CN110282041B - All-terrain self-adaptive intelligent mobile platform and working method thereof - Google Patents
All-terrain self-adaptive intelligent mobile platform and working method thereof Download PDFInfo
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- CN110282041B CN110282041B CN201910721061.XA CN201910721061A CN110282041B CN 110282041 B CN110282041 B CN 110282041B CN 201910721061 A CN201910721061 A CN 201910721061A CN 110282041 B CN110282041 B CN 110282041B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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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
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention relates to an all-terrain self-adaptive intelligent mobile platform and a working method thereof. The left-right angle adjustment of the suspension assembly relative to the movable platform body is realized by the cooperation of the suspension angle adjustment assembly, the rotary arch wheel and the worm and gear structure, and therefore obstacle crossing passing of various V-shaped slopes or other complex ground surfaces is realized. The power transmission part under the variable angle realizes the continuous output of the power of the left and right angle adjustment of the suspension assembly relative to the movable platform body, and ensures the power source of the movable platform under the suspension angle adjustment function.
Description
Technical Field
The invention belongs to the technical field of robot mobile chassis, and particularly relates to an all-terrain self-adaptive intelligent mobile platform and a working method thereof.
Background
The crawler-type movable chassis has the advantages of flexible action, large contact area with the ground, strong obstacle crossing capability and the like, and has stronger obstacle crossing performance and complex terrain passing capability due to the suspension damping mechanism. Therefore, the crawler-type mobile chassis and the matched suspension structure are used as the running mechanism of the related machinery, the development direction of the crawler-type mobile chassis is always developed around the aspects of safety and reliability, wide application range, simplicity in operation, environmental protection, energy saving, low cost and the like, and the crawler-type mobile chassis is continuously strived for improvement at home and abroad.
At present, a crawler-type mobile chassis mainly adopts a damping suspension system with a specific structure, and is generally divided into a symmetrical suspension structure arranged at the left side and the right side, and the number of suspensions is even. For example, patent number 201610049480.X discloses an invention patent of a crawler chassis, patent number 201210043540.9 discloses a crawler robot universal chassis, and the like.
In order to improve the obstacle crossing performance or the passing performance of the mobile chassis, the following methods are adopted for improvement and optimization:
(1) The suspension structure changes the structure to realize the horizontal adjustment of the left and right or front and back angles of the mobile platform
Typical technical scheme has the tracked vehicle chassis adjustment control system that patent was 201820105211.5 published, detects the chassis inclination through the inclination sensor, changes and hangs horizontal telescopic machanism and realize the horizontal setting of the left and right directions of platform. The patent number 201721341789.2 discloses an angle-adjustable trolley chassis, and the front-back angle adjustment of a platform is realized by controlling the front-back suspension structure to deform, so that the angle-adjustable trolley chassis is suitable for different slopes.
(2) Suspension structure deformation for realizing height adjustment of mobile platform
Typical technical scheme has an adjustable crawler device that patent number 201810575356.6 published, through adjusting hydraulic rod length, realizes the high adjustment of chassis to improve crawler-type chassis's trafficability characteristic.
(3) Advancing heading angle of suspension structure deformation adjustment crawler
Typical technical scheme has the track angle self-adaptation mechanism of pipeline robot that patent number 201621305890.8 published, changes the heading angle of both sides track motion through adjusting electric putter and realizes the pipeline adaptation to different pipe diameters.
The existing suspension structure of the crawler-type mobile chassis generally only can change the height so as to realize the horizontal angle or height adjustment of the platform, when the suspension structure passes through a V-shaped or inverted V-shaped ramp or other ramps with different angles on two sides, the crawler can be seriously deformed, the crawler is damaged or the belt falls off slightly, the left and right crawler structures are unevenly stressed to generate vehicle body damage, the mobile service life of the crawler is seriously endangered, and a great challenge is provided for the trafficability and obstacle crossing performance of the crawler-type mobile chassis.
Disclosure of Invention
The invention aims to provide an all-terrain self-adaptive intelligent mobile platform and a working method thereof, and the working angles of suspension structures at two sides are changed in real time, so that a bearing wheel and a crawler can be better attached to the ground, and the problem that the traditional crawler chassis has weak passing performance when passing through a V-shaped or inverted V-shaped ramp is solved.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides an all-terrain self-adaptation intelligent mobile platform, includes mobile chassis, suspension assembly, shock attenuation track, hangs angle adjustment subassembly, power transmission part, drive assembly, and mobile chassis includes automobile body, upper cover plate and curb plate, and the up end of automobile body is fixed with the upper cover plate, and the both sides of automobile body are provided with the curb plate respectively, and suspension assembly, shock attenuation track, suspension angle adjustment subassembly, power transmission part, drive assembly all are provided with two sets, set up respectively in the both sides of upper cover plate.
The suspension assembly is arranged on the outer side of the side plate and connected with the damping crawler belt, the suspension assembly is further connected with one end of the power transmission component, the other end of the power transmission component is connected with the driving assembly, the driving assembly is fixed on the crawler belt chassis, one end of the suspension angle adjusting assembly is fixed on the upper cover plate, and the other end of the suspension angle adjusting assembly is connected with the side plate.
