CN111546849A - 一种轮式机器人主动悬架装置 - Google Patents

一种轮式机器人主动悬架装置 Download PDF

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CN111546849A
CN111546849A CN202010377691.2A CN202010377691A CN111546849A CN 111546849 A CN111546849 A CN 111546849A CN 202010377691 A CN202010377691 A CN 202010377691A CN 111546849 A CN111546849 A CN 111546849A
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arm
active suspension
spring damper
wheeled robot
suspension arrangement
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范松海
陈缨
刘益岑
刘小江
马小敏
吴天宝
龚奕宇
罗磊
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Electric Power Research Institute of State Grid Sichuan Electric Power Co Ltd
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Electric Power Research Institute of State Grid Sichuan Electric Power Co Ltd
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Priority to CN202010377691.2A priority Critical patent/CN111546849A/zh
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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
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System

Abstract

本发明涉及一种轮式机器人主动悬架装置，包括车体、连接臂、弹簧减震器、车轮、减速电机和摇臂，所述连接臂一端与车体固定连接，另一端与弹簧减震器上端转动连接，所述弹簧减震器下与摇臂转动连接，所述摇臂与车体设置在车体上的连接件转动连接，所述减速电机输出与摇臂固定连接,本发明提供了一种轮式机器人主动悬架装置，该装置具有可以主动调整离地间隙，提高了机器人的通过能力，该装置不使用液压元件，寿命长，结构简单，成本低廉，还减少了泄露风险，该装置采用电动阻尼调节，使机器人可以根据不同的配置重量、不同的路面，主动调整阻尼大小，从而使摄像机视频画面更稳定，提高观测舒适度。

Description

一种轮式机器人主动悬架装置
技术领域
本发明属于机器人悬架装置技术领域，尤其涉及一种轮式机器人主动悬架装置。
背景技术
近年来，变电站智能巡检机器人得到了广泛的应用。因轮式机器人具有效率高，速度快，运动灵活的优点，大多数变电站智能巡检机器人均采用轮式结构。为了提供更良好的画面，更强的运动性能和地面适应性，目前的新研发的机器人大多具有类似汽车的被动悬架系统，并无主动悬架的机器人，且还存在悬架设计、调校复杂，机器人产量低更新快，悬架很难做到最优，并且定制成本高昂，悬架只能被动适应路面，而不能根据路面情况主动改变但由于机器人量产数量较少，悬架调校复杂等原因，悬架效果并不理想。悬架效果不好导致机器人震动较大，机器人采集的视频有较大抖动，影响观测舒适度。
发明内容
本发明针对背景技术中的缺点和问题加以改进和创新提供了一种轮式机器人主动悬架装置，该装置具有可以主动调整离地间隙，提高了机器人的通过能力，该装置不使用液压元件，寿命长，结构简单，成本低廉，还减少了泄露风险，该装置采用电动阻尼调节，使机器人可以根据不同的配置重量、不同的路面，主动调整阻尼大小，从而使摄像机视频画面更稳定，提高观测舒适度。
本发明的技术方案是构造一种轮式机器人主动悬架装置，包括车体、连接臂、弹簧减震器、车轮、减速电机和摇臂，所述连接臂一端与车体固定连接，另一端与弹簧减震器上端转动连接，所述弹簧减震器下与摇臂转动连接，所述摇臂与车体设置在车体上的连接件转动连接，所述减速电机输出与摇臂固定连接。
优选地，所述减速电机线圈并联两个电路回路，其中一个回路串联了开关K2和电阻R，另一个回路串联了电池和开关K1。
优选地，所述K1和K2是具有开关特性的电子器件
优选地，所述连接臂由并列设置的两块臂板组成，两臂板之间设置有第一固定销，所述第一固定销与弹簧减震器上端转动连接。
优选地，所述摇臂上设置有第二固定销，所述弹簧减震器下端与第二固定销转动连接。
优选地，所述连接件由并列设置的两块臂板组成，两臂板之间设置有第三固定销，所述第三固定销与摇臂转动连接。
优选地，所述减速电机设置在车体侧壁。
本发明有益效果：
1.本发明采用程序控制的电动阻尼调节，使机器人可以根据不同的配置重量、不同的路面，主动调整阻尼大小，从而使摄像机视频画面更稳定，提高观测舒适度。
2.本发明不使用液压元件，寿命长，结构简单，成本低廉，还能减少了泄露风险。
3.本发明可以主动调整离地间隙，提高了机器人的通过能力。
附图说明
图1为本发明的结构示意图。
图2为减速电机线圈并联两个电路图。
附图序号说明：
1-车体，2-连接臂，3-弹簧减震器，4-车轮，5-减速电机，6-摇臂，7-连接件。
具体实施方式
下面结合实施例对本发明作进一步详细的描述，但本发明的实施方式不限于此。本发明的实施方式并不受所述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。
实施例1：
如图1和图2所示，一种轮式机器人主动悬架装置，包括车体1、连接臂2、弹簧减震器3、车轮4、减速电机5和摇臂6，所述连接臂2一端与车体1固定连接，另一端与弹簧减震器3上端转动连接，所述弹簧减震器3下与摇臂6转动连接，所述摇臂6与车体1设置在车体1上的连接件7转动连接，所述减速电机5输出与摇臂6固定连接，所述减速电机5线圈并联两个电路回路，其中一个回路串联了开关K2和电阻R，另一个回路串联了电池和开关K1。
本发明的工作过程与工作原理：
机器人行驶时，车轮4上下跳动转换成摇臂6的转动，并带动减速电机5转动，从而使电机发电，并通过K2，电阻R回路进行放电，从而产生阻尼。也就是将摇臂6也是机器人行时是产生的振动，而产生的机械能通过电阻R转换为热能，来减少机器人行驶时产生的振动，从而机器人行驶更加稳定，控制器通过断开K1，控制K2接通和断开时间(占空比)，控制阻尼大小。该控制频率可以从几Hz到达几MHz不等。
机器人平时为了行驶稳定性，底盘设计高度较低，在通过较高的障碍物时，控制器断开K2，并接通K1，使电机旋转，从而抬高底盘，以便机器人越过障碍。越过障碍后，控制器控制K1断开，K2闭合，在重力作用下，恢复到较低底盘。
减速电机5可以采用不同的减速器或不同的电机或不用减速器只用电机去代替。所述电阻R可以是1个到多个电阻器。
实施例2：
在实施例1的基础上，如图1所示，所述K1和K2是具有开关特性的电子器件。K1和K2可以是继电器、接触器、MOS管、三极管、IGBT等具有开关功能的电子器件，可以通过安装现有控制器去实现K1和K2的控制。
实施例3：
在实施例1的基础上，如图1所示，所述连接臂2由并列设置的两块臂板组成，两臂板之间设置有第一固定销，所述第一固定销与弹簧减震器3上端转动连接。本实施例具体解释了弹簧减震器3与连接臂2的转动连接。
实施例4：
在实施例1的基础上，如图1所示，所述摇臂6上设置有第二固定销，所述弹簧减震器3下端与第二固定销转动连接。本实施例具体解释了弹簧减震器3与摇臂6的转动连接。
实施例5：
在实施例1的基础上，如图1所示，所述连接件7由并列设置的两块臂板组成，两臂板之间设置有第三固定销，所述第三固定销与摇臂6转动连接。本实施例具体解释了摇臂6与车体1之间的固定连接。
实施例6：
在实施例1的基础上，如图1所示，所述减速电机5设置在车体1侧壁。

