CN210502931U - Suspension height self-adaptive special robot suitable for severe environment - Google Patents
Suspension height self-adaptive special robot suitable for severe environment Download PDFInfo
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- CN210502931U CN210502931U CN201921415139.7U CN201921415139U CN210502931U CN 210502931 U CN210502931 U CN 210502931U CN 201921415139 U CN201921415139 U CN 201921415139U CN 210502931 U CN210502931 U CN 210502931U
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Abstract
The utility model discloses a hang height self-adaptation special type robot suitable for adverse circumstances, including chassis main part and the mechanism of moving away to avoid possible earthquakes that hangs that is connected with the chassis main part, hang height and set mechanism, electric drive and control mechanism, hang the mechanism of moving away to avoid possible earthquakes and hang height and set the mechanism and all be provided with two sets, two sets hang the mechanism of moving away to avoid possible earthquakes and set respectively in the both sides of chassis main part, every set hangs the mechanism of moving away to avoid possible earthquakes and sets the mechanism through one set of height of hanging and be connected with. Independent height adjustment of the left and right suspension shock absorption mechanisms relative to the chassis main body is realized through the suspension height adjusting mechanism, and power reversing and continuous output during height adjustment of the suspension shock absorption mechanisms are ensured; the posture sensing mechanism is arranged to sense the posture change of the robot during the traveling process, the road condition concave-convex condition is reversely pushed, the height of the suspension shock-absorbing mechanism is controlled and adjusted in real time, the stability is guaranteed, the obstacle crossing performance is improved, and the adaptability of the mobile platform is improved.
Description
Technical Field
The utility model belongs to the technical field of the robot chassis, concretely relates to hang high self-adaptation special type robot suitable for adverse circumstances.
Background
The crawler-type chassis has the advantages of flexible action, good load bearing performance, strong obstacle crossing capability and the like, and is commonly used for a special machine moving platform on complex and severe ground. Compared with a wheel-type crawler-type chassis, the crawler-type chassis has stronger obstacle crossing performance and complex terrain passing capacity due to the fact that the crawler-type chassis is provided with the suspension damping mechanism. The development direction of the crawler-type chassis and the matched suspension assembly serving as the walking mechanism of the related machine always centers on the development in the aspects of high adaptability, high motion performance, safety reliability, motion stability and the like.
At present, a crawler-type chassis mainly adopts a damping suspension system with a specific structure and is divided into a left side and a right side which are respectively provided with symmetrical suspension components. In order to improve the passing capacity of the complex pavement of the crawler-type chassis, a mechanical lifting mechanism is generally adopted to realize the chassis height of the robot in the traveling process, so that the obstacle avoidance is realized. The typical technical scheme is an adjustable crawler device disclosed in patent No. 201810575356.6, which adjusts the height of the chassis by adjusting the length of a hydraulic rod, thereby improving the trafficability of the crawler chassis. Patent No. 201711335346.7 discloses a height adjusting device and method for a crawler chassis, wherein the end of a piston cylinder of a hydraulic cylinder joint measurement is provided with a rack meshing mechanism to change the included angle between an inner driving rod and an outer driving rod, thereby changing the overall working height of the crawler chassis to avoid obstacles.
The existing suspension component of the crawler-type chassis generally adopts a fixed structure, the angle or the height of a suspension system can not be changed when the suspension component moves, when the suspension component passes through a reversed-shaped, reversed-shaped or other complex ground, obstacles or ramps with different heights at two sides, the working angle at the upper end of the chassis is changed, the disturbance influence on the observation angle at the upper end of the chassis or the working angle of operating equipment is serious, the working stability of the chassis is reduced, the suspension system is stressed unevenly, the crawler can deform seriously, the crawler is damaged or falls off slightly, the vehicle body is damaged or overturned due to uneven stress of the crawler structures at the left side and the right side, the service life of the crawler chassis is seriously damaged, and the passing ability and the obstacle surmounting ability of the chassis are greatly challenged.
In the prior art, only the scheme of adjusting the height of the wheel type chassis is adopted, and the crawler type driving mechanism is complex, so that the overall height of the chassis can be adjusted by synchronously adjusting the suspension systems on the left side and the right side in the existing crawler type suspension height adjusting scheme, the chassis cannot adapt to complex road surfaces with different left and right heights, and no mechanism or scheme for independently and efficiently adjusting the height of the suspension system exists at present.
Disclosure of Invention
An object of the utility model is to provide a hang high self-adaptation special type robot suitable for adverse circumstances, the height that the subassembly was hung to real-time independent change crawler-type chassis both sides to make suspension and track system laminate ground better, be applicable to the complicated topography of difference in height about having, improve chassis climbing and hinder performance and job stabilization performance more, solve the degree of laminating when the track faces all kinds of complicated ground poor, fall track and platform slope scheduling problem that topples even.
