CN110641574A - Robot chassis, robot and method for preventing robot from toppling during climbing - Google Patents
Robot chassis, robot and method for preventing robot from toppling during climbing Download PDFInfo
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- CN110641574A CN110641574A CN201910949853.2A CN201910949853A CN110641574A CN 110641574 A CN110641574 A CN 110641574A CN 201910949853 A CN201910949853 A CN 201910949853A CN 110641574 A CN110641574 A CN 110641574A
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- 230000009194 climbing Effects 0.000 title claims abstract description 28
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- 230000005484 gravity Effects 0.000 claims description 46
- 230000000712 assembly Effects 0.000 claims description 36
- 238000000429 assembly Methods 0.000 claims description 36
- 238000009434 installation Methods 0.000 claims description 16
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- 230000003068 static effect Effects 0.000 description 9
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- 238000005096 rolling process Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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Abstract
The invention relates to a robot chassis, a robot and a method for preventing the robot from toppling when climbing a slope. A robot chassis comprising: a base plate; the driven wheel assembly is used for assisting the robot chassis to move; a battery assembly for providing electrical energy; and the driving wheel assembly is used for driving the robot chassis to move, the driving wheel assembly comprises a movable plate, a driving part, an elastic part and a driving wheel, the driving part is connected with the driving wheel to drive the driving wheel to rotate, the movable plate comprises a first end and a second end, the first end is rotatably connected with the bottom plate, one end of the elastic part is connected with the second end of the movable plate, the other end of the elastic part is connected with the bottom plate, and the driving part is arranged on the. The robot comprises the robot chassis. The method for preventing the robot from toppling over when climbing a slope is characterized in that when the robot climbs the slope and the inclination angle of the main body of the robot reaches a preset safe inclination angle, the driving wheel of the driving wheel assembly slips on the ground.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot chassis, a robot and a method for preventing the robot from toppling over when climbing a slope.
Background
With the development of the robot industry, the service robot gradually walks into our life, and the service robot comprises a guest greeting robot in a bank or a market, a security robot and the like, and can navigate and walk automatically.
The robot may encounter various ground configurations, such as uneven ground or gradient, during walking. How to guarantee that the robot can adapt to multiple ground form, improve the stability of robot motion, prevent that the robot from accidentally toppling over, the technical problem that needs to solve in the field urgently.
Disclosure of Invention
In view of the above, it is necessary to provide a robot chassis, a robot, and a method for preventing the robot from falling down when climbing a slope.
A robot chassis comprising:
a base plate;
a battery assembly for providing electrical energy;
the driving wheel assembly is used for driving the robot chassis to move, the driving wheel assembly comprises a movable plate, a driving part, an elastic part and a driving wheel, the driving part is electrically connected with the battery assembly, the driving part is connected with the driving wheel so as to drive the driving wheel to rotate, the movable plate comprises a first end and a second end, the first end is rotatably connected with the bottom plate, one end of the elastic part is connected with the second end of the movable plate, the other end of the elastic part is connected with the bottom plate, and the driving part is arranged on the movable plate; and
and the driven wheel assembly is used for assisting the robot chassis to move.
In one embodiment, the driving wheel assemblies are arranged at least in two groups at intervals.
In one embodiment, the driving wheel assemblies are symmetrically arranged on the left side and the right side of the central position of the chassis respectively.
In one embodiment, the driven wheel assemblies are provided in at least two sets, with one set of the driven wheel assemblies being disposed on one side between two sets of the drive wheel assemblies and the other set of the driven wheel assemblies being disposed on the other side between two sets of the drive wheel assemblies.
In one embodiment, the driven wheel assembly includes an eccentric universal wheel.
In one embodiment, four driven wheel assemblies are provided and are evenly distributed on the edge of the chassis.
A robot comprising a robot chassis according to any of the preceding claims.
