CN114182604A - Vibrating robot - Google Patents
Vibrating robot Download PDFInfo
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- CN114182604A CN114182604A CN202111352542.1A CN202111352542A CN114182604A CN 114182604 A CN114182604 A CN 114182604A CN 202111352542 A CN202111352542 A CN 202111352542A CN 114182604 A CN114182604 A CN 114182604A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/30—Tamping or vibrating apparatus other than rollers ; Devices for ramming individual paving elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
- B62D55/1125—Hydro-pneumatic or pneumatic, e.g. air-cushioned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a vibrating robot which comprises a vibrating rod, a mechanical arm, a hydraulic small arm, a hydraulic large arm, a driving control room, a power box, a chassis and an independent driving crawler device, wherein the independent driving crawler device comprises an independent driving device, a self-adaptive independent suspension device and an independent steering hydraulic motor, the independent driving device is connected with the chassis through the self-adaptive independent suspension device, and the independent steering hydraulic motor is connected with the independent driving device. The invention replaces the vibration robot with manpower and finishes the concrete vibration process with high efficiency, provides the working efficiency, adopts a multi-wheel independent drive and self-adaptive active suspension system, can easily climb over higher step obstacles, and improves the capability of passing through uneven road surfaces, soft road surfaces and gradient road surfaces.
Description
Technical Field
The invention relates to the technical field of equipment in the building industry, in particular to a vibrating robot.
Background
The vibration robot replaces manual operation, and the concrete construction quality of the manual vibration part is stably improved. Make up manual work's short slab, accomplish real-time supervision construction conditions, better completion concrete construction. Through the design to the vibration robot, can satisfy the concrete work of vibrating under the various situations simultaneously to improve concrete efficiency of vibrating, reduce manual work volume, cost and safe risk.
Disclosure of Invention
In view of the above-mentioned drawbacks or deficiencies in the prior art, it is desirable to provide a vibrating robot.
According to the technical scheme that this application embodiment provided, the robot vibrates, including the excellent, arm, hydraulic pressure forearm, the big arm of hydraulic pressure, driver's control room, headstock, chassis vibrate the end setting of excellent and place the piece with the excellent piece of placing of vibrating at inclination sensor, the laser ranging module that the insertional location was sought, make the excellent positioning accuracy horizontal direction that vibrates is not more than 10cm, and the vertical direction is not more than 2cm, and angular deviation is not more than 1, still set up the state current collection equipment that vibrates of the change data of real-time acquisition operating current on the stick that vibrates. The vibrating rod is loaded on the mechanical arm, and the mechanical arm is a four-degree-of-freedom mechanical arm.
The mechanical arm is connected with the hydraulic large arm through the hydraulic small arm, the hydraulic large arm is hinged to the chassis, the driving control room is rotationally fixed to the chassis, and an integrated laser radar, a GNSS (global navigation satellite system) positioning system, an inertial navigation system, a camera, a millimeter wave radar and an industrial personal computer which are used by the unmanned driving system are arranged in the driving control room. The power box is fixed on the chassis and further comprises an independent driving crawler device, the mechanical arm, the hydraulic small arm and the hydraulic large arm are connected through a variable-frequency servo hydraulic device, the hydraulic small arm and the hydraulic large arm are lifted through the variable-frequency servo hydraulic device, the independent driving crawler device is fixed on the lower end face of the chassis, and a high-precision angle sensor is installed at a joint between the vibrating rod, the mechanical arm, the hydraulic small arm and the hydraulic large arm and the chassis.
The independent driving crawler device comprises an independent driving device, a self-adaptive independent suspension device and an independent steering hydraulic motor, wherein the independent driving device is connected with the chassis through the self-adaptive independent suspension device, and the independent steering hydraulic motor is connected with the independent driving device. The self-adaptive independent suspension device comprises 6 suspension columns, the suspension columns are respectively and actively suspended by hydraulic cylinders, and each hydraulic cylinder is provided with a displacement sensor and a pressure sensor. The number of the independent steering hydraulic motors is 6, and each steering driving hydraulic motor is controlled by an electro-hydraulic proportional directional valve. Independent drive arrangement is including driving hydraulic motor, drive wheel, drive track and track backup pad, drive hydraulic motor with the quantity of drive wheel is 6, it is two sets of to drive hydraulic motor divide into, provides power by 2 electric liquid proportional control's constant power variable plunger pump respectively, utilizes the shunt to shunt. The driving hydraulic motors are respectively connected with the driving wheels, the driving wheels are meshed with the inner surface of the driving crawler, the crawler supporting plate is fixed on the inner surface of the driving crawler, the driving hydraulic motors and the driving wheels are located on the crawler supporting plate, the independent steering hydraulic motors are located on the inner surface of the driving crawler, and the independent steering hydraulic motors are connected with the crawler supporting plate through racks.
