Please refer to FIG. 3 and FIG. 4 . FIG. 3 is a side view of the suspension damping device installed at a chassis of a mobile robot, and FIG. 4 is a perspective schematic view of the suspension damping device installed at the chassis. In this embodiment, the vehicle frame 11 is fixed at the chassis 20 , in which the vehicle frame 11 is fixed at the chassis 20 through screws (not shown) to bear a robot (not shown) or a mobile vehicle (not shown) thereon. In addition, the suspension damping device 10 further includes a wheel set 15 , the wheel set 15 is arranged at the steering device 14 to face toward to and contact to the horizontal plane R. The wheel set 15 changes a moving direction of the whole mobile robot according to the manipulation of the steering device 14 .
In this embodiment, when the mobile robot installed with the suspension damping device 1 a moves on the uneven road surface R, the wheel set 15 encounters an obstacle such as a rock or a cavity during the movement. The damping device 13 of the suspension damping device 10 will drive the wheel set 15 to move up and down during crossing the obstacle. The damping device 13 can maintain the wheel set 15 in contact to the road surface R at any time in addition to maintain the balance of the entire mobile robot during the movement of the mobile robot. At the same time, the damping device 13 can also drive the wheel set 15 to move up and down to reduce the oscillation when the mobile robot crosses the obstacle, so that the mobile robot can cross the road surface R smoothly. In a preferred embodiment of the present invention, at least 6 sets of the suspension damping devices 1 a are installed at the chassis 20 , and the number of the wheel sets 15 is corresponding to the that of the suspension damping devices 1 a . In addition, the number of the damping device 13 of the suspension damping device 1 a can be two, and the two damping devices 13 are respectively arranged on both sides of the controlling arm sets (as shown in FIG. 2 ). When the suspension damping device 1 a encounters the obstacle, the damping devices 13 at both side of the controlling arm set 12 can improve the damping accuracy and further optimize the damping effect. Each of the damping device 13 can also selectively replaced with the elastic assemblies, so as to loosening or tightening the elastic assemblies to modify the load-bearing capacity of the chassis 20 .
Please refer FIG. 5 to FIG. 7 . FIG. 5 is a perspective schematic view of a suspension damping device in accordance with the present invention, FIG. 6 is a side view of the suspension damping device, and FIG. 7 is a perspective schematic view of the suspension damping device installed at a chassis of a mobile robot. The suspension damping device 1 b in this embodiment is similar to the aforementioned suspension damping device 1 a , so the same components are denoted by the same reference numerals, and will not be repeated herein. The difference between the suspension damping device 1 b and the suspension damping device 1 a is that one end of the damping device 13 relative to the road surface R is hinged to the chassis 20 , and the other end of the damping device 13 facing the road surface R is hinged to the lower controlling arm 122 .
Besides, in a preferred embodiment of the present invention, a vehicle frame hinged bracket 16 is parallel to the ground R and perpendicular to the steering device 14 , and two ends of each the vehicle frame hinged brackets 16 are respectively hinged to vehicle frame 11 in two opposite suspension damping devices 1 b . Accordingly, the two opposite suspension damping devices 1 b and the chassis 20 are linked to form a closed frame, so as to improve the fixing strength of the suspension damping device 1 b . When a loading weight on the chassis 20 is increased, the closed frame constructed by the suspension damping devices 1 b and the chassis 20 can reduce the amount of deformations of the suspension damping device 1 b in +y or ây directions during the movement of the chassis 20 .
Next, please refer to FIG. 8 to FIG. 10 . FIG. 8 is a side view of a suspension damping device in another embodiment disclosed by the present invention, FIG. 9 is a perspective schematic view of the suspension damping device in another embodiment disclosed by the present invention, and FIG. 10 is a perspective schematic view of the suspension damping device installed at a chassis of a mobile robot disclosed by the present invention. In FIG. 8 to FIG. 10 , the difference between a suspension damping device 1 c and the suspension damping devices 1 a and 1 b is that the suspension damping device 1 c includes a wheel set hinged seat 123 , one end of the wheel set hinged seat 123 is hinged to the vehicle frame 11 and the other end of the wheel set hinged seat 123 is hinged to the steering device 14 . As shown in FIG. 9 , the wheel set hinged seat 123 includes a recess 124 (as an arrow shown in FIG. 9 ), the recess 124 is provided for accommodating the damping device 13 , where one end of the damping device 13 is hinged to the vehicle frame 11 and the other end faced to the road surface R is hinged to the recess 124 . Accordingly, the vehicle frame 11 , the wheel set hinged seat 123 and the damping device 13 form a triangle, and the suspension damping device 1 c can control a motion stability of the steering device 14 through the wheel set hinged seat 123 .
