CN114572293B

CN114572293B - Wind-powered snow roaming robot

Info

Publication number: CN114572293B
Application number: CN202210188496.4A
Authority: CN
Inventors: 刘刚峰; 郭乐凡; 罗永晟; 李长乐; 张学贺; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-11-22
Anticipated expiration: 2042-02-28
Also published as: CN114572293A

Abstract

A wind-powered snow roaming robot belongs to the technical field of robot auxiliary work. The invention solves the problems of high energy consumption and poor road surface adaptability of the existing snow roaming robot. The device comprises a frame, a steering mechanism, a wind power driving module and four groups of suspensions; the four groups of the suspensions are oppositely arranged on two sides of the rack in pairs, each group of the suspensions comprises a main rack body fixedly arranged on the rack and a sled plate hinged to the bottom end of the main rack body, the angle of the sail is automatically changed through a sensor, automatic control is achieved, and the angle of the sail is always in the optimal state of wind energy utilization. The four sledges are in contact with the ground, so that the resistance is small, the contact area is large, the sledges are not prone to falling into snow, and the four sledges have better road surface adaptability and trafficability characteristic. The steering mechanism can change the direction of the front sled to steer and can also realize plow brake. The mechanism is simple, the energy damage is small, and the control is easy.

Description

Wind-powered snowfield roaming robot

Technical Field

The invention relates to a wind-powered snow roaming robot, and belongs to the technical field of auxiliary work of robots.

Background

At present, transportation equipment for human beings on snow is mainly divided into an animal power type and a mechanical power type. The power storage type has flexible operation, but low speed and poor endurance, can not work in severe environment for a long time, and has high feeding cost. The mechanical power type has strong power and high speed, but needs to provide energy sources for the mechanical power type. At present, the main energy supply schemes are fossil energy, electric energy, solar energy and the like, and the problems of environmental pollution, insufficient energy supply and the like can exist.

The snow roaming robot can be used in the field of polar science and investigation. The earth's two poles contain abundant natural resources, and have great significance for developing scientific investigation. However, the natural environment of the two polar regions is severe, scientific researchers are difficult to stay for a long time, and the polar region robot can help the scientific researchers to realize long-term unmanned autonomous detection. The polar region has insufficient energy and difficult fuel transportation. The utilization of clean energy such as wind energy is a feasible way for polar robots.

The application and research of sails by human beings are mainly carried out on sailboats, and the research on the aerodynamic characteristics of sails is relatively mature. The modern sail control theory can enable the robot to realize the movement in any direction within a certain range, and even can realize the top wind sailing under the condition of completely upwind. The existing snowfield roaming robot driven by wind energy mostly adopts wind power generation, converts the wind energy into electric energy and then uses the electric energy, and the energy use efficiency is low.

The invention patent application with the application number of 201711148932.0 discloses a solar sail sledge robot which is driven by wind energy and solar energy, pushes sledges to move by means of the wind energy, and is powered by means of the solar energy. Adopt stereoplasm sail, direct drive mast pivot is rotated, adopts 2 sled, and lug connection is poor in the road surface adaptability in the frame.

The invention patent application with the application number of 201910806345.9 discloses a crawler-track sledge composite walking polar region robot, wherein obstacle crossing is realized through four independent shifting crawlers, and sliding on a flat snow land is realized through a sail. However, the crawler belts are more, the driving structure is more complex, the energy consumption is larger, in the application, only a concept is provided for wind power driving, a specific control method is not designed, and in addition, 2 sledges are directly connected to the frame, so the road surface adaptability is poor.

Disclosure of Invention

The invention aims to solve the problems of high energy consumption and poor road surface adaptability of the conventional snow roaming robot, and further provides a wind-powered snow roaming robot.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a wind-driven snow roaming robot comprises a frame, a steering mechanism, a wind-driven driving module and four groups of suspensions; the four groups of the suspensions are oppositely arranged on two sides of the rack in pairs, and each group of the suspensions comprises a main rack body fixedly arranged on the rack and a sled plate hinged at the bottom end of the main rack body;

the steering mechanism is positioned at the front part of the rack and comprises an electric push rod, a connecting plate, steering engines, gears, racks and two steering connecting rods, wherein the steering engines are fixedly arranged on the connecting plate, the fixed ends of the electric push rod are arranged on the rack, the free ends of the electric push rod are fixedly connected with the connecting plate, the steering engines are directly connected with the gears, the gears are meshed with the racks, one ends of the two steering connecting rods are respectively connected to the left end and the right end of each rack through universal joints, the other ends of the two steering connecting rods are respectively connected to the two main frame bodies at the front part of the rack through the universal joints, and the connecting plate realizes front and back sliding on the rack through the electric push rod;

