CN111376976A - Mobile robot chassis suitable for uneven ground and control method thereof - Google Patents

Mobile robot chassis suitable for uneven ground and control method thereof Download PDF

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Publication number
CN111376976A
CN111376976A CN202010382626.9A CN202010382626A CN111376976A CN 111376976 A CN111376976 A CN 111376976A CN 202010382626 A CN202010382626 A CN 202010382626A CN 111376976 A CN111376976 A CN 111376976A
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China
Prior art keywords
chassis
frame body
connecting plate
chassis frame
mobile robot
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CN202010382626.9A
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Chinese (zh)
Inventor
周雨
吴文辉
王勇
谢东
孙峰
陈清
吴雪花
王倩农
张畅
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Xuzhou Quality And Technical Supervision Comprehensive Inspection And Testing Center Xuzhou Standardization Research Center
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Xuzhou Quality And Technical Supervision Comprehensive Inspection And Testing Center Xuzhou Standardization Research Center
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Priority to CN202010382626.9A priority Critical patent/CN111376976A/en
Publication of CN111376976A publication Critical patent/CN111376976A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
    • B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a mobile robot chassis suitable for uneven ground and a control method thereof. When the mobile robot chassis is in a working state, the swing angle sensors of each group of posture acquisition units feed back the downward swing angle of each group of upper connecting plates relative to the chassis frame body to the central controller in real time, the central controller establishes a real-time kinematic equation of the mobile robot chassis through the data calculation loop, then the central controller enables the driving motors of each group of power units to control respective Mecanum wheels through the adjustment control loop, and the real-time updating and adjustment of the power distribution of each Mecanum wheel in real time according to the load and the road surface condition can be realized on the premise of ensuring that each Mecanum wheel is in close contact with the ground and the whole chassis stably runs, so that the accurate positioning and movement of the chassis is realized.

Description

Mobile robot chassis suitable for uneven ground and control method thereof
Technical Field
The invention relates to a mobile robot chassis and a control method thereof, in particular to a mobile robot chassis suitable for uneven ground and a control method thereof, belonging to the technical field of mobile robots.
Background
The mobile robot is a machine device for automatically executing work, and is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The mobile robot can receive human commands, run programs arranged in advance, and act according to a principle schema established by an artificial intelligence technology. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like.
The mobile robot chassis is an important component of the mobile robot, and directly influences the stability, accuracy and reliability of the mobile robot in operation. The chassis of the mobile robot in the prior art mostly adopts a differential wheel structure, the differential wheel structure has lower cost and better walking stability, but the motion flexibility is poorer and the bearing capacity is lower. Mecanum wheels are all-directional moving modes appearing in recent years, four Mecanum wheels which are symmetrical in pairs in the front-back direction and the left-right direction are combined to form a moving platform, and a resultant force vector can be generated in any direction by means of synthesis of different directions and rotating speeds of the Mecanum wheels on the premise that the directions of the Mecanum wheels are not changed, so that the moving of the moving platform in the direction of the resultant force vector is guaranteed, and all-directional moving is achieved. Therefore, compared with the mobile robot chassis with the differential wheel structure, the mobile robot chassis with the Mecanum wheel structure has better motion flexibility and larger bearing capacity.
However, in the prior art, the mecanum wheels of the mobile robot chassis with the mecanum wheel structure are mostly in a non-suspension type connection mode, that is, the mecanum wheels are directly positioned and installed on the chassis, on one hand, the non-suspension type connection mode has a high requirement on the ground flatness of a use environment, a mobile platform formed by combining the four mecanum wheels is easy to slip on uneven ground, and the requirement of accurate positioning and moving is difficult to meet under the condition that the moving speed, the load and the road surface condition of the chassis are greatly changed; on the other hand, the longitudinal distance or the transverse distance between the centers of the mecanum wheels of the non-suspension connection mode and the geometric center of the chassis is a fixed value, so that the kinematic equation of the chassis is not changed, namely, the relation between the chassis speed set by a program and the rotating speed of the mecanum wheels is fixed, however, in an actual working environment, different load conditions can cause vibration of different degrees, the vibration is more obvious under the condition of unbalance load, so that the power distribution and the efficiency of each mecanum wheel in the motion process can be directly influenced, and meanwhile, the vibration can also cause adverse effects on expansion equipment installed on the chassis of the mobile robot.
