CN110466633B - Suspension height self-adaptive special robot suitable for severe environment and operation method - Google Patents
Suspension height self-adaptive special robot suitable for severe environment and operation method Download PDFInfo
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- CN110466633B CN110466633B CN201910800351.3A CN201910800351A CN110466633B CN 110466633 B CN110466633 B CN 110466633B CN 201910800351 A CN201910800351 A CN 201910800351A CN 110466633 B CN110466633 B CN 110466633B
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- 239000000725 suspension Substances 0.000 title claims abstract description 213
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 394
- 230000035939 shock Effects 0.000 claims abstract description 84
- 230000008569 process Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 50
- 230000033001 locomotion Effects 0.000 claims description 30
- 230000007704 transition Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 9
- 230000008447 perception Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
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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
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/32—Track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
Abstract
The invention discloses a suspension height self-adaptive special robot and an operation method suitable for severe environments, wherein the suspension height self-adaptive special robot comprises a chassis main body, and suspension shock absorbing mechanisms, suspension height adjusting mechanisms and electric driving and controlling mechanisms which are connected with the chassis main body, wherein the suspension shock absorbing mechanisms and the suspension height adjusting mechanisms are respectively provided with two sets, the two sets of suspension shock absorbing mechanisms are respectively arranged at two sides of the chassis main body, and each set of suspension shock absorbing mechanism is connected with the electric driving and controlling mechanism through one set of suspension height adjusting mechanism. Independent height adjustment of the left suspension shock absorbing mechanism and the right suspension shock absorbing mechanism relative to the chassis main body is realized through the suspension height adjusting mechanism, so that power reversing and continuous output during the height adjustment of the suspension shock absorbing mechanisms are ensured; the gesture sensing mechanism senses the gesture change in the advancing process of the robot, the road condition concave-convex condition is reversely pushed, the height of the suspension shock absorbing mechanism is controlled and adjusted in real time, the stability is ensured, the obstacle crossing performance is improved, and the adaptability of the mobile platform is improved.
Description
Technical Field
The invention belongs to the technical field of robot chassis, and particularly relates to a suspension height self-adaptive special robot suitable for severe environments and an operation method.
Background
The crawler chassis has the advantages of flexible action, good loading performance, strong obstacle crossing capability and the like, and is commonly used for a special machine moving platform on complex and severe ground. Compared with a wheeled crawler chassis, the crawler chassis has stronger obstacle crossing performance and complex terrain passing capability due to the suspension damping mechanism. The crawler chassis and the matched suspension assembly are used as a running mechanism of related machinery, and the development direction of the crawler chassis and the matched suspension assembly is always developed around the aspects of high self-adaptability, high motion performance, safety, reliability, motion stability and the like.
At present, a crawler chassis mainly adopts a damping suspension system with a specific structure, and is divided into symmetrical suspension assemblies respectively arranged at the left side and the right side. In order to improve the complex road surface passing capability of the crawler chassis, a mechanical lifting mechanism is generally adopted to realize the chassis height of the robot in the running process, thereby realizing obstacle avoidance and the like. 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. Patent No. 201711335346.7 discloses a height adjusting device and method for a crawler chassis, wherein the end part of a piston cylinder for hydraulic cylinder joint measurement is provided with a rack meshing mechanism to change the included angle between an inner driving rod and an outer driving rod, so that the overall working height of the crawler chassis is changed to avoid an obstacle.
The suspension assembly of the existing crawler chassis generally adopts a fixed structure, the angle or the height of the suspension system cannot be changed when the suspension assembly moves, when the suspension assembly passes through a "" type, a "" type or other complex ground, barriers or slopes with different heights at two sides, the working angle at the upper end of the chassis is changed, the influence on the working angle disturbance of the observation or working equipment at the upper end of the chassis is serious, the working stability of the chassis is reduced, the stress of the suspension system is uneven, the crawler can be severely deformed, the crawler is slightly damaged or falls off, the left crawler structure and the right crawler structure are unevenly stressed to generate vehicle body damage or even overturn, the service life of the crawler chassis is seriously endangered, and great challenges are provided for the trafficability and obstacle crossing performance of the chassis.
In the prior art, only the scheme for adjusting the height of the wheeled chassis is adopted, because the crawler-type driving mechanism is complex, in the scheme for adjusting the height of the existing crawler-type suspension, the whole height of the chassis is adjusted by synchronously adjusting the suspension systems at the left side and the right side, the whole height of the chassis cannot be adapted to complex roads with different heights at the left side and the right side, and no mechanism or scheme for adjusting the height of the suspension systems independently and efficiently exists at present.
Disclosure of Invention
The invention aims to provide a suspension height self-adaptive special robot suitable for severe environments and an operation method thereof, and the heights of suspension components at two sides of a crawler chassis are independently changed in real time, so that a suspension system and a crawler system can be better attached to the ground, the robot is suitable for complex terrains with left and right height differences, the climbing obstacle crossing performance and the working stability of the chassis are improved, and the problems of poor attaching degree, crawler falling, platform tilting, overturning and the like when the crawler faces various complex grounds are solved.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a hang high self-adaptation special robot suitable for adverse circumstances, includes chassis main part, hangs the mechanism of moving away to avoid possible earthquakes, hangs high setting mechanism, electric drive and control mechanism, hang the mechanism of moving away to avoid possible earthquakes, hang high setting mechanism, electric drive and control mechanism all with chassis main part connection, hang the mechanism of moving away to avoid possible earthquakes and hang high setting mechanism and all be provided with two sets, two sets hang the mechanism of moving away to avoid possible earthquakes and set up respectively in the both sides of chassis main part, every set hangs the mechanism of moving away to avoid possible earthquakes and is connected with electric drive and control mechanism through one set of high setting mechanism that hangs.
Specifically, the chassis main body comprises a frame, a shell and a hanging transition plate, wherein the shell is arranged on the frame, and the hanging transition plate is connected to two sides of the frame.
Specifically, the two sets of suspension shock absorbing mechanisms are respectively arranged on suspension transition plates at two sides of the chassis main body, each set of suspension shock absorbing mechanism comprises a suspension side plate, a driving wheel, other gear train mechanisms, a shock absorbing mechanism and a crawler belt, and the suspension side plate is connected with the suspension height setting mechanism through a bracket; the suspension side plate is provided with a driving wheel and a wheel train mechanism for driving and supporting the crawler belt, and the shock absorbing mechanism is arranged on the suspension side plate.
