CN105216891B - A kind of electronic adjustable caterpillar mobile robot suspension of rigidity - Google Patents

A kind of electronic adjustable caterpillar mobile robot suspension of rigidity Download PDF

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Publication number
CN105216891B
CN105216891B CN201510637012.XA CN201510637012A CN105216891B CN 105216891 B CN105216891 B CN 105216891B CN 201510637012 A CN201510637012 A CN 201510637012A CN 105216891 B CN105216891 B CN 105216891B
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China
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rigidity
suspension
backbone
type
crawler belt
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CN201510637012.XA
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CN105216891A (en
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蒲华燕
吴斌
罗均
马捷
李秋明
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Abstract

The present invention relates to a kind of electronic adjustable caterpillar mobile robot suspension of rigidity, including suspension, location-plate, support wheel and crawler belt;The location-plate is arranged on the side of crawler belt, and some support wheels are arranged on the top on the inside of crawler belt, and some suspensions are arranged on the inner side of crawler belt.Suspension rigidity of the present invention is adjustable, and the landform that can perform task according to specifying carries out electronic stiffness tuning, higher, the bigger exercise performance for improving robot of relatively manual regulation accuracy;As long as suspension changes position of the sliding block on c-type limb by controlling d.c. motor, you can changes suspension rate, regulates and controls simple and convenient, operability is stronger.