Disclosure of Invention
In order to solve the problems, the invention provides a mobile robot chassis suitable for uneven ground and a control method thereof, which can realize real-time updating and adjustment of power distribution of each Mecanum wheel according to load and road surface conditions on the premise of ensuring that each Mecanum wheel is in close contact with the ground and the chassis is stable in overall operation, thereby realizing accurate positioning and movement of the chassis.
In order to achieve the purpose, the mobile robot chassis applicable to uneven ground comprises a chassis frame body, Mecanum wheels, a connecting unit, a damping spring unit, an attitude acquisition unit, a power unit and a centralized electric control unit.
The four Mecanum wheels are symmetrically arranged in four relative to the geometric center of the chassis frame body, and the four Mecanum wheels are symmetrically arranged in a front-back and left-right mode in pairs.
The positions of the connecting units corresponding to the Mecanum wheels are symmetrically arranged into four groups in a bilateral mode, each group of connecting units comprises an upper connecting plate, a bearing seat support and a lower connecting plate, the bearing seat support with a bearing arranged inside is vertically arranged, the upper connecting plate and the lower connecting plate are arranged in a downward inclined mode along the left-right direction and are arranged in parallel with the lower connecting plate, the left end and the right end of the upper connecting plate are respectively hinged and connected with the upper end of the bearing seat support and an upper frame body plate of the chassis frame body, the left end and the right end of the lower connecting plate are respectively hinged and connected with the lower end of the bearing seat support and a lower frame body plate of, the bearing seat support, the lower connecting plate and the chassis frame body jointly form a parallelogram structure, and the four Mecanum wheels are respectively and axially positioned and matched with and arranged on the bearing seat supports of the four groups of connecting units in a penetrating way through a horizontally arranged stepped transmission shaft.
The damping spring unit correspond the linkage unit bilateral symmetry and set up to four groups, every group damping spring unit includes that the slope sets up the damping spring subassembly downwards along left right direction, both ends are connected with bearing bracket support and chassis support body hinge mount respectively about the damping spring subassembly.
The gesture collection units are symmetrically arranged in four groups corresponding to the left and right of the connecting unit, each gesture collection unit comprises a swing angle sensor, and the swing angle sensors are fixedly installed on the upper connecting plate or the lower connecting plate.
The power unit correspond the coupling unit bilateral symmetry set up to four groups, every power unit of group includes driving motor and universal joint coupling, driving motor fixed mounting is on the chassis support body, driving motor's power take off end passes through universal joint coupling and ladder transmission shaft erection joint.
The centralized electric control unit comprises a central controller, an attitude detection circuit, a data calculation circuit and an adjustment control circuit, wherein the central controller is electrically connected with the swing angle sensor of each attitude acquisition unit and the driving motor of each power unit.
As a further improvement of the invention, the damping spring assembly of the damping spring unit is provided in two pieces, and the two damping spring assemblies are arranged in a front-back symmetrical manner relative to the bearing block bracket.
As a further improvement scheme of the invention, the damping spring assembly of the damping spring unit is positioned on the diagonal line of a parallelogram structure formed by the upper connecting plate, the bearing seat bracket, the lower connecting plate and the chassis frame body together.
As a further improvement scheme of the invention, the left end and the right end of the damping spring assembly are respectively and coaxially mounted and connected with the lower hinged mounting center of the lower connecting plate and the upper hinged mounting center of the upper connecting plate.
As a further improvement of the invention, two bearings are respectively arranged in the bearing seat bracket along the left and right directions.
As a further improvement of the invention, the upper and lower connection plates are of frame construction.