Specifically, the suspension height adjusting mechanism is arranged between the frame of the chassis main body and the suspension transition plate, and each suspension height adjusting mechanism comprises a suspension height adjusting mechanism and a power self-adaptive transmission mechanism.
Specifically, each set of suspension height adjusting mechanism comprises a rotating shaft, an adjusting seat, a sliding rod, a first connecting rod, a second connecting rod, a third connecting rod, a screw rod, a lifting motor, an adjusting block and a lifting connecting rod, wherein the adjusting seat is arranged on the inner side of the frame, a notch is formed in the vertical direction of one side of the adjusting seat, the sliding rod capable of sliding up and down is arranged in the notch, the lower end of the sliding rod is connected with one end of the lifting connecting rod, the lifting connecting rod is of an L-shaped structure, and the other end of the lifting connecting rod is fixedly connected with a suspension transition plate; the upper end of slide bar is connected the one end of third connecting rod, the upper end of notch is connected with the one end of first connecting rod, the other end of first connecting rod, the one end of second connecting rod, the middle part of third connecting rod is articulated through the pivot, first connecting rod, second connecting rod and third connecting rod are cross connection form, the other end of third connecting rod is provided with the slider, the terminal surface is provided with elevator motor under the slider, the other end of second connecting rod is provided with the adjusting block, the adjusting block is screw-nut, inside threaded structure, the adjusting block is connected with the lead screw cooperation, the slider of third connecting rod tip is passed perpendicularly to the lead screw, the lower extreme and the output shaft of elevator motor of lead screw.
Specifically, the power self-adaptive transmission mechanism comprises a first reversing mechanism, a transmission telescopic mechanism and a second reversing mechanism, wherein the input end of the first reversing mechanism is connected with the motor, the output end of the first reversing mechanism is connected with the input end of the second reversing mechanism through the transmission telescopic mechanism, and the output end of the second reversing mechanism is connected with the driving wheel.
Specifically, electric drive and control mechanism include control mechanism, gesture perception mechanism, motor drive mechanism, motor, battery, barrier perception mechanism, control mechanism, gesture perception mechanism, motor drive mechanism, motor, battery all set up inside the frame, control mechanism connects gesture perception mechanism, motor drive mechanism, barrier perception mechanism and hangs the elevating motor in the altitude setting mechanism, motor drive mechanism connects the motor, motor quantity is two sets, symmetrical arrangement, two sets of motor's output shaft are connected respectively and hang two sets of first reversing mechanisms in the altitude setting mechanism, the battery is connected with each power consumption component inside the robot, barrier perception mechanism is range sensor or laser radar, barrier perception mechanism installs on the casing in frame the place ahead.
A working method of a suspension height self-adaptive special robot suitable for severe environments comprises a road surface movement working method of the special robot through flat road conditions and a road surface movement working method of the special robot through left and right height differences of _ -or _ -shape.
Specifically, the road surface movement operation method of the special robot through the flat road condition comprises the following steps:
(1) The control mechanism controls the lifting motor in the suspension height setting mechanism to keep self-holding force to be free, and at the moment, the suspension shock absorbing mechanisms at two sides of the chassis main body are at the same height level relative to the chassis main body;
(2) The control mechanism controls the electric drive and the motor drive mechanism in the control mechanism to drive the two sets of motors to rotate respectively, power is transmitted to the first reversing mechanism through the output shaft of the motor rotating shaft and continuously reaches the second reversing mechanism through the transmission telescopic mechanism, and the driving wheels in the driven suspension shock absorbing mechanism move;
(3) After the driving wheel rotates, dragging the caterpillar track to rotate, and further driving other wheel train mechanisms to rotate, so that continuous rotation of the caterpillar track is formed, and the chassis main body is driven to move;
(4) The control mechanism is used for completing the linear forward, linear backward, turning or in-situ turning movement of the chassis main body by changing the steering directions of the left motor and the right motor in the movement process.
Specifically, the road surface movement operation method of the special robot through the left-low-right high type or the left-high-right low type of the '_' comprises the following steps:
(1) When the special robot passes through a left-low-right high-type road surface, the left suspension shock absorbing mechanism sags to contact the ground, the right suspension shock absorbing mechanism keeps a relatively high height, the chassis main body deflects leftwards, and the specific operation steps are as follows:
1) When the control mechanism collects that the chassis main body starts to slightly incline leftwards through the gesture sensing mechanism, the control mechanism starts to control the lifting motor at the left side in the hanging height setting mechanism to rotate;
2) When the lifting motor on the left side rotates, the lead screw is driven to rotate, and the slide bar moves downwards in the adjusting seat through the linkage action to drive the lifting connecting rod and the suspension shock absorbing mechanism on the left side connected with the lifting connecting rod to adjust the height downwards relative to the frame;
3) At this time, the left side suspension shock absorbing mechanism and its inner suspension side plate, driving wheel, other gear train mechanism, shock absorbing mechanism and outer crawler belt are increased integrally, thus compensating the chassis main body leaning to the left in reverse;
4) In the suspension height adjusting process, the control mechanism also controls motors at two sides to rotate in real time, and power drives driving wheels in the suspension shock absorbing mechanism to move through the first reversing mechanism, the transmission telescopic mechanism and the second reversing mechanism; the transmission telescopic mechanism ensures the power reversing and transmission extension of the suspension height adjusting mechanism when the suspension height is adjusted so as to ensure the continuous output of power;
5) Further, when the above adjustment process is insufficient to reversely compensate the tendency or speed of the chassis main body tilting to the left, the control mechanism controls the lifting motor on the right side in the suspension height setting mechanism to rotate, and after the processes of the above steps 1) to 4), the heights of the suspension shock absorbing mechanism on the right side and the suspension side plates, the driving wheels, the other gear train mechanisms, the shock absorbing mechanism and the external crawler belt inside the suspension shock absorbing mechanism are integrally reduced, so that the chassis main body tilting to the left is reversely compensated, and after the suspension height compensation is completed, the chassis main body can keep relative horizontal movement on a' _-road surface;
(2) When the special robot passes through the left-high and right-low road surface, the suspension shock absorbing mechanism on the right side sags to contact the ground, the suspension shock absorbing mechanism on the left side keeps a relatively high height, the chassis main body deflects rightwards, and the specific operation steps are opposite to those of the step (1);
(3) When the special robot passes through other road surfaces with left and right height differences, the chassis main body can horizontally deflect due to the road surfaces with left and right height differences, the deflection motion is sensed by the gesture sensing mechanism and uploaded to the control mechanism for analysis and decision control of the suspension height setting mechanisms at the left and right sides, so that the left and right heights of the chassis main body which just begins to deflect are compensated independently, and meanwhile, the suspension shock absorbing mechanisms at the left and right sides can be completed by matching with the obstacle sensing mechanism, and meanwhile, the height compensation is completed.
