阅读说明：本技术 基于双联减振器的双立柱单摆臂悬挂式移动平台 (Double-upright-column single-swing-arm suspension type moving platform based on duplex vibration absorber ) 是由 李汉舟 于 2020-07-17 设计创作，主要内容包括：本发明公开了一种基于双联减振器、双立柱单摆臂悬挂系统和基于双联减震器的双立柱单摆臂悬挂式移动平台,旨在解决现有技术中存在的底盘减振效果差、垂直越障能力差、不稳定易倾倒、空间占有率太高等问题。本发明的双联减振器将两个减振器通过上固定座和下固定座连为一体构成矩形结构；既提高其减振效果,又增加其抗扭刚度。本发明的双立柱单摆臂悬挂系统采用类似麦弗逊悬挂的单横臂悬挂方式,双联减振器在减振的同时也作为转向支撑的结构件；本发明的移动平台将车架通过双联减振器与滚轮连接,双联减振器与车架之间设为铰接,同时满足了车轮上下运动以及转向所需要的自由度,提高了其垂直越障能力。(The invention discloses a double-shock absorber, a double-upright single-swing arm suspension system and a double-upright single-swing arm suspension type mobile platform based on the double-shock absorber, and aims to solve the problems of poor chassis shock absorption effect, poor vertical obstacle crossing capability, instability, easiness in toppling, high space occupancy rate and the like in the prior art. The double-link shock absorber of the invention connects two shock absorbers into a whole through the upper fixed seat and the lower fixed seat to form a rectangular structure; not only improving the vibration damping effect, but also increasing the torsional rigidity. The double-upright single-swing arm suspension system adopts a single-cross arm suspension mode similar to McPherson suspension, and the duplex vibration absorber is also used as a structural member of steering support while damping vibration; according to the mobile platform, the vehicle frame is connected with the idler wheels through the duplex shock absorber, the duplex shock absorber is hinged with the vehicle frame, the degree of freedom required by the up-and-down movement and the steering of the wheels is met, and the vertical obstacle crossing capability of the mobile platform is improved.)

1. A dual damper, comprising:

the vibration absorber comprises two vibration absorbers (1) arranged side by side, an upper fixed seat (12) used for connecting two vibration absorber pistons (11), a lower fixed seat (14) used for connecting two vibration absorber cylinders, a driving shaft (15) fixed in the middle of the upper part of the upper fixed seat (12), and a driving shaft sleeve (16) sleeved on the driving shaft (15);

the drive shaft (15) can rotate in the drive shaft sleeve (16) under the action of external force.

2. A tandem damper according to claim 1 wherein:

two connecting shafts (161) which are symmetrical to each other are arranged on the outer wall of the driving shaft sleeve (16);

and a connecting shaft sleeve (162) used for being connected with an external frame is arranged on the connecting shaft (161).

3. The utility model provides a double-column single swing arm suspension system which characterized in that:

the device comprises a frame (2), at least two pairs of rollers (4), lower control arms (3) with the same number as the rollers (4) and double dampers with the same number as the rollers (4);

the dual shock absorbers are uniformly distributed on two sides of the frame (2);

the duplex vibration absorber comprises two vibration absorbers (1) arranged side by side, an upper fixed seat (12) used for connecting pistons (11) of the two vibration absorbers (1), a lower fixed seat (14) used for connecting cylinder bodies of the two vibration absorbers (1), a driving shaft (15) fixed in the middle of the upper part of the upper fixed seat (12), and a driving shaft sleeve (16) sleeved on the driving shaft (15);

the driving shaft (15) can rotate in the driving shaft sleeve (16) under the action of external force;

one end of the lower control arm (3) is hinged with the lower part of the frame (2), and the other end of the lower control arm is respectively connected with the lower spherical hinge of the cylinder body of the corresponding duplex shock absorber;

the wheel shaft (41) of the roller (4) is fixedly connected with the middle part of the cylinder body or the lower fixed seat (14) of the corresponding duplex shock absorber respectively;

and the driving shaft sleeves (16) of the four duplex shock absorbers are respectively hinged with the frame (2).