A control method of a mobile robot chassis suitable for uneven ground is characterized in that a gesture detection loop controls a swing angle sensor of each gesture collection unit to feed back the downward swing angle of each upper connecting plate or lower connecting plate relative to a chassis frame body to a central controller in real time, the central controller establishes a real-time kinematic equation of the mobile robot chassis through a data calculation loop according to the feedback of the swing angle sensor, and then the central controller enables a driving motor of each power unit to control each Mecanum wheel through adjusting the control loop according to the real-time kinematic equation.
The central controller establishes a robot coordinate system by taking the geometric center of the chassis frame body as an original point, takes the left-right direction as an X axis, the front-back direction as a Y axis and the up-down direction as a Z axis, and leads the geometric center of the chassis frame body 1 to reachThe longitudinal distance between the axes of the Mecanum wheels 2 is L, and the transverse distances from the geometric center of the chassis frame body 1 to the geometric centers of the four Mecanum wheels 2 along the left and right directions are W1、W2、W3、W4Let d1The horizontal distance from the geometric center of the chassis frame body to the upper hinged installation center of the upper connecting plate is set as d2The horizontal distance from the upper hinge mounting center of the upper connecting plate to the lower hinge mounting center of the upper connecting plate is set as d3The horizontal distance from the lower hinged mounting center of the upper connecting plate to the geometric center of the Mecanum wheels along the left-right direction, and the transverse distance W from the geometric center of the chassis frame body to the geometric centers of the four Mecanum wheels along the left-right directioni＝d1+d2+d3Wherein d is1、d3Is a fixed value, let d1+d3D, make l be the straight-line distance between the lower articulated installation center of the last articulated installation center of upper junction plate to the upper junction plate, l is the fixed value, make theta be the angle that the upper junction plate that the real-time collection of swing angle sensor of gesture acquisition unit obtained for chassis support body downswing, then d2The real-time kinematic equation for the mobile robot chassis established by the central controller is as follows:
Figure BDA0002482747140000041
Figure BDA0002482747140000042
Figure BDA0002482747140000043
Figure BDA0002482747140000044
wherein, ω is1、ω2、ω3、ω4The angular velocities, v, of the four Mecanum wheels rotating along the axis of the stepped drive shaftxIs a chassis frame edgeLinear velocity in X-axis direction, vyIs the linear velocity, omega, of the chassis frame body along the Y-axis directionzIs the angular velocity of the chassis frame body rotating with the Z axis as the rotating axis.
Compared with the prior art, the parallelogram structure formed by the upper connecting plate, the bearing seat bracket, the lower connecting plate and the chassis frame body of the mobile robot chassis applicable to uneven ground can be deformed to adapt to the uneven ground and ensure that each Mecanum wheel is in close contact with the ground; the damping spring assembly of the damping spring unit can realize the damping effect of the chassis, and the uneven ground can not cause the vibration of the power unit, so that the stability and the reliability of the power output by the power unit are ensured, and the damping spring assembly can realize the deformation reset of the parallelogram structure; the Mecanum wheel is axially positioned through the horizontally arranged stepped transmission shaft and is installed on the bearing seat support in a matched and penetrating manner, and the bearings are arranged at the left end and the right end inside the bearing seat support, so that the radial load of the stepped transmission shaft can be uniformly distributed and can be always kept horizontal, deformation along with the flatness of the ground and the load can be avoided, and the Mecanum wheel can be always kept vertical to the ground; each group of connecting unit, damping spring unit, gesture acquisition unit and power unit work independently respectively, and operating condition is more stable high-efficient, can guarantee that every mecanum wheel and ground in close contact with, and the chassis whole operates steadily under the prerequisite, realize updating in real time the adjustment to the power distribution of every mecanum wheel according to load and road surface situation in real time, and then realize the accurate positioning removal on chassis.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic front end view of the present invention;
FIG. 3 is an enlarged partial view of the present invention;
FIG. 4 is a schematic three-dimensional view of the bearing bracket of the present invention;
fig. 5 is a schematic diagram of the robot coordinate system of the present invention.
In the figure: 1. chassis support body, 2, mecanum wheel, 21, ladder transmission shaft, 3, the linkage unit, 31, upper junction plate, 32, bearing bracket support, 33, lower connecting plate, 4, damping spring unit, 5, gesture acquisition unit, 6, power pack, 61, driving motor, 62, universal joint coupling.