The invention has the following beneficial effects: according to the invention, through the suspension height adjusting mechanism, independent height adjustment of the left suspension shock absorbing mechanism and the right suspension shock absorbing mechanism relative to the chassis main body is realized, meanwhile, power reversing and continuous output during height adjustment of the suspension shock absorbing mechanisms are ensured, and the power requirement of robot movement is ensured; the gesture sensing mechanism senses the gesture change in the advancing process of the robot and pushes the road condition concave-convex condition back, so that the height of the suspension shock absorbing mechanism is controlled and adjusted in real time, the horizontal stability in the advancing process of the robot is ensured, the obstacle crossing performance is improved, the self-adaptability of the mobile platform is improved, and the robot has an important effect on improving the high-performance and high-stability movement of a special robot on complex severe ground.
Drawings
Fig. 1 is a schematic perspective view of a suspension height self-adaptive special robot according to the present invention.
Fig. 2 is a schematic view of the front view structure of the suspension height self-adaptive special robot.
Fig. 3 is a left-view structural schematic diagram of the suspension height self-adaptive special robot.
Fig. 4 is a schematic diagram of the right-view structure of the suspension height self-adaptive special robot.
Fig. 5 is a schematic view of the rear view structure of the suspension height self-adaptive special robot of the invention.
Fig. 6 is a schematic top view of the suspended highly adaptive special robot of the present invention with the upper housing removed.
Fig. 7 is a schematic perspective view of the suspension height adjustment mechanism of the present invention.
Fig. 8 is a schematic view showing a front view of the suspension height adjusting mechanism of the present invention.
Fig. 9 is a schematic left-view of the suspension height adjustment mechanism of the present invention.
Fig. 10 is a schematic right-view structure of the suspension height adjustment mechanism of the present invention.
Fig. 11 is a schematic perspective view of the power-adaptive transmission mechanism of the present invention.
Fig. 12 is a schematic front view of the power-adaptive transmission mechanism of the present invention.
Fig. 13 is a schematic left-view of the power-adaptive transmission mechanism of the present invention.
Fig. 14 is a right-side view of the power-adaptive transmission mechanism of the present invention.
Fig. 15 is a schematic top view of the power adaptive transmission mechanism 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 and 2, the suspension height self-adaptive special robot suitable for severe environments comprises a chassis main body 1, a suspension shock absorbing mechanism 2, a suspension height setting mechanism 3 and an electric driving and controlling mechanism 4, wherein the suspension shock absorbing mechanism 2, the suspension height setting mechanism 3 and the electric driving and controlling mechanism 4 are all connected with the chassis main body 1, the suspension shock absorbing mechanism 2 and the suspension height setting mechanism 3 are both provided with two sets, the two sets of suspension shock absorbing mechanisms 2 are respectively arranged on two sides of the chassis main body 1, and each set of suspension shock absorbing mechanism 2 is connected with the electric driving and controlling mechanism 4 through one set of suspension height setting mechanism 3.
The chassis main body 1 is a special robot body, and realizes the functions of connecting, supporting and fixing other components, as shown in fig. 6, the chassis main body 1 comprises a frame 11, a shell 12 and a suspension transition plate 13, the shell 12 is of a plate-shaped structure, 6 surfaces are shared, and the shell 12 is arranged on the frame 11 and is used for protecting the internal components of the robot, so that a sealed hollow structure is formed. The frame 11 is square frame structure, and the suspension transition board 13 is all connected to frame 11 both sides. The hanging transition plates 13 are rectangular strip plates, the number of which is two, and are respectively fixed on the left side and the right side of the frame 11. The suspension transition plate 13 is an intermediate medium connecting the chassis main body 1, the suspension assembly 2, and the suspension height setting mechanism 3.
The suspension and shock-absorbing mechanisms 2 can achieve the contact friction and shock-absorbing effect of the robot and the ground, the two sets of suspension and shock-absorbing mechanisms 2 are respectively arranged on suspension transition plates 13 at two sides of the chassis main body 1 and are positioned at two sides of the frame 11, as shown in fig. 5, each set of suspension and shock-absorbing mechanism 2 comprises a suspension side plate 21, a driving wheel 22, other gear train mechanisms 23, a shock-absorbing mechanism 24 and a crawler 25. The hanging side plate 21 is connected with the hanging height setting mechanism 3 through a bracket; the hanging side plate 21 is provided with a driving wheel 22 and a gear train mechanism 23, the driving wheel 22 is arranged at the rear end of the hanging side plate 21 and used for driving the caterpillar 25 to rotate, and other gear train mechanisms 23 are arranged on the hanging side plate 21 and used for dragging the caterpillar 25 or realizing the functions of bearing and the like. The shock absorbing mechanism 24 is disposed on the suspension side plate 21, and the shock absorbing effect on the suspension shock absorbing mechanism 2 and the ground is achieved through an elastic element or a shock absorbing component.
The working mechanism of the suspension shock absorbing mechanism 2 is as follows: when the driving wheel 22 rotates, the caterpillar 25 is dragged to rotate, and then other wheel train mechanisms 23 are driven to rotate, so that continuous rotation of the caterpillar 25 is formed, and the chassis main body 1 is driven to move; at the same time, the shock absorbing mechanism 24 dampens or even eliminates the shock transmitted from the ground to the chassis main body 1 by the shock absorbing and damping action of its own elastic element or shock absorbing member.
The suspension height adjusting mechanism 3 is used for realizing the automatic adjustment of the height of the suspension shock absorbing mechanism 2, is divided into two sets of bilaterally symmetrical and is arranged between two sides of the frame 11 and the suspension transition plate 13. As shown in fig. 3, each set of suspension height adjustment mechanism 3 includes a suspension height adjustment mechanism 31 and a power adaptive transmission mechanism 32.
The suspension height adjusting mechanism 31 is disposed at the left and right sides of the frame 11, for realizing the height adjusting function of the frame 11 relative to the suspension damper mechanism 2, as shown in fig. 4 and fig. 7-10, the suspension height adjusting mechanism 31 includes a rotating shaft 310, an adjusting seat 311, a sliding rod 312, a first connecting rod 313, a second connecting rod 314, a third connecting rod 315, a screw 316, a lifting motor 317, an adjusting block 318, and a lifting connecting rod 319.