4. The utility model provides a double-column list swing arm suspension type moving platform based on pair shock absorber which characterized in that:

the steering mechanism comprises a frame (2), a steering engine (5), at least two pairs of idler wheels (4), lower control arms (3) and duplex shock absorbers, wherein the number of the lower control arms is equal to that of the idler wheels (4);

the dual shock absorbers are uniformly distributed on two sides of the frame (2);

the duplex vibration absorber comprises two vibration absorbers (1) arranged side by side, an upper fixed seat (12) used for connecting pistons (11) of the two vibration absorbers (1), a lower fixed seat (14) used for connecting cylinder bodies of the two vibration absorbers (1), a driving shaft (15) fixed in the middle of the upper part of the upper fixed seat (12), and a driving shaft sleeve (16) sleeved on the driving shaft (15);

one end of the lower control arm (3) is hinged with the lower part of the frame (2), and the other end of the lower control arm is respectively connected with the lower spherical hinge of the cylinder body of the corresponding duplex shock absorber;

the wheel shaft (41) of the roller (4) is fixedly connected with the middle part of the cylinder body or the lower fixed seat (14) of the corresponding duplex shock absorber respectively;

a driving shaft sleeve (16) of the duplex shock absorber is hinged with the frame (2);

the number of the steering engines (5) is equal to or less than that of the rollers (4), the steering engines (5) are arranged on the frame (2) and drive the corresponding driving shafts (15) to rotate in the driving shaft sleeves (16).

5. The double-column single-swing-arm suspended type moving platform based on the double-link shock absorber as claimed in claim 4, wherein: the number of the U-shaped anti-roll bars (6) is equal to the number of the rollers (4);

the middle part of the U-shaped anti-roll bar (6) is hinged with the lower part of the frame (2), and the two ends of the U-shaped anti-roll bar are respectively hinged with the lower control arms (3) at the corresponding left side and the right side.

6. The double-column single-swing-arm suspended type moving platform based on the double-link shock absorber as claimed in claim 4 or 5, wherein: further comprising a steering damper (7);

one end of the steering damper (7) is hinged with the lower part of the frame (2), and the other end of the steering damper is connected with the cylinder body of the corresponding duplex shock absorber or the lower fixed seat (14) through a spherical hinge.

7. The utility model provides a double-column list swing arm suspension type moving platform based on pair shock absorber which characterized in that:

the device comprises a frame (2), two pairs or three pairs of rollers (4), lower control arms (3) with the same number as the rollers (4) and double dampers with the same number as the rollers (4);

the dual shock absorbers are uniformly distributed on two sides of the frame (2);

the duplex vibration absorber comprises two vibration absorbers (1) arranged side by side, an upper fixed seat (12) used for connecting pistons (11) of the two vibration absorbers (1), a lower fixed seat (14) used for connecting cylinder bodies of the two vibration absorbers (1), a driving shaft (15) fixed in the middle of the upper part of the upper fixed seat (12), and a driving shaft sleeve (16) sleeved on the driving shaft (15);

one end of the lower control arm (3) is hinged with the lower part of the frame (2), and the other end of the lower control arm is connected with the lower part of the cylinder body of the corresponding duplex shock absorber in a spherical hinge mode;

the wheel shaft (41) of the roller (4) is fixedly connected with the middle part of the cylinder body or the lower fixed seat (14) of the corresponding duplex shock absorber;

the driving shaft sleeves (16) of the duplex shock absorbers are respectively hinged with the frame (2);

a steering engine (5) is arranged at the midpoint between the foremost duplex vibration absorber and the rearmost duplex vibration absorber on the same side of the frame (2);

the steering engine (5) is installed on the frame (2), the steering engine (5) drives a driving shaft (15) of the front and rear double shock absorbers on the corresponding side to rotate in a driving shaft sleeve (16) through a driving steering mechanism, and the two adjacent driving shafts (15) on the same side are opposite in steering.

8. The double-column single-swing-arm suspended mobile platform based on the double-link shock absorber as claimed in claim 7, wherein: the anti-roll device also comprises U-shaped anti-roll bars (6) with the number equal to the number of the pairs of the rollers (4), and four steering dampers (7) corresponding to the two foremost duplex shock absorbers and the two rearmost duplex shock absorbers;

the middle part of the U-shaped anti-roll bar (6) is hinged with the lower part of the frame (2), and the two ends of the U-shaped anti-roll bar are respectively hinged with the lower control arms (3) at the corresponding left side and the right side;

one ends of the four steering dampers (7) are respectively hinged with the lower part of the frame (2), and the other ends of the four steering dampers are respectively connected with the cylinder body spherical hinges of the corresponding duplex shock absorbers.