Detailed Description
The present invention will be further explained with reference to the drawings (hereinafter, the left-right direction of fig. 2 will be described as the left-right direction).
As shown in fig. 1 and 2, the mobile robot chassis applicable to uneven ground comprises a chassis frame body 1, mecanum wheels 2, a connecting unit 3, a damping spring unit 4, an attitude acquisition unit 5, a power unit 6 and a centralized electric control unit.
The Mecanum wheels 2 are symmetrically arranged into four pieces relative to the geometric center of the chassis frame body 1, and the four Mecanum wheels 2 are symmetrically arranged in pairs in the front-back direction and the left-right direction.
The positions of the connecting units 3 corresponding to the mecanum wheels 2 are symmetrically arranged into four groups, as shown in fig. 3, each group of connecting units 3 comprises an upper connecting plate 31, a bearing seat support 32 and a lower connecting plate 33, the bearing seat support 32 with a bearing is arranged inside the connecting units, the upper connecting plate 31 and the lower connecting plate 33 are arranged in a downward inclined mode along the left-right direction, the upper connecting plate 31 and the lower connecting plate 33 are arranged in parallel, the left end and the right end of the upper connecting plate 31 are respectively hinged and connected with the upper end of the bearing seat support 32 and the upper frame body plate of the chassis frame body 1, the left end and the right end of the lower connecting plate 33 are respectively hinged and connected with the lower end of the bearing seat support 32 and the lower frame body plate of the chassis frame body 1, the upper connecting plate 31, the bearing seat support 32, the lower connecting plate 33 and the chassis frame body 1 jointly form a parallelogram, Fitted through and mounted on the bearing block brackets 32 of the four groups of connection units 3.
Damping spring unit 4 correspond the 3 left and right sides symmetries of coupling unit and set up to four groups, every damping spring unit 4 of group includes that the slope sets up the damping spring subassembly downwards along left right direction, both ends are connected with bearing frame support 32 and the articulated installation of chassis frame body 1 respectively about the damping spring subassembly.
The gesture collection units 5 are symmetrically arranged in four groups corresponding to the connection units 3, each gesture collection unit 5 comprises a swing angle sensor, and the swing angle sensors are fixedly mounted on the upper connection plate 31 or the lower connection plate 33.
Power unit 6 correspond the symmetrical setting in four groups about the coupling unit 3, every power unit 6 of group includes driving motor 61 and universal joint shaft coupling 62, driving motor 61 fixed mounting is on chassis support body 1, driving motor 61's power take off end passes through universal joint shaft coupling 62 and ladder transmission shaft 21 erection joint.
The centralized electric control unit comprises a central controller, an attitude detection circuit, a data calculation circuit and an adjustment control circuit, wherein the central controller is electrically connected with the swing angle sensor of each group of attitude acquisition units 5 and the driving motor 61 of each group of power units 6 respectively.
When the mobile robot chassis suitable for uneven ground is in a working state, a parallelogram structure jointly formed by the upper connecting plate 31, the bearing seat support 32, the lower connecting plate 33 and the chassis frame body 1 can be deformed to adapt to uneven ground, each Mecanum wheel 2 is ensured to be in close contact with the ground, the damping spring assembly of the damping spring unit 4 can realize damping and deformation reset of the parallelogram structure, the swing angle sensor of each group of attitude acquisition units 5 is controlled by the attitude detection loop to feed back the downward swing angle of each group of upper connecting plate 31 or lower connecting plate 33 relative to the chassis frame body 1 to the central controller in real time, the central controller establishes a real-time kinematic equation of the mobile robot chassis through the data calculation loop according to the feedback of the swing angle sensor, and then the central controller establishes a real-time kinematic equation, The drive motors 61 of each group of power units 6 are adapted to control the respective mecanum wheel 2 by adjusting the control loop.