The adjusting seat 311 is arranged on the inner side of the frame 11, a notch is arranged on one side of the adjusting seat 311 in the vertical direction, a slide bar 312 capable of sliding up and down is arranged in the notch, the lower end of the slide bar 312 is connected with one end of a lifting connecting rod 319, the lifting connecting rod 319 is of an L-shaped flat plate structure, and the other end of the lifting connecting rod 319 is fixedly connected with the hanging transition plate 13. The upper end of the slide bar 312 is connected with one end of a third connecting rod 315, the upper end of a notch is connected with one end of a first connecting rod 313, the other end of the first connecting rod 313, one end of a second connecting rod 314 and the middle part of the third connecting rod 315 are hinged through a rotating shaft 310, the first connecting rod 313, the second connecting rod 314 and the third connecting rod 315 are in a cross connection shape, the other end of the third connecting rod 315 is provided with a sliding block, the lower end face of the sliding block is provided with a lifting motor 317, the other end of the second connecting rod 314 is provided with an adjusting block 318, the adjusting block 318 is a screw nut, a threaded structure is arranged in the adjusting block 318 is connected with a screw 316 in a matched mode, the screw 316 vertically penetrates through the other end of the third connecting rod 315, and is provided with the sliding block and the adjusting block 318, and the lower end of the screw 316 is connected with an output shaft of the lifting motor 317.
The principle or working method of the suspension height adjusting mechanism 31 for adjusting the height of the suspension damper mechanism 2 is as follows: when the lifting motor 317 rotates, the screw rod 316 is driven to rotate, and due to the matching effect of the screw nut and the screw rod 316 in the adjusting block 318, the adjusting block 318 moves up and down relative to the lifting motor 317, and at this time, the second connecting rod 314 moves up and down, so as to drive the rotating shaft 310 to move up and down obliquely or reversely, drive the first connecting rod 313 and the third connecting rod 315 to move up and down obliquely in the direction close to the screw rod 316, thereby driving the slide rod 312 to move up and down in the adjusting seat 311, and finally realizing the up and down height adjustment of the lifting connecting rod 319 and the suspension shock absorbing mechanism 2 connected with the lifting connecting rod 319 relative to the frame 11.
The power self-adaptive transmission mechanism 32 is used for ensuring that when the suspension height adjusting mechanism 3 is used for adjusting the height of the suspension shock absorbing mechanism 2, a continuous power output transmission function is provided, as shown in fig. 11, the power self-adaptive transmission mechanism 32 comprises a first reversing mechanism 321, a transmission telescopic mechanism 322 and a second reversing mechanism 323, the input end of the first reversing mechanism 321 is connected with a motor 44, the output end of the first reversing mechanism 321 is connected with the input end of the second reversing mechanism 323 through the transmission telescopic mechanism 322, and the output end of the second reversing mechanism 323 is connected with the driving wheel 22.
The first reversing mechanism 321 mainly achieves that power is transferred to the transmission telescopic mechanism 322 from the electric driving and controlling mechanism 4 after reversing, and as shown in fig. 12-15, the first reversing mechanism 321 comprises a first rotating shaft 321a, a first bevel gear 321b, a first support 321c, a second support 321d, a second rotating shaft 321e, a second bevel gear 321f and a third bevel gear 321g. The first rotating shaft 321a is arranged in the middle of the first support 321c, one end of the first rotating shaft 321a is connected with an output shaft of the motor 44, the other end of the first rotating shaft 321a is connected with the first bevel gear 321b, the second bevel gear 321f and the third bevel gear 321g are connected with each other in a meshed mode, the third bevel gear 321g is arranged on the second support 321d, the first support 321c and the second support 321d are of U-shaped structures and are vertically connected, a bearing is arranged between the first support 321c and the second support 321d, the second rotating shaft 321e penetrates through the bearing to enable an angle between the first support 321c and the second support 321d to be adjusted, one end of the second rotating shaft 321e penetrates through the bearing to be connected with the second bevel gear 321f, the third bevel gear 321g is connected with the first sleeve 322a in the transmission telescopic mechanism 322, and an included angle between the axis of the first sleeve 322a and the axis of the first rotating shaft 321a is 90 degrees.
The principle of reversing and power transmission of the first reversing mechanism 321 is: after the power is transferred to the first shaft 321a, the first shaft 321a transfers the power to the second shaft 321e through the gear engagement, and since the second bevel gear 321f connected to the second shaft 321e is also engaged with the third bevel gear 321g, the power is transferred to the third bevel gear 321g and the first sleeve 322a connected thereto, and at this time, the included angle between the axis of the first sleeve 322a and the axis of the first shaft 321a is 90 °.
The transmission telescopic mechanism 322 realizes the transmission of power from the first reversing mechanism 321 to the second reversing mechanism 323, and realizes the change of the power transmission length through the self telescopic mechanism in the power transmission process. As shown in fig. 13, the transmission telescopic mechanism 322 includes a first sleeve 322a, a third rotating shaft 322b, and a second sleeve 322c, where the first sleeve 322a and the second sleeve 322c are both in a rotating shaft structure, one end of the first sleeve 322a is connected with a third umbrella tooth 321g of the first reversing mechanism 321, the other end of the first sleeve 322a is connected with one end of the second sleeve 322c through the third rotating shaft 322b, and the other end of the second sleeve 322c is connected with a fourth umbrella tooth 323a of the second reversing mechanism 323. The first sleeve 322a and the second sleeve 322c are hollow structures, spring structures are respectively arranged at two ends of the third rotating shaft 322b, two ends of the third rotating shaft 322b are respectively inserted into the hollow structures of the first sleeve 322a and the second sleeve 322c, and the third rotating shaft 322b floats between the first sleeve 322a and the second sleeve 322c under the action of elasticity of the spring structures. The cross-sectional shapes of the hollow structures of the first sleeve 322a and the second sleeve 322c and both ends of the third rotating shaft 322b are identical, and are polygonal, preferably square, except for circular.
A gap is formed between the two ends of the third rotating shaft 322b and the hollow structures of the first sleeve 322a and the second sleeve 322c, namely, the section shape of the third rotating shaft 322b is slightly smaller than the section shape of the hollow structures of the first sleeve 322a and the second sleeve 322c, and the effect is that when the first sleeve 322a rotates, the third rotating shaft 322b can be driven to rotate, and then the second sleeve 322c is driven to rotate; and when the distance between the first sleeve 322a and the second sleeve 322c is changed, the third rotating shaft 322b floats between the first sleeve 322a and the second sleeve 322c due to the spring action between the first sleeve 322a and the second sleeve 322c, and force transmission is performed.