9. The dual-column single-swing-arm suspended mobile platform based on the dual-link shock absorber as claimed in claim 8, wherein:

the driving steering mechanism comprises a connecting rod (51), two steering pull rods (52) and two rotating rods (53);

the middle part of the connecting rod (51) is vertically fixed at the output end of the steering engine (5);

two ends of the connecting rod (51) are respectively hinged with one ends of the two steering pull rods (52);

the other ends of the two steering pull rods (52) are respectively hinged with one end of a corresponding rotating rod (53);

the two rotating rods (53) are respectively and vertically fixedly connected with the driving shaft (15) of the corresponding duplex damper.

10. The dual-column single-swing-arm suspended mobile platform based on the dual-link shock absorber as claimed in claim 8, wherein:

the driving steering mechanism comprises a driving gear (54) sleeved on an output shaft of the steering engine (5) and two racks (55) which are respectively arranged on two sides of the driving gear (54) and one end of each rack is meshed with the driving gear (54);

the other end of the rack (55) is hinged with one end of a corresponding steering pull rod (52), and the other end of the steering pull rod (52) is hinged with one end of a rotating rod (53); and the rotating rod (53) is vertically and fixedly connected with a driving shaft (15) of the corresponding duplex damper.

Technical Field

The invention relates to a mobile platform, in particular to a double-upright single-swing arm suspension type mobile platform based on a duplex shock absorber.

Background

Currently, most wheeled mobile robots adopt a differential drive chassis system, wherein two sides of the chassis are respectively provided with an independent drive wheel, and a mechanical transmission device is not connected between the independent drive wheels and the independent drive wheels. If the driving wheels on the two sides of the chassis rotate at a constant speed in the same direction, the chassis can run linearly. If the two driving wheels are not rotating at the same speed, steering can be achieved. Pivot steering can be achieved if the two drive wheels turn in opposite directions. The chassis is relatively simple in structure and control and is the chassis scheme of the wheel-type mobile robot which is applied most. In practice, such differential drives may be used in combination with a plurality of universal wheels, most commonly two differential drive wheels coupled with two wheel universal (or four universal wheels); the synchronous control or transmission mechanism can also be used for driving all the wheels on two sides of the chassis at a constant speed to change the chassis into a multi-wheel (for example, four-wheel) differential drive chassis.

The chassis with two differential driving wheels and two universal wheels (or four universal wheels) is mainly applied to a service robot. The universal wheel is suitable for application in indoor narrow areas, but the universal wheel is generally small in wheel diameter and is a driven wheel, and the capability of crossing the bank and crossing obstacles is poor, so that the requirement on the road surface is high. In order to prevent the driving wheel from being slipped from the air, a vibration damper structure is additionally arranged on the universal wheel of the slightly complicated service robot chassis, the driving wheel is directly and rigidly connected to the vehicle body, the conditions of starting backward tilting and braking nodding are easily caused by the configuration, and the vibration damping effect is poor.

A four-wheel differential (or multi-wheel differential) chassis, also having a zero turning radius characteristic. Four wheels are often used as the driving force, such chassis is often used outdoors in complex terrain, and the chassis often requires the addition of a suspension damping system. After the suspension vibration damping system is adopted, severe lateral friction force exists between driving tires on two sides and the ground when a vehicle turns, severe vibration is caused, the chassis even shakes and bounces, and the generated vibration is not parallel to the vibration damping direction of the vibration damper, so that the vibration cannot be absorbed by the vibration damper. Particularly, when the robot is high or heavy, the vibration is more severe, and the normal walking and working of the robot are seriously influenced. And when the multi-wheel differential chassis turns, a part of driving wheels and the ground form sliding friction, the friction force is large, and in order to overcome the turning resistance, a motor with larger power must be selected, so that the weight and the volume of the chassis of the robot are increased, the power consumption is increased, and the endurance mileage is reduced.