the wind power driving module comprises a mast, a sail, a connecting rope and a fixed pulley block, the mast is installed on the upper portion of the frame, one side of the sail is sleeved on the mast, the bottom end of the other side of the sail is fixedly provided with one end of the connecting rope, the other end of the connecting rope penetrates through the fixed pulley block and is wound on a hand wheel, and the hand wheel is driven by a hand wheel servo motor and a speed reducer;

the frame includes the frame main part and installs electric cabinet, wind direction sensor, air velocity transducer and the battery in the frame main part, and the electric cabinet is connected with the battery electricity, and electric putter, steering wheel, wind direction sensor, air velocity transducer and hand wheel servo motor all with electric cabinet signal connection.

Furthermore, the main frame body comprises an upper fork arm, a lower fork arm, a shock absorber and a sledge vertical shaft, wherein one end of the upper fork arm, one end of the lower fork arm and one end of the shock absorber are hinged to the frame body, the other end of the upper fork arm and the other end of the lower fork arm are hinged to the sledge vertical shaft, the other end of the shock absorber is hinged to the lower fork arm, and the sledge plate is hinged to the lower end of the sledge vertical shaft.

Furthermore, each group of two ski vertical shafts which are relatively positioned at two sides of the machine frame are arranged in a splayed shape.

Furthermore, the fixed pulley group comprises a first fixed pulley, a second fixed pulley, a third fixed pulley and a connecting rope, wherein the first fixed pulley is installed at the rear part of the frame through a supporting rod, the second fixed pulley is installed at the bottom of the sail, the third fixed pulley is installed inside the main body of the frame, and the connecting rope is sequentially wound on the first fixed pulley, the second fixed pulley and the third fixed pulley.

Furthermore, the electric cabinet, the wind direction sensor and the wind speed sensor are all positioned at the front part of the frame main body.

Further, the frame still includes the linear guide who installs on the frame main part, battery side-to-side slidable mounting is on the linear guide.

Further, a goods warehouse is further arranged on the rack main body.

Further, the bottom of the connecting plate slides back and forth by taking two groups of guide rail sliding block assemblies as guide elements.

Further, the number of the electric push rods is three and the electric push rods are arranged side by side.

Further, the number of the second fixed pulleys is two.

Compared with the prior art, the invention has the following effects:

the wind driven generator is driven by wind energy which is renewable energy, is energy-saving and environment-friendly, does not produce pollution, and can be used for working for a long time. The wind energy is used for direct driving, and the energy utilization rate is high. The device uses clean energy, has the characteristics of energy conservation, environmental protection, long sustainable working time, flexible movement and the like, and can be applied to the fields of snow transportation, polar scientific investigation and the like.

The robot can automatically change the angle of the sail through the sensor, realize automatic control and ensure that the sail angle is always in the optimal state for wind energy utilization.

The four sledges are in contact with the ground, so that the resistance is small, the contact area is large, the sledges are not prone to falling into snow, and the four sledges have better road surface adaptability and trafficability characteristic.

The steering mechanism can change the direction of the sled in front to steer and can also realize plow brake. The mechanism is simple, the energy damage is small, and the control is easy.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a schematic side view of the present application;

FIG. 3 is a schematic front view of the present application (the sail is not shown);

FIG. 4 is a schematic top view of the present application (the sail is not shown);

FIG. 5 is a schematic perspective view of the suspension;

FIG. 6 is a perspective view of the steering mechanism;

fig. 7 is a schematic perspective view of a hand wheel;

FIG. 8 is a schematic mechanical movement diagram of forward, steering and braking movements, wherein a) is a schematic forward state diagram, b) is a schematic braking state diagram, and c) is a schematic steering state diagram;

fig. 9 is a schematic diagram of the mechanism movement of the sail angle control, wherein a) and b) are respectively in two different states (the number of the second fixed pulleys is one).