As shown in fig. 5, the central controller establishes a robot coordinate system with the geometric center of the chassis frame 1 as an origin, and with the left-right direction as an X-axis, the front-rear direction as a Y-axis, and the up-down direction as a Z-axis, such that the longitudinal distance from the geometric center of the chassis frame 1 to the axle center of the mecanum wheel 2 is L, and the geometric center of the chassis frame 1 to the four mecanum wheels 2 along the left-right directionThe transverse distances of the upward geometric centers are respectively W1、W2、W3、W4Since the four Mecanum wheels 2 are arranged symmetrically in pairs, front to back and left to right, the longitudinal distance L is a fixed value, while the transverse distance W is a fixed value1、W2、W3、W4Will vary with the vibration conditions of each mecanum wheel 2 and with different loading conditions.
As shown in FIG. 2, let d1The horizontal distance from the geometric center of the chassis frame body 1 to the upper hinged installation center of the upper connecting plate 31 (or the lower connecting plate 33) is set as d2The horizontal distance from the upper hinge mounting center of the upper connecting plate 31 (or the lower connecting plate 33) to the lower hinge mounting center of the upper connecting plate 31 (or the lower connecting plate 33) is set as d3The horizontal distance from the lower hinged mounting center of the upper connecting plate 31 (or the lower connecting plate 33) to the geometric center of the Mecanum wheels 2 in the left-right direction, the transverse distance W from the geometric center of the chassis frame body 1 to the geometric centers of the four Mecanum wheels 2 in the left-right directioni＝d1+d2+d3Wherein d is1、d3Is a fixed value, let d1+d3Let l be the linear distance between the upper hinge mounting center of the upper connecting plate 31 (or the lower connecting plate 33) and the lower hinge mounting center of the upper connecting plate 31 (or the lower connecting plate 33), l be a fixed value, and let θ be the angle of downward swing of the upper connecting plate 31 (or the lower connecting plate 33) relative to the chassis frame 1 acquired in real time by the swing angle sensor of the attitude acquisition unit 5, then d is2The central controller establishes the kinematic equation of the mobile robot chassis as follows:
Figure BDA0002482747140000071
Figure BDA0002482747140000072
Figure BDA0002482747140000073
Figure BDA0002482747140000074
wherein, ω is1、ω2、ω3、ω4The angular velocities, v, of the four Mecanum wheels 2 rotating along the axis of the stepped drive shaft 21xIs the linear velocity v of the chassis frame body 1 along the X-axis directionyIs the linear velocity, omega, of the chassis frame body 1 along the Y-axis directionzThe angular velocity at which the chassis frame body 1 rotates about the Z-axis as a rotation axis.
In order to realize balanced stress of the connecting unit 3, as a further improvement of the present invention, the damping spring units of the damping spring unit 4 are arranged in two pieces, and the two damping spring units are arranged in front-back symmetry relative to the bearing seat bracket 32.
In order to achieve a better deformation resetting effect of the parallelogram structure of the connecting unit 3, as a further improvement of the invention, the damping spring assembly of the damping spring unit 4 is located at a diagonal position of the parallelogram structure formed by the upper connecting plate 31, the bearing seat bracket 32, the lower connecting plate 33 and the chassis frame body 1.
In order to achieve a better deformation resetting effect of the parallelogram structure of the connecting unit 3, as a further improvement of the invention, the left and right ends of the damping spring assembly are respectively and coaxially mounted and connected with the lower hinge mounting center of the lower connecting plate 33 and the upper hinge mounting center of the upper connecting plate 31.
In order to achieve a better supporting transmission effect of the stepped transmission shaft 21, as a further modification of the present invention, as shown in fig. 4, two bearings are respectively disposed inside the bearing holder bracket 32 in the left-right direction thereof.
In order to reduce the overall weight while ensuring the supporting strength, the upper connecting plate 31 and the lower connecting plate 33 are a frame structure as a further improvement of the present invention.
This applicable mobile robot chassis in uneven ground can guarantee that every mecanum wheel 2 and ground in close contact with, and the chassis whole operates steadily under the prerequisite, realize updating in real time the adjustment to the power distribution of every mecanum wheel 2 according to load and road surface condition in real time, and then realize the accurate positioning removal on chassis.