The utility model provides a technical scheme that its technical problem adopted is: the suspension height self-adaptive special robot suitable for severe environments comprises a chassis main body, a suspension shock-absorbing mechanism, a suspension height setting mechanism and an electric driving and controlling mechanism, wherein the suspension shock-absorbing mechanism, the suspension height setting mechanism and the electric driving and controlling mechanism are all connected with the chassis main body, the suspension shock-absorbing mechanism and the suspension height setting mechanism are respectively provided with two sets, the two sets of suspension shock-absorbing mechanisms are respectively arranged on two sides of the chassis main body, and each set of suspension shock-absorbing mechanism is connected with the electric driving and controlling mechanism through one set of suspension height setting mechanism.
Specifically, the chassis main body comprises a rack, a shell and a suspension transition plate, wherein the shell is arranged on the rack, and the suspension transition plate is connected to two sides of the rack.
Specifically, the two sets of suspension shock absorption mechanisms are respectively arranged on suspension transition plates on two sides of the chassis main body, each set of suspension shock absorption mechanism comprises a suspension side plate, a driving wheel, a wheel train mechanism, a shock absorption mechanism and a crawler belt, and the suspension side plates are connected with the suspension height adjusting mechanism through supports; the suspension side plate is provided with a driving wheel and a wheel train mechanism for driving and supporting the crawler belt, and the shock absorbing mechanism is arranged on the suspension side plate.
Specifically, the suspension height adjusting mechanism is arranged between a frame of the chassis main body and the suspension transition plate, and each set of suspension height adjusting mechanism comprises a suspension height adjusting mechanism and a power self-adaptive transmission mechanism.
Specifically, each set of suspension height adjusting mechanism comprises a rotating shaft, an adjusting seat, a sliding rod, a first connecting rod, a second connecting rod, a third connecting rod, a screw rod, a lifting motor, an adjusting block and a lifting connecting rod, wherein the adjusting seat is arranged on the inner side of the frame, a notch is formed in one side of the adjusting seat in the vertical direction, the sliding rod capable of sliding up and down is arranged in the notch, the lower end of the sliding rod is connected with one end of the lifting connecting rod, the lifting connecting rod is of an L-shaped structure, and the other end of the lifting connecting rod is fixedly connected with the suspension transition plate; the upper end of slide bar is connected the one end of third connecting rod, the upper end of notch is connected with the one end of first connecting rod, the other end of first connecting rod, the one end of second connecting rod, the middle part of third connecting rod is articulated through the pivot, first connecting rod, second connecting rod and third connecting rod are cross connection form, the other end of third connecting rod is provided with the slider, the terminal surface is provided with elevator motor under the slider, the other end of second connecting rod is provided with the adjusting block, the adjusting block is screw-nut, there is the helicitic texture inside, the adjusting block is connected with the lead screw cooperation, the lead screw passes the slider of third connecting rod tip perpendicularly, the lower extreme and elevator motor's output shaft of lead screw.
Specifically, the power self-adaptive transmission mechanism comprises a first reversing mechanism, a transmission telescopic mechanism and a second reversing mechanism, wherein the input end of the first reversing mechanism is connected with the motor, the output end of the first reversing mechanism is connected with the input end of the second reversing mechanism through the transmission telescopic mechanism, and the output end of the second reversing mechanism is connected with the driving wheel.
Specifically, the electric driving and controlling mechanism comprises a controlling mechanism, a posture sensing mechanism, a motor driving mechanism, a motor, a battery and an obstacle sensing mechanism, wherein the controlling mechanism, the posture sensing mechanism, the motor driving mechanism, the motor and the battery are all arranged inside the rack, the controlling mechanism is connected with the posture sensing mechanism, the motor driving mechanism, the obstacle sensing mechanism and a lifting motor in the suspension height setting mechanism, the motor driving mechanism is connected with the motors, the motors are symmetrically arranged, output shafts of the two motors are respectively connected with two first reversing mechanisms in the suspension height setting mechanism, the battery is connected with each power consumption element inside the robot, the obstacle sensing mechanism is a distance measuring sensor or a laser radar, and the obstacle sensing mechanism is arranged on a shell in front of the rack.
The utility model discloses following beneficial effect has: the utility model discloses a suspension height setting mechanism has realized the independent height adjustment of the relative chassis main part of two sets of suspension shock absorber mechanisms on the left and right sides, has guaranteed power switching-over and continuous output when adjusting the height of suspension shock absorber mechanism through power self-adaptation transmission mechanism simultaneously, has guaranteed the power demand of robot motion; the posture sensing mechanism is arranged to sense the change of the posture of the robot during the traveling process and reversely push the concave-convex conditions of the road conditions, so that the height of the suspension shock-absorbing mechanism is controlled and adjusted in real time, the level and the stability of the robot during the traveling process are guaranteed, the obstacle crossing performance is improved, the adaptability of the mobile platform is improved, and the method plays an important role in improving the high performance and the high stable motion of the special robot on the complex severe ground.
Drawings
Fig. 1 is a three-dimensional structure schematic diagram of the suspension height self-adaptive special robot of the utility model.
Fig. 2 is the structure diagram of the main view of the self-adaptive special robot with hanging height of the utility model.
Fig. 3 is a left side view structure diagram of the suspension height self-adaptive special robot of the utility model.