Claims (7)

1.一种轮式机器人主动悬架装置，包括车体(1)、连接臂(2)、弹簧减震器(3)、车轮(4)、减速电机(5)和摇臂(6)，其特征在于，所述连接臂(2)一端与车体(1)固定连接，另一端与弹簧减震器(3)上端转动连接，所述弹簧减震器(3)下与摇臂(6)转动连接，所述摇臂(6)与车体(1)设置在车体(1)上的连接件(7)转动连接，所述减速电机(5)输出与摇臂(6)固定连接。
2.根据权利要求1所述的一种轮式机器人主动悬架装置，其特征在于，所述减速电机(5)线圈并联两个电路回路，其中一个回路串联了开关K2和电阻R，另一个回路串联了电池和开关K1。
3.根据权利要求2所述的一种轮式机器人主动悬架装置，其特征在于，所述K1和K2是具有开关特性的电子器件。
4.根据权利要求1所述的一种轮式机器人主动悬架装置，其特征在于，所述连接臂(2)由并列设置的两块臂板组成，两臂板之间设置有第一固定销，所述第一固定销与弹簧减震器(3)上端转动连接。
5.根据权利要求1所述的一种轮式机器人主动悬架装置，其特征在于，所述摇臂(6)上设置有第二固定销，所述弹簧减震器(3)下端与第二固定销转动连接。
6.根据权利要求1所述的一种轮式机器人主动悬架装置，其特征在于，所述连接件(7)由并列设置的两块臂板组成，两臂板之间设置有第三固定销，所述第三固定销与摇臂(6)转动连接。
7.根据权利要求1所述的一种轮式机器人主动悬架装置，其特征在于，所述减速电机(5)设置在车体(1)侧壁。
CN202010377691.2A 2020-05-07 2020-05-07 一种轮式机器人主动悬架装置 Pending CN111546849A (zh)

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