Each set of suspension angle adjusting assembly comprises a base, a rotary arch wheel, a rotary flat plate, a worm and a driving motor, wherein the base is of a U-shaped groove structure, the front end face of the base is fixed on an upper cover plate, the rotary arch wheel capable of rotating relative to the base is connected in the U-shaped groove of the base, the rotary arch wheel is fixed on the rotary flat plate, the rotary flat plate is fixed on a side plate, the rotary arch wheel is meshed with the worm and connected with an output shaft of the driving motor, and the driving motor is fixed on the upper cover plate.
Specifically, the U type inslot wall both sides of base are provided with the arc arch, and the both sides of rotatory arch wheel are provided with the notch, and in the notch was arranged in to the arc arch, the arc arch cooperatees with the notch and realizes the relative angular rotation of base of rotatory arch wheel.
Further, the rotary arch wheel is of a semi-cylindrical structure, turbine threads are arranged on the rotary arch wheel, worm threads are arranged on the worm, and the turbine threads are matched with the worm threads.
Specifically, each set of suspension assembly comprises a suspension framework, a damping mechanism, a driving wheel and bearing wheels, wherein the suspension framework is fixed on the outer side of a side plate, the driving wheel is installed at the rear end of the suspension framework, the axis of the driving wheel is connected with one end of a power transmission part, the suspension framework is connected with the bearing wheels below through the damping mechanism, and the outer edges of a gear train formed by the driving wheel and the bearing wheels are meshed and connected with damping tracks.
Further, the damping mechanisms are arranged in a plurality of sets, and comprise damping plates and elastic elements for supporting the damping crawler belt.
Specifically, every power transmission part includes base disc, main sliding block, vice sliding block, main transmission axle, vice transmission axle, main power axle, vice power axle, power reversing assembly, base disc vertical arrangement is in upper cover plate rear end both sides, the base disc is circular disk structure, both sides are provided with the switching-over notch along the circumferencial direction respectively, main sliding block and vice sliding block have been inlayed respectively in two switching-over notches, main transmission axle is connected to the inboard of main sliding block, main power axle is connected in the outside of main sliding block, vice transmission axle is connected to the inboard of vice sliding block, vice power axle is connected in the outside of vice sliding block, main transmission axle sets up with vice transmission axle is relative and main transmission axle passes through power reversing assembly and is connected with vice transmission axle, main power axle is connected with drive assembly, vice power axle is connected with the axle center of the action wheel in the suspension assembly.
Further, the bottoms of the main sliding block and the auxiliary sliding block are respectively provided with a rotating shaft, the main sliding block and the auxiliary sliding block are respectively embedded in the reversing notch through the rotating shafts, and the main sliding block and the auxiliary sliding block slide in the reversing notch through the rotating shafts.
Further, the power reversing assembly comprises a first reversing seat, a first reversing section, a second reversing section and a second reversing seat, one end of the first reversing seat is fixed at the end part of the main transmission shaft, the other end of the first reversing seat is connected with two sets of first reversing sections, the two sets of first reversing sections are oppositely arranged and leave a gap in the middle, one end of the second reversing seat is fixed at the end part of the auxiliary transmission shaft, the other end of the second reversing seat is connected with the second reversing section, and the second reversing section is embedded into the gap between the two sets of first reversing sections.
Specifically, each set of driving assembly comprises a servo motor and a speed reducing mechanism, wherein the servo motor is fixed in the vehicle body, a rotating shaft of the servo motor is connected with the speed reducing mechanism, and the output end of the speed reducing mechanism is connected with a main power shaft of the power transmission part.
The working method of the all-terrain self-adaptive intelligent mobile platform comprises the following steps:
1) The moving step of the mobile platform in a normal ground environment comprises the following steps:
a. the suspension angle adjusting component is in an initial state and does not perform angle adjusting action; the servo motor rotates positively or reversely to drive the speed reducing mechanism to rotate, so that a main driving shaft connected with an output wheel of the speed reducing mechanism is driven to rotate, and then a driving wheel connected with the auxiliary driving shaft is driven to rotate by power transmission of a main sliding block, a main transmission shaft, a power reversing assembly, an auxiliary transmission shaft, an auxiliary sliding block and an auxiliary power shaft, which are sequentially connected with the main driving shaft, so that the damping crawler belt is paved.
b. When the mobile platform needs to turn, the platform steering is realized by adjusting the rotating speeds or steering directions of the left and right servo motors and driving speeds or directions of the driving wheels at the left and right sides.