Detailed Description

The first specific implementation way is as follows: the embodiment is described with reference to fig. 1 to 9, and a wind-powered snow roaming robot includes a frame 1, a steering mechanism 3, a wind-powered driving module 4 and four sets of suspensions 2; the four groups of the suspension frames 2 are oppositely arranged on two sides of the rack 1 in pairs, and each group of the suspension frames 2 comprises a main frame body fixedly arranged on the rack 1 and a sled plate 205 hinged at the bottom end of the main frame body;

the steering mechanism 3 is positioned at the front part of the rack 1, the steering mechanism 3 comprises an electric push rod 301, a connecting plate 307, a steering engine 302, a gear 303, a rack 304 and two steering connecting rods 305, wherein the steering engine 302 is fixedly arranged on the connecting plate 307, the fixed end of the electric push rod 301 is arranged on the rack 1, the free end of the electric push rod 301 is fixedly connected with the connecting plate 307, the steering engine 302 is directly connected with the gear 303, the gear 303 is meshed with the rack 304, one ends of the two steering connecting rods 305 are respectively connected to the left end and the right end of the rack 304 through universal joints, the other ends of the two steering connecting rods 305 are respectively connected to two main rack bodies at the front part of the rack 1 through universal joints, and the connecting plate 307 realizes the front-back sliding on the rack 1 through the electric push rod 301;

the wind power driving module 4 comprises a mast 401, a sail 402, a connecting rope 403 and a fixed pulley block, the mast 401 is installed on the upper portion of the frame 1, one side of the sail 402 is sleeved on the mast 401, the bottom end of the other side of the sail 402 is fixedly provided with one end of the connecting rope 403, the other end of the connecting rope 403 penetrates through the fixed pulley block and is wound on a hand wheel 404, and the hand wheel 404 is driven by a hand wheel servo motor 405 and a speed reducer 406;

the rack 1 comprises a rack main body, an electric cabinet 101, a wind direction sensor 102, a wind speed sensor 103 and a battery 104, wherein the electric cabinet 101, the wind direction sensor 102, the wind speed sensor 103 and the battery 104 are installed on the rack main body, the electric cabinet 101 is electrically connected with the battery 104, and an electric push rod 301, a steering engine 302, the wind direction sensor 102, the wind speed sensor 103 and a hand wheel servo motor 405 are in signal connection with the electric cabinet 101.

The connecting string 403 is preferably a nylon string. The frame main body is preferably made of aluminum alloy.

The hand wheel servo motor 405 is directly connected with the speed reducer 406, the hand wheel 404 is directly connected through the hand wheel 404, and the hand wheel servo motor 405, the speed reducer 406 and the hand wheel 404 are all positioned in the frame body.

Other required sensors such as a GPS, an IMU, a temperature and humidity sensor and the like are also arranged in the electric cabinet 101.

The four groups of suspensions 2 are respectively arranged on the left front side, the right front side, the left rear side and the right rear side of the frame 1.

The number of the electric push rods 301 can be one, two or more according to actual needs.

The snow roaming robot has the autonomous cruising ability, can plan a route in advance by utilizing a positioning system and an environment sensing system of the snow roaming robot, and transmits the route to the robot for control in a wireless mode. The robot can automatically calculate the optimal path and the angle of the sail 402 according to the ground environment condition and the real-time wind direction, and automatically move to the designated position.

The wind driven generator is driven by wind energy which is renewable energy, is energy-saving and environment-friendly, does not produce pollution, and can be used for working for a long time. The wind energy is utilized to directly drive, and the energy utilization rate is high. The device uses clean energy, has the characteristics of energy conservation, environmental protection, long sustainable working time, flexible movement and the like, and can be applied to the fields of snow transportation, polar scientific investigation and the like.

The robot can automatically change the angle of the sail 402 through a sensor, realize automatic control and ensure that the angle of the sail 402 is always in the optimal state for wind energy utilization.

The four sledges are in contact with the ground, so that the resistance is small, the contact area is large, the sledges are not prone to sinking into snow, and the four sledges have better road surface adaptability and trafficability characteristic.

The steering mechanism 3 can change the direction of the front sledge to steer and can also realize plow brake. The mechanism is simple, the energy damage is small, and the control is easy.

The main frame body comprises an upper fork arm 201, a lower fork arm 202, a shock absorber 203 and a ski vertical shaft 204, wherein one end of the upper fork arm 201, one end of the lower fork arm 202 and one end of the shock absorber 203 are hinged with the frame body, the other end of the upper fork arm 201 and the other end of the lower fork arm 202 are hinged with the ski vertical shaft 204, the other end of the shock absorber 203 is hinged with the lower fork arm 202, and a ski plate 205 is hinged with the lower end of the ski vertical shaft 204. So design, the body frame adopts the two fork arm structures, and sled board 205 can rotate around sled vertical scroll 204 bottom to better adaptation topography. Possess good effect of moving away to avoid possible earthquakes simultaneously, can guarantee the steady of robot fuselage. With the main frame structure of the present application, ski 205 can be repositioned relative to frame 1 under the influence of steering mechanism 3 to accommodate terrain. The other end of the steering link 305 is connected to the ski vertical shaft 204 by a universal joint.