Description

A kind of electronic adjustable caterpillar mobile robot suspension of rigidity
Technical field
The invention belongs to ground mobile robot technical field, and in particular to a kind of electronic adjustable crawler-type mobile of rigidity Robot suspension.
Background technology
The rigidity of its crawler belt of caterpillar type robot can produce certain influence to the exercise performance of robot, and in rigid body machine Under body, crawler belt once selecting its rigidity can not change, that is, is difficult to recycle to change this factor of rigidity to improve the fortune of robot Dynamic performance;In addition, fuselage for rigid body robot motion when, particularly when being moved in non-structural landform, barycenter trajectory meeting There is obvious fluctuation, have obvious vibration when reflecting robot motion, and robot is when the task of execution, often Many equipment can be carried, long-term vibration can cause the parts of robot abnormal, as loosened screw, camera image are unstable Deng.
The use of suspension is the design of the usual way, such as tank, automobile that improve exercise performance in Car design, and Also begin to use suspension in existing caterpillar type robot research.Suspension can influence the tension force of crawler belt, so as to influence The exercise performance of caterpillar robot on the ground;More prominent, suspension can improve the stability of robotic mechanical system.
The characteristic of suspension is mainly reflected in rigidity, and requirement of the different task landform to suspension rigidity is not yet Equally, rigidity can not be too small on soft ground, and rigidity can not be excessive on hardstand, and suitable suspension rigidity can greatly improve The exercise performance of robot.Therefore, it is necessary to the rigidity of suspension is adjusted according to the landform of the task of execution, so that machine Device people obtains good exercise performance.
The content of the invention
The purpose of the present invention is to propose to a kind of electronic adjustable caterpillar mobile robot suspension of rigidity, according to crawler belt Formula robot specifies the landform that perform task, carries out motorized adjustment to suspension rigidity, makes caterpillar type robot in task Good exercise performance is obtained in landform.
In order to achieve the above object, idea of the invention is that:Using one kind suspension can be made to obtain not by motor control With the c-type frame of rigidity, motorized adjustment is carried out to the rigidity of suspension.By adjusting position of the c-type frame top shoe on c-type limb Put, you can obtain different c-type frame rigidity, the fundamental formular of c-type frame Rigidity Calculation:
WhereinFor c-type frame rigidity,It is distance of the slide position to c-type limb stress point,For c-type frame rigidity system Number,For Young's modulus,For the effective moment of inertia of c-type frame,For the arc length of c-type limb top shoe position to stress point.
According to above-mentioned design, the present invention adopts the following technical scheme that:
A kind of electronic adjustable caterpillar mobile robot suspension of rigidity, including suspension, location-plate, support wheel and shoe Band;The location-plate is arranged on the side of crawler belt, and some support wheels are arranged on the top on the inside of crawler belt, and some suspensions, which are arranged on, to be carried out The inner side of band;The suspension includes variation rigidity combining structure, attachment means and bogie wheel;The attachment means lower end is with interior The round tube of screw thread, is connected with bogie wheel, the bottom on the inside of the bogie wheel connecting band track, and the attachment means upper end is provided with side Shape pipe, it is connected with one end of variation rigidity combining structure, the other end of the variation rigidity combining structure is installed on location-plate.
The variation rigidity combining structure includes c-type frame, fixed mount and transmission device;Described c-type frame one end is installed on fixation On the inside of frame, the other end couples with attachment means;The transmission device is installed on the side of fixed mount, and the fixed mount opposite side is consolidated Due on location-plate.
The c-type frame includes c-type limb, sliding block, backbone, flexible rack and spacer block;The c-type limb passes through the side on sliding block Hole, c-type limb are marked with some rigidity marker bits;Described backbone one end is connected with sliding block, and backbone moves up with sliding block in c-type limb It is dynamic;The backbone upper surface is fixed with flexible rack, and lower surface is fixed with spacer block, spacer block between c-type limb and backbone, Too small to prevent spacing between the two, the c-type limb and backbone are same epoxy polyester material, have certain toughness, are c-type The deformation headspace of c-type limb and backbone when frame loads.