A method for preventing a robot from toppling over when climbing a slope, wherein the robot comprises a chassis, and a driven wheel and a driving wheel which are connected with the chassis, and at least one group of driven wheels is arranged behind the driving wheel along the advancing direction of the robot, the method comprises the following steps:
determining position coordinates of a center of gravity of the robot and a gravity of the robot;
determining the state of the robot with the gravity center position of the robot being located right above the driven wheel as a critical state of the robot, wherein in the critical state, the plane where the driven wheel and the driving wheel are located is P;
determining a component F1 of the gravity of the robot in the plane P direction under the critical state of the robot, and determining the value of the supporting force provided by the driving wheel under the critical state with the value of the component F1;
elastically connecting the driving wheel to the chassis through an elastic part, and determining the minimum installation height of the elastic part according to the value of the supporting force provided by the driving wheel in the critical state;
and adjusting the installation height of the elastic member so that the actual installation height of the elastic member is greater than the minimum installation height.
In one embodiment, in the determining of the position coordinates of the center of gravity of the robot and the gravity of the robot, the position coordinates of the center of gravity of the robot and the gravity of the robot are determined by 3D software.
In one embodiment, the robot includes a movable plate rotatably connected to the base plate, the driving wheel is disposed on the movable plate, a guide post is rotatably connected to the base plate, the elastic member is sleeved on the guide post, a locking member is threadedly connected to an upper end of the guide post, an upper end of the elastic member is supported on the locking member, and a lower end of the elastic member is supported on the movable plate.
Has the advantages that: the fly leaf one end of robot in this application is rotated and is connected on the chassis, and the chassis passes through elastic component elastic support fly leaf to make the action wheel can follow the unsmooth and the undulation on ground, can adapt to the unsmooth undulation on ground automatically, and then keep the straight line to travel. The method for preventing the robot from toppling over when climbing the slope enables the driving wheel of the driving wheel assembly to skid with the ground when the slope is larger than the preset safe inclination angle, and ensures that the gravity center of the robot falls in the chassis, thereby preventing the robot from toppling over.
Drawings
FIG. 1 is a schematic structural diagram of a robot chassis in one embodiment of the present application;
FIG. 2 is an exploded view of the robot chassis shown in FIG. 1;
FIG. 3 is a schematic diagram of a drive wheel assembly included in the robot chassis of FIG. 1 or FIG. 2;
FIG. 4 is a schematic view of a portion of a robot chassis in one embodiment of the present application;
FIG. 5 is a state diagram of a robot during climbing a hill in one embodiment of the present application;
fig. 6 is a schematic diagram of the robot in three states when climbing a slope.
Reference numerals: 110. a base plate; 120. a drive wheel assembly; 121. a movable plate; 121a, a first end; 121b, a second end; 122. a drive member; 123. an elastic member; 124. a driving wheel; 125. a fixed support; 126. hinging a shaft; 127. an auxiliary plate; 128. a guide post; 128a, an extension plate; 129. a locking member; 130. a driven wheel assembly; 131. an eccentric universal wheel; 140. a battery assembly; 150. a radar assembly.
Detailed Description
To facilitate an understanding of the invention, the invention is described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Fig. 1 is a schematic structural diagram of a robot chassis in one embodiment, and fig. 2 is an exploded view of the robot chassis shown in fig. 1.
As shown in fig. 1 and 2, the robot chassis includes a base plate 110, a drive wheel assembly 120, a driven wheel assembly 130, a battery assembly 140, and a radar assembly 150. Wherein, the base plate 110 is used as a carrier, and the driving wheel assembly 120, the driven wheel assembly 130, the battery assembly 140 and the radar assembly 150 are all arranged on the base plate 110. The battery assembly 140 is electrically connected to each component requiring electric energy to supply electric energy to each component. The driving wheel assembly 120 is used for driving the robot chassis to move. The driven wheel assembly 130 is used to assist the robot chassis movement. The radar assembly 150 is used for navigation.
Fig. 3 is a schematic structural view of the driving wheel assembly 120 shown in fig. 1 or fig. 2, wherein the driving wheel assembly 120 is mounted on the base plate 110, and forms a floating driving device together with the base plate 110. The driving wheel assembly 120 includes a movable plate 121, a driving member 122, an elastic member 123 and a driving wheel 124.