In addition, a small part of mobile robots adopt omnidirectional mobile chassis. The method mainly comprises three forms: the chassis can move in a vector manner on a plane by using the omnidirectional wheels or Mecanum wheels and utilizing the transverse or oblique rolling of rollers on the circumference of the wheels. However, the wheel has complex structure, high cost and small load, and the roller is easy to be clamped into foreign matters to cause unsmooth walking, so the application occasion of the chassis is limited. The other type of omnidirectional chassis structure adopts four independent driving wheels, and each driving wheel is provided with an independent vertical supporting rod and a damping spring and an independent steering engine. The chassis is generally not provided with a front rake, cannot automatically return after turning, is not easy to go straight and often has an oblique advancing phenomenon. And the chassis is not stable when running on a bumpy road and can only be used for a low-speed robot chassis. The chassis of the independent steering independent suspension robot adopts double-fork-arm independent suspension, the structure is very complex, the space of the chassis is greatly occupied by the motion range, and the engine room can only be elevated, so that the center of gravity is raised, and further the high-speed stability of the robot is poor.

Disclosure of Invention

The invention aims to solve the problems of poor chassis vibration damping effect, poor vertical obstacle crossing capability, instability, easy dumping, too high space occupancy, small endurance mileage and high cost in the prior art, and provides a double-column single-swing-arm suspension type moving platform based on a double-link vibration damper, a double-column single-swing-arm suspension system and a double-column single-swing-arm suspension type moving platform based on the double-link vibration damper.

In order to achieve the purpose, the invention provides a duplex damper, which is characterized in that:

the vibration absorber comprises two vibration absorbers arranged side by side, an upper fixed seat used for connecting two vibration absorber pistons, a lower fixed seat used for connecting two vibration absorber cylinders, a driving shaft fixed in the middle of the upper part of the upper fixed seat, and a driving shaft sleeve sleeved on the driving shaft;

the driving shaft can rotate in the driving shaft sleeve under the action of external force.

Furthermore, two connecting shafts which are symmetrical to each other are arranged on the outer wall of the driving shaft sleeve;

and the connecting shaft is provided with a connecting shaft sleeve used for being connected with an external frame.

Based on the duplex shock absorber, the invention also provides a double-upright-column single-swing-arm suspension system, which is characterized in that:

the double-linkage shock absorber comprises a frame, at least two pairs of rollers, lower control arms with the number equal to that of the rollers and double-linkage shock absorbers with the number equal to that of the rollers;

the dual shock absorbers are uniformly distributed on two sides of the frame;

the duplex vibration absorber comprises two vibration absorbers arranged side by side, an upper fixed seat used for connecting two vibration absorber pistons, a lower fixed seat used for connecting two vibration absorber cylinders, a driving shaft fixed in the middle of the upper part of the upper fixed seat, and a driving shaft sleeve sleeved on the driving shaft;

the driving shaft can rotate in the driving shaft sleeve under the action of external force;

one end of the lower control arm is hinged with the lower part of the frame, and the other end of the lower control arm is respectively connected with the spherical hinge at the lower part of the cylinder body of the corresponding duplex shock absorber;

the wheel shafts of the rollers are fixedly connected with the middle parts of the cylinder bodies or the lower fixed seats of the corresponding duplex shock absorbers respectively;

and the driving shaft sleeves of the four duplex shock absorbers are respectively hinged with the frame.

Based on the duplex vibration absorber and the double-upright single-swing-arm suspension system, the invention also provides a double-upright single-swing-arm suspension type mobile platform based on the duplex vibration absorber, which is characterized in that:

the steering mechanism comprises a frame, a steering engine, at least two pairs of idler wheels, lower control arms and duplex dampers, wherein the number of the lower control arms is equal to that of the idler wheels;

the dual shock absorbers are uniformly distributed on two sides of the frame;

the duplex vibration absorber comprises two vibration absorbers arranged side by side, an upper fixed seat used for connecting two vibration absorber pistons, a lower fixed seat used for connecting two vibration absorber cylinders, a driving shaft fixed in the middle of the upper part of the upper fixed seat, and a driving shaft sleeve sleeved on the driving shaft;

one end of the lower control arm is hinged with the lower part of the frame, and the other end of the lower control arm is respectively connected with the spherical hinge at the lower part of the cylinder body of the corresponding duplex shock absorber;

the wheel shafts of the rollers are fixedly connected with the middle parts of the cylinder bodies or the lower fixed seats of the corresponding duplex shock absorbers respectively;

the driving shaft sleeve of the duplex shock absorber is hinged with the frame;

the number of the steering engines is equal to or less than that of the rollers, and the steering engines are arranged on the frame and drive the corresponding driving shafts to rotate in the driving shaft sleeves.

