CN116588213B - Crawler-type robot - Google Patents
Crawler-type robot Download PDFInfo
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- CN116588213B CN116588213B CN202310657215.XA CN202310657215A CN116588213B CN 116588213 B CN116588213 B CN 116588213B CN 202310657215 A CN202310657215 A CN 202310657215A CN 116588213 B CN116588213 B CN 116588213B
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- crawler
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- 230000005540 biological transmission Effects 0.000 claims description 37
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 229920000459 Nitrile rubber Polymers 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 16
- 230000000875 corresponding effect Effects 0.000 description 9
- 229920001971 elastomer Polymers 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009347 mechanical transmission Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 244000043261 Hevea brasiliensis Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/44—Tracked vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a crawler robot, which belongs to the technical field of robots and comprises a control module, a chassis and a laser radar arranged on the chassis, wherein the laser radar is used for scanning, establishing an environment map for the environment around the chassis and uploading the environment map to the control module, the control module is used for inputting a chassis running path according to the environment map, the control module adds a reference horizontal plane in the map after inputting the chassis running path, any crawler conveying component comprises a tensioning component, the tensioning component comprises a telescopic rod, the control module is used for measuring an included angle a DEG between the running path and the reference horizontal plane, and simultaneously inputting an angle reference value a in advance 0 Standard length b of telescopic rod 0 The control module is used for controlling the control module according to a and a 0 Calculating a first length coefficient h of the telescopic rod, and commanding the telescopic rod to extend to h multiplied by b when the telescopic rod travels to a path section with a gradient of a DEG 0 Length.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a crawler robot.
Background
The unmanned robot is a multifunctional unmanned carrier based on a small wheel type or caterpillar chassis and the like, and can be used for transportation or special operation with the aid of a mechanical arm.
Compared with other chassis, the crawler chassis has better trafficability and larger bearing capacity due to larger contact area with the ground, however, due to the deviation in processing technology, certain redundancy for deformation, convenience for maintenance and other reasons, the crawler is generally attached to a driving wheel and a driven wheel in a non-fully-tensioned form, so that the mechanical transmission efficiency and traction capacity are reduced, and meanwhile, the probability of sliding abrasion between the crawler and the driving wheel is improved; however, in the actual running process of the crawler chassis, especially for the crawler chassis adopting the rubber crawler, when the tension degree of the crawler is too high, the rubber is easy to age under the condition that the rubber crawler is highly stretched for a long time, the elasticity of the crawler is reduced, the whole service life is reduced, meanwhile, the probability of falling off of the crawler due to the elasticity is improved, the risk of accidents is increased, meanwhile, when the tension degree is too low, the combined tightness of the crawler and a transmission mechanism is insufficient, the transmission effectiveness is reduced, the whole traction capacity of the crawler is reduced, the crawler is required to be properly tensioned on the premise of not excessively stretching so as to meet the traction requirement, in the running process of the crawler, the requirements of different loads, such as gradient and the like on the traction capacity of the crawler chassis are different, so that the traction requirement and the corresponding tension degree are in a continuously changing state in the running process.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a crawler robot which has the characteristics of considering both the friction force of a crawler and the service life of the crawler.
The aim of the invention can be achieved by the following technical scheme:
the crawler robot comprises a control module, a chassis and a laser radar arranged on the chassis, wherein the laser radar is used for scanning and establishing an environment map for the environment around the chassis and uploading the environment map to the control module, the control module is used for inputting a chassis driving path according to the environment map, the chassis comprises crawler transmission assemblies arranged on two sides of the chassis, the two crawler transmission assemblies are connected with a driving module, a crawler is connected outside any crawler transmission assembly in a transmission manner, the chassis is internally provided with a driving module electrically connected with the control module, and the control module instructs the driving module to drive two crawlers through the two crawler transmission assemblies;
the crawler belt conveying assembly comprises a driving wheel, a driven wheel, a loading wheel and a tensioning assembly, wherein the tensioning assembly comprises a telescopic rod, one end of the telescopic rod is connected with the chassis, the other end of the telescopic rod is hinged with a tensioning wheel, the crawler belt is in transmission connection with the driving wheel, the driven wheel, the loading wheel and the tensioning wheel, and the telescopic rod is electrically connected with the control module and is driven by the control module to stretch or shorten;
the control module adds a reference horizontal plane in the graph after inputting the chassis running path, and the control module measures the included angle a DEG between the running path and the reference horizontal plane, and simultaneously inputs an angle reference value a in advance 0 Standard length b of telescopic rod 0 The control module is used for controlling the control module according to a and a 0 Calculating a first length coefficient h of the telescopic rod, and commanding the telescopic rod to extend to h multiplied by b when the telescopic rod travels to a path section with a gradient of a DEG 0 A length;
wherein a is more than or equal to 0 and less than or equal to 45, a is more than or equal to 0 and less than or equal to 45 0 ＝22.5，h＝(a/a 0 +0.2)/5+0.96。
As a preferable technical scheme of the invention, the top of the chassis is provided with an equipment interface, and the equipment interface is used for being connected with an external load.