The transmission device includes spur gear, worm gear, worm screw, mounting bracket, bindiny mechanism and d.c. motor;The spur gear It is co-axially mounted with worm gear, the axle is placed on fixed mount;The spur gear is meshed with flexible rack;Installed on the inside of the mounting bracket Worm screw, bottom are fixed on the outside of fixed mount, and the worm and wheel is meshed;The d.c. motor connects snail by bindiny mechanism Bar, worm gear wheel is driven by worm screw, so as to which turn spur and flexible rack move.
The present invention has following outstanding feature:
Suspension rigidity of the present invention is adjustable, and the landform that can perform task according to specifying carries out electronic stiffness tuning, compared with Higher, the bigger exercise performance for improving robot of regulation accuracy manually;As long as suspension is by controlling d.c. motor To change position of the sliding block on c-type limb, you can change suspension rate, regulate and control simple and convenient, operability is stronger.
Brief description of the drawings
Fig. 1 is the electronic adjustable caterpillar mobile robot suspension structure schematic diagram of rigidity.
Fig. 2 is suspension frame structure schematic diagram.
Fig. 3 is variation rigidity combining structure schematic diagram.
Fig. 4 is c-type frame schematic diagram in variation rigidity combining structure.
Fig. 5 is to be driven schematic device in variation rigidity combining structure.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the embodiment of invention is further described.
As depicted in figs. 1 and 2, the electronic adjustable caterpillar mobile robot suspension of a kind of rigidity, including suspension 1, Location-plate 2, support wheel 3 and crawler belt 4;The location-plate 2 is arranged on the side of crawler belt 4, and some support wheels 3 are arranged in crawler belt 4 The top of side, some suspensions 1 are arranged on the inner side of crawler belt 4;The suspension 1 includes variation rigidity combining structure 11, attachment means 12 With bogie wheel 13;The lower end of attachment means 12 is connected, the bogie wheel 13 to have female round tube with bogie wheel 13 The bottom of the inner side of connecting band track 4, the upper end of attachment means 12 are provided with rectangular tube, connect with one end of variation rigidity combining structure 11 Connect, the other end of the variation rigidity combining structure 11 is installed on location-plate 2.
As shown in figure 3, the variation rigidity combining structure 11 includes c-type frame 111, fixed mount 112 and transmission device 113;Institute State the one end of c-type frame 111 and be installed on the inner side of fixed mount 112, the other end couples with attachment means 12;The transmission device 113 is installed In the side of fixed mount 112, the opposite side of fixed mount 112 is fixed on location-plate 2.
As shown in figure 4, the c-type frame 111 includes c-type limb 1111, sliding block 1112, backbone 1113, the and of flexible rack 1114 Spacer block 1115;The c-type limb 1111 is marked with some rigidity marker bits through the square hole on sliding block 1112, c-type limb 1111;Institute State the one end of backbone 1113 to be connected with sliding block 1112, backbone 1113 moves with sliding block 1112 on c-type limb 1111;The backbone 1113 upper surfaces are fixed with flexible rack 1114, and lower surface is fixed with spacer block 1115, and spacer block 1115 is located at the He of c-type limb 1111 Too small to prevent spacing between the two between backbone 1113, the c-type limb 1111 and backbone 1113 are same epoxy polyester material Material, has certain toughness, the deformation headspace of c-type limb 1111 and backbone 1113 when being loaded for c-type frame 111.
As shown in figure 5, the transmission device 113 include spur gear 1131, worm gear 1132, worm screw 1133, mounting bracket 1134, Bindiny mechanism 1135 and d.c. motor 1136;The spur gear 1131 is co-axially mounted with worm gear 1132, and the axle is placed in fixed mount 112 On;The spur gear 1131 is meshed with flexible rack 1114;The inner side of the mounting bracket 1134 installation worm screw 1133, bottom is fixed In the outside of fixed mount 112, the worm screw 1133 is meshed with worm gear 1132;The d.c. motor 1136 passes through bindiny mechanism 1135 Connecting worm 1133, worm gear 1132 is driven to rotate by worm screw 1133, so as to which turn spur 1131 and flexible rack 1114 are transported It is dynamic.
The use process of the present invention is as follows:
As shown in Figure 4 and Figure 5, when caterpillar type robot is before performing by the task landform specified, direct current horse is opened Up to 1136, the rotation of worm screw 1133 is controlled, by engaging between spur gear 1131 and flexible rack 1114, so as to control backbone 1113 position on c-type limb 1111, so that c-type frame 111 obtains the proper stiffness by corresponding task landform, when backbone 1113 The a certain rigidity marker bit of c-type limb 1111, i.e. 1111a or 1111b or 1111c or 1111d or 1111e positions are reached, is closed straight Motor 1136 is flowed, because Worm Wheel System has the function of self-locking, sliding block 1112 and backbone 1113 will keep fixed position Do not change, so as to which suspension rigidity does not change during proof load.