Furthermore, the anti-roll device also comprises U-shaped anti-roll bars, the number of which is equal to the number of the roller pairs;

the middle part of the U-shaped anti-roll bar is hinged with the lower part of the frame, and the two ends of the U-shaped anti-roll bar are respectively hinged with the lower control arms at the corresponding left side and the right side.

Further, the steering damper is further included;

one end of the steering damper is hinged with the lower part of the frame, and the other end of the steering damper is connected with the cylinder body of the corresponding duplex shock absorber or the lower fixing seat through a spherical hinge.

The invention also provides another double-upright single-swing arm suspension type mobile platform based on the duplex vibration absorber, which is characterized in that:

the device comprises a frame, two pairs or three pairs of rollers, lower control arms with the same number as the rollers and double dampers with the same number as the rollers;

the dual shock absorbers are uniformly distributed on two sides of the frame;

the duplex vibration absorber comprises two vibration absorbers arranged side by side, an upper fixed seat used for connecting two vibration absorber pistons, a lower fixed seat used for connecting two vibration absorber cylinders, a driving shaft fixed in the middle of the upper part of the upper fixed seat, and a driving shaft sleeve sleeved on the driving shaft;

one end of the lower control arm is hinged with the lower part of the frame, and the other end of the lower control arm is connected with the lower part of the cylinder body of the corresponding duplex shock absorber in a spherical hinge mode;

the wheel shaft of the roller is fixedly connected with the middle part of the cylinder body or the lower fixed seat of the corresponding duplex shock absorber;

the driving shaft sleeves of the duplex shock absorbers are respectively hinged with the frame;

a steering engine is arranged at the midpoint between the foremost duplex vibration absorber and the rearmost duplex vibration absorber on the same side of the frame;

the steering engine is arranged on the frame, the steering engine drives the driving shafts of the front and rear double-link shock absorbers on the corresponding side to rotate in the driving shaft sleeve through the driving steering mechanism, and the adjacent two driving shafts on the same side are opposite in steering.

Furthermore, the anti-roll device also comprises U-shaped anti-roll bars with the number equal to the number of the roller pairs and four steering dampers corresponding to the two foremost duplex vibration absorbers and the two rearmost duplex vibration absorbers;

the middle part of the U-shaped anti-roll bar is hinged with the lower part of the frame, and two ends of the U-shaped anti-roll bar are respectively hinged with the lower control arms on the corresponding left side and right side;

one ends of the four steering dampers are respectively hinged with the lower part of the frame, and the other ends of the four steering dampers are respectively connected with the cylinder body spherical hinges of the corresponding duplex shock absorbers.

Further, the driving steering mechanism comprises a connecting rod, two steering pull rods and two rotating rods;

the middle part of the connecting rod is vertically fixed at the output end of the steering engine;

two end parts of the connecting rod are respectively hinged with one ends of the two steering pull rods;

the other ends of the two steering pull rods are respectively hinged with one end of the corresponding rotating rod;

the two rotating rods are respectively and vertically fixedly connected with the driving shaft of the corresponding duplex vibration absorber.

Furthermore, the driving steering mechanism comprises a driving gear sleeved on an output shaft of the steering engine and two racks respectively arranged on two sides of the driving gear, wherein one end of the two racks is meshed with the driving gear; the other end of the rack is hinged with one end of a corresponding steering pull rod, and the other end of the steering pull rod is hinged with one end of a rotating rod; and the rotating rod is vertically and fixedly connected with a driving shaft of the corresponding duplex vibration absorber.

The invention has the beneficial effects that:

1. according to the duplex shock absorber, the two shock absorbers are connected into a whole through the upper fixing seat and the lower fixing seat, and a rectangular structure is formed among the two shock absorbers, the upper fixing seat and the lower fixing seat; therefore, the torsional rigidity of the damping device is increased while the damping effect of the damping device is improved.

2. The double-upright single-swing arm suspension system adopts a single-cross arm suspension mode similar to McPherson suspension, the duplex vibration absorber is used as a structural member for steering support while damping vibration, and compared with the double-cross arm suspension mode, the double-upright single-swing arm suspension system is more compact in structure, occupies less area of a moving platform, can greatly improve the space utilization rate of the moving platform, and enables more other functional modules to be mounted on the moving platform.