Fig. 4 is the structure diagram of the utility model discloses hang right side of high self-adaptation special type robot.
Fig. 5 is a rear view structure diagram of the suspension height self-adaptive special robot of the utility model.
Fig. 6 is a schematic view of the overlooking structure of the suspension height adaptive special robot after the upper shell is removed.
Fig. 7 is a schematic perspective view of the suspension height adjusting mechanism of the present invention.
Fig. 8 is a schematic front view of the suspension height adjusting mechanism of the present invention.
Fig. 9 is a left side view structural schematic diagram of the suspension height adjusting mechanism of the present invention.
Fig. 10 is a right side view schematic diagram of the suspension height adjusting mechanism of the present invention.
Fig. 11 is a schematic perspective view of the power adaptive transmission mechanism of the present invention.
Fig. 12 is a schematic front view of the power adaptive transmission mechanism of the present invention.
Fig. 13 is a left side view structural diagram of the power self-adaptive transmission mechanism of the present invention.
Fig. 14 is a schematic diagram of a right-view structure of the power adaptive transmission mechanism of the present invention.
Fig. 15 is a schematic top view of the power adaptive transmission mechanism of the present invention.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described, but the scope of the present invention is not limited to these embodiments. All changes and equivalents that do not depart from the spirit and scope of the invention are intended to be included within the scope of the invention.
As shown in fig. 1 and 2, the suspension height self-adaptive special robot suitable for severe environments comprises a chassis main body 1, a suspension shock-absorbing mechanism 2, a suspension height setting mechanism 3 and an electric driving and controlling mechanism 4, wherein the suspension shock-absorbing mechanism 2, the suspension height setting mechanism 3 and the electric driving and controlling mechanism 4 are all connected with the chassis main body 1, two sets of suspension shock-absorbing mechanisms 2 and two sets of suspension height setting mechanisms 3 are respectively arranged on two sides of the chassis main body 1, and each set of suspension shock-absorbing mechanism 2 is connected with the electric driving and controlling mechanism 4 through one set of suspension height setting mechanism 3.
The chassis main body 1 is a body of a special robot and realizes the functions of connecting, supporting and fixing other components, as shown in fig. 6, the chassis main body 1 comprises a frame 11, a shell 12 and a suspension transition plate 13, the shell 12 is of a plate-shaped structure and has 6 surfaces, and the shell 12 is arranged on the frame 11 and used for protecting the components in the robot so as to form a sealed hollow structure. The frame 11 is a square frame structure, and the two sides of the frame 11 are connected with suspension transition plates 13. The suspension transition plates 13 are rectangular strip plates, the number of the suspension transition plates is two, and the two suspension transition plates are respectively fixed on the left side and the right side of the rack 11. The suspension transition plate 13 is an intermediate medium connecting the chassis body 1, the suspension damper assembly 2, and the suspension height adjusting mechanism 3.
The suspension shock absorbing mechanisms 2 can achieve the contact friction and shock absorbing effect between the robot and the ground, the two sets of suspension shock absorbing mechanisms 2 are respectively arranged on the suspension transition plates 13 at the two sides of the chassis main body 1 and at the two sides of the frame 11, as shown in fig. 5, each set of suspension shock absorbing mechanism 2 comprises a suspension side plate 21, a driving wheel 22, a wheel train mechanism 23, a shock absorbing mechanism 24 and a crawler 25. The suspension side plate 21 is connected with the suspension height adjusting mechanism 3 through a bracket; the suspension side plate 21 is provided with a driving wheel 22 and a wheel train mechanism 23, the driving wheel 22 is arranged at the rear end of the suspension side plate 21 and used for driving the crawler 25 to rotate, and the wheel train mechanism 23 is arranged on the suspension side plate 21 and used for dragging the crawler 25 or realizing the functions of bearing and the like. The suspension mechanism 24 is disposed on the suspension side plate 21, and achieves the effect of damping the suspension mechanism 2 and the ground through an elastic element or a damping component.
The working mechanism of the suspension shock absorbing mechanism 2 is as follows: when the driving wheel 22 rotates, the caterpillar 25 is dragged to rotate, and then the wheel train mechanism 23 is driven to rotate, so that the caterpillar 25 is continuously rotated, and the chassis main body 1 is driven to move; meanwhile, the shock absorbing mechanism 24 attenuates or even eliminates the shock transmitted from the ground to the chassis body 1 by the shock absorbing and damping effects of its own elastic member or shock absorbing member.
The suspension height adjusting mechanism 3 realizes automatic height adjustment of the suspension shock absorption mechanism 2, is divided into two sets which are symmetrical left and right, and is arranged between two sides of the rack 11 and the suspension transition plate 13. As shown in fig. 3, each set of the suspension height adjusting mechanism 3 includes a suspension height adjusting mechanism 31 and a power adaptive transmission mechanism 32.
The suspension height adjusting mechanisms 31 are disposed on the left and right sides of the frame 11 for adjusting the height of the frame 11 relative to the suspension damping mechanism 2, as shown in fig. 4 and 7-10, the suspension height adjusting mechanisms 31 include a rotating shaft 310, an adjusting seat 311, a sliding rod 312, a first connecting rod 313, a second connecting rod 314, a third connecting rod 315, a screw 316, a lifting motor 317, an adjusting block 318, and a lifting connecting rod 319.