As shown in fig. 3, the movable plate 121 includes a first end 121a and a second end 121b, and in the viewing angle shown in fig. 3, the first end 121a is a left end of the movable plate 121, the second end 121b is a right end of the movable plate 121, the first end 121a is rotatably connected to the base plate 110, and thus the second end 121b can rotate relative to the base plate 110 about the first end 121 a. The elastic member 123 has one end connected to the second end 121b and the other end connected to the base plate 110. The driving member 122 is disposed on the movable plate 121, and the driving wheel 124 is disposed on an output shaft of the driving member 122.
When the driving wheel 124 walks on the ground, the driving wheel 124 abuts against the ground to form friction with the ground, the ground provides a supporting force for the driving wheel 124, if the supporting force is increased or decreased, the maximum static friction force is changed, if the supporting force is suddenly decreased, one of the driving wheels 124 slips, the friction force on the ground in the two driving wheels 124 of the robot is different, and further, the motion track of the original robot walking in a straight line is deviated.
In the above embodiment, by providing the floating driving device, if the ground is uneven, for example, when the driving wheel 124 moves to a concave ground, the instant supporting force of the ground to the driving wheel 124 is reduced, so that the elastic member 123 elastically extends, because one end of the elastic member 123 is connected to the second end 121b of the movable plate 121, and the other end of the elastic member 123 is connected to the bottom plate 110, the movable plate 121 rotates around the first end 121a of the movable plate 121 relative to the bottom plate 110, the driving member 122 on the movable plate 121 and the driving wheel 124 connected to the driving member 122 move together with the movable plate 121, and the driving wheel 124 moves towards the concave ground, so that the driving wheel 124 is always.
For another example, when the driving wheel 124 moves to the upwardly convex ground, the instant supporting force of the ground to the driving wheel 124 is increased, so that the elastic element 123 is elastically compressed, because one end of the elastic element 123 is connected to the second end 121b of the movable plate 121, and the other end is connected to the bottom plate 110, the movable plate 121 rotates around the first end 121a of the movable plate 121 relative to the bottom plate 110, the driving element 122 on the movable plate 121 and the driving wheel 124 connected to the driving element 122 move together with the movable plate 121, and the driving wheel 124 undulates along with the upwardly convex ground, so that the driving wheel 124 is always attached to the ground.
That is, the elastic member 123 elastically supports the driving wheel 124 and the base plate 110 to undulate following the unevenness of the ground while the driving wheel 124 supports the ground, thereby maintaining the frictional force of the ground against the driving wheel 124 stable and preventing the occurrence of a slip.
For example, as shown in FIG. 1, the drive wheel assemblies 120 are provided in at least two sets, and the two sets of drive wheel assemblies 120 are spaced apart. When the rotating speeds of the driving wheels 124 in the two driving wheel assemblies 120 are consistent, the robot can run straight, and if the rotating speeds of the driving wheels 124 in the two driving wheel assemblies 120 are inconsistent, i.e., differential motion occurs, the robot can turn. After the driving wheel 124 on one side slips, the robot still cannot keep running straight. In the above embodiment, the floating driving device can prevent the driving wheel 124 on one side from slipping, so as to ensure that the robot travels straight.
In one embodiment, as shown in fig. 1, in order to ensure the stable operation of the robot, the driving wheel assemblies 120 are symmetrically arranged on the left and right sides of the central position of the chassis.
In one embodiment, as shown in fig. 3, the driving wheel assembly 120 may further include a fixed support 125 fixed on the base plate 110 as shown in fig. 1 by bolts, and the movable plate 121 is rotatably connected to the fixed support 125. Wherein, the fixed supporting member 125 may be T-shaped, the T-shaped fixed supporting member 125 is installed on the bottom plate 110 in an inverted manner, a hinge shaft 126 is provided at a portion of the T-shaped fixed supporting member 125 protruding upward from the middle thereof, and the movable plate 121 is rotatably connected to the fixed supporting member 125 through the hinge shaft 126.