To sum up, the beneficial effect of this application: the invention replaces the vibration robot with manpower and finishes the concrete vibration process with high efficiency, provides the working efficiency, adopts a multi-wheel independent drive and self-adaptive active suspension system, can easily climb over higher step obstacles, and improves the capability of passing through uneven road surfaces, soft road surfaces and gradient road surfaces.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic perspective view of an integrated device according to the present invention;
FIG. 2 is a schematic cross-sectional view of the independent drive track assembly of the present invention;
fig. 3 is a schematic front sectional view of the independent drive track device of the present invention.
Reference numbers in the figures: a vibrating rod-1; a mechanical arm-2; a hydraulic small arm-3; a hydraulic big arm-4; a cab-5; the crawler belt device-6 is driven independently; independent drive-6.1; driving a hydraulic motor-6.1.1; drive wheel-6.1.2; a driving crawler belt-6.1.3; track support plate-6.1.4; a self-adaptive independent suspension device-6.2; independent steering hydraulic motor-6.3; a power box-7; a chassis-8.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the vibrating robot comprises a vibrating rod 1, a mechanical arm 2, a small hydraulic arm 3, a large hydraulic arm 4, a driving control room 5, a power box 7 and a chassis 8, wherein the vibrating rod 1 is loaded on the mechanical arm 2, the mechanical arm 2 is connected with the large hydraulic arm 4 through the small hydraulic arm 3, the large hydraulic arm 4 is hinged with the chassis 8, the driving control room 5 is rotationally fixed on the chassis 8, the power box 7 is fixed on the chassis 8, the vibrating robot further comprises an independent driving crawler device 6, the mechanical arm 2, the small hydraulic arm 3 and the large hydraulic arm 4 are connected through a variable frequency servo hydraulic device, the small hydraulic arm 3 and the large hydraulic arm 4 are lifted through the variable frequency servo hydraulic device, the independent driving crawler device 6 is fixed on the lower end face of the chassis 8,
as shown in fig. 2 and 3, the independently driven crawler belt device 6 includes an independent driving device 6.1, an adaptive independent suspension device 6.2, and an independently steered hydraulic motor 6.3, 6 of the independent driving devices 6.1 are connected to the chassis 8 through the adaptive independent suspension device 6.2, and the independently steered hydraulic motor 6.3 is connected to the independent driving device 6.1. The independent driving device 6.1 comprises a driving hydraulic motor 6.1.1, driving wheels 6.1.2, a driving crawler 6.1.3 and a crawler supporting plate 6.1.4, the driving hydraulic motor 6.1.1 and the driving wheels 6.1.2 are all 6 in number, the 6 driving hydraulic motors 6.1.1 are respectively connected with the 6 driving wheels 6.1.2, the 6 driving wheels 6.1.2 are all meshed with the inner surface of the driving crawler 6.1.3, the crawler supporting plate 6.1.4 is fixed on the inner surface of the driving crawler 6.1.3, the driving hydraulic motor 6.1.1 and the driving wheels 6.1.2 are both positioned on the crawler supporting plate 6.1.4, the independent steering hydraulic motor 6.3 is positioned on the inner surface of the driving crawler 6.1.3, and the independent steering hydraulic motor 6.3 is connected with the crawler supporting plate 6.1.4 through a rack.
Mechanical arm and vibrating system
Adopt typical hydraulic shovel structure, this system is by big arm 4 of hydraulic pressure, hydraulic pressure forearm 3 carries out lifting control, four degree of freedom arms 2 carry out vibration position control, the excellent of vibrating is placed the piece and is vibrated the inserted position and seek, in addition the rotation of control room 5, the realization is to the accurate control of the excellent 1 of vibrating, simultaneously with hydraulic system replacement for the servo hydraulic system of frequency conversion, with each joint installation high accuracy angle sensor, and at the terminal inclination sensor of installing of the system of vibrating and laser vehicle apart from the module, the perception is vibrated the angle of excellent and is inserted the concrete degree of depth, in order to satisfy the accurate positioning needs of the excellent of vibrating. The technical innovation meets the standards that the positioning accuracy of the vibrating rod is not more than +/-10 cm in the horizontal direction, not more than +/-2 cm in the vertical direction and not more than 1 degree in angle deviation. The vibrating rod installation position, the unified installation bore guarantees that the vibrating rod of different diameters size can change wantonly according to work service environment, and this equipment has very high interchangeability, can carry out effectual change vibrating rod according to the interval size of steel reinforcement cage and place the piece.