3. According to the double-upright single-swing-arm suspension type moving platform based on the double-link shock absorber, the frame is connected with the roller through the double-link shock absorber, the double-link shock absorber is hinged with the frame, the freedom degree required by the up-and-down movement and the steering of the wheel is met, the vertical obstacle crossing capability of the double-upright single-swing-arm suspension type moving platform is improved, the impact of the ground is small when the double-upright single-swing-arm suspension type moving platform walks or steers in outdoor complex terrains, and components on the moving platform can be better protected; and a lower control arm is arranged between the duplex shock absorber and the frame, so that the mobile platform is not easy to topple and is more stable.

4. According to the double-column single-swing-arm suspension type mobile platform based on the duplex vibration absorber, the stability is improved, and meanwhile, compared with the existing multi-wheel differential chassis, the contact area between the roller and the ground is greatly reduced, so that the resistance to be overcome during steering is reduced, the energy waste is avoided, and the saved energy is used for the endurance of the mobile platform, so that the endurance mileage of the mobile platform is improved.

5. The U-shaped anti-roll bar is arranged between the frame and the lower control arm, and the rollers on the left side and the right side are connected by the U-shaped anti-roll bar, so that the rollers on the two sides are in certain relation. When the roller on one side is lifted or descended, the U-shaped anti-roll bar can apply force in the same motion direction to the roller on the other side, so that the whole moving platform cannot shake left and right by a large margin, and the overall stability of the moving platform during walking and turning on uneven roads is greatly improved.

6. According to the invention, the steering damper is arranged between the vehicle frame and the duplex shock absorber, when the roller is impacted to cause the roller to rotate rapidly, the rapid rotation of the roller prompts the steering damper to absorb the energy of the impact to generate a reverse resistance force to prevent the rapid rotation of the wheel, so that the function of protecting the moving platform is achieved.

7. The other double-upright single-swing-arm suspension type mobile platform based on the double-link shock absorber adopts a design mode of arranging steering engines in the middle, adopts an equal triangular connecting rod structure, enables two driving shafts positioned in front of and behind a frame to be opposite in steering through the connecting rod, the steering pull rod and the rotating rod, realizes pivot steering with general small turning radius steering, and has very good adaptability, lower control requirement, reduced steering engine quantity and saved cost.

8. The double-upright-column single-swing-arm suspension type moving platform based on the duplex shock absorber is simple and ingenious in structure, foreign matters are not easy to clamp into the rollers, and the walking is smooth.

Drawings

FIG. 1 is a schematic structural view of a dual shock absorber according to the present invention;

FIG. 2 is a schematic structural diagram of a double-column single-swing-arm suspended mobile platform based on a duplex vibration absorber;

FIG. 3 is a schematic structural diagram of a double-column single-swing-arm suspended mobile platform based on a dual-link shock absorber (one of the rollers is removed);

FIG. 4 is another perspective view of a double-column single-swing-arm suspended mobile platform based on a dual-link shock absorber according to the present invention;

FIG. 5 is a schematic diagram of the structure of FIG. 4;

FIG. 6 is a schematic structural diagram of a steering engine driving a driving shaft of two dual dampers to rotate according to the present invention;

FIG. 7 is a straight-going state diagram of a double-column single-swing-arm suspension type mobile platform based on a duplex vibration absorber;

FIG. 8 is a schematic diagram of the oblique running state of a double-column single-swing-arm suspension type mobile platform based on a duplex vibration absorber;

FIG. 9 is a schematic view of a general turning state of a double-column single-swing-arm suspended mobile platform based on a dual-link shock absorber according to the present invention;

FIG. 10 is a schematic view of the pivot steering state of a double-column single-swing-arm suspended mobile platform based on a dual-link vibration absorber according to the present invention;

FIG. 11 is a schematic view of a drive steering mechanism according to the present invention;

fig. 12 is a schematic view of the structure of the mobile platform with the driving steering mechanism in fig. 11.