In one embodiment, as shown in fig. 3, the elastic member 123 in the driving assembly may be a compression spring or a tension spring. The compression spring is a spiral elastic member which bears pressure to provide pushing force, and the tension spring is a spiral elastic member which bears tension to provide tension.
When the elastic member 123 is a tension spring, one end of the tension spring may be fixed to the bottom plate 110, and the other end of the tension spring may be fixed to the movable plate 121, so that the tension spring provides a pulling force to the movable plate 121 to move toward the bottom plate 110, thereby pressing the driving wheel 124 downward toward the ground.
In one embodiment, as shown in fig. 1 or 3, when the elastic member 123 is a compressed spring, since the compressed spring provides a thrust force, in order to provide the compressed spring with a thrust force for pressing the driving wheel 124 downward toward the ground, an auxiliary plate 127 may be fixedly disposed at the second end 121b of the movable plate 121, a through hole may be disposed on the auxiliary plate 127, a guide post 128 may be disposed on the bottom plate 110, a locking member 129 may be disposed at an upper end of the guide post 128, a lower end of the guide post 128 is connected to the bottom plate 110, and the guide post 128 passes through the through hole, the auxiliary plate 127 is disposed between the locking member 129 and the bottom plate 110, the elastic member 123 is disposed on the guide post 128, a lower end of the elastic member 123 abuts against the auxiliary plate 127. Because the lower end of the guiding column 128 is connected with the bottom plate 110, the upper end of the guiding column is connected with the locking member 129, and the upper end of the elastic member 123 abuts against the locking member 129, the lower end of the elastic member 123 can provide a downward pushing force, and the lower end of the elastic member 123 abuts against the auxiliary plate 127, so that under the pushing force of the elastic member 123, the auxiliary plate 127 has a downward movement tendency, and further, the movable plate 121 connected with the auxiliary plate 127 also has a downward movement tendency, and finally, the driving wheel 124 connected with the movable plate 121 can abut against the ground downwards, and when the ground is concave, the elastic member 123 can drive the driving wheel 124 to move downwards to adapt to the concave ground. The guide post 128 guides the elastic member 123, so that the elastic member 123 is elastically deformed along the extending direction of the guide post 128.
In one embodiment, the locking member 129 is threadedly coupled to the guide post 128, for example, the locking member 129 may be a nut, the guide post 128 may be provided with a threaded section, and the locking member 129 may be moved up or down on the guide post 128 by the threaded engagement of the locking member 129 with the guide post 128, thereby compressing the elastic member 123 and providing different elastic forces to the elastic member 123. For example, when the locking member 129 moves downward relative to the guide post 128, the elastic member 123 is further compressed, and the lower end of the elastic member 123 can provide a larger elastic force, so that the undulation effect of the driving wheel 124 with the ground is better.
In one embodiment, the lower ends of the guide posts 128 are pivotally connected to the base plate 110. Since the movable plate 121 can rotate relative to the base plate 110 about the hinge shaft 126, the motion track of the second end 121b of the movable plate 121 is arc-shaped, and is rotatably connected to the base plate 110 through the lower end of the guide post 128, so that the guide post 128 can adaptively rotate relative to the base plate 110, and the motion flexibility is improved. Preferably, the bottom plate 110 is rotatably connected below the guide post 128 through a spherical structure, so that the guide post 128 can freely rotate in the conical space, and the flexibility of movement is improved. In some embodiments, the guiding column 128 may also be fixedly connected to the bottom plate 110, and at this time, the diameter of the through hole needs to be made larger, so that a gap is formed between the outer periphery of the guiding column 128 and the inner periphery of the through hole, so that the guiding column 128 can move in the gap, and the rotation of the movable plate 121 relative to the bottom plate 110 is prevented from being influenced by the cooperation between the guiding column 128 and the through hole.
In one embodiment, as shown in fig. 4, when the elastic member 123 is a compressed spring, since the compressed spring provides a thrust force, in order to provide the compressed spring with a thrust force for pressing the driving wheel 124 downward toward the ground, an extending plate 128a extending upward may be disposed on the bottom plate 110, the extending plate 128a may be outside the elastic member 123, an upper end of the elastic member 123 is fixed to the extending plate 128a, and a lower end of the elastic member 123 is fixed to the movable plate 121, so that the lower end of the compressed spring pushes the movable plate 121 to move toward the ground.