The adjusting seat 311 is arranged on the inner side of the frame 11, a notch is arranged on one side of the adjusting seat 311 in the vertical direction, a sliding rod 312 capable of sliding up and down is arranged in the notch, the lower end of the sliding rod 312 is connected with one end of a lifting connecting rod 319, the lifting connecting rod 319 is of an L-shaped flat plate structure, and the other end of the lifting connecting rod 319 is fixedly connected with the suspension transition plate 13. The upper end of the sliding rod 312 is connected with one end of a third connecting rod 315, the upper end of the notch is connected with one end of a first connecting rod 313, the other end of the first connecting rod 313, one end of a second connecting rod 314 and the middle part of the third connecting rod 315 are hinged through a rotating shaft 310, the first connecting rod 313, the second connecting rod 314 and the third connecting rod 315 are in a cross connection shape, the other end of the third connecting rod 315 is provided with a sliding block, the lower end face of the sliding block is provided with a lifting motor 317, the other end of the second connecting rod 314 is provided with an adjusting block 318, the adjusting block 318 is a screw rod nut and is internally provided with a threaded structure, the adjusting block 318 is connected with a lead screw 316 in a matching manner, the lead screw 316 vertically penetrates through the other end of the third connecting rod 315 and is provided.
The principle or working method of the height adjustment of the suspension shock absorbing mechanism 2 by the suspension height adjusting mechanism 31 is as follows: when the lifting motor 317 rotates, the lead screw 316 is driven to rotate, due to the matching effect of the lead screw nut inside the adjusting block 318 and the lead screw 316, the adjusting block 318 moves up and down relative to the lifting motor 317, at this time, the second connecting rod 314 moves up and down, so as to drive the rotating shaft 310 to move obliquely upward or reversely, drive the first connecting rod 313 and the third connecting rod 315 to move obliquely upward or reversely in a direction close to the lead screw 316, so as to drive the sliding rod 312 to move up and down in the adjusting seat 311, and finally, the lifting connecting rod 319 and the suspension shock absorbing mechanism 2 connected with the same are driven to adjust the height up and down relative to the rack.
The power adaptive transmission mechanism 32 is used for ensuring that a continuous power output transmission function is provided when the suspension height adjusting mechanism 3 adjusts the height of the suspension shock absorbing mechanism 2, as shown in fig. 11, the power adaptive transmission mechanism 32 includes a first reversing mechanism 321, a transmission telescopic mechanism 322, and a second reversing mechanism 323, an input end of the first reversing mechanism 321 is connected with the motor 44, an output end of the first reversing mechanism 321 is connected with an input end of the second reversing mechanism 323 through the transmission telescopic mechanism 322, and an output end of the second reversing mechanism 323 is connected with the driving wheel 22.
The first reversing mechanism 321 mainly realizes transmission of power from the electric driving and controlling mechanism 4 to the transmission telescopic mechanism 322 after reversing, as shown in fig. 12-15, the first reversing mechanism 321 includes a first rotating shaft 321a, a first bevel gear 321b, a first bracket 321c, a second bracket 321d, a second rotating shaft 321e, a second bevel gear 321f, and a third bevel gear 321 g. The first rotating shaft 321a is disposed in the middle of the first support 321c, one end of the first rotating shaft 321a is connected to an output shaft of the motor 44, the other end of the first rotating shaft 321a is connected to the first bevel gear 321b, the second bevel gear 321f and the third bevel gear 321g are engaged with each other, the third bevel gear 321g is disposed on the second support 321d, the first support 321c and the second support 321d are both U-shaped structures and are vertically connected, a bearing is disposed between the first support 321c and the second support 321d, the second rotating shaft 321e penetrates through the bearing to adjust an angle between the first support 321c and the second support 321d, one end of the second rotating shaft 321e penetrates through the bearing to be connected to the second bevel gear 321f, the third bevel gear 321g is connected to the first sleeve 322a in the transmission telescopic mechanism 322, and an included angle between an axis of the first sleeve 322a and an axis of the first rotating shaft 321a is 90 °.
The reversing and power transmission principles of the first reversing mechanism 321 are as follows: after the power is transmitted to the first rotating shaft 321a, the first rotating shaft 321a transmits the power to the second rotating shaft 321e through the gear engagement, and since the second bevel gear 321f connected to the second rotating shaft 321e is also engaged with the third bevel gear 321g, the power is transmitted to the third bevel gear 321g and the first sleeve 322a connected thereto, and at this time, an included angle between the axis of the first sleeve 322a and the axis of the first rotating shaft 321a is 90 °.