Claims (3)

  1. A kind of 1. electronic adjustable caterpillar mobile robot suspension of rigidity, it is characterised in that:Including suspension(1), positioning Plate(2), support wheel(3)And crawler belt(4);The location-plate(2)Installed in crawler belt(4)Side, some support wheels(3)It is arranged on Crawler belt(4)The top of inner side, some suspensions(1)Installed in crawler belt(4)Inner side;The suspension(1)Combine and tie including variation rigidity Structure(11), attachment means(12)And bogie wheel(13);The attachment means(12)Lower end is has female round tube, with bearing Roller(13)Connection, the bogie wheel(13)Connecting band track(4)The bottom of inner side, the attachment means(12)Upper end is provided with square Pipe, with variation rigidity combining structure(11)One end connection, the variation rigidity combining structure(11)The other end be installed on location-plate (2)On;
    The variation rigidity combining structure(11)Including c-type frame(111), fixed mount(112)And transmission device(113);The c-type frame (111)One end is installed on fixed mount(112)Inner side, the other end and attachment means(12)Connection;The transmission device(113)Installation In fixed mount(112)Side, the fixed mount(112)Opposite side is fixed on location-plate(2)On.
  2. 2. the electronic adjustable caterpillar mobile robot suspension of rigidity according to claim 1, it is characterised in that:Institute State c-type frame(111)Including c-type limb(1111), sliding block(1112), backbone(1113), flexible rack(1114)And spacer block (1115);The c-type limb(1111)Through sliding block(1112)On square hole, c-type limb(1111)It is marked with some rigidity marker bits; The backbone(1113)One end and sliding block(1112)Connection, backbone(1113)With sliding block(1112)Together in c-type limb(1111)On It is mobile;The backbone(1113)Upper surface is fixed with flexible rack(1114), lower surface is fixed with spacer block(1115), spacer block (1115)Positioned at c-type limb(1111)And backbone(1113)Between, the c-type limb too small to prevent spacing between the two(1111)With Backbone(1113)For same epoxy polyester material, there is certain toughness, be c-type frame(111)C-type limb during load(1111)With Backbone(1113)Deformation headspace.
  3. 3. the electronic adjustable caterpillar mobile robot suspension of rigidity according to claim 1, it is characterised in that:Institute State transmission device(113)Including spur gear(1131), worm gear(1132), worm screw(1133), mounting bracket(1134), bindiny mechanism (1135)And d.c. motor(1136);The spur gear(1131)With worm gear(1132)It is co-axially mounted, the axle is placed in fixed mount (112)On;The spur gear(1131)With flexible rack(1114)It is meshed;The mounting bracket(1134)Inner side is installed by worm screw (1133), fixed mount is fixed in bottom(112)Outside, the worm screw(1133)With worm gear(1132)It is meshed;The direct current horse Reach(1136)Pass through bindiny mechanism(1135)Connecting worm(1133), by worm screw(1133)Drive worm gear(1132)Rotate, so as to Turn spur(1131)And flexible rack(1114)Motion.
CN201510637012.XA 2015-10-03 2015-10-03 A kind of electronic adjustable caterpillar mobile robot suspension of rigidity Active CN105216891B (en)

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Publication number Priority date Publication date Assignee Title
CN110329031A (en) * 2019-06-06 2019-10-15 中国北方车辆研究所 A kind of rocker arm suspension that achievable big angle rotary is adjusted

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE904738C (en) * 1948-10-02 1954-02-22 Miag Muehlenbau & Ind Gmbh Crawler tracks
US4702843A (en) * 1985-06-21 1987-10-27 Standard Manufacturing Co., Inc. Control system for an adverse terrain vehicle
DE19945298A1 (en) * 1999-09-22 2001-03-29 Ffg Flensburger Fahrzeugbau Gm Additional suspension for a tracked mine clearing armored vehicle has gas-filled cylinders acting on the track running wheels in parallel with the existing suspension to prevent damage and injury on an explosion of a cleared mine
CN201456917U (en) * 2009-02-16 2010-05-12 昆明理工大学 Bow-shaped spring suspension-type low-speed wheel
CN102849134A (en) * 2012-07-12 2013-01-02 厦门厦工机械股份有限公司 Track walking device having independent damping function
CN103879466A (en) * 2014-04-16 2014-06-25 中国农业大学 Crawler belt variable-rigidness independent suspension power chassis

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE904738C (en) * 1948-10-02 1954-02-22 Miag Muehlenbau & Ind Gmbh Crawler tracks
US4702843A (en) * 1985-06-21 1987-10-27 Standard Manufacturing Co., Inc. Control system for an adverse terrain vehicle
DE19945298A1 (en) * 1999-09-22 2001-03-29 Ffg Flensburger Fahrzeugbau Gm Additional suspension for a tracked mine clearing armored vehicle has gas-filled cylinders acting on the track running wheels in parallel with the existing suspension to prevent damage and injury on an explosion of a cleared mine
CN201456917U (en) * 2009-02-16 2010-05-12 昆明理工大学 Bow-shaped spring suspension-type low-speed wheel
CN102849134A (en) * 2012-07-12 2013-01-02 厦门厦工机械股份有限公司 Track walking device having independent damping function
CN103879466A (en) * 2014-04-16 2014-06-25 中国农业大学 Crawler belt variable-rigidness independent suspension power chassis

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