The arm system of vibrating, through central control system's intelligent control, can realize:
firstly, a big arm, a small arm and a vibrating rod placing tool of the vibrating machine can independently act and can also be matched with each other to realize compound action; the action of the working device and the rotation of the rotary table can be carried out independently and can also carry out compound action so as to improve the vibrating rate of the vibrating machine; all actions of the vibrating tamper are reversible and stepless speed change is realized; the vibrating machine is safe and reliable in operation, and each executing element (a hydraulic cylinder, a hydraulic motor and the like) has good overload protection; the slewing mechanism and the walking device are reliably braked and limited in speed; the big arm is prevented from fast descending due to self weight and the whole machine is prevented from sliding down the slope in an overspeed way.
Intelligent vibration system
The intelligent vibration system is the key for guaranteeing vibration quality, the intelligent vibration firstly needs to quickly and accurately sense vibration parameters and concrete parameters, secondly needs to construct a quality analysis index and decision system so as to control the intelligent vibrator, and finally forms a vibration construction quality monitoring system, can acquire real-time vibration information, and provides a sensing method based on combined ranging of various sensors
Firstly, the vibration device is provided with a GPS positioning module, an angle sensor (or a gyroscope), a laser radar, an ultrasonic distance meter, a hydraulic sensor and other equipment, so that the parameters of vibration position, distance, depth, inclination angle and the like can be automatically acquired.
Secondly, a vibrating state current collecting device is installed on a power supply line of the vibrating rod, change data of working current are collected in real time, state data of the vibrating rod are obtained and judged in real time according to current changes, and the state data are sent to a timing device through a communication device, so that vibrating working time and the state of the vibrating rod are displayed in real time.
Unmanned system
The unmanned driving system integrates a laser radar, a GNSS positioning system, an inertial navigation system, a camera, a millimeter wave radar, an industrial personal computer and the like, can realize unmanned driving through an upper computer control system and a lower computer control system, and can freely switch between unmanned driving and manual driving schemes.
Features and advantages
Map creating and real-time positioning technology
By adopting the map creation and real-time positioning technology based on point cloud data, the problem of dependence on satellite signals and the performance of inertial devices in the positioning process is solved, and the positioning precision and reliability of the unmanned robot are improved.
For synchronous positioning and mapping:
positioning: the machine must know its location in the environment.
Establishing a graph: the machine must record the location of the feature in the environment.
SLAM: the machine establishes an environment map while positioning, and the basic principle is that positioning and positioning error reduction are achieved through multi-feature matching by a probability statistics method.
Information fusion technology of multiple sensors
By utilizing an effective multi-sensor information fusion technology, multi-sensor information such as laser arrival requirement, vision requirement, millimeter wave arrival requirement and the like is integrated, reliable sensing of environment information is realized, the accuracy of environment detection and identification of the unmanned vibrating robot in a complex environment is improved, and the safe operation of the unmanned vibrating robot is ensured.
The posture and the behavior intention of a person can be identified by detecting the human body shape and the human body characteristic points, the distance between the pedestrian and the machine is accurately estimated, and the safety of the person is not threatened in the operation of the machine.
Each obstacle on the travelling route can restore the three-dimensional boundary frame, the moving direction of the moving object is predicted, and the distance of the moving object is accurately estimated, so that the travelling direction of the unmanned machine is accurately planned, the environment position is constructed by the feedback information of the sixteen-line laser radar, and the self-positioning of the machine in the environment is realized.
Decision planning technology under uncertain environment
The multi-resolution thought is introduced into decision planning, and various uncertainties appearing in sensing and planning are resolved by using different resolutions, so that the capability of the unmanned vibrating robot for making reasonable decisions in an uncertain environment is effectively improved.