The transmission telescopic mechanism 322 realizes the transmission of power from the first direction changing mechanism 321 to the second direction changing mechanism 323, and realizes the change of power transmission length through the self telescopic mechanism in the power transmission process. As shown in fig. 13, the transmission telescopic mechanism 322 includes a first sleeve 322a, a third rotating shaft 322b, and a second sleeve 322c, both the first sleeve 322a and the second sleeve 322c are rotating shaft structures, one end of the first sleeve 322a is connected to the third bevel gear 321g of the first reversing mechanism 321, the other end of the first sleeve 322a is connected to one end of the second sleeve 322c through the third rotating shaft 322b, and the other end of the second sleeve 322c is connected to the fourth bevel gear 323a of the second reversing mechanism 323. The first sleeve 322a and the second sleeve 322c are both hollow structures, two ends of the third rotating shaft 322b are respectively provided with a spring structure, two ends of the third rotating shaft 322b are respectively inserted into the hollow structures of the first sleeve 322a and the second sleeve 322c, and the third rotating shaft 322b is suspended between the first sleeve 322a and the second sleeve 322c under the action of the elastic force of the spring structures. The cross-sectional shapes of both ends of the third rotating shaft 322b and the hollow structures of the first sleeve 322a and the second sleeve 322c are identical, and are all polygons except for circles, preferably squares.
Gaps are reserved between the two ends of the third rotating shaft 322b and the hollow structures of the first sleeve 322a and the second sleeve 322c, namely the cross section of the third rotating shaft 322b is slightly smaller than that of the hollow structures of the first sleeve 322a and the second sleeve 322c, so that the effect is that when the first sleeve 322a rotates, the third rotating shaft 322b can be driven to rotate, and then the second sleeve 322c is driven to rotate; and the distance between the first sleeve 322a and the second sleeve 322c is changed, the third rotating shaft 322b floats between the first sleeve 322a and the second sleeve 322c due to the spring action between the first sleeve 322a and the second sleeve 322c and performs power transmission.
In order to ensure that the third rotating shaft 322b is inserted into the first sleeve 322a and the second sleeve 322c by the same distance, the elastic force of the spring structure at the end of the third rotating shaft 322b connected to the second sleeve 322c is slightly larger than the elastic force of the spring structure at the end of the third rotating shaft 322b connected to the first sleeve 322a due to the gravity of the third rotating shaft 322 b.
In order to ensure that the third shaft 322b does not disengage from the first and second sleeves 322a, 322c, the distance between the first and second sleeves 322a, 322c should not exceed the length of the third shaft 322b, and of course, when the distance between the first and second sleeves 322a, 322c decreases, the compression distance should be not less than the length of the third shaft 322 b.
The second reversing mechanism 323 has the same structural composition and function as the first reversing mechanism 321, and as shown in fig. 12 and 13, the second reversing mechanism 323 includes a fourth bevel 323a, a third bracket 323b, a fifth bevel 323c, a fourth rotating shaft 323d, a fourth bracket 323e, a sixth bevel 323f, and a fifth rotating shaft 323 g. The fourth bevel gear 323a is connected with the second sleeve 322c, the fourth bevel gear 323a, the fifth bevel gear 323c and the sixth bevel gear 323f are engaged with each other, the fourth bevel gear 323a is arranged on the third support 323b, the sixth bevel gear 323f is arranged on the fourth support 323e, the third support 323b and the fourth support 323e are vertically arranged in an opposite manner, the fifth bevel gear 323c is arranged on a fourth rotating shaft 323d passing between the third support 323b and the fourth support 323e, the fifth bevel gear 323c is connected with one end of a fifth rotating shaft 323g, the other end of the fifth rotating shaft 323g is connected with the driving wheel 22, and an included angle between the axis of the fifth rotating shaft 323g and the axis of the second sleeve 322c is 90 °.
The power self-adaptive transmission mechanism 32 realizes the overall reversing mechanism and the power transmission function as follows:
because the first rotating shaft 321a is connected with the output shaft of the motor 44, the power of the first rotating shaft 321a needs to be transmitted to the fifth rotating shaft 323g where the driving wheel 22 is located, and because the driving wheel 22 will change with respect to the vertical distance between the first rotating shaft 321a along with the effect of the suspension height adjusting mechanism 3 on the height adjustment of the suspension shock absorbing mechanism 2, the power self-adaptive transmission mechanism 32 has two functions:
(1) power reversing function
When the first rotating shaft 321a and the fifth rotating shaft 323g are not in the same straight line, the first bevel gear 321b, the second bevel gear 321f and the third bevel gear 321g are engaged with each other, and the first support 321c and the second support 321d are matched to reverse the power input from the first rotating shaft 321a, and finally, an included angle between the axis of the first rotating shaft 321a and the axis of the third bevel gear 321g is 90 degrees, so that one-time reversing is realized. The power is transmitted from the third bevel gear 321g to the fourth bevel gear 323a through the first sleeve 322a, the third rotating shaft 322b and the second sleeve 322c, and then is engaged with the fourth bevel gear 323a, the fifth bevel gear 323c and the sixth bevel gear 323f in the second reversing mechanism 323, so that the second power reversing is realized, that is: the angle between the axis of the fourth bevel gear 323a and the axis of the sixth bevel gear 323f is 90 °, so that the angle between the axes of the first rotating shaft 321a and the fifth rotating shaft 323g is 0 °, and they are parallel to each other but do not coincide with each other. The vertical distance between the first rotating shaft 321a and the fifth rotating shaft 323g is the length of the transmission telescopic mechanism 322.