Claims (8)

1. A mobile robot chassis suitable for uneven ground comprises a chassis frame body (1), Mecanum wheels (2), a power unit (6) and a centralized electric control unit; the four Mecanum wheels (2) are symmetrically arranged relative to the geometric center of the chassis frame body (1) in four pieces, and the four Mecanum wheels (2) are symmetrically arranged in a front-back and left-right manner in pairs; the mobile robot chassis is characterized by further comprising a connecting unit (3), a damping spring unit (4) and an attitude acquisition unit (5), wherein the connecting unit is suitable for the mobile robot chassis on uneven ground;
the positions of the connecting units (3) corresponding to the Mecanum wheels (2) are symmetrically arranged into four groups, each group of connecting units (3) comprises an upper connecting plate (31), a bearing seat support (32) and a lower connecting plate (33), the bearing seat supports (32) with bearings arranged inside are vertically arranged, the upper connecting plates (31) and the lower connecting plates (33) are obliquely arranged downwards along the left and right directions, the upper connecting plates (31) and the lower connecting plates (33) are arranged in parallel, the left and right ends of the upper connecting plates (31) are respectively hinged and connected with the upper ends of the bearing seat supports (32) and the upper frame body plate of the chassis frame body (1), the left and right ends of the lower connecting plates (33) are respectively hinged and connected with the lower ends of the bearing seat supports (32) and the lower frame body plate of the chassis frame body (1), the upper connecting plates (31), the bearing seat supports (32), the lower connecting plates (33) and the chassis frame body (1) jointly form a, the four Mecanum wheels (2) are respectively axially positioned through a horizontally arranged stepped transmission shaft (21) and are installed on bearing seat supports (32) of the four groups of connecting units (3) in a matched and penetrating manner;
the damping spring units (4) are symmetrically arranged in four groups corresponding to the connecting units (3), each group of damping spring unit (4) comprises a damping spring assembly which is obliquely arranged downwards along the left-right direction, and the left end and the right end of the damping spring assembly are respectively hinged and connected with the bearing seat support (32) and the chassis frame body (1);
the gesture acquisition units (5) are arranged in four groups in a bilateral symmetry mode corresponding to the connection units (3), each gesture acquisition unit (5) comprises a swing angle sensor, and the swing angle sensors are fixedly installed on the upper connection plate (31) or the lower connection plate (33);
the power units (6) are symmetrically arranged in four groups corresponding to the connecting units (3), each group of power units (6) comprises a driving motor (61) and a universal joint coupler (62), the driving motors (61) are fixedly arranged on the chassis frame body 1, and the power output ends of the driving motors (61) are connected with the stepped transmission shaft (21) through the universal joint couplers (62);
the centralized electric control unit comprises a central controller, an attitude detection circuit, a data calculation circuit and an adjustment control circuit, wherein the central controller is electrically connected with the swing angle sensor of each group of attitude acquisition units (5) and the driving motor (61) of each group of power units (6) respectively.
2. The mobile robot chassis applicable to uneven ground according to claim 1, wherein the damping spring assembly of the damping spring unit (4) is provided in two pieces, and the two pieces of damping spring assembly are symmetrically arranged in front and back with respect to the bearing housing bracket (32).
3. The mobile robot chassis applicable to uneven ground according to claim 1 or 2, wherein the damping spring assembly of the damping spring unit (4) is located at the diagonal position of a parallelogram structure formed by the upper connecting plate (31), the bearing seat bracket (32), the lower connecting plate (33) and the chassis frame body (1) together.
4. The mobile robot chassis applicable to uneven ground according to claim 3, wherein the left and right ends of the damping spring assembly are coaxially installed and connected with the lower hinge installation center of the lower connecting plate (33) and the upper hinge installation center of the upper connecting plate (31), respectively.
5. The mobile robot chassis applicable to uneven ground according to claim 1 or 2, wherein two pieces of bearings are respectively provided inside the bearing holder bracket (32) in the left-right direction thereof.
6. The mobile robot chassis applicable to uneven ground according to claim 1 or 2, characterized in that the upper connecting plate (31) and the lower connecting plate (33) are frame structures.