In one embodiment, at least two sets of driven wheel assemblies 130 are provided, wherein one set of driven wheel assemblies 130 is disposed on one side between two sets of drive wheel assemblies 120 and the other set of driven wheel assemblies 130 is disposed on the other side between two sets of drive wheel assemblies 120. As shown in fig. 1 and 2, the driven wheel assemblies 130 are provided in four groups, and the driving wheel assemblies 120 are provided in two groups, wherein two groups of driven wheel assemblies 130 are provided on one side between two driving wheel assemblies 120, and the other two groups of driven wheel assemblies 130 are provided on the other side between two driving wheel assemblies 120. The driven wheel assembly 130 does not provide power and the driven wheel assembly 130 moves as the drive wheel 124 assembly drives the robot chassis. To improve the stability of the robot, driven wheel assemblies 130 are distributed on the chassis near the edges.
To increase the flexibility of the robot chassis, the driven wheel assembly 130 includes an eccentric universal wheel 131, as shown in fig. 2.
In one embodiment, the battery assembly 140 is disposed at the middle position of the chassis, and the center of gravity of the robot can be lowered due to the generally heavy weight of the battery assembly 140, so that the robot is not prone to toppling.
In one embodiment, an ultrasonic sensor or an infrared sensor can be further arranged on the chassis, and the ultrasonic sensor or the infrared sensor can sense the obstacle to prevent the robot from colliding with the obstacle.
In the above embodiments, the robot is mainly aimed at traveling on a substantially flat ground. If the robot has two driving wheel assemblies 120, the robot will not keep running straight when the friction between the two driving wheel assemblies 120 and the ground is inconsistent due to the concave-convex fluctuation of the ground.
In some embodiments, when the robot climbs a slope, in order to prevent the robot from toppling, it is necessary to ensure that the center of gravity of the robot always falls within the area of the chassis.
In one embodiment, there is provided a method of preventing tipping of a robot while climbing a slope, the robot comprising a robot chassis according to any one of the embodiments above.
The following method is applied to the embodiment in which the elastic member is a compression spring in the above embodiment.
Specifically, when the robot climbs a slope and the inclination angle of the main body of the robot reaches the preset safe inclination angle, the driving wheel 124 of the driving assembly slips on the ground. It should be appreciated that when the robot has a plurality of drive wheel assemblies 120, it is ensured that the drive wheels 124 of all of the drive wheel assemblies 120 slip with the ground. Because the driving wheel 124 slips, the robot chassis cannot move forward continuously, or the speed of the robot chassis for moving forward is reduced, so that the gravity center of the robot is ensured to fall into the chassis, and the robot is prevented from toppling.
As shown in fig. 6, fig. 6 is a schematic diagram of a state of the robot when climbing a slope, where a is the slope β 0, b is the slope β 1, c is the slope β 2, and β 0< β 1< β 2. When the robot climbs a slope, the fulcrum of the rear driven wheel is d, the fulcrum of the driving wheel is e, and the fulcrum of the front driven wheel is f. When the gravity center of the robot falls between d and f, the robot cannot topple over when climbing a slope. For example, as the climbing angle of the robot increases, the center of gravity of the robot can approach from e to d and eventually fall to the left of d (i.e., the case shown by robot c), which may cause the robot to tilt to the left. The robot b is shown in a situation where the center of gravity of the robot falls above d, and in a critical situation, if the robot climbs upward at this time, the robot will topple. It is therefore necessary to ensure that the robot does not climb up between a and b. In the embodiment of the application, when the robot is at a certain position between the a and the b, the driving wheel and the slope surface slip, so that the robot cannot continue to advance, and the robot is prevented from toppling. The following analysis is how to realize that the driving wheels of the robot slip on the slope surface at a certain position between a and b.