(2) Power transmission extension function
When the suspension mechanism 2 is adjusted in height up and down relative to the chassis body 1, the first rotating shaft 321a connected to the rotating shaft of the motor 44 is adjusted in height in a vertical direction relative to the fifth rotating shaft 323g on the driving wheel 22, so that the distance between the first sleeve 322a and the second sleeve 322c is passively extended or compressed. Due to the action of the transmission telescopic mechanism 322, the springs at the two ends of the third rotating shaft 322b are supported in the first sleeve 322a and the second sleeve 322c, so that the third rotating shaft 322b is not separated from the first sleeve 322a and the second sleeve 322c all the time, and the power transmission between the first sleeve 322a and the second sleeve 322c is continuous.
The electric driving and controlling mechanism 4 is a robot parameter collecting, information fusing, power driving and control decision mechanism, as shown in fig. 3 and fig. 6, the electric driving and controlling mechanism 4 includes a controlling mechanism 41, an attitude sensing mechanism 42, a motor driving mechanism 43, a motor 44, a battery 45, and an obstacle sensing mechanism 46. The control mechanism 41, the attitude sensing mechanism 42, the motor driving mechanism 43, the motor 44 and the battery 45 are all arranged inside the rack 11, the control mechanism 41 is connected with the attitude sensing mechanism 42, the motor driving mechanism 43, the obstacle sensing mechanism 46 and the lifting motor 317 in the suspension height adjusting mechanism 3, and the attitude sensing mechanism 42 can sense the inclination degree of the left and right attitudes of the chassis main body 1 in real time and feed back the parameters to the control mechanism 41. The motor driving mechanism 43 is connected with the motor 44 to realize power driving, the motor 44 is arranged at the rear part inside the frame 11, the number of the motors 44 is two, the motors are symmetrically arranged, and the output shafts of the two sets of motors 44 are respectively connected with the first rotating shafts 321a in the two sets of first reversing mechanisms 321 in the suspension height adjusting mechanism 3. The battery 45 is connected to each power consuming element inside the robot to supply power to the power consuming elements inside the robot. The obstacle sensing mechanism 46 is a distance measuring sensor or a laser radar, and the obstacle sensing mechanism 46 is installed on the housing 1 in front of the rack 11 to detect the height of the obstacle in front and transmit the information to the control mechanism 41.
The working principle of the electric drive and control mechanism 4 is: the control mechanism 41 controls the motor driving mechanism 43 to drive the left and right sets of motors 44 to rotate respectively, so as to drive the chassis main body 1 to move. In the process of motion driving, the control mechanism 41 senses the left and right inclination angles of the chassis main body 1 through the control posture sensing mechanism 42, and judges the concave-convex road condition of the traveling ground, so that the height adjustment of the suspension height adjusting mechanisms 3 on the left and right sides relative to the chassis main body 1 is controlled in real time, and the horizontal motion of the chassis main body 1 is ensured. Meanwhile, the control mechanism 41 controls the obstacle sensing mechanism 46 to detect the height of the obstacle in front of the vehicle body, so that the height of the chassis main body 1 relative to the suspension shock absorption mechanism 2 is adjusted in real time, and the motion stability and the obstacle crossing performance are improved.
A method for operating a special robot with self-adaptive suspension height in severe environment comprises a road surface movement operation method for the special robot to pass through a flat road condition and a road surface movement operation method for the special robot to pass through a \ "type or \" type left-right height difference.
1. When the special robot passes through a road surface with a flat road condition, the left and right suspension shock absorption mechanisms 2 are consistent with ground feedback parameters, so that the chassis main body 1 is relatively kept horizontal, the left and right suspension shock absorption mechanisms 2 of the chassis main body 1 move at the same height, and the movement operation method comprises the following steps:
(1) the control mechanism 41 controls the lifting motor 317 in the suspension height adjusting mechanism 3 to keep the self-sustaining force not to act, and at the moment, the suspension shock absorption mechanisms 2 at two sides of the chassis body 1 are at the same height level relative to the chassis body 1;
(2) the control mechanism 41 controls the motor driving mechanism 43 in the electric driving and control mechanism 4 to drive the two sets of motors 44 to rotate respectively, power is transmitted to the first rotating shaft 321a in the first reversing mechanism 321 through the output shaft of the motor 44, and is continuously transmitted to the fifth rotating shaft 323g through the first bevel gear 321b, the second bevel gear 321f, the third bevel gear 321g, the first sleeve 322a, the third rotating shaft 322b, the second sleeve 322c, the fourth bevel gear 323a, the fifth bevel gear 323c and the sixth bevel gear 323f, and the power is transmitted to the second reversing mechanism 323 through the transmission telescopic mechanism 322 by the first reversing mechanism 321, so as to drive the driving wheel 22 in the suspension shock absorbing mechanism 2 to move;
(3) after the driving wheel 22 rotates, the caterpillar 25 is dragged to rotate, and the wheel train mechanism 23 is further driven to rotate, so that the caterpillar 25 rotates continuously, and the chassis main body 1 is driven to move.