Each group of two ski vertical shafts 204 which are oppositely arranged at two sides of the machine frame 1 are arranged in a splayed shape. With this design, the ski vertical shaft 204 is angled from vertical. When the steering wheel is turned, a certain contact angle is formed with the ground surface, so that better lateral supporting force is provided. The main functions are as follows: when the robot is steered, the robot is enabled to rotate along the guide of the sled plate 205, so that sideslip is prevented; provides larger resistance when braking and helps to slow down.

The fixed pulley group comprises a first fixed pulley, a second fixed pulley, a third fixed pulley and a connecting rope 403, wherein the first fixed pulley 407 is mounted to the rear of the frame 1 through a support rod, the second fixed pulley 408 is mounted at the bottom of the sail 402, the third fixed pulley 409 is mounted inside the frame main body, and the connecting rope 403 is sequentially wound on the first fixed pulley, the second fixed pulley, the third fixed pulley and the connecting rope. The number of the second fixed pulleys 408 may be one, two or more according to actual requirements.

The electric cabinet 101, the wind direction sensor 102 and the wind speed sensor 103 are all positioned at the front part of the frame main body.

The rack 1 further comprises a linear guide rail 105 mounted on the rack body, and the battery 104 is slidably mounted on the linear guide rail 105 from side to side. When the wind force is large, it is considered that the robot sail 402 is subjected to a large lateral force, which may cause a dangerous situation such as overturning. The present invention mounts the battery 104 on the linear guide 105. The battery 104 can move along the left and right directions of the robot under the drive of the linear guide rail 105 motor. Based on the data collected by the associated sensors, the battery 104 may be controlled to move in a direction opposite to the wind to balance the robot center of gravity. If the wind force exceeds the range that the battery 104 can balance, the handwheel servo motor 405 releases all the connecting ropes 403 at once, so that the sail 402 is completely free and rotates to an angle parallel to the wind direction under the action of the wind. At this time, the force applied to the sail 402 is zero, and the overturning moment is no longer generated.

The rack body is also provided with a cargo compartment 106. So designed, the warehouse 106 is arranged at the rear part of the machine frame 1 and can be used for transporting goods or installing scientific research instruments.

The bottom of the link plate 307 slides back and forth as a guide element by means of two sets of rail slider 306 assemblies.

The working principle is as follows:

turning: when the advancing direction of the robot needs to be changed, the electric push rod 301 keeps static, and the steering engine 302 changes the angle (namely, turns), so that the gear 303 drives the rack 304 to translate along the left or right direction. Steering links 305 at the ends of the rack 304 rotate the ski vertical shaft 204 about an axis. The ski shafts 204 on both sides of the frame 1 rotate in the same direction. The mechanism movement diagram is shown in a) and c) of fig. 8.

Braking: when the robot is driven by wind power, if the running speed of the robot needs to be reduced, the electric push rod 301 can be placed in an extended state, and the connecting plate 307 at the tail end of the electric push rod 301 drives the steering engine 302, the gear 303 and the rack 304 to integrally move forward. The steering links 305 on both sides move in a plane, and the ski shaft 204 rotates about an axis. In this case, the ski shafts 204 are rotated in opposite directions, and both are rotated inward. The mechanism movement diagram is shown as b) diagram in fig. 8. The brake mode is to simulate the principle of 'plow brake' in skiing sports, so that the ski is in an inner splayed shape, and the contact area and the contact angle with the snow are increased to generate brake force to decelerate. The magnitude of the braking force can be controlled by controlling the length of the electric push rod 301.

Wind power driving: the snow roaming robot can collect wind energy by using the wind sails 402 to directly provide driving force for the robot. The robot reads the data of the wind direction sensor 102 and the wind speed sensor 103, compares the data with the self advancing direction, and calculates the optimal angle of the sail 402 according to the sail 402 driving theory. The handwheel servo motor 405 drives the handwheel 404 to rotate, so that the length of the connecting rope 403 wound on the handwheel 404 is changed, and meanwhile, the length of the free end of the connecting rope 403 is also changed. One side of the sail 402 is sleeved on the mast 401, the middle of the sail 402 is pushed by wind, and the other side of the sail 402 is pulled by the connecting rope 403, so that stress balance can be realized, and the angle of the sail 402 is determined. The fixed pulleys on the mast 401 and the frame 1 are reacted by the sail 402 to provide driving force for the robot. When the wind direction changes, the hand wheel 404 is rotated to change the angle of the sail 402, so that the sail 402 is always in the position most favorable for the robot to advance. As shown in fig. 9.