Machine retrofit and sensor introduction
The system integrates sensors such as a laser radar, a GNSS/I MU (global navigation satellite system/inertial measurement unit) module, a millimeter wave radar, vision and the like, realizes the connection with the sensors through a lower computer to sense the environment, control an execution mechanism of the machine and complete the real-time communication with an upper computer; the upper computer carries out filtering and analysis processing on data acquired by the lower computer, plans a traveling path and a control strategy of the machine, realizes a series of functions of starting and stopping, accelerating, steering, obstacle avoidance and the like of the machine, and achieves the effect of unmanned autonomous traveling. The power and the exhibition disc of the whole machine are matched according to the specification of the passenger vehicle, all information of a control system of the whole machine is transmitted or shared through a CAN (controller area network) bus, and programs of an upper computer and a lower computer adopt a modularized design, so that parameters are convenient to modify.
Six-wheel independent drive chassis system
The obstacle crossing (crossing over a 60cm step) can be realized through a complex combined pavement consisting of a soft pavement (such as a soft concrete pouring layer), a wading pavement, a slope pavement, a narrow pavement and the like. In order to pass through the off-road property of the robot, the robot is ensured not to sink when passing through a soft road surface, and in addition to the adoption of the crawler wheels, the robot is required to have balanced traction force of each driving wheel under various complicated road surface conditions. In order to ensure the driving safety of the vibrating robot, the robot is required not to tip over when passing through a slope road surface, the robot is ensured to have enough traction force when passing through a smooth road surface, and the robot is required to have better smoothness when passing through an uneven road surface.
(1) Independent drive system and control
6 wheels are independently driven by 6 hydraulic motors respectively, and the 6 hydraulic motors are divided into two groups, the three motors on the left side are one group, the three motors on the right side are one group, power is provided by the constant power variable plunger pumps controlled by 2 electro-hydraulic proportions respectively, and the shunt is utilized for shunting. In order to ensure the stability of the vehicle in straight line running, the traction balance of 6 motors needs to be ensured; meanwhile, the flow of the driving wheels on the same side is automatically distributed on the basis of ensuring balanced traction by utilizing a liquid resistance control technology. When one or more motors idle due to the fact that the road surface is too slippery or a pit is trapped, the power of the one or more motors needs to be cut off and is automatically distributed to other driving wheels, so that each driving motor needs to be independently controlled, the running state of the driving motor (including parameters such as the rotating speed of the motor and the pressure of an oil inlet and an oil outlet) is monitored in real time, and a control system carries out corresponding adjustment according to the parameters.
(2) Adaptive control active suspension system and control
When the off-road vehicle driven by 6X6 model and 8X8 model multiple shafts runs on the surface with extraordinary ruggedness, the vertical load of a certain driving wheel is reduced greatly due to the structure of an independent suspension, and even the off-road vehicle leaves the surface and is suspended, so that the driving wheel loses the adhesion with the surface and the trafficability of the driving wheel is influenced. The independent suspension and the balanced suspension allow larger relative displacement between the wheel and the frame, so that the driving wheel is always kept in contact with the ground, and better adhesion performance is ensured. Meanwhile, the independent suspension can remarkably improve the minimum ground clearance of the vehicle, so that the trafficability of the vehicle is improved.
The technology adopts 6 crawler wheels, active suspension is realized by 6 hydraulic cylinders respectively, a displacement sensor and a pressure sensor are installed on each hydraulic cylinder, and a control system monitors the state of each hydraulic cylinder at any time so as to ensure that the robot has good trafficability under different road conditions. When the robot runs on a flat road, all the 6 hydraulic cylinders retract, and the passive suspension is realized by a hydraulic system, so that the ground clearance of the robot is minimum, the gravity center of the robot is reduced, and the safety of the robot during high-speed running is improved; when the crawler wheels pass through an uneven road surface, the control system detects the state of each crawler wheel, and if the front surface of each crawler wheel is provided with a pit, the oil cylinder is controlled to extend outwards until the crawler wheels are reliably contacted with the ground; if the obstacle with the bulge in the front is detected, the control oil cylinder is sequentially retracted, and the crawler wheels are reliably contacted with the ground in the process. If one track wheel exceeds the adjusting range of the oil cylinder due to the fact that the pit is too deep, the control system needs to cut off the power of the track wheel and distribute the power to other driving wheels.
(3) Independent steering system and control
The driving wheels 6.1.2 can realize steering through the independent steering hydraulic motors 6.3, and each driving crawler 6.1.3 can realize independent steering.