2) And a step of adjusting the suspension angle of the mobile platform:
a. when the moving platform needs to cross a V-shaped ramp, the driving motor rotates positively to drive the worm and the worm screw thread on the worm to rotate, and the worm screw thread is matched with the turbine screw thread to drive the rotary arch wheel to bear force, so that the rotary arch wheel is deflected relative to the base, and as the rotary arch wheel is connected with the side plate through the rotary flat plate, the outer side of the side plate is connected with the suspension assembly, the left-right angle deflection adjustment of the vehicle body on the suspension assembly relative to the moving chassis is finally realized, the suspension assembly is adjusted to increase the movement angle, and the suspension assembly and the external damping crawler are adapted to the specific gradient.
b. In the process of adjusting the angle of the suspension assembly by the suspension angle adjusting assembly, the suspension assembly and the driving wheel on the suspension assembly deflect relative to the vehicle body, and at the moment, the power transmission angle also deflects, specifically as follows: when the angle adjustment assembly is used for realizing angle increase of the angle adjustment assembly, the angle increase adjustment is carried out on the angle adjustment assembly, the hanging assembly, the driving wheel and the like, so that the angle change is carried out on the auxiliary power shaft connected with the driving wheel, the auxiliary sliding block is driven to carry out angle change along the reversing notch of the base disc, the angle adjustment of the auxiliary transmission shaft is driven, the second reversing joint connected with the auxiliary transmission shaft drives the first reversing joint to carry out angle adjustment, and at the moment, the power transmission is not interrupted, so that the power under the angle increase adjustment is continuously transmitted.
c. When the mobile platform needs to cross the inverted V-shaped ramp, the adjustment process is opposite to the process in the step a.
d. When the moving platform needs to cross the slope with the angle difference at the other two sides, the adjustment process is similar to the process principle in the step a or the step b, except that the adjustment angles of the suspension angle adjustment assemblies at the left side and the right side are different.
The invention has the following beneficial effects:
(1) The left-right angle adjustment of the suspension assembly relative to the movable platform body is realized through the cooperation of the suspension angle adjustment assembly and the rotary arch wheel and the worm and gear structure, so that obstacle crossing passing of various V-shaped slopes or other complex ground surfaces is realized, obstacle crossing performance of the movable platform is improved, safety and stability of the platform are protected, and applicability of the platform to various complex ground environments is further improved.
(2) Through the power transmission part under the variable angle, set up sliding block, embedded power reversing assembly, realized the power of the left and right sides angle adjustment of suspension assembly relative movement platform body and last the output, guaranteed the power source of movement platform under the suspension angle adjustment function, promoted movement platform multifunctionality and high self-adaptation.
Drawings
Fig. 1 is a schematic diagram of a three-dimensional structure of an all-terrain adaptive intelligent mobile platform.
Fig. 2 is a schematic diagram of a front view structure of the all-terrain adaptive intelligent mobile platform.
Fig. 3 is a schematic diagram of a top view structure of the all-terrain adaptive intelligent mobile platform of the present invention.
Fig. 4 is a schematic front view of the power transmission member of the present invention.
Fig. 5 is a schematic left-hand view of the power transmission member of the present invention.
Fig. 6 is a schematic perspective view of a power transmission member of the present invention.
Fig. 7 is an enlarged partial schematic view of the power reversing assembly in the power transmission component of the invention.
Fig. 8 is a schematic front view of the suspension angle adjustment assembly of the present invention.
Fig. 9 is a schematic perspective view of a suspension angle adjustment assembly according to the present invention.
Fig. 10 is a side view of the mounting structure of the suspension angle adjustment assembly of the present invention.
Detailed Description
The following are specific examples of the present invention, and the technical solutions of the present invention are further described, but the scope of the present invention is not limited to these examples. All changes and equivalents that do not depart from the gist of the invention are intended to be within the scope of the invention.
As shown in fig. 1-3, the all-terrain self-adaptive intelligent mobile platform comprises a mobile chassis 1, a suspension assembly 2, a damping crawler belt 3, a suspension angle adjusting assembly 4, a power transmission part 5 and a driving assembly 6.
The mobile chassis 1 provides support, installation, protection and other functions for the intelligent mobile platform and its attached components. The mobile chassis 1 comprises a vehicle body 1-1, an upper cover plate 1-2 and side plates 1-3, wherein the vehicle body 1-1 is a supporting body of the whole set of crawler-type mobile chassis and is of a plate-shaped structure, and a plurality of baffles are arranged outside the vehicle body to realize the sealing of a main body structure of the vehicle body. The upper end face of the vehicle body 1-1 is fixedly provided with an upper cover plate 1-2, the upper cover plate 1-2 is of a horizontal rectangular flat plate structure, two sides of the vehicle body 1-1 are respectively provided with a side plate 1-3, and the side plates 1-3 are rectangular plates in appearance.
The suspension assembly 2, the damping crawler belt 3, the suspension angle adjusting assembly 4, the power transmission part 5 and the driving assembly 6 are all provided with two sets; the suspension assembly 2 is arranged on the outer side of the side plate 1-3, the suspension assembly 2 is connected with the shock absorption crawler belt 3, the suspension assembly 2 is also connected with one end of the power transmission part 5, the other end of the power transmission part 5 is connected with the driving assembly 6, the driving assembly 6 is fixed on the crawler chassis 1, one end of the suspension angle adjusting assembly 4 is fixed on the upper cover plate 1-2, and the other end is connected with the side plate 1-3. The angle adjustment of the side plates 1-3 relative to the upper cover plate 1-2 is realized through the adjustment of the suspension angle adjustment assembly 4.