According to the above, the two ends of the damping device 13 of the suspension damping devices
1 a , 1 b , and 1 c are respectively hinged to the vehicle frame 11 and the steering device 14 . When the suspension damping device 13 acts, the suspension damping device 13 can drive the wheel set 15 to move up and down and can maintain the wheel set 15 in contact to the road surface R at a front angle to maintain the balance of the running chassis 20 , so that the chassis 20 equipped with the suspension damping devices
1 a , 1 b and 1 c can smoothly cross the obstacles.
Next, the present invention further discloses another suspension device. Please refer to FIG. 11 A and FIG. 11 B . FIG. 11 A is a side view of the suspension assembly in accordance with the present invention, and FIG. 11 B is a stereogram schematic view of the suspension assembly in accordance with the present invention. In FIGS. 11 A and 11 B , the suspension assembly 2 a at least includes a supporting arm set 30 , a suspension spring assembly 32 , a steering supporting frame 34 , a steering mechanism 36 (i.e., a steering device), a hub motor 38 , and a wheel set 40 , where the supporting arm set 30 is composed by a first supporting arm 302 and a second supporting arm 304 . The suspension spring assembly 32 is arranged between the first supporting arm 302 and the second supporting arm 304 , and two ends of the suspension spring assembly 32 are respectively hin
CLAIMS
Claims ( 17 )
What is claimed is:
1. A suspension assembly, comprises:
a supporting arm set composed by a first supporting arm and a second supporting arm;
a suspension spring assembly arranged between the first supporting arm and the second supporting arm, two ends of the suspension spring assembly are respectively hinged to two ends of the first supporting arm and the second supporting arm, wherein one of the first supporting arm or the second supporting arm has an inverted U-shape structure, the other of the first supporting arm or the second supporting arm has a pair of rectangular ribs, one of the first supporting arm and the second supporting arm is arranged above the suspension spring assembly, and one of the first supporting arm and the second supporting arm is respectively arranged at two sides of the suspension spring assembly; and
a steering supporting frame, one end of the steering supporting frame is respectively hinged to one ends of the first supporting arm and the second supporting arm, the other end of the steering supporting frame is hinged to a steering mechanism, and one end of the steering mechanism faced to the horizontal plane is pivotally connected to a wheel set.
2. The suspension assembly of claim 1 , further includes an auxiliary wheel-lifting supporting frame, the auxiliary wheel-lifting supporting frame is respectively hinged to other ends of the first supporting arm and the second supporting arm, the other end of the auxiliary wheel-lifting supporting frame is fixed to a robot or a mobile vehicle, so the auxiliary wheel-lifting supporting frame, the supporting arm set and the steering supporting frame constitute a linkage mechanism, the linkage mechanism is used to control a movement trajectory of the wheel set when the wheel set encounters a vertical obstacle.
3. The suspension assembly of claim 1 , further includes a suspension fixing seat and an auxiliary wheel-lifting supporting frame, wherein and one end of the suspension fixing seat is fixed to a robot or a mobile vehicle, and one end of the auxiliary wheel-lifting supporting frame is hinged to the other ends of the suspension fixing seat.
4. The suspension assembly of claim 3 , further includes an auxiliary wheel-lifting spring assembly, wherein one end of the auxiliary wheel-lifting spring assembly is passed through the suspension fixing seat and is hinged to the suspension fixing seat, and the other end of the auxiliary wheel-lifting spring assembly is hinged to the other end of the auxiliary wheel-lifting supporting frame.
5. The suspension assembly of claim 1 , wherein the first supporting arm and the second supporting arm are rectangular ribs, and the first supporting arm and the second supporting arm are separately arranged at the left and right sides of the suspension spring assembly or separately arranged at the above and below the suspension spring assembly.
6. The suspension assembly of claim 1 , wherein a hub motor is pivotally connected to the wheel set, and the hub motor is used to drive the wheel set.
7. The suspension assembly of claim 1 , further includes a sensor and a controller, wherein the sensor is used to sense the position and velocity of the wheel set and height between the wheel set and the horizontal plane, the sensor is also used to monitor the coordinate positions of the steering mechanism and the suspension assembly, and the controller is used to receive the position and the velocity of the wheel set and the height between the wheel set and the horizontal plane which is transmitted by the sensor to separately control the steering direction of the wheel set and the suspension height of the suspension assembly.