In order to ensure that the third rotating shaft 322b is inserted at the same distance between the first sleeve 322a and the second sleeve 322c, the spring structure of the end portion of the third rotating shaft 322b connected to the second sleeve 322c should have a slightly larger spring force than the spring structure of the end portion of the third rotating shaft 322b connected to the first sleeve 322a due to the gravity of the third rotating shaft 322 b.
In order to ensure that the third rotating shaft 322b does not separate from the first sleeve 322a and the second sleeve 322c, the distance between the first sleeve 322a and the second sleeve 322c should not exceed the length of the third rotating shaft 322b when the distance between the first sleeve 322a and the second sleeve 322c is increased, and of course, the compressed distance should also be no less than the length of the third rotating shaft 322b when the distance between the first sleeve 322a and the second sleeve 322c is reduced.
The second reversing mechanism 323 has the same structure and function as the first reversing mechanism 321, and as shown in fig. 12 and 13, the second reversing mechanism 323 includes a fourth bevel gear 323a, a third bracket 323b, a fifth bevel gear 323c, a fourth rotating shaft 323d, a fourth bracket 323e, a sixth bevel gear 323f, and a fifth rotating shaft 323g. The fourth bevel gear 323a is connected with the second sleeve 322c, the fourth bevel gear 323a, the fifth bevel gear 323c and the sixth bevel gear 323f are connected with each other in a meshed mode, the fourth bevel gear 323a is arranged on the third support 323b, the sixth bevel gear 323f is arranged on the fourth support 323e, the third support 323b and the fourth support 323e are vertically arranged in opposite directions, the fifth bevel gear 323c is arranged on a fourth rotating shaft 323d penetrating through the space between the third support 323b and the fourth support 323e, the fifth bevel gear 323c is connected with one end of a fifth rotating shaft 323g, the other end of the fifth rotating shaft 323g is connected with the driving wheel 22, and an included angle between the axle center of the fifth rotating shaft 323g and the axle center of the second sleeve 322c is 90 degrees.
The power-adaptive transmission mechanism 32 achieves the overall reversing mechanism and power transmission function as follows:
since the first shaft 321a is connected to the output shaft of the motor 44, the power of the first shaft 321a needs to be transmitted to the fifth shaft 323g where the driving wheel 22 is located, and since the driving wheel 22 changes relative to the vertical distance between the first shafts 321a along with the effect of the height adjustment of the suspension damper mechanism 2 by the suspension height adjusting mechanism 3, the power adaptive transmission mechanism 32 has two functions:
(1) Power reversing function
When the first rotating shaft 321a and the fifth rotating shaft 323g are not in the same straight line, the first bevel gear 321b, the second bevel gear 321f and the third bevel gear 321g are meshed with each other, and the first bracket 321c and the second bracket 321d are matched to enable the power input from the first rotating shaft 321a to be reversed, and finally the included angle between the axle center of the first rotating shaft 321a and the axle center of the third bevel gear 321g is 90 degrees, so that primary reversing is realized. The power reaches the fourth bevel gear 323a from the third bevel gear 321g through the transmission shaft of the first sleeve 322a, the third rotating shaft 322b and the second sleeve 322c, and realizes the second power reversing through the meshing action of the fourth bevel gear 323a, the fifth bevel gear 323c and the sixth bevel gear 323f in the second reversing mechanism 323, namely: the included angle between the axis of the fourth bevel gear 323a and the axis of the sixth bevel gear 323f is 90 degrees, so that the axis clamping angle between the first rotating shaft 321a and the fifth rotating shaft 323g becomes 0 degrees, and the axes are parallel to each other but do not coincide with each other. The vertical distance between the first rotation shaft 321a and the fifth rotation shaft 323g is the length of the transmission telescopic mechanism 322.
(2) Power transmission extension function
When the suspension damper mechanism 2 is adjusted in height up and down relative to the chassis main body 1, the vertical distance between the first rotating shaft 321a connected to the rotating shaft of the motor 44 and the fifth rotating shaft 323g on the driving wheel 22 is adjusted in height, so that the distance between the first sleeve 322a and the second sleeve 322c is passively prolonged or compressed. Due to the action of the transmission telescopic mechanism 322, the springs at the two ends of the third rotating shaft 322b support the first sleeve 322a and the second sleeve 322c, so that the third rotating shaft 322b is not separated from the first sleeve 322a and the second sleeve 322c all the time, and the power transmission between the first sleeve 322a and the second sleeve 322c is continuous.
The electric driving and controlling mechanism 4 is a robot parameter acquisition, information fusion, power driving and control decision mechanism, and as shown in fig. 3 and 6, the electric driving and controlling mechanism 4 comprises a control mechanism 41, a gesture sensing mechanism 42, a motor driving mechanism 43, a motor 44, a battery 45 and an obstacle sensing mechanism 46. The control mechanism 41, the gesture sensing mechanism 42, the motor driving mechanism 43, the motor 44 and the battery 45 are all arranged inside the frame 11, the control mechanism 41 is connected with the gesture sensing mechanism 42, the motor driving mechanism 43, the obstacle sensing mechanism 46 and the lifting motor 317 in the suspension height setting mechanism 3, and the gesture sensing mechanism 42 can sense the left and right gesture inclination degree of the chassis main body 1 in real time and feed back the parameters to the control mechanism 41. The motor driving mechanism 43 is connected with the motor 44 to realize power driving, the motor 44 is arranged at the rear inside the frame 11, the number of the motors 44 is two, the motors 44 are symmetrically arranged, and the output shafts of the two sets of motors 44 are respectively connected with the first rotating shafts 321a in the two sets of first reversing mechanisms 321 in the suspension height adjusting mechanism 3. The battery 45 is connected to each power consumption element in the robot, and supplies power to the power consumption element in the robot. The obstacle sensing mechanism 46 is a ranging sensor or a laser radar, and the obstacle sensing mechanism 46 is mounted on the housing 1 in front of the frame 11 to detect the height of the obstacle in front and transmit information to the control mechanism 41.