The suspension assembly 2 mainly realizes a damping effect through each structure, so that contact vibration and the like of the crawler belt and the ground are weakened or even eliminated, and the stability and the safety of the upper equipment are ensured; meanwhile, the obstacle crossing performance on various V-shaped and inverted V-shaped slopes or other complex ground surfaces can be realized by adjusting the angle of the self-hanging framework.
Each set of suspension assembly 2 comprises a suspension framework 2-1, a damping mechanism 2-2, a driving wheel 2-3, and a bearing wheel 2-4, wherein the suspension framework 2-1 is of a hollow plate structure, the suspension framework 2-1 is fixed on the outer sides of side plates 1-3 on two sides of a vehicle body 1-1, and the suspension framework 2-1 is provided with the damping mechanism 2-2, the driving wheel 2-3 and other structures, so that the damping support function of the chassis is mainly realized. The rear end of the suspension framework 2-1 is provided with a driving wheel 2-3, the driving wheel 2-3 is in a wheel-shaped structure, both sides of the driving wheel are provided with gear structures for being meshed with the inner side gears of the shock absorption crawler belt 3, the axle center of the driving wheel 2-3 is connected with an auxiliary power shaft 5-7 of the power transmission part 5, and the driving wheel 2-3 realizes self-driving rotation through the force transmission effect of the auxiliary power shaft 5-7, so that the shock absorption crawler belt 3 is driven to rotate, and the power movement effect is realized. The suspension framework 2-1 is connected with the bearing wheel 2-4 below through the damping mechanism 2-2, and the outer edge of a wheel train consisting of the driving wheel 2-3 and the bearing wheel 24 is connected with the damping crawler belt 3 in a meshed manner. The damping mechanisms 2-2 are suspension damping mechanisms consisting of damping plates, elastic elements and the like, and the number of the damping mechanisms is multiple, so that the damping crawler belt 3 is supported. The bearing wheels 2-4 are contacted with the damping crawler belt 3, so that the contact area of the movable chassis and the ground is ensured, and the chassis and the upper equipment are borne.
The damping crawler belts 3 are respectively arranged at the outer edges of the gear train outline consisting of the driving wheel 2-3 and the bearing wheel 2-4 in the suspension assembly 2. The function of the damping crawler belt is mainly realized by being driven by the driving wheel 2-3 to rotate, so that the function of continuous rolling paving is realized by the supporting function of the bearing wheel 2-4 on the damping crawler belt 3, and the movable chassis 1 is driven to move.
As shown in fig. 8-10, the number of the suspension angle adjusting assemblies 4 is two, and the suspension angle adjusting assemblies are respectively arranged at the symmetrical positions of the left side and the right side of the lower end surface of the upper cover plate 1-2. Each set of suspension angle adjusting components 4 comprises a base 4-1, a rotary arch wheel 4-2, a rotary flat plate 4-3, a worm 4-4 and a driving motor 4-5.
The base 4-1 is of a U-shaped groove structure, the front end face of the base 4-1 is fixed on the wall face of the upper cover plate 1-2, a driving motor 4-5 is arranged at a position contacted with the wall face of the upper cover plate 1-2, a rotary arch wheel 4-2 capable of rotating relative to the base 4-1 is connected in the U-shaped groove of the base 4-1, arc-shaped protrusions 4-1-1 are arranged on two sides of the inner wall of the U-shaped groove of the base 4-1, notches 4-2-1 are formed in two sides of the rotary arch wheel 4-2 in the radial direction, the arc-shaped protrusions 4-1-1 are arranged in the notches 4-2-1, and the arc-shaped protrusions 4-1 are matched with the notches 4-2-1 to realize the angular rotation of the rotary arch wheel 4-2 relative to the base 4-1.
The rotary arch wheel 4-2 is of a semi-cylindrical structure, the bottom end surface of the rotary arch wheel 4-2 is fixed on the rotary flat plate 4-3, turbine threads 4-2 are arranged on the cylindrical surface of the rotary arch wheel 4-2, worm threads 4-4-1 are arranged on the worm 4-4, and the turbine threads 4-2-2 are matched with the worm threads 4-4-1. The effect is as follows: when the worm 4-4 rotates, the rotation of the rotary arch 4-2 relative to the worm 4-4 is achieved due to the cooperation of the threaded worm thread 4-4-1 on the worm and the turbine thread 4-2-2 on the rotary arch 4-2. Since the worm 4-4 is connected to the upper cover plate 1-2 through the driving motor 4-5, the rotating arch wheel 4-2 is angularly deflected with respect to the upper cover plate 1-2.