8. The suspension assembly of claim 1 , wherein a compression stroke of the suspension assembly ranges from 0 to 200 mm.
9. A six-wheel bionic chassis comprising a chassis frame, a controller, a sensor, and front wheel suspension assemblies are pivotally connected to both sides of a front end of the chassis frame toward the horizontal plane, middle wheel suspension assemblies are pivotally connected to middle two sides of the chassis frame, and rear wheel suspension assemblies are pivotally connected to both sides of a rear end of the chassis frame, the controller and the sensor are electrically connected to the front wheel suspension assemblies, the middle wheel suspension assemblies and the rear wheel suspension assemblies, comprises:
each of the front wheel suspension assemblies, comprises:
a front wheel auxiliary wheel-lifting supporting frame, one end of the front wheel auxiliary wheel-lifting supporting frame is hinged to the front end of the chassis frame;
a front wheel upper supporting arm set composed by a first front wheel upper supporting arm and a pair of second front wheel upper supporting arms, the first front wheel upper supporting arm is arranged above the pair of second front wheel upper supporting arms, one end of the first front wheel upper supporting arm is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of the first front wheel upper supporting arm is hinged to a front wheel steering supporting frame, one end of each of the second front wheel upper supporting arms is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of each of the second front wheel upper supporting arms is hinged to the front wheel steering supporting frame;
a front wheel suspension spring assembly, both ends of the first wheel suspension spring assembly are hinged to the both ends of the front wheel upper supporting arm set respectively; and
the front wheel steering supporting frame, one end of the front wheel steering supporting frame is fixedly connected to a front wheel steering mechanism, one end of the front wheel steering mechanism faced to a horizontal plane direction of the is pivotally connected to a front wheel set, the front wheel set is pivotally connected to a front wheel hub motor, so the front wheel upper supporting arm set, the front wheel auxiliary wheel-lifting supporting frame and the front wheel steering supporting frame of the front steering assembly constitute a front wheel linkage mechanism to control a movement trajectory of the front wheel set when the front wheel set encounters a vertical obstacle;
each of the middle wheel suspension assemblies, comprises:
a middle wheel upper supporting arm set composed by a first middle wheel upper supporting arm and a pair of second middle upper supporting arms, the first middle upper supporting arm is arranged above the pair of second middle wheel upper supporting arm, one end of the middle wheel upper supporting arm is hinged to the chassis frame, the other end of the first middle upper supporting arm is hinged to a middle wheel steering supporting frame, one end of each of the second middle upper supporting arms is hinged to the chassis frame respectively, and the other end of each of the second middle upper supporting arms is hinged to the middle wheel steering supporting frame respectively;
a middle wheel suspension spring assembly, both ends of the middle wheel suspension spring assembly are hinged to the middle wheel upper supporting arm set respectively; and
the middle wheel steering supporting frame, one end of the middle wheel steering supporting frame is fixedly connected to the middle wheel steering mechanism and one end faced to a horizontal plane direction of the middle wheel steering mechanism is hinged to a middle wheel set, the middle wheel set is pivotally connected to a middle wheel hub motor, so the middle wheel upper supporting arm set and the middle wheel steering supporting frame of the middle wheel steering assembly constitute a middle wheel linkage mechanism to control a movement trajectory of the middle wheel set when the middle wheel set encounters a vertical obstacle; and
each of the rear wheel suspension assemblies, comprises:
a rear wheel upper supporting arm set composed by a first rear wheel upper supporting arm and a pair of second rear wheel upper supporting arms, the first rear wheel upper supporting arm is arranged above the pair of second rear wheel upper supporting arm, one end of the first rear wheel upper supporting arm is hinged to a rear end of the chassis frame, the other end of the first rear wheel upper supporting arm is hinged to a rear wheel steering supporting frame, one ends of each of the second rear wheel upper supporting arms is hinged to the rear end of the chassis frame respectively, and other ends of each of the second rear wheel upper supporting arms is hinged to the rear wheel steering supporting frame respectively;
a rear wheel suspension spring assembly, both ends of the rear wheel suspension spring assembly are hinged to the rear wheel upper supporting arm respectively; and
the rear wheel steering supporting frame, one end of the rear wheel steering supporting frame is fixedly connected to a rear wheel steering mechanism and one end faced to a horizontal plane direction of the rear wheel steering mechanism is pivotally connected to a rear wheel set, and the rear wheel set is pivotally connected to a rear wheel hub motor, so the rear wheel upper supporting arm set and the rear wheel steering supporting frame of the rear wheel steering assembly constitute a rear wheel linkage mechanism to control a movement trajectory of the rear wheel set when the rear wheel set encounters a vertical obstacle.