The electrical drive and control mechanism 4 operates on the principle that: the control mechanism 41 controls the motor driving mechanism 43 to drive the left and right sets of motors 44 to rotate respectively, thereby realizing the movement driving of the chassis main body 1. In the motion driving process, the control mechanism 41 senses the left and right inclination angles of the chassis main body 1 by controlling the gesture sensing mechanism 42 to judge the concave-convex road condition of the advancing ground, so that the height adjustment of the suspension height setting mechanism 3 on the left side and the right side relative to the chassis main body 1 is controlled in real time, and the horizontal motion of the chassis main body 1 is ensured. Meanwhile, the control mechanism 41 controls the obstacle sensing mechanism 46 to detect the height of the obstacle in front of the vehicle body, so that the height of the chassis main body 1 relative to the suspension shock absorbing mechanism 2 is adjusted in real time, and the movement stability and obstacle crossing performance are improved.
A working method of a suspension height self-adaptive special robot suitable for severe environments comprises a road surface movement working method of the special robot through flat road conditions and a road surface movement working method of the special robot through left and right height differences of _ -or _ -shape.
1. When the special robot passes through the road surface with flat road conditions, as the suspension shock absorbing mechanisms 2 on the left side and the right side are consistent in ground feedback parameters, the chassis main body 1 is relatively kept horizontal, and the suspension shock absorbing mechanisms 2 on the left side and the right side of the chassis main body 1 are enabled to move at the same height, and the movement operation method comprises the following steps:
(1) The control mechanism 41 controls the lifting motor 317 in the suspension height setting mechanism 3 to keep self-sustaining force to be inactive, and at this time, the suspension shock absorbing mechanisms 2 on both sides of the chassis main body 1 are at the same height level relative to the chassis main body 1;
(2) The control mechanism 41 controls the motor driving mechanism 43 in the electric driving and controlling mechanism 4 to drive the two sets of motors 44 to rotate respectively, power is transmitted to the first rotating shaft 321a in the first reversing mechanism 321 through the output shaft of the motors 44, and continuously passes through the first umbrella tooth 321b, the second umbrella tooth 321f, the third umbrella tooth 321g, the first sleeve 322a, the third rotating shaft 322b, the second sleeve 322c, the fourth umbrella tooth 323a, the fifth umbrella tooth 323c and the sixth umbrella tooth 323f to be transmitted to the fifth rotating shaft 323g, and the power is transmitted to the second reversing mechanism 323 through the transmission telescopic mechanism 322 by the first reversing mechanism 321, so that the driving wheel 22 in the suspension shock absorbing mechanism 2 is driven to move;
(3) After the driving wheel 22 rotates, the caterpillar band 25 is dragged to rotate, and then the other wheel train mechanisms 23 are driven to rotate, so that continuous rotation of the caterpillar band 25 is formed, and the chassis main body 1 is driven to move.
Further, the control mechanism 41 performs the linear forward, linear backward, turning, in-situ turning, or the like of the chassis main body 1 by changing the steering and direction of the left and right sets of motors 44 during the above-described movement.
2. When the suspension height adaptive special robot moves on a road surface with a left-right height difference of "_left low-right high type or" _left high-right low type, the suspension damper mechanism 2 on the left and right sides is subjected to the inconsistency of the ground feedback parameters, so that the chassis main body 1 deviates from the horizontal and tilts, the control mechanism 41 controls the suspension height setting mechanism 3 to act after analyzing the parameters acquired by the gesture sensing mechanism 42, so that the suspension damper mechanism 2 on the left and right sides of the chassis main body 1 changes to the height to move, and the special robot passes through the road surface movement operation method with the left-right low high type or the left-right low type of "_left high type or" _left high-right low type left-right high type comprises the following steps:
(1) When the special robot passes through a left-low-right high-type road surface, the left suspension shock absorbing mechanism 2 sags to contact the ground, the right suspension shock absorbing mechanism 2 keeps a relatively high height, the chassis main body 1 deflects leftwards, and the specific operation steps are as follows:
1) When the control mechanism 41 collects that the chassis main body 1 starts to slightly incline leftwards through the gesture sensing mechanism 42, the control mechanism 41 starts to control the lifting motor 317 on the left side in the suspension height setting mechanism 3 to rotate;
2) When the left lifting motor 317 rotates, the screw rod 316 is driven to rotate, and under the action of linkage, the slide rod 312 moves downwards in the adjusting seat 311, so as to drive the lifting connecting rod 319 and the left suspension shock absorbing mechanism 2 connected with the lifting connecting rod 319 to adjust the height downwards relative to the frame 11;
3) At this time, the left side suspension damper mechanism 2 and its inner suspension side plate 21, driving wheel 22, other train wheel mechanism 23, damper mechanism 24 and outer crawler 25 are integrally increased in height, thereby reversely compensating the chassis main body 1 inclined to the left;
4) In the suspension height adjustment process, the control mechanism 41 also controls the motors 44 on two sides to rotate in real time, and the power drives the driving wheel 22 in the suspension shock absorbing mechanism 2 to move through the first reversing mechanism 321, the transmission telescopic mechanism 322 and the second reversing mechanism 323; wherein the transmission telescopic mechanism 322 ensures the power reversing and the transmission extension of the suspension height adjusting mechanism 3 when the suspension height is adjusted so as to ensure the continuous output of power;
5) Further, when the above adjustment process is insufficient to reversely compensate the tendency or speed of the chassis main body 1 to tilt to the left, the control mechanism 41 controls the elevating motor 317 on the right side in the suspension height setting mechanism 3 to rotate, and after the processes of the above steps 1) to 4), the height of the suspension damper mechanism 2 on the right side and the suspension side plate 21, the driving wheel 22, the other train wheel mechanism 23, the damper mechanism 24 and the external crawler belt 25 inside thereof are integrally reduced, thereby reversely compensating the chassis main body 1 to tilt to the left, and after the suspension height compensation described above is completed, the chassis main body 1 can be kept to move horizontally relative to the "_j" road surface.
In the suspension height adjustment process, the control mechanism 41 controls the obstacle sensing mechanism 46 to detect the height of the obstacle in front of the vehicle body, and when the suspension height adjustment is completed, the chassis main body 1 is relatively horizontal and the current chassis main body 1 still cannot pass through the obstacle, the control mechanism 41 simultaneously controls the suspension height setting mechanisms 3 on the left side and the right side to reduce the height of the suspension shock absorbing mechanisms 2 on the left side and the right side so as to lift the chassis main body 1 to pass through the obstacle. When the suspension damper mechanism 2 on the left and right sides lowers the height to the lowest point and the chassis main body 1 still cannot cross the obstacle after being at the highest point, the control mechanism 41 controls the motor 44 to stop working and gives an alarm signal.
(2) When the special robot passes through the left-high-right low-level road surface, the right suspension shock absorbing mechanism 2 sags to contact the ground, the left suspension shock absorbing mechanism 2 keeps a relatively high height, the chassis main body 1 deflects rightwards, and the specific operation steps are opposite to those of the step (1).