Claims

1. A wind-powered snow roaming robot is characterized in that: the device comprises a frame (1), a steering mechanism (3), a wind power driving module (4) and four groups of suspensions (2); the four groups of the suspensions (2) are oppositely arranged on two sides of the rack (1) in pairs, and each group of the suspensions (2) comprises a main rack body fixedly arranged on the rack (1) and a sled plate (205) hinged to the bottom end of the main rack body;

the steering mechanism (3) is located at the front part of the rack (1), the steering mechanism (3) comprises an electric push rod (301), a connecting plate (307), a steering engine (302), a gear (303), a rack (304) and two steering connecting rods (305), wherein the steering engine (302) is fixedly arranged on the connecting plate (307), the fixed end of the electric push rod (301) is installed on the rack (1), the free end of the electric push rod (301) is fixedly connected with the connecting plate (307), the steering engine (302) is directly connected with the gear (303), the gear (303) is meshed with the rack (304), one ends of the two steering connecting rods (305) are respectively connected to the left end and the right end of the rack (304) through universal joints, the other ends of the two steering connecting rods (305) are respectively connected to two main rack bodies at the front part of the rack (1) through the universal joints, and the connecting plate (307) realizes front and back sliding on the rack (1) through the electric push rod (301);

the wind power driving module (4) comprises a mast (401), a sail (402), a connecting rope (403) and a fixed pulley block, the mast (401) is installed at the upper part of the rack (1), one side of the sail (402) is sleeved on the mast (401), one end of the connecting rope (403) is fixedly installed at the bottom end of the other side of the sail (402), the other end of the connecting rope (403) penetrates through the fixed pulley block and is wound on a hand wheel (404), and the hand wheel (404) is driven by a hand wheel servo motor (405) and a speed reducer (406);

the frame (1) comprises a frame main body, an electric cabinet (101), a wind direction sensor (102), a wind speed sensor (103) and a battery (104), wherein the electric cabinet (101) is installed on the frame main body, the battery (104) is electrically connected with the electric cabinet (101), and an electric push rod (301), a steering engine (302), the wind direction sensor (102), the wind speed sensor (103) and a hand wheel servo motor (405) are all in signal connection with the electric cabinet (101).

2. The wind-powered snow roaming robot of claim 1, wherein: the main frame body comprises an upper fork arm (201), a lower fork arm (202), a shock absorber (203) and a ski vertical shaft (204), wherein one end of the upper fork arm (201), one end of the lower fork arm (202) and one end of the shock absorber (203) are hinged to the main frame body, the other ends of the upper fork arm (201) and the lower fork arm (202) are hinged to the ski vertical shaft (204), the other end of the shock absorber (203) is hinged to the lower fork arm (202), and a ski plate (205) is hinged to the lower end of the ski vertical shaft (204).

3. A wind-powered snow roaming robot as claimed in claim 2, wherein: each group of two ski vertical shafts (204) which are oppositely positioned at two sides of the stander (1) are arranged in a splayed shape.

4. A wind-powered snow roaming robot as claimed in claim 1, 2 or 3, wherein: the fixed pulley group comprises a first fixed pulley, a second fixed pulley, a third fixed pulley and a connecting rope, wherein the first fixed pulley (407) is installed behind the rack (1) through a support rod, the second fixed pulley (408) is installed at the bottom of the sail (402), the third fixed pulley (409) is installed inside the rack main body, and the connecting rope (403) is sequentially wound on the first fixed pulley, the second fixed pulley and the third fixed pulley.

5. The wind-powered snow roaming robot of claim 1, wherein: the electric control box (101), the wind direction sensor (102) and the wind speed sensor (103) are all positioned at the front part of the frame main body.

6. A wind-powered snow roaming robot as claimed in claim 1, 2, 3 or 5, wherein: the rack (1) further comprises a linear guide rail (105) installed on the rack main body, and the battery (104) is installed on the linear guide rail (105) in a left-right sliding mode.

7. The wind-powered snow roaming robot of claim 1, wherein: the rack main body is also provided with a cargo bin (106).

8. The wind-powered snow roaming robot of claim 1, wherein: the bottom of the connecting plate (307) is used as a guide element to realize forward and backward sliding through two groups of guide rail sliding block (306) assemblies.

9. The wind-powered snow roaming robot of claim 1, wherein: the number of the electric push rods (301) is three and the electric push rods are arranged side by side.

10. The wind-powered snow roaming robot of claim 1, wherein: the number of the second fixed pulleys (408) is two.