The using method comprises the following steps: when the driving crawler belt 6.1.3 turns, the independent turning hydraulic motor 6.3 is started to drive the gear to rotate, the gear is meshed with the rack on the crawler belt supporting plate 6.1.4 to drive the driving crawler belt 6.1.3 to rotate in the horizontal direction, and then the turning of the driving crawler belt 6.1.3 is realized.
The adoption of the independent driving crawler belt device 6 can realize that:
step of turning over 60cm high
The multi-wheel independent driving and self-adaptive active suspension system adopted by the vibrating robot can easily cross a step obstacle with the height of 60 cm.
② passing through uneven road surface
When the robot runs on a rough road surface, factors influencing the trafficability of the robot mainly include the overall dimension, the tire diameter, the driving form and the like of the whole vehicle. The approach angle, departure angle and minimum ground clearance in the robot dimensions have the greatest influence on the trafficability of the robot, which must be large enough otherwise the vehicle is inserted underground during travel or because the approach angle is too small; or the rear bridge is lifted due to the undersize departure angle; or the robot is firmly caught due to the fact that the minimum ground clearance is too small; or the robot is set up because the transverse and longitudinal pass radii are too large. These phenomena all cause the robot to "ground".
Conventional transaxle vehicles typically employ multiple axles; the longitudinal or transverse passing radius can be reduced by shortening the wheel track or the wheel base and the like; adopting a large-diameter tire; front overhang and rear overhang are reduced; the positions of components such as an oil tank, a silencer and an oil pan of an engine are improved, and the trafficability of the robot is improved by adopting a wheel edge speed bridge with a large ground clearance. After the technology is adopted, the 6 crawler wheels are independently driven by the 6 hydraulic motors respectively, and because a traditional drive axle is cancelled, a drive axle intermediate differential mechanism 'large bulge' which directly influences the ground clearance does not exist, the ground clearance can be greatly improved, and the geometric obstacle crossing capability is improved. The driving forces of the 6 crawler wheels are mutually independent, and the crawler wheels have reliable independent driving capability under any condition, so that the attachment passing capability is strong, and the cross-country capability and the traction capability are improved. The hydraulic transmission ratio is easier to distribute and control power than mechanical transmission, and the robot can control the power very easily, so that the conversion of two-wheel drive, four-wheel drive and six-wheel drive can be realized conveniently. Under the condition of off-road running, the soil has certain elasticity, and the ground also has certain unevenness, so that the vertical vibration of the robot and the torsional vibration of the transmission system parts can be caused. Such vibrations not only make it difficult for the operator to tolerate, fatigue damage to the parts of the running gear and drive train, but also severely affect the passing performance of the machine if the vehicle speed is high. After the technology is adopted, the active suspension is realized by adopting the hydraulic oil cylinder, so that the smoothness of the robot in the running process can be greatly improved.
Ability to pass through soft road surface
When the robot passes through a soft road surface, the track wheels sink to a greater depth than when the robot travels on a hard road surface, so that the resistance of the road surface to the track is large. In order to make the track sink to a small depth when running on a soft road, it is necessary to reduce the pressure of the track against the ground. Increasing the ground-contact area of the track is one of the most desirable solutions to the above-mentioned problems. By adopting a multi-wheel independent driving mode and a self-adaptive active suspension system, the weight of the whole robot can be uniformly distributed on each crawler wheel, and the ground pressure of the robot is reduced. Meanwhile, all the crawler wheels can provide traction force, so that the original driven wheel is changed into the conventional driving wheel, and therefore, the friction force between the driven wheel and the road surface does not exist, and the running resistance of the robot is greatly reduced. If some crawler wheels of the robot are slipped or overhead for some reasons, the hydraulic system can conveniently cut off the power of the crawler wheels and distribute the power to other crawler wheels which are in firm contact with the ground and have high adhesion force, and the driving is continued.
Capability of passing through gradient road surface
Because the six-wheel independent active suspension system is adopted, when the robot runs on a road surface with large gradient or a side slope, the inclination sensor arranged on the main frame can adjust the displacement of each oil cylinder through the electric control system, so that the gravity center of the robot is kept in a certain range, the robot has larger climbing capacity, and the robot cannot roll over when running on a larger side slope.
