CN109305245A - It is a kind of can obstacle detouring suspension wheel moving platform - Google Patents
It is a kind of can obstacle detouring suspension wheel moving platform Download PDFInfo
- Publication number
- CN109305245A CN109305245A CN201811331243.8A CN201811331243A CN109305245A CN 109305245 A CN109305245 A CN 109305245A CN 201811331243 A CN201811331243 A CN 201811331243A CN 109305245 A CN109305245 A CN 109305245A
- Authority
- CN
- China
- Prior art keywords
- wheel
- moving platform
- obstacle detouring
- vehicle body
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 34
- 238000013016 damping Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- BALXUFOVQVENIU-KXNXZCPBSA-N pseudoephedrine hydrochloride Chemical compound [H+].[Cl-].CN[C@@H](C)[C@@H](O)C1=CC=CC=C1 BALXUFOVQVENIU-KXNXZCPBSA-N 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000013011 mating Effects 0.000 claims 1
- 230000008447 perception Effects 0.000 abstract description 3
- 230000004308 accommodation Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003319 supportive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/185—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram the arms being essentially parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses it is a kind of can obstacle detouring suspension wheel moving platform, the laser radar of the monitoring perception ambient enviroment including being mounted on vehicle body main body upper surface is mounted on vehicle body body interior for controlling the industrial personal computer of vehicle；It further include the wheel being mounted below vehicle body main body, and wheel is connected on wheel seat, the wheel seat connects short support rod by damping device, which being capable of active accommodation vehicle clearance and tilt angle, the handling capacity for improving small space and tilted road surface, meets different function demand.
Description
Technical field
The present invention relates to robotic technology field, specially it is a kind of can obstacle detouring suspension wheel moving platform.
Background technique
In recent years, wheeled mobile robot is used widely in daily work life with its superior movenent performance,
But wheeled robot can only have good working order in the case where road conditions are fairly simple, once encounter rough ground, platform
It just can't continue to exercise when scalariform barrier, so how to solve this problem, wheeled robot can be had to rough ground
Good movenent performance, while can be realized through step-like barrier, there is good obstacle climbing ability to be of great significance.It is existing
The more complex control of some suspension wheel moving platform structures it is difficult, so design a kind of structure it is simple it is easily controllable have it is good
The mobile robot of ground adaptability is particularly significant.
Summary of the invention
The purpose of the present invention is to provide it is a kind of can obstacle detouring suspension wheel moving platform, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the invention provides the following technical scheme:
It is a kind of can obstacle detouring suspension wheel moving platform, the monitoring perception ambient enviroment including being mounted on vehicle body main body upper surface
Laser radar, the industrial personal computer for controlling wheel hub motor driver for being mounted on vehicle body body interior；It further include being mounted on vehicle body main body
The wheel of lower section, and the center rotating of wheel connects wheeled base, the wheel seat connects short support rod by connecting rod, and in wheel seat
The short support rod that stabilized equipment support is laterally arranged is installed, each short support rod by angular contact ball bearing, circlip according to
Secondary two long support bars of connection form three-link mechanism, and two link blocks drawn money on credit in strut and vehicle body main body pass through angular contact ball
Bearing connection, forms four-bar mechanism；The both ends of hinged electrical pushing cylinder between in vehicle body main body and strut of drawing money on credit.
Preferably, further include three groups of power sources being connected in the vehicle body main body be powered, six sets of drivers, every group
Power source includes power supply and power socket, and power supply is fixed on vehicle body main body by power socket；Every set driver includes being mounted on
Electrical pushing cylinder driver, the In-wheel motor driving device of vehicle body body interior；
Preferably, the electrical pushing cylinder driver realizes the linear motion of electrical pushing cylinder, is acted by electrical pushing cylinder and drives four-bar mechanism
The promotion of wheel is realized in movement；
Preferably, the damping device on each wheel seat selects two symmetrically arranged rubber springs；
Preferably, the wheel is made of rubber tyre and hub motor and is mounted on wheel seat；
Preferably, the existing velodyne laser radar of model, CE30 solid-state face battle array laser thunder can be selected in the laser radar
Up to any one；
Preferably, the industrial personal computer selection is existing grinds magnificent industrial personal computer Advantech, Siemens industrial personal computer Siemens, Contac
Any one in industrial personal computer Cntec is threadably mounted in vehicle body main body；
Preferably, the In-wheel motor driving device selects AKD series of servo driver, the control driving of AKD PDMM programmable multi-axle
Device any one；
Preferably, the electrical pushing cylinder and electrical pushing cylinder driver are all made of DT series electric pushrod, HL series T-type vertical electric push rod
In any one corollary equipment.