Reference numerals:

1-a vibration absorber, 11-a piston, 12-an upper fixed seat, 14-a lower fixed seat, 15-a driving shaft, 16-a driving shaft sleeve, 161-a connecting shaft and 162-a connecting shaft sleeve;

2-a frame;

3-a lower control arm;

4-roller, 41-axle;

5-steering engine, 51-connecting rod, 52-steering pull rod, 53-rotating rod, 54-driving gear and 55-rack;

6-U-shaped anti-roll bars;

7-steering damper.

Detailed Description

In order to make the objects, advantages and features of the present invention more apparent, a dual-column single-swing-arm suspended mobile platform based on a dual-link shock absorber according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following detailed description. It should be noted that: the drawings are in simplified form and are not to precise scale, the intention being solely for the convenience and clarity of illustrating embodiments of the invention; second, the structures shown in the drawings are often part of actual structures.

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1:

as shown in fig. 1, the present embodiment is a dual shock absorber, which includes two shock absorbers 1 arranged side by side, an upper fixing seat 12 for connecting pistons 11 of the two shock absorbers 1, a lower fixing seat 14 for connecting cylinder bodies of the two shock absorbers 1, a driving shaft 15 fixed at the middle part above the upper fixing seat 12, and a driving shaft sleeve 16 sleeved on the driving shaft 15; so that a rectangular structure is formed among the two shock absorbers 1, the upper fixed seat 12 and the lower fixed seat 14; thereby improving the vibration damping effect and increasing the torsional rigidity.

It should be noted that:

the positions of the shock absorber piston 11 and the shock absorber cylinder body can be interchanged;

and the lower fixing seat 14 can be directly arranged into two cylinder bodies, so that the material is saved.

In order to facilitate the installation, two connecting shafts 161 are symmetrically arranged on the outer wall of the driving shaft sleeve 16, a connecting shaft sleeve 162 for connecting with an external frame is arranged on the connecting shaft 161, and the driving shaft sleeve 16 is hinged with the external frame through the action of the connecting shaft 161 and the connecting shaft sleeve 162.

Example 2:

as shown in fig. 2, the present embodiment is a double-column single swing arm suspension system, which includes a frame 2, four lower control arms 3, four dual dampers as in embodiment 1, and four rollers 4;

one ends of the four lower control arms 3 are hinged with the lower part of the frame 2, and the other ends are respectively connected with the lower spherical hinges of the cylinder bodies of the corresponding duplex shock absorbers; the wheel shafts 41 of the four rollers 4 are fixedly connected with the middle parts of the two cylinder bodies of the corresponding duplex shock absorbers or the middle part of the lower fixed seat 14 respectively; the driving shaft sleeves 16 of the four dual dampers are hinged through connecting shafts 161 on the outer walls of the driving shaft sleeves 16 and connecting driving shaft sleeves 162 arranged on the frame 2.

This double-column single swing arm suspension system adopts the single xarm mode of hanging of similar McPherson, and the duplex shock absorber also regards as the structure that turns to the support in the damping, and for the mode that the double xarm hung, this double-column single swing arm suspension system structure is more compact, and it is littleer to encroach on moving platform's area, can improve moving platform's space utilization greatly for can install more other functional module on the moving platform.

Example 3:

as shown in fig. 2, the embodiment is a double-column single-swing-arm suspended mobile platform based on a double-link shock absorber, and comprises a frame 2, four lower control arms 3, four double-link shock absorbers as in embodiment 1, four rollers 4, four steering actuators 5, a U-shaped anti-roll bar 6, and four steering dampers 7;

one ends of the four lower control arms 3 are hinged with the lower part of the frame 2, and the other ends are respectively connected with the lower spherical hinges of the cylinder bodies of the corresponding duplex shock absorbers; and simultaneously, the degree of freedom required by the up-and-down movement and the steering of the roller is met.

The wheel shafts 41 of the four rollers 4 are respectively fixedly connected with the middle parts of the two cylinder bodies of the corresponding duplex shock absorber or the middle part of the lower fixed seat 14; the driving shaft sleeves 16 of the four duplex shock absorbers are respectively hinged with the frame 2;

four steering actuators 5 are arranged on the frame 2 and drive corresponding driving shafts 15 to rotate in driving shaft sleeves 16; the number of steering engines 5 can also be one, two or three, i.e. only some of the rollers 4 are driven.