The situation shown by robot b in fig. 6 is a theoretical critical situation, which would cause the robot to tip backwards if it were between b and c, since the centre of gravity is behind the fulcrum of the driven wheel. In order to ensure the walking safety of the robot, a safety threshold needs to be designed between the robots a and b, so that the safety threshold cannot be exceeded when the robot climbs a slope, that is, the postures presented by the b and the c cannot occur in the practical application environment.
A method for preventing a robot from toppling over when climbing a slope, wherein the robot comprises a chassis, and a driven wheel and a driving wheel which are connected with the chassis, and at least one group of driven wheels is arranged behind the driving wheel along the advancing direction of the robot, the method comprises the following steps:
and S100, determining the position coordinates of the gravity center of the robot and the gravity of the robot. The gravity of the robot can be calculated by means of weighing. The coordinate position of the center of gravity of the robot can be obtained through simulation calculation, and since the coordinate of the center of gravity of the robot and the gravity of the robot are already determined when the robot is manufactured, the density of materials of each part and the distribution of each part in space can be set through 3D software, and the position coordinate of the center of gravity of the robot can be obtained through 3D software simulation calculation.
S200, as shown in fig. 5, if the state shown in fig. 5 is the critical state shown in b in fig. 6, the state where the center of gravity of the robot is located directly above the driven wheel is determined as the critical state of the robot, and in the critical state, a plane where the driven wheel and the driving wheel are located is P.
S300, determining a component F1 of the gravity of the robot in the direction of the plane P under the critical state of the robot, and determining the value of the driving force (supporting force) provided by the driving wheel under the critical state by the component F1, wherein the component F1 is downward along the inclined plane P.
The driven wheel does not provide the power for the robot to move forward, and only the driving wheel provides the power for the robot to move forward, and the power is actually provided by the static friction force between the driving wheel and the ground; the driving wheel is elastically supported on the ground through the elastic piece, and when the robot climbs a slope, the driving wheel is elastically supported on the slope. Assuming that the rolling friction force between the driving wheel and the ground is F2, and the driving wheel 124 in the driving wheel assembly 120 rolls into static friction, which can be calculated according to the static friction when climbing a slope, so the component force F1 of the gravity of the robot in the plane P direction is equal to the rolling friction force between the driving wheel and the ground is F2, i.e., F1 is equal to F2.
Further, F2 ═ μ FN + μ FNFrom，(FNFromIs the supporting force of the driven wheel and the ground). From the above analysis, it was found that the driven wheels had no driving force and therefore had friction (μ FN) with the groundFrom) Neglected, then the above equation becomes F2 ═ μ FN. Since the static friction coefficient in static friction is normally within 1, the maximum value is taken for safety, and μ is taken as 1, so that F2 ═ FN is obtained.
Finally, F1 is obtained as FN, i.e. the value of the force component F1 in step S300 determines the value FN of the supporting force provided by the driving wheel in the critical state.
S400, elastically connecting the driving wheel to the chassis through an elastic part, and determining the minimum installation height of the elastic part according to the value of the supporting force provided by the driving wheel in the critical state. In fact, when the robot walks, since the driving wheel and the driven wheel are both in contact with the ground, the distance between the lower end of the elastic member and the ground is constant, and as shown in fig. 3, the height of the locking member 129 relative to the guide post 128 is the installation height of the elastic member.
S500, adjusting the installation height of the elastic piece to enable the actual installation height of the elastic piece to be larger than the minimum installation height. As shown in fig. 3, the locking member 129 is rotated to move the locking member 129 upwardly relative to the guide post 128 so that the actual mounting height of the resilient member is greater than the minimum mounting height described above.
The most critical state corresponding to the state shown in fig. 6, in which the calculated position of the center of gravity of the robot is located directly above the rear driven wheel below the center of gravity of the robot, and the slope corresponding to the state is theoretically the maximum slope angle Amax when the robot does not fall, is simulated, and Amax is β 1. In the state shown in b of fig. 6, in this critical state, the theoretical Amax value can be calculated from the coordinates of the position of the center of gravity of the robot and the distance between the driving wheels and the driven wheels of the robot. In this application, the safe climbing angle of setting for the robot is less than Amax, and when the climbing angle reaches safe climbing angle, action wheel and domatic skid. The safe climbing angle is adjusted by adjusting the installation height of the elastic piece.