As a preferred technical scheme of the invention, the bottom of the equipment interface is provided with a weight sensor, the weight sensor is used for measuring the bearing weight of the equipment interface, the weight sensor is electrically connected with the control module and is used for uploading load weight data g to the control module, and the control module inputs the maximum load weight g in advance 0 And according to g and g 0 Calculating a second length coefficient y of the telescopic rod, and instructing the telescopic rod to extend to y multiplied by h multiplied by b by the control module 0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein y= (g/g 0 +0.6)/5+0.88。
As a preferable technical scheme of the inventionThe control module is electrically connected with an alarm, the alarm is arranged in the chassis, and the control module compares g with g 0 When g is greater than g 0 And when the control module instructs the alarm to send out a signal.
As a preferable technical scheme of the invention, the control module is electrically connected with a remote control antenna, the remote control antenna is used for receiving remote control signals and uploading the remote control signals to the control module, and the control module instructs the driving module according to the remote control signals.
As a preferable technical scheme of the invention, the chassis is provided with the camera, the camera is electrically connected with the control module and uploads video signals, and the control module uploads the video signals to the cloud through the remote control antenna.
As a preferred embodiment of the present invention, the crawler belt is made of nitrile rubber material.
As a preferable technical scheme of the invention, the upper part of the base chassis is provided with a control panel, and the control panel is used for inputting b 0 And g 0 Is a value of (2).
As a preferable technical scheme of the invention, the rear part of the chassis is provided with a battery component and a cable interface, the battery component and the cable interface are electrically connected with a control module, and the control module instructs the telescopic rod to extend to 1.1 XyXhXb when receiving the electric signal of the cable interface 0 。
As a preferable technical scheme of the invention, any tensioning assembly comprises two telescopic rods, one end of any telescopic rod far away from the chassis is provided with a tensioning wheel, the crawler belt is simultaneously in transmission connection with the two tensioning wheels in the corresponding tensioning assembly, and the control module enables the two telescopic rods to be respectively extended to 0.5 multiplied by 1.1 multiplied by h multiplied by b 0 。
The beneficial effects of the invention are as follows:
(1) The control module is matched with the laser radar to split the driving path into a reference path formed by a plurality of sections of linear sub-paths, the reference path is subjected to angle measurement to obtain the gradient of each section in the driving path, then the tensioning force of the tensioning assembly is controlled according to the gradient, the tensioning degree is adjusted according to different gradient environments, the tensioning degree is reduced when the traction requirement is low and the small gradient is low so as to ensure the service life of the crawler in a limited way, the tensioning degree is improved when the traction requirement is high and the traction capability is improved when the traction requirement is high, the service life of the crawler is considered, and the requirement for the traction is met;
(2) The equipment interface is arranged, the weight sensor is arranged at the equipment interface to enable the control module to obtain the load weight, the control module is enabled to change the length of the telescopic rod according to the load weight, and the tensioning degree is adjusted when the chassis load is changed, so that the traction capacity of the chassis can meet the traction requirement of the load weight;
(3) The control module changes the tensioning degree of the crawler belt according to the different energy supply schemes while using the two energy sources, and the additional burden of the traction force of the whole vehicle caused by the friction between the cable and the ground is counteracted by tensioning the crawler belt in consideration of the two energy supply modes, so that the traction force is ensured.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a side view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is a circuit block diagram of a control module of the present invention.
Description of main reference numerals:
in the figure: 1. a chassis; 11. a device interface; 12. an electronic interface; 13. a battery assembly; 14. a cable interface; 2. a track; 21. a driving wheel; 22. driven wheel; 23. a loading wheel; 3. a tensioning assembly; 31. a telescopic rod; 32. a tensioning wheel; 4. a control module; 41. a driving module; 42. a laser radar; 43. a remote control antenna; 44. a camera; 45. a weight sensor; 46. and a control panel.