The rotating flat plate 4-3 is of a square flat plate structure, the rotating flat plate 4-3 is fixed on the side plate 1-3, and when the rotating arch wheel 4-2 deflects angularly, the rotating flat plate 4-3 is driven to rotate, and then the side plate 1-3 is driven to deflect angularly relative to the vehicle body 1-1 and the upper cover plate 1-2, so that the angle adjustment of the suspension assembly 2 is realized. The rotary arch wheel 4-2 is meshed with the worm 4-4, the worm 4-4 is of a long and thin cylinder structure, the worm 4-4 is connected with an output shaft of the driving motor 4-5, and the driving motor 4-5 is fixed on the upper cover plate 1-2. The driving motor 4-5 rotates to drive the worm 4-4 to rotate, so that the angle between the rotary arch wheel 4-2 and the base 4-1 is adjusted.
The overall working effect of the suspension angle adjusting assembly 4 is as follows: when the driving motor 4-5 rotates, the worm 4-4 and the worm screw thread 4-4-1 on the worm are driven to rotate, and the rotating arch wheel 4-2 is driven to bear force through the cooperation of the worm screw thread 4-4-1 and the turbine screw thread 4-2, and the angle deflection of the rotating arch wheel 4-2 relative to the base 4-1 is realized due to the cooperation of the arc-shaped bulge 4-1 on the base 4-1 and the notch 4-2-1 on the rotating arch wheel 4-2. Because the rotary arch wheel 4-2 is connected with the side plate 1-3 through the rotary flat plate 4-3, the outer side of the side plate 1-3 is connected with the suspension assembly 2, the left-right angle deflection adjustment of the suspension assembly 2 relative to the vehicle body 1-1 on the movable chassis 1 is finally realized, and the motion angle of the suspension assembly 2 is dynamically adjusted.
As shown in fig. 4-6, the same number of power transmission parts 5 is two, and the two power transmission parts are respectively arranged between the driving wheel 2-3 and the speed reducing mechanism 6-2, and have the main functions of: when the suspension angle adjusting assembly 4 is used for adjusting the angle of the suspension assembly 2, the power transmission part 5 is used for outputting power from the output shaft of the speed reducing mechanism 6-2 to the driving wheel 2-3 through angle adjustment. Each power transmission part 5 comprises a base disc 5-1, a main sliding block 5-2, an auxiliary sliding block 5-3, a main transmission shaft 5-4, an auxiliary transmission shaft 5-5, a main power shaft 5-6, an auxiliary power shaft 5-7 and a power reversing assembly 5-8.
The base disc 5-1 is vertically arranged at two sides of the rear end of the upper cover plate 1-2, the base disc 5-1 is of a circular disc structure, reversing notch 5-1-1 is respectively arranged at two sides along the circumferential direction, and a main sliding block 5-2 and an auxiliary sliding block 5-3 are respectively embedded in the two reversing notch 5-1-1 and are used for matching the main sliding block 5-2 and the auxiliary sliding block 5-3 to rotate at an angle relative to the base disc 5-1.
The main sliding block 5-2 is of a square structure and is arranged on one side of the base disc 5-1, a through hole is formed in the main sliding block and used for penetrating through the main power shaft 5-6 and the main transmission shaft 5-4, a rotating shaft 5-2-1 is arranged at the bottom of the main sliding block 5-2 and used for being embedded into the reversing notch 5-1-1, and therefore the angle adjustment of the main sliding block 5-2 relative to the base disc 5-1 is achieved. The inner side of the main sliding block 5-2 is connected with a main transmission shaft 5-4, the outer side of the main sliding block 5-2 is connected with a main power shaft 5-6, and one ends of the main transmission shaft 5-4 and the main power shaft 5-6 are connected in a through hole of the main sliding block 5-2, so that power transmission is realized. The other end of the main power shaft 5-6 is connected with the output shaft of the speed reducing mechanism 6-2 in the driving assembly 6.
The sub slider 5-3 is functionally and structurally similar to the main slider 5-2 and is disposed on the other side of the base disk 5-1. The inside is provided with the through-hole for passing vice power shaft 5-7 and vice transmission axle 5-5, and the bottom of vice sliding block 5-3 is equipped with pivot 5-2-1 for embedding reversing notch 5-1-1, realizes the angular adjustment of vice sliding block 5-3 relative base disc 5-1. The inner side of the auxiliary sliding block 5-3 is connected with the auxiliary transmission shaft 5-5, the outer side of the auxiliary sliding block 5-3 is connected with the auxiliary power shaft 5-7, and one end of the auxiliary transmission shaft 5-5 and one end of the auxiliary power shaft 5-7 are connected in a through hole of the auxiliary sliding block 5-3, so that power transmission is realized. The other end of the auxiliary power shaft 5-7 is connected with the axle center of the driving wheel 2-3 in the suspension assembly 2.
The main transmission shaft 5-4 is arranged opposite to the auxiliary transmission shaft 5-5, and the main transmission shaft 5-4 is connected with the auxiliary transmission shaft 5-5 through the power reversing assembly 5-8. The power reversing assembly 5-8 mainly realizes the self angle adjustment, and realizes the angle adjustment between the main transmission shaft 5-4 and the auxiliary transmission shaft 5-5 which are connected left and right.