Further, the control mechanism 41 completes the linear forward, linear backward, turning or pivot rotation of the chassis body 1 by changing the steering direction and direction of the left and right sets of motors 44 in the above movement process.
2. When the special robot with self-adaptive suspension height moves on the road with left-right height difference such as "" low left-right high type "" high left-right low type "" or "" high left-right low type, the suspension shock absorbing mechanisms 2 at the left and right sides are subject to the inconsistency of ground feedback parameters, so that the chassis main body 1 deviates from the horizontal and inclines, the control mechanism 41 controls the suspension height setting mechanism 3 to act after analyzing the parameters collected by the attitude sensing mechanism 42, so that the suspension shock absorbing mechanisms 2 at the left and right sides of the chassis main body 1 move highly, and the special robot passes through the road with left-low left-right high type or "" high left-right-left-low type left-right height difference, and the operation method comprises the following steps:
(1) when the special robot passes through a \ "low left-high right-high road surface", the left suspension shock absorption mechanism 2 can be sunk to contact the ground, while the right suspension shock absorption mechanism 2 can keep a relatively high height, and the chassis main body 1 deflects leftwards, and the specific operation steps are as follows:
1) when the control mechanism 41 acquires that the chassis main body 1 begins to slightly incline to the left through the attitude sensing mechanism 42, the control mechanism 41 begins to control the lifting motor 317 on the left side in the suspension height setting mechanism 3 to rotate;
2) when the left lifting motor 317 rotates, the lead screw 316 is driven to rotate, and through the linkage action, the sliding rod 312 moves downwards in the adjusting seat 311, and drives the lifting connecting rod 319 and the left suspension shock absorption mechanism 2 connected with the lifting connecting rod 319 to perform height adjustment downwards relative to the rack 11;
3) at this time, the heights of the left suspension damper mechanism 2, the inner suspension side plate 21, the driving wheel 22, the wheel train mechanism 23, the damper mechanism 24 and the outer crawler 25 are increased as a whole, so that the chassis body 1 inclined to the left is reversely compensated;
4) in the process of adjusting the suspension height, the control mechanism 41 also controls the motors 44 on the two sides to rotate in real time, and the power drives the driving wheel 22 in the suspension shock absorption mechanism 2 to move through the first reversing mechanism 321, the transmission telescopic mechanism 322 and the second reversing mechanism 323; the transmission telescopic mechanism 322 ensures the power reversing and transmission prolonging of the suspension height adjusting mechanism 3 during suspension height adjustment so as to ensure the continuous output of power;
5) further, when the above adjustment process is insufficient to compensate the tendency or speed of the chassis body 1 to tilt to the left in the reverse direction, the control mechanism 41 controls the right-hand elevator motor 317 of the suspension height adjusting mechanism 3 to rotate, and after the above steps 1) to 4), the heights of the right-hand suspension damper mechanism 2 and its inner suspension side plate 21, drive wheel 22, gear train mechanism 23, damper mechanism 24, and outer crawler 25 are reduced as a whole, so that the chassis body 1 to tilt to the left is compensated in the reverse direction, and after the above suspension height compensation is completed, the chassis body 1 can keep moving relatively horizontally on a _.
In the process of adjusting the suspension height, the control mechanism 41 detects the height of the obstacle in front of the vehicle body by controlling the obstacle sensing mechanism 46, and when the suspension height is adjusted and the chassis body 1 is relatively horizontal and the current chassis body 1 cannot pass through the obstacle, the control mechanism 41 simultaneously controls the suspension height adjusting mechanisms 3 on the left side and the right side to reduce the height of the suspension shock absorbing mechanisms 2 on the left side and the right side so as to lift the chassis body 1 to pass through the obstacle. When the suspension shock absorbing mechanisms 2 on the left side and the right side are lowered to the lowest point and the chassis main body 1 is at the highest point, the control mechanism 41 can still not cross the obstacle, control the motor 44 to stop working and give an alarm signal.
(2) When the special robot passes through the \ "high left right low profile road surface, the suspension shock absorbing mechanism 2 on the right side will sink down to contact the ground, while the suspension shock absorbing mechanism 2 on the left side will maintain a relatively high height, and the chassis main body 1 will deflect to the right, the specific operation steps are opposite to the operation steps in the step (1).
(3) When the special robot passes through other roads with different left and right heights, the process is similar to that of (1) or (2), the mechanism is the same, in the movement process of the chassis main body 1, because the chassis main body 1 can horizontally deflect on the road with the left and right heights, the deflection action can be sensed by the attitude sensing mechanism 42 and uploaded to the control mechanism 41 to be analyzed, and the suspension height setting mechanisms 3 on the left and right sides are subjected to decision control, so that the left and right heights of the chassis main body 1 which just begins to deflect are independently compensated, the horizontality and the stationarity of the movement of the chassis main body 1 are ensured, and simultaneously the left and right suspension shock absorbing mechanisms 2 can be simultaneously subjected to height compensation by matching with the obstacle sensing mechanism 46 to complete obstacle crossing and improve the climbing and obstacle crossing.