Compared with prior art, the beneficial effects of the present invention are:
1, the mobile platform can active accommodation vehicle vehicle clearance and tilt angle, improve small space and tilted road surface
Handling capacity, meet different function demand；
2, suspension sheave uses four link type structure in the mobile platform, and compared to the suspension sheave of other existing more rod types, structure is tight
Gather simple, only needing electric cylinders to move along a straight line can be achieved promotion and the whereabouts of wheel, easily controllable, can self-forming modularization, realize fast
Speed replacement installation；
3, the mobile platform uses four link type structure, and stress can be dispersed, prolong the service life.Electrical pushing cylinder be mounted on two bars it
Between, not only protected electrical pushing cylinder from thrust needed for radial force, but also mitigation electrical pushing cylinder；
4, the mobile platform wheel uses hub motor, and the mobile platform of common wheel is used compared to other, without the concern for dynamic
Power transmitting portions save space；
5, the mobile platform can adjust wheel with respect to height of the carbody, to pass through ditch by three pairs of suspension sheaves cooperations after in preceding
Gully road conditions or step-like barrier.
Detailed description of the invention
Fig. 1 be one kind of the present invention can obstacle detouring a kind of schematic perspective view of embodiment of suspension wheel moving platform；
Fig. 2 be the present invention can the suspension wheel moving platform of obstacle detouring remove the left view of side suspension sheave；
Fig. 3 be the present invention can obstacle detouring suspension wheel moving platform bottom view；
Fig. 4 be the present invention can obstacle detouring suspension wheel moving platform in inclination schematic perspective view；
Fig. 5 be the present invention can obstacle detouring suspension wheel moving platform in active obstacle detouring schematic perspective view.
In figure: 1, connecting rod；2, wheel；3, wheel seat；4, rubber spring；5, short support rod；6, it draws money on credit strut；7 electrical pushing cylinders；8,
Vehicle body main body；9, laser radar；10, electrical pushing cylinder driver；11, In-wheel motor driving device；12, power supply；13, power socket；14, work
Control machine.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-5, the technical solution that the present invention solves the technical problem is: design it is a kind of can obstacle detouring suspension sheave
Formula mobile platform, mechanism include: vehicle body main body 8, strut 6 of drawing money on credit, short support rod 5, rubber spring 4, hub motor, rubber wheel
Tire, wheel seat 3, connecting rod 1, electrical pushing cylinder 7, laser radar 9, power supply 12, power socket 13, In-wheel motor driving device 11, electrical pushing cylinder driving
Device 10, industrial personal computer 14.Industrial personal computer 14 selects the existing magnificent industrial personal computer Advantech, Siemens industrial personal computer Siemens, safe of grinding
Any one in gram industrial personal computer Cntec is threadably mounted in vehicle body main body 8.
Three groups of power sources are shared in the present invention to be powered with six sets of drivers to moving of car control.The power supply 12 is logical
It crosses power socket 13 to be fixed in vehicle body main body 8, laser radar 9, which is mounted on, to be used to monitor perception ambient enviroment in vehicle body main body 8, is swashed
Optical radar 9 can be selected the existing velodyne laser radar of model, CE30 solid-state face battle array laser radar any one.Wheel hub
The equipment such as motor driver 11, electrical pushing cylinder driver 10, industrial personal computer 14 are installed in inside vehicle body main body 8, two struts 6 of drawing money on credit
Three-link, two draw money on credit strut 6 and vehicle body masters are in turn connected by angular contact ball bearing, circlip etc. with one short support rod 5
Link block on body 8 is connected by angular contact ball bearing, forms four-bar mechanism.It by short support rod 5 and is taken turns by two connecting rods 1
Seat 3 connects, and rubber spring 4 is made into damping device jointly there are two installation therebetween.Rubber tyre and hub motor
Composition wheel 2 is mounted on wheel seat 3, is had industrial personal computer 14 to control wheel hub motor driver 11 under normal circumstances and then is realized car body
Movement.In-wheel motor driving device 11 selects AKD series of servo driver, AKD PDMM programmable multi-axle control driver any one
Kind.