(3) When the special robot passes through other road surfaces with left and right height differences, the process is similar to that of (1) or (2), the mechanism is the same, in the motion process of the chassis main body 1, the chassis main body 1 can horizontally deflect due to the road surfaces with left and right height differences, the deflection motion can be sensed through the gesture sensing mechanism 42 and uploaded to the control mechanism 41 for analysis and decision control of the suspension height adjusting mechanisms 3 at the left and right sides, so that the left and right heights of the chassis main body 1 which just starts deflection are independently compensated, the motion horizontality and stability of the chassis main body 1 are ensured, meanwhile, the suspension shock absorbing mechanisms 2 at the left and right sides can be completed by matching with the obstacle sensing mechanism 46, the obstacle crossing is completed, and the climbing obstacle crossing performance of the chassis is improved.
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 (7)
1. The suspension height self-adaptive special robot is characterized by comprising a chassis main body, suspension shock absorbing mechanisms, suspension height setting mechanisms and electric driving and controlling mechanisms, wherein the suspension shock absorbing mechanisms, the suspension height setting mechanisms and the electric driving and controlling mechanisms are all connected with the chassis main body, the suspension shock absorbing mechanisms and the suspension height setting mechanisms are provided with two sets, the two sets of suspension shock absorbing mechanisms are respectively arranged at two sides of the chassis main body, and each set of suspension shock absorbing mechanisms is connected with the electric driving and controlling mechanisms through one set of suspension height setting mechanism;
the suspension height adjusting mechanisms are arranged between the frame of the chassis main body and the suspension transition plate, and each suspension height adjusting mechanism comprises a suspension height adjusting mechanism and a power self-adaptive transmission mechanism;
each set of suspension height adjusting mechanism comprises a rotating shaft, an adjusting seat, a sliding rod, a first connecting rod, a second connecting rod, a third connecting rod, a lead screw, a lifting motor, an adjusting block and a lifting connecting rod, wherein the adjusting seat is arranged on the inner side of the frame, a notch is formed in the vertical direction of one side of the adjusting seat, the sliding rod capable of sliding up and down is arranged in the notch, the lower end of the sliding rod is connected with one end of the lifting connecting rod, the lifting connecting rod is of an L-shaped structure, and the other end of the lifting connecting rod is fixedly connected with a suspension transition plate; the upper end of the sliding rod is connected with one end of a third connecting rod, the upper end of the notch is connected with one end of a first connecting rod, the other end of the first connecting rod, one end of a second connecting rod and the middle part of the third connecting rod are hinged through rotating shafts, the first connecting rod, the second connecting rod and the third connecting rod are in a cross connection shape, the other end of the third connecting rod is provided with a sliding block, the lower end face of the sliding block is provided with a lifting motor, the other end of the second connecting rod is provided with an adjusting block, the adjusting block is a screw nut, the inside of the adjusting block is provided with a threaded structure, the adjusting block is connected with a screw in a matched mode, the screw vertically penetrates through the sliding block at the end part of the third connecting rod, and the lower end of the screw is connected with an output shaft of the lifting motor;
The power self-adaptive transmission mechanism comprises a first reversing mechanism, a transmission telescopic mechanism and a second reversing mechanism, wherein the input end of the first reversing mechanism is connected with the motor, the output end of the first reversing mechanism is connected with the input end of the second reversing mechanism through the transmission telescopic mechanism, and the output end of the second reversing mechanism is connected with the driving wheel;
the first reversing mechanism comprises a first rotating shaft, a first bevel gear, a first support, a second rotating shaft, a second bevel gear and a third bevel gear, wherein the first rotating shaft is arranged in the middle of the first support, one end of the first rotating shaft is connected with an output shaft of a motor in the electric driving and controlling mechanism, the other end of the first rotating shaft is connected with the first bevel gear, the second bevel gear and the third bevel gear are in meshed connection with each other, the third bevel gear is arranged on the second support, the first support and the second support are of U-shaped structures and are vertically connected, a bearing is arranged between the first support and the second support, the second rotating shaft penetrates through the bearing to enable the angle between the first support and the second support to be adjusted, one end of the second rotating shaft penetrates through the bearing to be connected with the second bevel gear, the third bevel gear is connected with a first sleeve in the transmission telescopic mechanism, and the included angle between the axis of the first sleeve and the axis of the first rotating shaft is 90 degrees;
The transmission telescopic mechanism comprises a first sleeve, a third rotating shaft and a second sleeve, wherein the first sleeve and the second sleeve are of rotating shaft structures, one end of the first sleeve is connected with a third bevel gear of the first reversing mechanism, the other end of the first sleeve is connected with one end of the second sleeve through the third rotating shaft, the other end of the second sleeve is connected with a fourth bevel gear of the second reversing mechanism, the first sleeve and the second sleeve are of hollow structures, spring structures are respectively arranged at two ends of the third rotating shaft, two ends of the third rotating shaft are respectively inserted into the hollow structures of the first sleeve and the second sleeve, and the third rotating shaft is suspended between the first sleeve and the second sleeve under the action of the elasticity of the spring structures;
the second reversing mechanism comprises a fourth bevel gear, a third support, a fifth bevel gear, a fourth rotating shaft, a fourth support, a sixth bevel gear and a fifth rotating shaft, wherein the fourth bevel gear is connected with the second sleeve, the fourth bevel gear, the fifth bevel gear and the sixth bevel gear are connected in a meshed mode, the fourth bevel gear is arranged on the third support, the sixth bevel gear is arranged on the fourth support, the third support and the fourth support are vertically arranged in opposite directions, the fifth bevel gear is arranged on the fourth rotating shaft penetrating through the space between the third support and the fourth support, the fifth bevel gear is connected with one end of the fifth rotating shaft, the other end of the fifth rotating shaft is connected with a driving wheel of the suspension shock absorbing mechanism, and the included angle between the axle center of the fifth rotating shaft and the axle center of the second sleeve is 90 degrees.
2. The suspension height self-adaptive special robot suitable for severe environments according to claim 1, wherein the chassis main body comprises a frame, a shell and a suspension transition plate, the shell is arranged on the frame, and the suspension transition plate is connected to two sides of the frame.