Detailed Description
In order to further describe the technical means and effects adopted by the invention for achieving the preset aim, the following detailed description is given below of the specific implementation, structure, characteristics and effects according to the invention with reference to the attached drawings and the preferred embodiment.
Referring to fig. 1-4, a tracked robot comprises a chassis 1, a driving module 41 disposed in the chassis 1, and a track 2 transmission assembly disposed at two sides of the chassis 1, wherein the track 2 transmission assembly is connected with the driving module 41, the track 2 transmission assembly comprises a driving wheel 21, a driven wheel 22, a bogie 23 and a tensioning assembly 3, at this time, the track 2 is sleeved outside the driving wheel 21, the driven wheel 22, the bogie 23 and the tensioning assembly 3 and is in transmission connection with the track 2 transmission assembly, in this embodiment, the driving module 41 at least comprises a driving motor, the chassis 1 is integrally cuboid, when the chassis 1 is horizontally placed on the ground, the bottom surface and the top surface of the chassis 1 are parallel to the horizontal plane, the two track 2 transmission assemblies are symmetrically disposed at two sides of the chassis 1, the connection line of the geometric centers of the sides of the driving wheel 21 and the driven wheel 22 is parallel to the bottom surface of the chassis 1, the position of the driving wheel 21 in the vertical direction is positioned between the top surface and the bottom surface of the chassis 1, a plurality of bearing shafts are arranged at the bottom of the chassis 1, the driven wheels 22 of the two crawler belt 2 transmission assemblies are respectively connected with the two ends of the bearing shafts, when the robot runs, the crawler belt 2 transmission assemblies properly tension the crawler belt 2, the driving module 41 drives the two driving wheels 21 to rotate, the driving wheel 21 drives the crawler belt 2 attached to the driving wheel to slide, the rest part of the crawler belt 2 transmission assemblies maintains the tension of the crawler belt 2, so that the crawler belt 2 is attached to the driving wheel 21 at any time in the sliding process, the rotation of the crawler belt 2 is completed, and the advancing of the chassis 1 is driven
Alternatively, the driving module 41 may also adopt a scheme that two driving motors respectively drive the two driving wheels 21, and at this time, the two driving motors may respectively output rotation actions in opposite directions to the two driving wheels 21, so that the chassis 1 completes the action of in-situ rotation.
Preferably, in order to reduce the structural weight and improve the adaptability and the service life of the crawler belt 2, the crawler belt 2 is made of nitrile rubber material, and compared with other rubber materials, the nitrile rubber has better oil resistance, chemicals resistance to aging and abrasion resistance, so that the service life of the crawler belt 2 can be improved, and further, the crawler belt 2 can be made of a mixed material of nitrile rubber and natural rubber;
meanwhile, compared with the metal crawler belt 2, the nitrile rubber crawler belt 2 has lower density and lighter weight, the structural weight of the chassis 1 can be reduced, more traction capacity can be applied to the load when the driving component outputs the same energy, and the traction capacity of the robot is improved.
In the above process, some use situations require that the crawler 2 type robot sets a route according to the environment and autonomously travels according to the route, in order to meet the above requirement through an autonomous traveling function, the present invention further comprises a control module 4 arranged in the ground and a laser radar 42 arranged on the ground, wherein the laser radar 42 is used for establishing an environment map for scanning and surrounding the chassis 1, and uploading the environment map to the control module 4, the control module 4 is used for inputting a traveling path of the chassis 1 according to the environment map, the control module 4 instructs the driving module 41 to drive the two crawlers 2 through two crawler 2 conveying components, in this embodiment, the crawler 2 type robot firstly scans the environment through the laser radar 42 to establish the environment map with a collision model, the collision area and the traveling area are divided in the environment map, then an operator can manually define the traveling route of the robot in the environment map through the control module 4, or the operator can directly calibrate the traveling route of the robot in the traveling area according to a route searching algorithm, then the control module 4 plans the traveling route from the current position to the destination in the traveling area, then the control module 4 instructs the driving module 41 to drive the two crawlers through two crawler 2 conveying components according to the traveling path instructions, the traveling path of the crawler 2 can complete the traveling path through the self-contained in the self-contained navigation method, and the self-contained navigation method can complete the traveling path of the robot through the crawler 2 through the self-contained navigation device.