The both ends of electrical pushing cylinder 7 are connected to vehicle body main body 8 and draw money on credit on strut 6, when laser radar 9 finds that there is barrier in operation front
When hindering object, industrial personal computer 14 can issue the linear motion that instruction control electrical pushing cylinder driver 10 realizes electrical pushing cylinder 7, pass through electrical pushing cylinder 7
Movement drives parallel motion that the promotion of wheel 2 may be implemented, and electrical pushing cylinder 7 and electrical pushing cylinder driver 10 are all made of DT series
Any one corollary equipment in electric pushrod, HL series T-type vertical electric push rod.
When car body direction of advance has and when inevitable tilted road surface, normal advance is possible to the case where turning on one's side,
This can be solved the problems, such as using mobile platform of the present invention at this time.When there is such state, relative position is higher on tilted road surface
Three suspension sheaves of car body side act, and reduce the side tilt angle of vehicle body, concrete operating principle and workflow: electrical pushing cylinder 7 is dynamic
Make, drives and it is rotated by the strut 6 of drawing money on credit that revolute pair connects, and then promoted with motor car wheel 2, that is, reduce this side
Fuselage height, reduce side tilt angle.
When car body direction of advance have and inevitably can not by barrier when, the present invention can obstacle detouring suspension it is wheeled
The working principle and workflow of mobile platform: the electrical pushing cylinder 7 of the first two suspension sheave of direction of advance acts, and promotes the first two vehicle
2 height of wheel, has reached the height that clears the jumps, while the electrical pushing cylinder 7 of four suspension sheaves in back is failure to actuate, and wheel 2 plays support and makees
With；After when two, front, suspension sheave breaks the barriers, the withdrawal of electrical pushing cylinder 7 makes its wheel 2 land to play a supportive role, while centre two
The electrical pushing cylinder 7 of suspension sheave acts, and the height for promoting wheel 2 reaches obstacle detouring condition；After when centre, two suspension sheaves break the barriers,
The withdrawal of electrical pushing cylinder 7 makes its wheel 2 land to play a supportive role, while the electrical pushing cylinder 7 of two suspension sheave of back acts, and promotes wheel 2
Height reaches obstacle detouring condition, is finally completed vehicle obstacle detouring.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. one kind can obstacle detouring suspension wheel moving platform, including be mounted on vehicle body main body (8) upper surface monitoring perceive around
The laser radar (9) of environment, the industrial personal computer (14) for being mounted on the internal control wheel hub motor driver (11) of vehicle body main body (8)；
It is characterized by also including the wheels (2) being mounted below vehicle body main body (8), and the center rotating of wheel (2) is connected with
Wheel seat (3), the wheel seat (3) connects short support rod (5) by connecting rod (1), and is equipped with stabilized equipment support in wheel seat (3)
The short support rod (5) being laterally arranged, each short support rod (5) are sequentially connected two long by angular contact ball bearing, circlip
Support rod (6) forms three-link mechanism, and the link block on two struts of drawing money on credit (6) and vehicle body main body (8) passes through angular contact ball axis
Connection is held, four-bar mechanism is formed；The both ends of hinged electrical pushing cylinder (7) between in vehicle body main body (8) and strut of drawing money on credit (6).
2. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: further include the vehicle
Three groups of power sources being connected in body main body (8) are powered, six sets of drivers, and every group of power source includes power supply (12) and electricity
Source(-)holder (13), and power supply (12) is fixed on vehicle body main body (8) by power socket (13)；Every set driver includes being mounted on vehicle body master
The internal electrical pushing cylinder driver (10) of body (8), In-wheel motor driving device (11).
3. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: the electrical pushing cylinder drives
Dynamic device (10) realize the linear motion of electrical pushing cylinder (7), are acted by electrical pushing cylinder (7) and parallel motion is driven to realize wheel
(2) promotion.
4. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: each wheel seat (3)
On the damping device select two symmetrically arranged rubber springs (4).
5. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: the wheel (2)
It is made of and is mounted on wheel seat (3) rubber tyre and hub motor.
6. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: the laser radar
(9) can be selected the existing velodyne laser radar of model, CE30 solid-state face battle array laser radar any one.
7. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: the industrial personal computer
(14) existing magnificent industrial personal computer Advantech, the Siemens industrial personal computer Siemens, any in Contac industrial personal computer Cntec of grinding is selected
One kind is threadably mounted on vehicle body main body (8).
8. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: the hub motor
Driver (11) select AKD series of servo driver, AKD PDMM programmable multi-axle control driver any one.
9. one kind according to claim 1 can obstacle detouring suspension wheel moving platform, it is characterised in that: the electrical pushing cylinder
(7) and electrical pushing cylinder driver (10) to be all made of DT series electric pushrod, any one in HL series T-type vertical electric push rod mating
Equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811331243.8A CN109305245A (en) | 2018-11-09 | 2018-11-09 | It is a kind of can obstacle detouring suspension wheel moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811331243.8A CN109305245A (en) | 2018-11-09 | 2018-11-09 | It is a kind of can obstacle detouring suspension wheel moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109305245A true CN109305245A (en) | 2019-02-05 |
Family
ID=65222024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811331243.8A Pending CN109305245A (en) | 2018-11-09 | 2018-11-09 | It is a kind of can obstacle detouring suspension wheel moving platform |
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| Country | Link |
|---|---|
| CN (1) | CN109305245A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986578A (en) * | 2019-04-24 | 2019-07-09 | 北京海风智能科技有限责任公司 | A kind of service robot suspension |
| CN110777708A (en) * | 2019-11-13 | 2020-02-11 | 华南理工大学广州学院 | Cleaning method of tunnel cleaning machine |
| CN111473813A (en) * | 2020-03-19 | 2020-07-31 | 安徽工程大学 | Intelligent environment exploration trolley |
| CN114211922A (en) * | 2021-11-24 | 2022-03-22 | 电子科技大学 | Height-adjustable cantilever device and vehicle thereof |
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| CN205152851U (en) * | 2015-10-09 | 2016-04-13 | 华南理工大学 | Large -scale tunnel clean -up equipment running gear |
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| CN108279683A (en) * | 2018-03-19 | 2018-07-13 | 徐州艾奇机器人科技有限公司 | A kind of round-the-clock unmanned cruiser system of six wheel drive low speed |
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| CN209008725U (en) * | 2018-11-09 | 2019-06-21 | 洛阳圣瑞智能机器人有限公司 | It is a kind of can obstacle detouring suspension wheel moving platform |
-
2018
- 2018-11-09 CN CN201811331243.8A patent/CN109305245A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120175172A1 (en) * | 2011-01-10 | 2012-07-12 | King Fahd University Of Petroleum And Minerals | Stair climbing apparatus |
| CN204548274U (en) * | 2015-03-20 | 2015-08-12 | 辽宁石油化工大学 | A kind of push-down obstacle detouring mechanical car |
| CN205152851U (en) * | 2015-10-09 | 2016-04-13 | 华南理工大学 | Large -scale tunnel clean -up equipment running gear |
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| CN108279683A (en) * | 2018-03-19 | 2018-07-13 | 徐州艾奇机器人科技有限公司 | A kind of round-the-clock unmanned cruiser system of six wheel drive low speed |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986578A (en) * | 2019-04-24 | 2019-07-09 | 北京海风智能科技有限责任公司 | A kind of service robot suspension |
| CN110777708A (en) * | 2019-11-13 | 2020-02-11 | 华南理工大学广州学院 | Cleaning method of tunnel cleaning machine |
| CN111473813A (en) * | 2020-03-19 | 2020-07-31 | 安徽工程大学 | Intelligent environment exploration trolley |
| CN114211922A (en) * | 2021-11-24 | 2022-03-22 | 电子科技大学 | Height-adjustable cantilever device and vehicle thereof |
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