Through force analysis, the component force of the gravity of the robot downward along the slope at this time is F1, taking fig. 5 as an example, F1 is Gsin β (G is the gravity of the robot, Amax is β), and the friction force F2 between the driving wheel and the slope is determined by the value of the component force F1 of the gravity downward along the slope.
The minimum distance between the top of the elastic element and the ramp surface is determined by the friction force F2 between the driving wheel and the ramp surface. This step can be determined by elastic simulation software, as shown in fig. 5, fig. 5 is a state diagram of the robot when climbing a slope, the state shown in fig. 5 is assumed to be a state b shown in fig. 6, the gravity of the robot is G, and the driving wheel 124 is assumed to slip with the ground when the climbing angle is β, and the robot does not advance after slipping, so the robot does not topple over. The slip condition is determined as follows.
Since the driving wheel 124 of the driving wheel assembly 120 rolls into static friction, the static friction can be calculated when climbing a slope. Assuming that the rolling friction force is F2, F2 ═ μ FN + μ FNFrom(mu is 1) the driven wheel has no driving force, so the friction force (mu FN) between the driven wheel and the groundFrom) Neglected, then the above equation becomes F2 ═ μ FN. When slipping, the rolling friction force F2 is less than the component force F1 of the gravity of the robot parallel to the inclined plane, i.e. F2 is mu FN<F1。
When there are two drive wheel assemblies 120, 2 x FBulletIs equal to FN, so that the above formula becomes μ x 2FBullet<F1。
In the case of the climbing angle β, F1 ═ G × sin β.
The above formula becomes,. mu.FBullet<(G*sinβ)/2。
For example, when G is 550N, β is 10 °, F1 is 550 sin β is 550 sin10 ° -95.5N.
μ*FBullet<95.5N/2＝47.75N。
FBullet<47.75N/. mu.with the coefficient of static friction taking the maximum value and μ taking 1, hence FBullet<47.75N。
When the type of the elastic element is determined, the elastic element can provide 47.75N of elastic force when the elastic element is compressed by an amount L. For example, the elastic member is made of SU304-WPB, the average spiral diameter is 7.8mm, the wire diameter is 1.2mm, the total number of turns Na of the elastic member is 13, the original length is 45mm, the compression amount L is 14mm, and when the compressed length is 31mm, the elastic member can provide 47.75N of elastic force, and the elastic force which the elastic member can provide is reduced along with the reduction of the compression amount L. Therefore, the elastic part can ensure the slippage of the driving wheel and the slope surface with the slope of 10 degrees only by the compression amount of 14mm at most. After slipping, the robot will not topple backwards. After the amount of compression L is determined, the minimum distance between the top of the spring and the ramp surface can be determined.
The minimum distance between the top of the elastic element and the slope is increased, the friction force F3 generated by the driving wheel and the slope is obtained again, the minimum distance between the top of the elastic element and the slope is increased, the deformation of the elastic element is reduced, (the above embodiments take the compression spring as an example), so that the F3 is not enough to reach the component force of the gravity of the robot downwards along the slope, the driving wheel and the slope of the robot slip due to insufficient power, the robot cannot advance, and further, through the arrangement, the robot cannot actually move to the state b shown in fig. 6, namely, the state in which the robot can move is between a and b, and therefore, the robot cannot topple. At this time, a safe climbing angle is actually determined, so that the robot slips at the safe climbing angle, and the robot cannot climb up the slope with the angle Amax.