As shown in fig. 7, the power reversing assembly 5-8 includes a first reversing seat 5-8-1, a first reversing joint 5-8-2, a second reversing joint 5-8-3, and a second reversing seat 5-8-4.
The first reversing seat 5-8-1 is of a round table structure, one end face of the first reversing seat 5-8-1 is fixed at the end part of the main transmission shaft 5-4, the other end face of the first reversing seat 5-8-1 is connected with two sets of first reversing joints 5-8-2, the two sets of first reversing joints 5-8-2 are oppositely arranged and are respectively arranged at the front-back symmetrical positions of the axis of the first reversing seat 5-8-1, the shape of the first reversing joint 5-8-2 is a semi-cylinder, a gap is reserved between the two cylinders, and the direction of the gap is vertical for placing the second reversing joint 5-8-3.
The second reversing seat 5-8-4 is in a round table structure, one end face of the second reversing seat 5-8-4 is fixed at the end part of the auxiliary transmission shaft 5-5, the other end face of the second reversing seat 5-8-4 is connected with the second reversing section 5-8-3, the second reversing section 5-8-3 is in a semi-cylindrical structure, and the second reversing section 5-8-3 is embedded into a gap between the two sets of first reversing sections 5-8-2. The second reversing section 5-8-3 is in clearance fit with the two sets of first reversing sections 5-8-2 to realize passive conversion of vertical angles.
The whole working mechanism of the power reversing assembly 5-8 is as follows:
1) Power transmission function: the main transmission shaft 5-4 rotates to drive the first reversing seat 5-8-1 to rotate, the first reversing seat 5-8-1 drives the first reversing joint 5-8-2 and the second reversing joint 5-8-3 embedded in the first reversing joint 5-8-2 to rotate, and then the second reversing seat 5-8-4 is driven to rotate, so that a power transmission function is realized.
2) Power transmission angle adjustment function: when the suspension angle adjusting assembly 4 carries out angle adjustment, the suspension assembly 2 and the connected driving wheel 2-3 and the like carry out angle adjustment, so that the auxiliary power shaft 5-7 on the driving wheel 2-3 carries out angle change, the auxiliary sliding block 5-3 is driven to carry out angle change along the reversing notch 5-1-1 of the base disc 5-1, the auxiliary transmission shaft 5-5 is driven to carry out angle adjustment, the second reversing joint 5-8-3 connected with the auxiliary transmission shaft 5-5 drives the first reversing joint 5-8-2 to carry out angle adjustment, but the power transmission function is not interrupted at the moment, and continuous power transmission under the angle adjustment is realized.
The drive assembly 6 is a robot power drive source and a torque transmission medium. As shown in fig. 3, the driving assembly 6 includes a servo motor 6-1 and a speed reducing mechanism 6-2, the servo motor 6-1 is a power source for robot movement, the number of the servo motor 6-1 is two, the servo motor is respectively installed at the positions of the left side and the right side of the inside of the vehicle body 1-1, the rotating shaft of the servo motor 6-1 is connected with the speed reducing mechanism 6-2, and the output end of the speed reducing mechanism 6-2 is connected with the main power shaft 5-6 of the power transmission part 5. The speed reducing mechanism 6-2 is of a wheel shaft structure, the number of the speed reducing mechanisms is two, the power transmission and the speed reducing effect are realized through mechanisms such as a belt, a belt pulley and the like, the speed reducing mechanism 6-2 converts high speed and low torque of the servo motor 6-1 into low speed and high torque power, and therefore the power strength and the load capacity of the robot are improved.
The overall working effect of the drive assembly 6 is: the servo motor 6-1 rotates to drive the speed reducing mechanism 6-2 to operate, so that power is transmitted to the main power shaft 5-6, and the power is transmitted to the driving wheel 2-3 through the power transmission part 5, so that power driving of the movable chassis is realized.
The working method of the all-terrain self-adaptive intelligent mobile platform comprises the following steps:
1) The moving step of the mobile platform in a normal ground environment comprises the following steps:
a. the suspension angle adjusting component 4 is in an initial state and does not perform angle adjusting action; the servo motor 6-1 rotates positively or reversely to drive the speed reducing mechanism 6-2 to rotate, so as to drive the main power shaft 5-6 connected with the output wheel of the speed reducing mechanism 6-2 to rotate, and further realize the laying of the shock absorption crawler belt 3 by the power transmission of the main sliding block 5-2, the main transmission shaft 5-4, the power reversing assembly 5-8, the auxiliary transmission shaft 5-5, the auxiliary sliding block 5-3 and the auxiliary power shaft 5-7 which are sequentially connected with the main power shaft 5-6.
b. When the mobile platform needs to turn, the platform steering is realized by adjusting the rotating speeds or steering directions of the left and right servo motors 6-1 and driving speeds or directions of the driving wheels 2-3 on the left and right sides.