Due to the deviation of the processing technology, the length redundancy is set aside to provide deformation redundancy for the crawler 2 when passing through complex terrains, the crawler 2 is combined with the crawler 2 transmission component in a non-fully tensioned state, so that the crawler 2 transmission component is easy to slide relatively to the crawler 2, the mechanical transmission efficiency and the traction capacity are low, meanwhile, the risk of breakage or falling off accidents of the crawler 2 is high, no special tensioning mechanism exists in the structure, the crawler 2 transmission structure fails to carry out tensioning support on the opposite upper side of the crawler 2, in order to improve the tensioning degree and improve the traction capacity of the chassis 1, any crawler 2 transmission component further comprises a tensioning component 3, the tensioning component 3 comprises a telescopic rod 31, one end of the telescopic rod 31 is connected with the chassis 1, the other end of the telescopic rod 31 is hinged with a tensioning wheel 32, at this time, except that the track 2 is in transmission connection with the driving wheel 21, the driven wheel 22 and the bogie 23, the track 2 is in transmission connection with the tensioning wheel 32, the telescopic rod 31 is electrically connected with the control module 4 and stretches or shortens under the driving of the control module 4, in this embodiment, the telescopic rod 31 is perpendicular to the ground, the bottom of the telescopic rod 31 is connected with the side face of the chassis 1, the top end is provided with a supporting shaft, the tensioning wheel 32 is arranged in the supporting shaft and can rotate around the supporting shaft, the tensioning wheel 32 is tightly attached to the track 2, the driving structure of the telescopic rod 31 is a screw structure, the tensioning wheel 32 on the telescopic rod 31 applies outward pressure from the inner side of the track 2 to the corresponding track 2 in the advancing process of the chassis 1, at this time, the track 2 is further tensioned, the combination tightness of the track 2 and the driving wheel 21 is improved, the mechanical transmission efficiency is improved while the damage or accident risk is reduced, and the traction capability of the chassis 1 is improved.
However, in the actual use process, except hidden danger and defects caused by too low tensioning degree, when the tensioning degree of the crawler belt 2 is too high, the rubber crawler belt 2 is easy to age under the condition of high tension for a long time, the elasticity of the crawler belt 2 is reduced, the whole service life is reduced, and the probability of falling off accidents per se is improved; in the running process of the chassis 1, the requirements of different running environments, such as gradient, on the traction capability of the chassis 1 are different, so that the traction capability requirement and the corresponding tensioning degree are in a continuously changing state in the running process, however, in the structure, the tensioning degree cannot be adjusted manually according to the traction requirement in the tensioning degree adjustment mode, the tensioning degree cannot be ensured to meet the traction requirement on the premise of keeping the track 2 excessively stretched to ensure the service life of the track 2, meanwhile, the control module 4 adds a reference level in the diagram after receiving an environment diagram, the control module 4 measures the included angle a DEG between the running path and the reference level after inputting the running path of the chassis 1, and the angle reference value a is input in advance 0 Standard length b of telescopic rod 31 0 The control module 4 controls the control module according to a and a 0 Calculate the first length coefficient h of the telescopic link 31 and when traveling to the gradient aWhen the path is at the path section, the length of the command expansion link 31 is adjusted to h×b 0 Wherein a is more than or equal to 0 and less than or equal to 45, a is more than or equal to 0 and less than or equal to 45 0 ＝22.5，h＝(a/a 0 In this embodiment, +0.2)/5+0.96, when the telescopic link 31 is extended, the extending direction is vertically upward, when the control module 4 draws the travel path of the chassis 1 by automatically drawing or manually drawing the travel path of the chassis 1, the ground part of the travel area drawing result of the laser radar 42 is the reference horizontal plane, one point is selected in the reference horizontal plane as the origin of coordinates, and the ray vertical to the reference horizontal plane is drawn by taking the origin of coordinates as the endpoint, then the ray vertical to the ground is defined as the Z axis, then two rays vertical to each other and vertical to the Z axis are drawn in the reference horizontal plane, and the rays in the two reference horizontal planes are taken as the X axis and the Y axis, at this time, the X axis, the Y axis and the Z axis form the space path coordinate system, then the travel path is divided into 100 to 500 reference points according to the path length, and the coordinate value of each reference point in the space path coordinate system is calculated, then the line between the two adjacent reference points is obtained, the reference path formed by a plurality of straight lines of sections in the reference horizontal plane is calculated, the sub-path in the reference path is formed by the straight line in the reference horizontal plane, and the angle between the sub-path and the reference horizontal plane is calculated by inverse tan calculation, and the corresponding angle between the sub-path is obtained in the actual path is a by a 1 ° in the actual travel path, and the actual path is obtained by confirming the corresponding slope in the actual path, and the actual path is in the actual path according to the actual path, and the actual path is located in the actual path is a 1 = (when the actual path is a is located in accordance with the actual path in the actual path according to the actual path, and a 0 The output result of +0.2)/5+0.96 instructs the length of the telescopic rod 31 to be adjusted to h×b 0 ，