3. The suspension height self-adaptive special robot suitable for severe environments according to claim 1 or 2, wherein the two suspension shock absorbing mechanisms are respectively arranged on suspension transition plates at two sides of the chassis main body, each suspension shock absorbing mechanism comprises a suspension side plate, a driving wheel, a gear train mechanism, a shock absorbing mechanism and a crawler belt, and the suspension side plate is connected with the suspension height setting mechanism through a bracket; the suspension side plate is provided with a driving wheel and a wheel train mechanism for driving and supporting the crawler belt, and the shock absorbing mechanism is arranged on the suspension side plate.
4. The suspension height self-adaptive special robot suitable for severe environments according to claim 1 or 2, wherein the electric driving and controlling mechanism comprises a control mechanism, a gesture sensing mechanism, a motor driving mechanism, a motor, a battery and an obstacle sensing mechanism, wherein the control mechanism, the gesture sensing mechanism, the motor driving mechanism, the motor and the battery are all arranged inside a frame, the control mechanism is connected with the gesture sensing mechanism, the motor driving mechanism, the obstacle sensing mechanism and lifting motors in the suspension height setting mechanism, the motor driving mechanism is connected with the motors, the number of the motors is two, the motors are symmetrically arranged, output shafts of the two sets of motors are respectively connected with two sets of first reversing mechanisms in the suspension height setting mechanism, the battery is connected with power consumption elements inside the robot, the obstacle sensing mechanism is a ranging sensor or a laser radar, and the obstacle sensing mechanism is arranged on a shell in front of the frame.
5. The method for operating the suspension height self-adaptive special robot suitable for the severe environment according to claim 4, wherein the method comprises a road surface movement operation method of the special robot through a flat road condition and a road surface movement operation method of the special robot through a left-low-right high type or a left-high-right low type left-right height difference.
6. The method for operating a suspended highly adaptive special robot for severe environments according to claim 5, wherein the method for operating the special robot by moving on a road surface under a flat road condition comprises the steps of:
(1) The control mechanism controls the lifting motor in the suspension height setting mechanism to keep self-holding force to be free, and at the moment, the suspension shock absorbing mechanisms at two sides of the chassis main body are at the same height level relative to the chassis main body;
(2) The control mechanism controls the electric drive and the motor drive mechanism in the control mechanism to drive the two sets of motors to rotate respectively, power is transmitted to the first reversing mechanism through the output shaft of the motor rotating shaft and continuously reaches the second reversing mechanism through the transmission telescopic mechanism, and the driving wheels in the driven suspension shock absorbing mechanism move;
(3) After the driving wheel rotates, dragging the caterpillar track to rotate, and further driving other wheel train mechanisms to rotate, so that continuous rotation of the caterpillar track is formed, and the chassis main body is driven to move;
(4) The control mechanism is used for completing the linear forward, linear backward, turning or in-situ turning movement of the chassis main body by changing the steering directions of the left motor and the right motor in the movement process.
7. The method for operating a suspended height adaptive special robot for severe environments according to claim 5, wherein the special robot is subjected to a road surface movement operation method of a left-low-right high type or a left-high-right low type left-right height difference, comprising the steps of:
(1) When the special robot passes through a left low-right high-type road surface, the left suspension shock absorbing mechanism sags to contact the ground, the right suspension shock absorbing mechanism keeps a relatively high height, the chassis main body deflects leftwards, and the specific operation steps are as follows:
1) When the control mechanism collects that the chassis main body starts to slightly incline leftwards through the gesture sensing mechanism, the control mechanism starts to control the lifting motor at the left side in the hanging height setting mechanism to rotate;
2) When the lifting motor on the left side rotates, the lead screw is driven to rotate, and the slide bar moves downwards in the adjusting seat through the linkage action to drive the lifting connecting rod and the suspension shock absorbing mechanism on the left side connected with the lifting connecting rod to adjust the height downwards relative to the frame;
3) At this time, the left side suspension shock absorbing mechanism and its inner suspension side plate, driving wheel, other gear train mechanism, shock absorbing mechanism and outer crawler belt are increased integrally, thus compensating the chassis main body leaning to the left in reverse;
4) In the suspension height adjusting process, the control mechanism also controls motors at two sides to rotate in real time, and power drives driving wheels in the suspension shock absorbing mechanism to move through the first reversing mechanism, the transmission telescopic mechanism and the second reversing mechanism; the transmission telescopic mechanism ensures the power reversing and transmission extension of the suspension height adjusting mechanism when the suspension height is adjusted so as to ensure the continuous output of power;
5) When the adjustment process is insufficient to reversely compensate the tendency or the speed of the chassis main body tilting leftwards, the control mechanism controls the lifting motor on the right side in the suspension height setting mechanism to rotate, and after the processes of the steps 1) to 4), the heights of the suspension shock absorbing mechanism on the right side and the suspension side plates, the driving wheels, the other gear train mechanisms, the shock absorbing mechanism and the external crawler belt in the suspension shock absorbing mechanism are integrally reduced, so that the chassis main body tilting leftwards is reversely compensated, and after the suspension height compensation is completed, the chassis main body can keep relative horizontal movement on a left-low right high road surface;
(2) When the special robot passes through the left high-right low-type road surface, the suspension shock absorbing mechanism on the right side sags to contact the ground, the suspension shock absorbing mechanism on the left side keeps a relatively high height, the chassis main body deflects rightwards, and the specific operation steps are opposite to those of the step (1);
(3) When the special robot passes through other road surfaces with left and right height differences, the chassis main body can horizontally deflect due to the road surfaces with left and right height differences, the deflection is sensed by the gesture sensing mechanism and uploaded to the control mechanism for analysis and decision control of the suspension height setting mechanisms at the left and right sides, so that the left and right heights of the chassis main body which just begins to deflect are independently compensated, and meanwhile, the suspension shock absorbing mechanisms at the left and right sides can be completed by matching with the obstacle sensing mechanism, and the obstacle crossing is completed.
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| CN110803228B (en) * | 2019-11-19 | 2022-02-18 | 上海建工四建集团有限公司 | Lifting type walking device |
| CN110962521B (en) * | 2019-12-20 | 2023-07-21 | 福建农林大学 | Digital automobile vibration reduction system |
| CN111497548B (en) * | 2020-04-27 | 2023-02-03 | 安徽大学 | Active vibration reduction type fire-fighting robot base device and control method |
| CN113940162A (en) * | 2021-10-27 | 2022-01-18 | 江西省农业科学院农业工程研究所 | Riding type tea garden comprehensive management device |
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| CN210502931U (en) * | 2019-08-28 | 2020-05-12 | 山东国兴智能科技股份有限公司 | Suspension height self-adaptive special robot suitable for severe environment |
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