2) And a step of adjusting the suspension angle of the mobile platform:
a. when the moving platform needs to cross a V-shaped ramp, the driving motor 4-5 rotates positively to drive the worm 4-4 and the worm screw thread 4-4-1 on the worm 4-4 to rotate, and the worm screw thread 4-4-1 is matched with the turbine screw thread 4-2-2 to drive the rotating arch wheel 4-2 to bear force, so that the angle deflection of the rotating arch wheel 4-2 relative to the base 4-1 is realized, and as the rotating arch wheel 4-2 is connected with the side plate 1-3 through the rotating flat plate 4-3, the outer side of the side plate 1-3 is connected with the suspension assembly 2, the left-right angle deflection adjustment of the suspension assembly 2 relative to the vehicle body 1-1 on the moving chassis 1 is finally realized, the movement angle of the suspension assembly 2 is increased, and the suspension assembly 2 and the external shock absorption crawler 3 are adapted to specific slopes.
b. In the process of adjusting the angle of the suspension assembly 2 by the suspension angle adjusting assembly 4, the suspension assembly 2 and the driving wheel 2-3 thereon deflect relative to the vehicle body 1-1, and at this time, the power transmission angle also deflects, specifically as follows: when the angle adjustment of the suspension assembly 4 to the suspension assembly 2 is increased, the suspension assembly 2 and the driving wheel 2-3 connected with the suspension assembly are increased in angle, so that the auxiliary power shaft 5-7 connected with the driving wheel 2-3 is changed in angle, the auxiliary sliding block 5-3 is driven to change in angle along the reversing notch 5-1-1 of the base disc 5-1, the auxiliary transmission shaft 5-5 is driven to be adjusted in angle, the second reversing joint 5-8-3 connected with the auxiliary transmission shaft 5-5 drives the first reversing joint 5-8-2 to be adjusted in angle, and at the moment, power transmission is not interrupted, so that continuous power transmission under the angle increase adjustment is realized.
c. When the mobile platform needs to cross the inverted V-shaped ramp, the adjustment process is opposite to the process in the step a.
d. When the moving platform needs to cross the slope with the angle difference at the other two sides, the adjustment process is similar to the process principle in the step a or the step b, except that the adjustment angles of the suspension angle adjustment assemblies 4 at the left side and the right side are different to the adjustment angles of the suspension assemblies 2.
The present invention is not limited to the above embodiments, and any person who can learn the structural changes made under the teaching of the present invention can fall within the scope of the present invention if the present invention has the same or similar technical solutions.
The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (4)
1. The all-terrain self-adaptive intelligent mobile platform is characterized by comprising a mobile chassis, a suspension assembly, a damping crawler belt, a suspension angle adjusting assembly, a power transmission component and a driving assembly, wherein the mobile chassis comprises a vehicle body, an upper cover plate and side plates, the upper end surface of the vehicle body is fixedly provided with the upper cover plate, the side plates are respectively arranged on two sides of the vehicle body, and the suspension assembly, the damping crawler belt, the suspension angle adjusting assembly, the power transmission component and the driving assembly are respectively provided with two sets of components which are respectively arranged on two sides of the upper cover plate;
the suspension assembly is arranged on the outer side of the side plate, is connected with the damping crawler belt, is also connected with one end of the power transmission component, the other end of the power transmission component is connected with the driving assembly, the driving assembly is fixed on the crawler belt type movable chassis, one end of the suspension angle adjusting assembly is fixed on the upper cover plate, and the other end of the suspension angle adjusting assembly is connected with the side plate;
each set of suspension angle adjusting component comprises a base, a rotary arch wheel, a rotary flat plate, a worm and a driving motor, wherein the base is of a U-shaped groove structure, the front end face of the base is fixed on an upper cover plate, the rotary arch wheel capable of rotating relative to the base is connected in the U-shaped groove of the base, the rotary arch wheel is fixed on the rotary flat plate, the rotary flat plate is fixed on a side plate, the rotary arch wheel is in meshed connection with the worm, the worm is connected with an output shaft of the driving motor, and the driving motor is fixed on the upper cover plate;
each power transmission part comprises a base disc, a main sliding block, an auxiliary sliding block, a main transmission shaft, an auxiliary transmission shaft, a main power shaft, an auxiliary power shaft and a power reversing assembly, wherein the surface of the base disc is vertically arranged at two sides of the rear end of the upper cover plate, the base disc is of a circular disc structure, reversing notches are respectively formed in two sides along the circumferential direction, the main sliding block and the auxiliary sliding block are respectively embedded in the two reversing notches, the inner side of the main sliding block is connected with the main transmission shaft, the outer side of the main sliding block is connected with the main power shaft, the inner side of the auxiliary sliding block is connected with the auxiliary transmission shaft, the outer side of the auxiliary sliding block is connected with the auxiliary power shaft, the main transmission shaft is arranged opposite to the auxiliary transmission shaft, the main transmission shaft is connected with the auxiliary transmission shaft through the power reversing assembly, and the auxiliary power shaft is connected with the driving assembly, and the auxiliary power shaft is connected with the axle center of a driving wheel in the suspension assembly;