7. A method as claimed in claim 1, wherein the attitude detection circuit controls the swing angle sensor of each set of attitude collection units (5) to feed back the angle of each set of upper connection plate (31) or lower connection plate (33) swinging downward relative to the chassis frame body (1) to the central controller in real time, the central controller establishes a real-time kinematic equation of the mobile robot chassis through the data calculation circuit according to the feedback of the swing angle sensor, and then the central controller adjusts the control circuit according to the real-time kinematic equation to enable the driving motor (61) of each set of power units (6) to control the respective mecanum wheel (2).
8. The method as claimed in claim 7, wherein the central controller establishes a robot coordinate system with the geometric center of the chassis frame (1) as an origin, and with the left-right direction as an X-axis, the front-rear direction as a Y-axis, and the up-down direction as a Z-axis, such that the longitudinal distance from the geometric center of the chassis frame (1) to the axle center of the mecanum wheel (2) is L, and the lateral distances from the geometric center of the chassis frame (1) to the geometric centers of the four mecanum wheels (2) along the left-right direction are W1、W2、W3、W4Let d1The horizontal distance from the geometric center of the chassis frame body (1) to the upper hinged installation center of the upper connecting plate (31) is set to d2The horizontal distance from the upper hinge mounting center of the upper connecting plate (31) to the lower hinge mounting center of the upper connecting plate (31) is set as d3The horizontal distance from the lower hinged mounting center of the upper connecting plate (31) to the geometric center of the Mecanum wheels (2) along the left-right direction is equal to the horizontal distance W from the geometric center of the chassis frame body (1) to the geometric centers of the four Mecanum wheels (2) along the left-right directioni＝d1+d2+d3Wherein d is1、d3Is a fixed value, let d1+d3Let l be connected toThe linear distance between the upper hinge mounting center of the connecting plate (31) and the lower hinge mounting center of the upper connecting plate (31), l is a fixed value, theta is the angle of downward swing of the upper connecting plate (31) relative to the chassis frame body (1) acquired by the swing angle sensor of the attitude acquisition unit (5) in real time, and d is2The real-time kinematic equation for the mobile robot chassis established by the central controller is as follows:
Figure FDA0002482747130000031
Figure FDA0002482747130000032
Figure FDA0002482747130000033
Figure FDA0002482747130000034
wherein, ω is1、ω2、ω3、ω4The angular speeds v of the four Mecanum wheels (2) rotating along the axle center of the stepped transmission shaft (21) are respectivelyxIs the linear velocity v of the chassis frame body (1) along the X-axis directionyIs the linear velocity, omega, of the chassis frame body (1) along the Y-axis directionzIs the angular velocity of the chassis frame body (1) rotating by taking the Z axis as a rotating axis.
CN202010382626.9A 2020-05-08 2020-05-08 Mobile robot chassis suitable for uneven ground and control method thereof Pending CN111376976A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111829473A (en) * 2020-07-29 2020-10-27 威步智能科技(苏州)有限公司 Method and system for ranging moving chassis during traveling
CN111896554A (en) * 2020-07-23 2020-11-06 山东特种设备检验检测集团有限公司 A atmospheric pressure storage tank wall climbing robot for miniature physiognomy in surface detects
WO2022105624A1 (en) * 2020-11-20 2022-05-27 大连交通大学 Independent suspension apparatus capable of maintaining specific track width

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111896554A (en) * 2020-07-23 2020-11-06 山东特种设备检验检测集团有限公司 A atmospheric pressure storage tank wall climbing robot for miniature physiognomy in surface detects
CN111829473A (en) * 2020-07-29 2020-10-27 威步智能科技(苏州)有限公司 Method and system for ranging moving chassis during traveling
CN111829473B (en) * 2020-07-29 2022-04-26 威步智能科技(苏州)有限公司 Method and system for ranging moving chassis during traveling
WO2022105624A1 (en) * 2020-11-20 2022-05-27 大连交通大学 Independent suspension apparatus capable of maintaining specific track width

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