Preferably, the telescopic rod 31 can be driven by a servo motor, and the length of the telescopic rod 31 can be precisely controlled in a mode that the control module 4 counts the pulse number of the servo motor;
meanwhile, as a is more than or equal to 0 and less than or equal to 45, h is more than or equal to 1 and less than or equal to 1.4, when the robot runs to the gradient of 45 degrees, the telescopic rod 31 stretches upwards to 1.4 times of the standard length, the tensioning effect of the tensioning assembly 3 on the crawler belt 2 is maximum, and when the robot runs on the ground with the gradient of 0 degrees, the tensioning effect of the tensioning assembly 3 on the crawler belt 2 is reduced to the minimum;
the control module 4 is matched with the laser radar 42 to split the driving path into the reference path formed by a plurality of sections of linear sub-paths, the reference path is subjected to angle measurement to obtain the gradient of each section in the driving path, then the tensioning force of the tensioning assembly 3 is controlled according to the gradient, the tensioning degree is adjusted according to different gradient environments, the tensioning degree is reduced when the traction demand is low and the service life of the crawler belt 2 is limited, the tensioning degree is improved when the traction demand is high and the traction capacity is improved, the service life of the crawler belt 2 is prolonged, and the requirement for traction is met.
After the length of the telescopic rod 31 is adjusted by the control module 4, since one end of the telescopic rod 31 needs to maintain the tension on the track 2, the telescopic rod 31 bears the reactive force of the track 2, and the telescopic rod 31 needs to resist the reactive force to maintain the length and the tension degree of the telescopic rod 31, therefore, preferably, a worm structure is selected as a transmission component of the telescopic rod 31, a power input end of the worm is connected with the driving module 41, a power output end of the worm is connected with a screw structure of the telescopic rod 31, when the driving module 41 stops outputting power to the worm, the telescopic rod 31 has a retraction trend under the action of the reactive force of the track 2, the trend is transmitted to the worm along the transmission structure, the self-locking effect of the subordinate worm can effectively prevent the retraction of the telescopic rod 31, and the tension component 3 can maintain the tension degree.
In practical use, the chassis 1 needs to bear various devices to meet various tasks given by the track 2 robot, such as a mechanical arm or a cargo carrying platform, etc., in order to ensure stable installation of the load on the chassis 1, the top surface of the chassis 1 is provided with a device interface 11, the device interface 11 is used for being connected with external devices, in this embodiment, the device interface 11 is integrally in a cuboid groove shape, the side wall of the groove is perpendicular to the top surface of the chassis 1, meanwhile, the external devices are provided with bumps with the same size as the device interface 11 in cooperation with the device interface 11, and when in use, the bumps of the external devices can be embedded into the device interface 11, and when the external devices have a tendency of rotating or overturning, a part of the bumps are propped against the side wall of the device interface 11 to prevent the rotation or overturning of the external devices, so that the stable installation of the external load on the chassis 1 is ensured.
For this purpose, preferably, in this embodiment, an electronic interface 12 is disposed on a side of the top surface of the chassis 1, which is located on the device interface 11, and the electronic interface 12 is electrically connected with the control module 4, where the electronic interface 12 includes a USB interface, an RS-232C interface, and an RS-485 interface.
In the running process of the structure, when the external load weight arranged in the equipment interface 11 is large, the normal running of the chassis 1 is influenced with probability, at this time, the tensioning degree of the crawler 2 needs to be further improved to improve the traction capability of the chassis 1, so that the chassis 1 can normally run under a heavy load, but the tensioning degree cannot be adjusted according to the load weight in the structure, therefore, the bottom of the equipment interface 11 is provided with the weight sensor 45, the weight sensor 45 is used for measuring the load carried by the equipment interface 11, the weight sensor 45 is electrically connected with the control module 4 and is used for uploading load weight data g to the control module 4, the control module 4 is pre-input with the maximum load weight g, and calculates the second length coefficient y of the telescopic rod 31 according to g and g, and instructs the telescopic rod 31 to extend to y×h×b, wherein y= (g/g+0.6)/5+0.88, when the external equipment with the weight equal to g is arranged in the equipment mounting opening, the weight sensor 45 is used for uploading the weight g to the control module 4, the control module 4 is used for calculating y=1.2, at this time, the control module 4 is used for obtaining the additional load by the control module 4, the additional length is not required to be changed, the current tension of the telescopic rod 31 is required to be stretched, the telescopic rod 31 is not required to be stretched, and the length of the telescopic rod 31 is required to be changed, at this time, the length is required to be changed, and the telescopic rod is required to be stretched by the telescopic rod 31 when the telescopic rod is not required to be arranged 1, and the telescopic rod 31 is required to be stretched by the telescopic to be 1, and the telescopic length is required to be stretched by the telescopic.