the bottoms of the main sliding block and the auxiliary sliding block are respectively provided with a rotating shaft, the main sliding block and the auxiliary sliding block are respectively embedded into the reversing notch through the rotating shafts, and the main sliding block and the auxiliary sliding block slide in the reversing notch through the rotating shafts;
the power reversing assembly comprises a first reversing seat, a first reversing section, a second reversing section and a second reversing seat, one end of the first reversing seat is fixed at the end part of the main transmission shaft, the other end of the first reversing seat is connected with two sets of first reversing sections, the two sets of first reversing sections are oppositely arranged and leave a gap in the middle, one end of the second reversing seat is fixed at the end part of the auxiliary transmission shaft, the other end of the second reversing seat is connected with the second reversing section, and the second reversing section is embedded into the gap between the two sets of first reversing sections;
the rotary arch wheel is of a semi-cylindrical structure, turbine threads are arranged on the rotary arch wheel, worm threads are arranged on the worm, and the turbine threads are matched with the worm threads;
each set of suspension assembly comprises a suspension framework, a damping mechanism, a driving wheel and bearing wheels, wherein the suspension framework is fixed on the outer side of the side plate, the driving wheel is arranged at the rear end of the suspension framework, the axle center of the driving wheel is connected with one end of the power transmission part, the suspension framework is connected with the bearing wheels below through the damping mechanism, and the outer edge of a wheel train formed by the driving wheel and the bearing wheels is in meshed connection with a damping crawler;
each set of driving assembly comprises a servo motor and a speed reducing mechanism, the servo motor is fixed in the vehicle body, a rotating shaft of the servo motor is connected with the speed reducing mechanism, and the output end of the speed reducing mechanism is connected with a main power shaft of the power transmission part.
2. The all-terrain self-adaptive intelligent mobile platform of claim 1, wherein arc-shaped protrusions are arranged on two sides of the inner wall of the U-shaped groove of the base, notches are arranged on two sides of the rotary arch wheel, the arc-shaped protrusions are arranged in the notches, and the arc-shaped protrusions are matched with the notches to realize the angular rotation of the rotary arch wheel relative to the base.
3. The all-terrain self-adaptive intelligent mobile platform of claim 1, wherein the damping mechanisms are multiple sets, and comprise damping plates and elastic elements for supporting the damping crawler belt.
4. A method of operating an all-terrain adaptive intelligent mobile platform as claimed in any one of claims 1 to 3, comprising the steps of:
1) The moving step of the mobile platform in a normal ground environment comprises the following steps:
a. the suspension angle adjusting component is in an initial state and does not perform angle adjusting action; the servo motor rotates positively or reversely to drive the speed reducing mechanism to rotate, so that a main driving shaft connected with an output wheel of the speed reducing mechanism is driven to rotate, and a driving wheel connected with the auxiliary driving shaft is driven to rotate by power transmission of a main sliding block, a main transmission shaft, a power reversing assembly, an auxiliary transmission shaft, an auxiliary sliding block and an auxiliary power shaft which are sequentially connected with the main driving shaft, so that the damping crawler belt is paved;
b. when the mobile platform needs to turn, the platform steering is realized by adjusting the rotating speeds or steering directions of the left and right servo motors and driving speeds or directions of the driving wheels at the left and right sides;
2) And a step of adjusting the suspension angle of the mobile platform:
a. when the moving platform needs to cross a V-shaped ramp, the driving motor rotates positively to drive the worm and the worm screw thread on the worm to rotate, and the worm screw thread is matched with the turbine screw thread to drive the rotary arch wheel to bear force, so that the rotary arch wheel is deflected relative to the base, and as the rotary arch wheel is connected with a side plate through a rotary flat plate, the outer side of the side plate is connected with a suspension assembly, the left-right angular deflection adjustment of the suspension assembly relative to the vehicle body on the moving chassis is finally realized, the movement angle of the suspension assembly is increased, and the suspension assembly and an external damping crawler are adapted to a specific gradient;
b. in the process of adjusting the angle of the suspension assembly by the suspension angle adjusting assembly, the suspension assembly and the driving wheel on the suspension assembly deflect relative to the vehicle body, and at the moment, the power transmission angle also deflects, specifically as follows: when the angle adjustment of the suspension angle adjustment assembly to the suspension assembly is increased, the suspension assembly and the driving wheel connected with the suspension assembly are increased in angle, so that an auxiliary power shaft connected with the driving wheel is changed in angle, the auxiliary sliding block is driven to change in angle along the reversing notch of the base disc, the auxiliary transmission shaft is driven to adjust in angle, the second reversing joint connected with the auxiliary transmission shaft drives the first reversing joint to adjust in angle, and at the moment, power transmission is not interrupted, so that continuous power transmission under the angle increase adjustment is realized;
c. when the moving platform needs to cross the inverted V-shaped ramp, the adjustment process is opposite to the process in the step a;
d. when the moving platform needs to cross the slope with the angle difference at the other two sides, the adjustment process is different from the process principle in the step a or the step b, and the adjustment angles of the suspension angle adjustment assemblies at the left side and the right side are different.
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