| 摘要 |
A mobile robot suspension device is provided to reduce costs by eliminating the necessity of sensors or controllers in a mobile robot or wheels for getting over an obstacle, and minimize space for installation of the suspension device. A mobile robot suspension device includes a knuckle(210), a lower link(230), an upper link(220), a shock absorber connector(225), and a shock absorber(300). The knuckle is arranged at both sides of a mobile robot, and has a hole(211) for passage of a shaft(111) connected to a wheel(110). The lower link has both ends pin- jointed to a lower portion of the knuckle and a main body(100) of the mobile robot. The upper link has both ends pin- jointed to an upper portion of the knuckle and the main body of the mobile robot. The shock absorber connector is protruded from the upper link. The shock absorber is arranged across the main body of the mobile robot, and has both ends pin- jointed to the shock absorber connectors arranged at both sides of the mobile robot. The shock absorber includes a cylinder filled with pneumatic or hydraulic pressure; a piston rod jointed to both ends of the cylinder, and has an end pin-jointed to the shock absorber connector; a spring retainer formed integrally with the piston rod; and a coil spring having both ends elastically supported by the spring retainer so as to cover the cylinder and the piston rod.
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