In the process that the chassis 1 bears external equipment, the situation that the load exceeds the maximum load g occurs at probability, at the moment, the chassis 1 cannot meet the traction requirement for the load, meanwhile, the excessive load has probability to damage the crawler belt 2, the transmission component of the crawler belt 2 or the chassis 1, for reminding operators when the load is too large, the control module 4 is electrically connected with an alarm, the alarm is arranged in the chassis 1, the control module 4 compares the sizes of g and g, and when the g is larger than the g, the control module 4 instructs the alarm to send a signal.
In actual use, except that the laser radar 42 is used to build an environment map to automatically plan a path, under the condition of complex environment such as environment, when the drawing precision of the control module 4 is insufficient to meet the use requirement, manual remote control is needed to meet the safety, in order to meet the remote control function, the control module 4 is electrically connected with the remote control antenna 43, the remote control antenna 43 is used for receiving a remote control signal and uploading the remote control signal to the control module 4, the control module 4 instructs the driving module 41 according to the remote control signal, in this embodiment, the remote control antenna 43 is arranged at the edge of the top surface of the chassis 1, an operator can send forward, backward, left turn or right turn signals to the control module 4 through a remote controller matched with the control module 4 after programming, and the control module 4 receives the signals to instruct the driving module 41 to perform corresponding actions, so as to complete the remote control of the robot by the operator.
For further convenience of remote control of the robot by the operator, the camera 44 is arranged on the chassis 1, the camera 44 is electrically connected with the control module 4 and uploads video signals, the control module 4 uploads the video signals to the cloud through the remote control antenna 43, in the embodiment, the control module 4 uploads the video signals to the remote control equipment of the operator, the operator completes judgment of the position of the robot through the currently received video signals, and the position of the robot is changed through the remote controller according to the judgment result, so that the accuracy of remote control is improved.
In actual use, different environments can cause certain influence to the overall performance of the chassis 1, the environmental temperature can cause certain influence to the performance of the rubber crawler 2, at this time, the adjustment control module 4 needs to adjust the adjustment algorithm of the control module 4 to the tensioning degree according to the gradient and the load, at this time, the values of b and g need to be changed, in the structure, the control panel 46 needs to be directly programmed to input the values, so that the control panel 46 is arranged on the upper part of the chassis 1, and when in use, an operator can input new values of b and g through the control panel 46, the adjustment algorithm of the control panel 46 under different environments is changed, the adaptability of the chassis 1 is further improved, and the traction capacity of the crawler 2 and the service life of the crawler 2 of the chassis 1 are considered under different environments.
Because the driving module 41 needs to call electric energy for driving the driving wheel 21 and other modules or devices, in order to provide sufficient electric energy for the driving module 41, the rear part of the chassis 1 is provided with the battery component 13 and the cable interface 14, the battery component 13 and the cable interface 14 are electrically connected with the control module 4, in this embodiment, the battery component 13 is detachably connected with the rear part of the chassis 1, when the battery needs to be replaced, the old battery can be completely detached, and a new battery is installed in the chassis 1, when in use, the electric energy output after the battery component 13 or the cable interface 14 is connected with the cable is distributed to the driving module 41 through the control module 4, or the control module 4 can transmit the excessive electric energy to the battery component 13, so as to complete the charging of the battery component 13, meanwhile, when the use environment of the robot is inconvenient for connecting with the cable, the driving module 41 provides power through the battery, when the condition of connecting with the cable is met, and when the driving module 41 needs more electric energy, the rear part of the chassis 1 is connected with the cable, at the moment, the driving module 41 provides power through the cable, and the electric energy can meet the electric energy requirement of the chassis 1 under different use environments by simultaneously setting the battery component 13 and the cable interface 14.