Through the analysis, the maximum elastic force provided by the elastic piece can be changed by changing the compression amount of the elastic piece, and the elastic force is supported on the ground, so that the driving wheel and the ground generate friction force, and the friction force can drive the robot to move forward. As shown in fig. 6, in the process from a to b to c, the component force of the gravity of the robot along the slope surface is increased continuously, when the compression amount of the elastic element is fixed, the friction force corresponding to the fixation of the driving wheel and the ground is the power for pulling the robot to advance. In the process from a to b to c, when the component force of the gravity of the robot along the slope surface is increased to be larger than the power of the robot for advancing, the robot does not advance any more, namely the driving wheels of the robot slip with the ground. In the process shown by b, the elastic supporting force is reduced by adjusting the compression amount of the elastic piece, so that the power for the traction robot to advance is correspondingly reduced, when the robot moves from a to b, the component force of the gravity of the robot downwards along the slope is increased to be larger than the power for the traction robot to advance in advance, therefore, the driving wheel and the ground of the robot between a and b are already slipped and the robot cannot advance continuously, namely, the robot cannot move in the state shown by b, and further, the robot cannot move in the state between b and c, so that the robot cannot topple.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot chassis, comprising:
a base plate;
a battery assembly for providing electrical energy;
the driving wheel assembly is used for driving the robot chassis to move, the driving wheel assembly comprises a movable plate, a driving part, an elastic part and a driving wheel, the driving part is electrically connected with the battery assembly, the driving part is connected with the driving wheel so as to drive the driving wheel to rotate, the movable plate comprises a first end and a second end, the first end is rotatably connected with the bottom plate, one end of the elastic part is connected with the second end of the movable plate, the other end of the elastic part is connected with the bottom plate, and the driving part is arranged on the movable plate; and
and the driven wheel assembly is used for assisting the robot chassis to move.
2. The robot chassis of claim 1, wherein the drive wheel assemblies are arranged in at least two spaced apart groups.
3. The robot chassis of claim 2, wherein drive wheel assemblies are symmetrically disposed on left and right sides of a central position of the chassis, respectively.
4. The robot chassis of claim 2, wherein there are at least two sets of driven wheel assemblies, one set disposed on one side between two sets of drive wheel assemblies and the other set disposed on the other side between two sets of drive wheel assemblies.
5. A robot chassis according to claim 1, wherein the driven wheel assembly comprises an eccentric cardan wheel.
6. A robot chassis according to claim 5 in which there are four sets of driven wheel assemblies, evenly distributed around the edges of the chassis.
7. A robot, characterized in that it comprises a robot chassis according to any of claims 1-6.
8. A method for preventing a robot from toppling over when climbing a slope, wherein the robot comprises a chassis, and a driven wheel and a driving wheel which are connected with the chassis, and at least one group of driven wheels is arranged behind the driving wheel along the advancing direction of the robot, and the method is characterized by comprising the following steps:
determining position coordinates of a center of gravity of the robot and a gravity of the robot;
determining the state of the robot with the gravity center position of the robot being located right above the driven wheel as a critical state of the robot, wherein in the critical state, the plane where the driven wheel and the driving wheel are located is P;
determining a component F1 of the gravity of the robot in the plane P direction under the critical state of the robot, and determining the value of the supporting force provided by the driving wheel under the critical state with the value of the component F1;
elastically connecting the driving wheel to the chassis through an elastic part, and determining the minimum installation height of the elastic part according to the value of the supporting force provided by the driving wheel in the critical state;
and adjusting the installation height of the elastic member so that the actual installation height of the elastic member is greater than the minimum installation height.
9. The method for preventing a robot from toppling over while climbing a slope according to claim 8, wherein, of the determining of the position coordinate of the center of gravity of the robot and the gravity of the robot, the position coordinate of the center of gravity of the robot and the gravity of the robot are determined by 3D software.
10. The method as claimed in claim 9, wherein the robot includes a movable plate rotatably connected to the bottom plate, the driving wheel is disposed on the movable plate, a guide post is rotatably connected to the bottom plate, the elastic member is sleeved on the guide post, a locking member is threadedly connected to an upper end of the guide post, an upper end of the elastic member is supported on the locking member, and a lower end of the elastic member is supported on the movable plate, and in the step of adjusting the installation height of the elastic member, the position of the locking member relative to the guide post is adjusted to adjust the installation height of the elastic member.
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