The foregoing description is only exemplary of the preferred embodiments of the application and is provided for the purpose of illustrating the general principles of the technology and the like. Meanwhile, the scope of the invention according to the present application is not limited to the technical solutions in which the above-described technical features are combined in a specific manner, and also covers other technical solutions in which the above-described technical features or their equivalent are combined arbitrarily without departing from the inventive concept described above. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (9)
1. The robot that vibrates, including vibrating stick (1), arm (2), hydraulic pressure forearm (3), the big arm of hydraulic pressure (4), driver's control room (5), headstock (7), chassis (8), vibrating stick (1) loads on arm (2), arm (2) are passed through hydraulic pressure forearm (3) are connected the big arm of hydraulic pressure (4), hydraulic pressure forearm (4) are articulated chassis (8), driver's control room (5) are rotatory to be fixed on chassis (8), headstock (7) are fixed on chassis (8), characterized by: the mechanical arm (2), the hydraulic small arm (3) and the hydraulic large arm (4) are connected through a variable-frequency servo hydraulic device, the hydraulic small arm (3) and the hydraulic large arm (4) are lifted through the variable-frequency servo hydraulic device, the independent driving crawler device (6) is fixed on the lower end face of the chassis (8),
independently drive crawler attachment (6) including independent drive arrangement (6.1), self-adaptation independent linkage (6.2), independently turn to hydraulic motor (6.3), 6 independent drive arrangement (6.1) is passed through self-adaptation independent linkage (6.2) are connected chassis (8), independently turn to hydraulic motor (6.3) with independent drive arrangement (6.1) are connected.
2. The vibrating robot of claim 1, wherein: the independent driving device (6.1) comprises a driving hydraulic motor (6.1.1), a driving wheel (6.1.2), a driving crawler belt (6.1.3) and a crawler belt supporting plate (6.1.4), the number of the driving hydraulic motors (6.1.1) and the number of the driving wheels (6.1.2) are respectively 6, the 6 driving hydraulic motors (6.1.1) are respectively connected with the 6 driving wheels (6.1.2), the 6 driving wheels (6.1.2) are all meshed with the inner surface of the driving crawler (6.1.3), the track support plate (6.1.4) is fixed on the inner surface of the driving track (6.1.3), the driving hydraulic motor (6.1.1) and the driving wheels (6.1.2) are both positioned on the track supporting plate (6.1.4), the independent steering hydraulic motor (6.3) is located on the inner surface of the drive track (6.1.3), the independent steering hydraulic motor (6.3) is connected with the crawler support plate (6.1.4) through a rack.
3. The vibrating robot of claim 1, wherein: the mechanical arm (2) is a four-degree-of-freedom mechanical arm.
4. The vibrating robot of claim 1, wherein: the tail end of the vibrating rod (1) is provided with an inclination angle sensor, a laser ranging module and a vibrating rod placing block for finding a vibrating insertion position, so that the horizontal direction of the positioning accuracy of the vibrating rod (1) is not more than 10cm, the vertical direction of the vibrating rod is not more than 2cm, the angle deviation of the vibrating rod is not more than 1 degree, and vibrating state current collecting equipment for collecting change data of working current in real time is further arranged on the vibrating rod (1).
5. The vibrating robot of claim 1, wherein: the high-precision angle sensor is arranged at a joint between the vibrating rod (1), the mechanical arm (2), the hydraulic small arm (3), the hydraulic large arm (4) and the chassis (8).
6. The vibrating robot of claim 1, wherein: and an integrated laser radar, a GNSS positioning system, an inertial navigation system, a camera, a millimeter wave radar and an industrial personal computer which are used by the unmanned system are arranged in the driving control room (5).
7. The vibrating robot of claim 2, wherein: the 6 driving hydraulic motors (6.1.1) are divided into two groups, and are respectively powered by constant-power variable plunger pumps controlled by 2 electro-hydraulic ratios, and are shunted by using shunts.
8. The vibrating robot of claim 1, wherein: the self-adaptive independent suspension device (6.2) comprises 6 suspension columns, the 6 suspension columns are respectively and actively suspended by 6 hydraulic cylinders, and each hydraulic cylinder is provided with a displacement sensor and a pressure sensor.
9. The vibrating robot of claim 1, wherein: the number of the independent steering hydraulic motors (6.3) is 6, and each steering driving hydraulic motor is controlled by an electro-hydraulic proportional directional valve.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114578751A (en) * | 2022-03-30 | 2022-06-03 | 河海大学常州校区 | Control system and control method of automatic vibrating device |
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| CN114182604B (en) | 2023-03-24 |
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