In the process of the above structure connecting to the cable, because the cable itself has a certain weight and the cable generates a friction force opposite to the travelling direction of the cable in the process of contacting with the ground, the existence of the cable makes an additional demand for the traction capability of the chassis 1, and the chassis 1 is required to further improve the traction capability, therefore, when the control module 4 receives the electric signal of the cable interface 14, the control module instructs the telescopic rod 31 to extend to 1.1×y×h×b 0 When the control module 4 receives the electric signal of the cable interface 14, representing that the cable is connected to the chassis 1 and causes resistance to the chassis 1, the control module 4 enables the telescopic rod 31 to be in the original length y×h×b 0 On the basis of further elongation, tensioning of the track 2The degree is further increased, and the traction capacity of the chassis 1 is further improved.
In the process of tensioning the crawler belt 2 by the above structure, since the tensioning needs to apply pressure to the crawler belt 2, and when the pressure is concentrated at one point, the pressure to the crawler belt 2 is high, and the damage to the crawler belt 2 is high, therefore, any tensioning assembly 3 comprises two telescopic rods 31, one end of any telescopic rod 31 far away from the chassis 1 is provided with tensioning wheels 32, the crawler belt 2 is simultaneously in transmission connection with the two tensioning wheels 32 in the corresponding tensioning assembly 3, in this embodiment, the two telescopic rods 31 are arranged perpendicular to the ground, the bottoms of the two telescopic rods 31 are connected with the side surfaces of the chassis 1, the top ends of the two telescopic rods 31 are connected with the tensioning wheels 32 in a shaft way, at the moment, the crawler belt 2 is simultaneously in transmission connection with the two tensioning wheels 32, at the same time, due to the two telescopic rods 31 and the corresponding tensioning wheels 32, the extension length of a single telescopic rod 31 needs to be reduced, and at the moment, the control module 4 respectively extends the two telescopic rods 31 to 0.5x1.1xyxhxb 0 By arranging two telescopic rods 31, the pressure intensity to the crawler belt 2 in the tensioning process is reduced, and the service life of the crawler belt 2 is further prolonged while the tensioning and traction capacity is ensured.
The working principle and the using flow of the invention are as follows:
in use, the battery pack 13 or the cable is installed, then the laser radar 42 scans the environment to build an environment map with a collision model, the collision area and the travelable area are divided in the middle of the environment, then an operator can manually delimit a travel route of the robot in the travelable area in the environment map through the control module 4, or the operator can directly delimit an end point, then the control module 4 plans a travel route from the current position to the end point in the travelable area according to a path finding algorithm, and then the control module 4 instructs the driving module 41 to advance through a plurality of forward, backward and turning actions according to the travel route to finish traveling according to the route;
in the above process, the control module 4 adds a reference horizontal plane in the figure after receiving the environmental map, the control module 4 measures the included angle a DEG between the traveling path and the reference horizontal plane after inputting the traveling path of the chassis 1, and instructs the length of the telescopic link 31 to be adjusted to h×b when traveling to a path segment with a gradient of a DEG 0 ；
Meanwhile, when the device interface 11 mounts an external device, the weight sensor 45 at the bottom of the device interface 11 uploads the load weight data g to the control module 4, and the control module 4 inputs the maximum load weight g in advance 0 And according to g and g 0 Calculating the second length coefficient y of the telescopic rod 31, and the control module 4 instructs the telescopic rod 31 to extend to y×h×b 0 。
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (7)
1. A tracked robot, characterized in that: the device comprises a control module, a chassis and a laser radar arranged on the chassis, wherein the laser radar is used for scanning the environment around the chassis, establishing an environment map and uploading the environment map to the control module, the control module is used for inputting a chassis driving path according to the environment map, the chassis comprises crawler transmission assemblies arranged on two sides of the chassis, two crawler transmission assemblies are connected with a driving module, crawler is connected to the outside of any crawler transmission assembly in a transmission manner, the chassis is internally provided with a driving module electrically connected with the control module, and the control module instructs the driving module to drive two crawlers through the two crawler transmission assemblies;