The U-shaped anti-roll bar 6 is an elastic torsion bar, the middle part of the U-shaped anti-roll bar 6 is hinged with the lower part of the frame 2, and the two ends of the U-shaped anti-roll bar are respectively hinged with the lower control arms 3 at the corresponding left side and the right side. The U-shaped anti-roll bar 6 is used for connecting the left and right rollers 4, so that the two rollers 4 are in certain relation. When the roller 4 on one side is lifted or descended, the force in the same motion direction is applied to the roller 4 on the other side through the U-shaped anti-roll bar 6, so that the moving platform can not sway left and right by a large margin, and the overall stability of the moving platform during walking and turning on uneven roads is greatly improved.

One ends of the four steering dampers 7 are respectively hinged with the lower part of the frame 2, and the other ends thereof are respectively connected with the cylinder body spherical hinges of the corresponding duplex shock absorbers; the steering damper 7 does not work in normal steering, when the roller 4 is impacted to cause rapid rotation, the rapid rotation of the roller 4 prompts the steering damper 7 to absorb the energy of the impact to generate a reverse resistance, so that the rapid rotation of the roller 4 is prevented, and the function of protecting the whole structure is achieved.

The duplex vibration absorbers 4 are inclined towards the center of the frame 2, so that the moving direction of the duplex vibration absorbers forms a certain included angle with the hub motor, and the angle is called as an inward inclination angle; the existence of the inner inclination angle can generate a aligning moment in the steering process of the roller 4, so that the roller 4 is enabled to return to the position parallel to the advancing direction; namely, in the straight-ahead state shown in fig. 7, the existence of the inclination angle and the aligning moment is advantageous to improve the stability of straight-line walking.

Each roller 4 of the mobile platform can realize four states of fig. 7 to 10 by using an independent steering engine to drive a steering mode, and the flexibility is higher.

To sum up, the U-shaped anti-roll bar can improve the walking stability, the inner inclination angle can improve the straight line walking stability, the steering damper can absorb the impact to protect the chassis, and the number of the rollers 4 can also be increased in pairs.

Example 4:

referring to fig. 3 to 6, this embodiment is another double-column single-swing-arm suspended mobile platform based on a double-link shock absorber, and its structure is basically the same as that of embodiment 3, except that it includes only two steering actuators 5;

the two steering engines 5 are respectively arranged in the middle of the left side and the right side of the frame 2, the two steering engines 5 sequentially pass through a connecting rod 51, a steering pull rod 52 and a rotating rod 53 to drive the driving shafts 15 of the front and the rear double shock absorbers on the corresponding sides to rotate in the driving shaft sleeve 16, and the connecting rod 51 is mounted at the output end of the steering engines 5; the rotating rod 53 is fixedly connected to the driving shaft 15; the tie rod 52 is ball-hinged at both ends to the connecting rod 51 and the turning rod 53, respectively, thereby enabling the two drive shafts 15 located on the same side to turn in opposite directions.

As shown in fig. 11 and 12, the driving and steering mechanism further includes a driving gear 54 sleeved on an output shaft of the steering gear 5, and two racks 55 respectively disposed on two sides of the driving gear 54 and having one end thereof engaged with the driving gear 54; the other end of the rack 55 is hinged with one end of the corresponding steering tie rod 52, and the other end of the steering tie rod 52 is hinged with one end of the rotating rod 53; the rotating rod 53 is vertically and fixedly connected with the driving shaft 15 of the corresponding double-link shock absorber. Thus, the two racks 55 are moved in opposite directions by the rotation of the pinion 54, so that the two drive shafts 15 on the same side are rotated in opposite directions.

The frame 2 is a main structural member of the mobile platform, is a framework of the whole mobile platform and is used for installing all other structures. The hinge points of the two lower control arms 3 corresponding to the left side and the right side of the frame and the frame 2 are pulled apart as far as possible, so that the lateral force generated in the walking process can be better borne, and the certainty of the movement is ensured. Meanwhile, two hinge points of the lower control arm 3 connected with the frame 2 adopt rubber bushing structures, and play a certain role in buffering while eliminating gaps.

Because the connecting rod structure with the same triangle is adopted, the two rollers 4 on the same side can be ensured to perform mirror steering. Compared with the scheme of directly adopting an independent steering engine in the embodiment 3, two steering engines are omitted, and besides the straight traveling and the general steering as shown in fig. 7 and 9, the pivot steering as shown in fig. 10 can be realized; and thus has very good adaptability.