10. The six-wheel bionic chassis of claim 9 , wherein each of the front wheel suspension assemblies further includes a front wheel suspension fixing seat and a front wheel auxiliary wheel-lifting spring assembly, one end of the front wheel suspension fixing seat is fixedly connected to the front end of the chassis frame, the other end of the front wheel suspension fixing seat is hinged to the front wheel auxiliary wheel-lifting supporting frame, one end of the front wheel auxiliary wheel-lifting spring assembly is passed through and hinged to the front wheel suspension fixing seat, and the other end of the front wheel auxiliary wheel-lifting spring assembly is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame.
11. The six-wheel bionic chassis of claim 9 , wherein each of the middle wheel suspension assemblies further includes a middle wheel suspension fixing seat, one end of the middle wheel suspension fixing seat is fixedly connected to the middle of the chassis frame, the other end of the middle wheel suspension fixing seat is hinged to one end of the first middle wheel upper supporting arm, and one ends of each of the second middle wheel upper supporting arms is hinged to the other end of the middle wheel suspension fixing seat.
12. The six-wheel bionic chassis of claim 9 , wherein each of the rear wheel suspension assemblies further includes a rear wheel suspension fixing seat, one end of the rear wheel suspension fixing seat is fixed to the rear end of the chassis frame, the other end of the rear wheel suspension fixing seat is hinged to one end of the first rear wheel upper supporting arm, and one ends of each of the second rear wheel upper supporting arms is hinged to the other end of the rear wheel suspension fixing seat.
13. The six-wheel bionic chassis of claim 9 , wherein the front wheel hub motor, the middle wheel hub motor and the rear wheel hub motor are respectively used to drive the front wheel set, the middle wheel set and the rear wheel set to rotate.
14. The six-wheel bionic chassis of claim 9 , wherein the sensor is used to sense the positions and velocities of the front wheel set, the middle wheel set and the rear wheel set, and heights between the front wheel set, the middle wheel set, the rear wheel set and the horizontal plane respectively, and the controller is used to receive the positions and the velocities of the front wheel set, the middle wheel set and/or the rear wheel set and the heights between the front wheel set, the middle wheel set and the rear wheel set and the horizontal plane which is transmitted by the sensor to separately control the steering directions of the front wheel set, the middle wheel set, the rear wheel set, and the suspension heights of the front wheel suspension assembly, the middle wheel suspension assembly and/or the rear wheel suspension assembly.
15. The six-wheel bionic chassis of claim 9 , wherein when the sensor senses that the front wheel set encounters a vertical obstacle, the controller sends a signal to control the front wheel hub motor to operate at a first peak torque, so the front wheel set is subjected to the resultant force of a reaction force and a friction force acted on the vertical obstacle to compress the front wheel suspension spring assembly, so as to the front wheel suspension assembly drives the front wheel set to move upward away from the horizontal plane, so the front wheel set crosses the vertical obstacle, when the sensor senses that the middle wheel set encounters the vertical obstacle, the controller sends a signal to control the middle wheel hub motor to operate at a second peak torque, so the middle wheel set is subjected to the resultant force of a reaction force and a friction force acted on the vertical obstacle to compress the middle wheel suspension spring assembly, so as to the middle wheel suspension assembly drives the middle wheel set to move upward away from the horizontal plane, so the middle wheel set crosses the vertical obstacle, and when the sensor senses that the rear wheel set encounters the vertical obstacle, the controller sends a signal to control the rear wheel hub motor to operate at the second peak torque and the front wheel hub motor acts at the first peak torque, so the rear wheel set is subjected to the resultant force of a reaction force and a friction force acted on the vertical obstacle to compress the rear wheel suspension spring assembly, so as the rear wheel suspension assembly drives the rear wheel set to move upward away from the horizontal plane, so the rear wheel set crosses the vertical obstacle.
16. The six-wheel bionic chassis of claim 15 , wherein the first peak torque is 13 N·m and the second peak torque is 10 N·m.
17. The six-wheel bionic chassis of claim 9 , wherein the sensor is used to monitor the coordinate positions of the front wheel steering mechanism, the middle wheel steering mechanism, the rear wheel steering mechanism, the front wheel suspension assembly, the middle wheel suspension assembly and/or the rear wheel suspension assembly.
US17/441,589
2020-03-02
2021-01-25
Suspension assembly, suspension damping device and six wheels bionic chassis
Active
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US11780282B2
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CN202010135427.8A
CN111137084A
( en )
2020-03-02
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Suspension vibration damper
CN202010135427.8
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2020-10-26
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WO2021175042A1
( en )
2020-03-02
2021-01-25
Suspension device, suspension damping device and six-wheel bionic chassis
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Suspension assembly, suspension damping device and six wheels bionic chassis
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EP4116115A1
( en )
2023-01-11
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