the crawler belt transmission assembly comprises a driving wheel, a driven wheel, a loading wheel and a tensioning assembly, wherein the tensioning assembly comprises a telescopic rod, one end of the telescopic rod is connected with the chassis, the other end of the telescopic rod is hinged with a tensioning wheel, the crawler belt is in transmission connection with the driving wheel, the driven wheel, the loading wheel and the tensioning wheel, and the telescopic rod is electrically connected with the control module and is driven by the control module to extend or shorten;
the control module adds a reference horizontal plane in the graph after inputting the chassis running path, and the control module measures the included angle a DEG between the running path and the reference horizontal plane, and simultaneously inputs an angle reference value a in advance 0 Standard length b of telescopic rod 0 The control module is used for controlling the control module according to a and a 0 Calculating a first length coefficient h of the telescopic rod, and commanding the telescopic rod to extend to h multiplied by b when the telescopic rod travels to a path section with a gradient of a DEG 0 A length;
wherein a is more than or equal to 0 and less than or equal to 45, a is more than or equal to 0 and less than or equal to 45 0 =22.5，h=（a/a 0 +0.2）/5+0.96；
The top of the chassis is provided with an equipment interface which is used for being connected with an external load;
the bottom of the equipment interface is provided with a weight sensor, the weight sensor is used for measuring the bearing weight of the equipment interface, the weight sensor is electrically connected with the control module and is used for uploading load weight data g to the control module, and the control module inputs the maximum load weight g in advance 0 And according to g and g 0 Calculating a second length coefficient y of the telescopic rod, and instructing the telescopic rod to extend to y multiplied by h multiplied by b by the control module 0 ；
Wherein y= (g/g 0 +0.6）/5+0.88；
The upper part of the chassis is provided with a control panel which is used for inputting b 0 And g 0 Is a value of (2).
2. A tracked robot according to claim 1, wherein: the control module is electrically connected with an alarm, the alarm is arranged in the chassis, and the control module compares g with g 0 When g is greater than g 0 And when the control module instructs the alarm to send out a signal.
3. A tracked robot according to claim 1, wherein: the control module is electrically connected with a remote control antenna, the remote control antenna is used for receiving remote control signals and uploading the remote control signals to the control module, and the control module instructs the driving module according to the remote control signals.
4. A tracked robot according to claim 1, wherein: the chassis is provided with a camera, the camera is electrically connected with a control module and uploads video signals, and the control module uploads the video signals to the cloud through a remote control antenna.
5. A tracked robot according to claim 1, wherein: the tracks are constructed of nitrile rubber material.
6. A tracked robot according to claim 1, wherein: the rear part of the chassis is provided with a battery assembly and a cable interface, the battery assembly and the cable interface are electrically connected with a control module, and the control module instructs the telescopic rod to extend to 1.1 XyXh Xb when receiving the electric signal of the cable interface 0 。
7. A tracked robot according to claim 1, wherein: any tensioning assembly comprises two telescopic rods, tensioning wheels are arranged at one ends, far away from the chassis, of any telescopic rod, the crawler belt is in transmission connection with the two tensioning wheels in the corresponding tensioning assembly at the same time, and the control module enables the two telescopic rods to extend to 0.5 multiplied by 1.1 multiplied by y multiplied by h multiplied by b respectively 0 。
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| CN202310657215.XA CN116588213B (en) | 2023-06-05 | 2023-06-05 | Crawler-type robot |
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| CN202310657215.XA CN116588213B (en) | 2023-06-05 | 2023-06-05 | Crawler-type robot |
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| CN116588213B true CN116588213B (en) | 2023-12-12 |
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| WO2022267505A1 (en) * | 2021-06-23 | 2022-12-29 | 上海三一重机股份有限公司 | Excavator unloading length adjustment system and excavator |
| CN115817663A (en) * | 2022-11-08 | 2023-03-21 | 中国北方车辆研究所 | Crawler vehicle action control system and method with tension self-adaptive adjustment function |
| CN218662136U (en) * | 2022-09-21 | 2023-03-21 | 江苏师范大学 | Formula robot chassis is inhaled to contact length adjustable magnetism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR960037504A (en) * | 1995-04-29 | 1996-11-19 | 유상부 | Caterpillar Drive of Heavy Equipment Vehicle |
| CN211494296U (en) * | 2019-12-02 | 2020-09-15 | 北京博清科技有限公司 | Magnetic force adsorption equipment and robot of crawling |
| CN110937038A (en) * | 2019-12-17 | 2020-03-31 | 三一汽车制造有限公司 | Running gear and unmanned vehicle |
| CN111273128A (en) * | 2020-02-28 | 2020-06-12 | 广东工业大学 | Pipeline robot for detecting underground cable fault |
| WO2022267505A1 (en) * | 2021-06-23 | 2022-12-29 | 上海三一重机股份有限公司 | Excavator unloading length adjustment system and excavator |
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