The utility model discloses not be limited to above-mentioned embodiment, anybody should learn the structural change who makes under the teaching of the utility model, all with the utility model discloses have the same or close technical scheme, all fall into the utility model discloses an within the protection scope.
The technology, shape and construction parts which are not described in detail in the present invention are all known technology.
Claims (7)
1. The suspension height self-adaptive special robot is suitable for severe environments and is characterized by comprising a chassis main body, a suspension shock absorption mechanism, a suspension height setting mechanism and an electric driving and controlling mechanism, wherein the suspension shock absorption mechanism, the suspension height setting mechanism and the electric driving and controlling mechanism are all connected with the chassis main body, the suspension shock absorption mechanism and the suspension height setting mechanism are respectively provided with two sets, the two sets of suspension shock absorption mechanisms are respectively arranged on two sides of the chassis main body, and each set of suspension shock absorption mechanism is connected with the electric driving and controlling mechanism through one set of suspension height setting mechanism.
2. The special robot with self-adaptive suspension height suitable for severe environment as claimed in claim 1, wherein the chassis body comprises a frame, a shell and a suspension transition plate, the shell is arranged on the frame, and the suspension transition plate is connected to both sides of the frame.
3. The special robot with self-adaptive suspension height suitable for severe environments as claimed in claim 1 or 2, wherein the two sets of suspension shock absorption mechanisms are respectively arranged on the suspension transition plates at two sides of the chassis main body, each set of suspension shock absorption mechanism comprises a suspension side plate, a driving wheel, a wheel train mechanism, a shock absorption mechanism and a crawler belt, and the suspension side plate is connected with the suspension height setting mechanism through a bracket; the suspension side plate is provided with a driving wheel and a wheel train mechanism for driving and supporting the crawler belt, and the shock absorbing mechanism is arranged on the suspension side plate.
4. The special robot with self-adaptive suspension height suitable for severe environment as claimed in claim 1 or 2, wherein the suspension height setting mechanism is arranged between the frame of the chassis main body and the suspension transition plate, and each set of suspension height setting mechanism comprises a suspension height adjusting mechanism and a power self-adaptive transmission mechanism.
5. The special robot with the self-adaptive suspension height suitable for the severe environment as claimed in claim 4, wherein each set of suspension height adjusting mechanism comprises a rotating shaft, an adjusting seat, a sliding rod, a first connecting rod, a second connecting rod, a third connecting rod, a lead screw, a lifting motor, an adjusting block and a lifting connecting rod, the adjusting seat is arranged on the inner side of the frame, a notch is arranged in the vertical direction on one side of the adjusting seat, the sliding rod capable of sliding up and down is arranged in the notch, the lower end of the sliding rod is connected with one end of the lifting connecting rod, the lifting connecting rod is of an L-shaped structure, and the other end of the lifting connecting rod is connected and fixed with the suspension transition; the upper end of slide bar is connected the one end of third connecting rod, the upper end of notch is connected with the one end of first connecting rod, the other end of first connecting rod, the one end of second connecting rod, the middle part of third connecting rod is articulated through the pivot, first connecting rod, second connecting rod and third connecting rod are cross connection form, the other end of third connecting rod is provided with the slider, the terminal surface is provided with elevator motor under the slider, the other end of second connecting rod is provided with the adjusting block, the adjusting block is screw-nut, there is the helicitic texture inside, the adjusting block is connected with the lead screw cooperation, the lead screw passes the slider of third connecting rod tip perpendicularly, the lower extreme and elevator motor's output shaft of lead screw.
6. The special robot with self-adaptive suspension height suitable for severe environment as claimed in claim 4, wherein the power self-adaptive transmission mechanism comprises a first reversing mechanism, a transmission telescopic mechanism and a second reversing mechanism, wherein the input end of the first reversing mechanism is connected with the motor, the output end of the first reversing mechanism is connected with the input end of the second reversing mechanism through the transmission telescopic mechanism, and the output end of the second reversing mechanism is connected with the driving wheel.
7. The suspension height adaptive special robot suitable for severe environment according to claim 1 or 2, it is characterized in that the electric driving and controlling mechanism comprises a controlling mechanism, a posture sensing mechanism, a motor driving mechanism, a motor, a battery and a barrier sensing mechanism, wherein the controlling mechanism, the posture sensing mechanism, the motor driving mechanism, the motor and the battery are all arranged in the frame, the controlling mechanism is connected with the posture sensing mechanism, the motor driving mechanism, the barrier sensing mechanism and a lifting motor in the suspension height setting mechanism, the motor driving mechanism is connected with the motor, the number of the motors is two, the output shafts of the two sets of motors are respectively connected with two sets of first reversing mechanisms in the suspension height setting mechanism, the battery is connected with each power consumption element in the robot, the obstacle sensing mechanism is a distance measuring sensor or a laser radar and is arranged on a shell in front of the rack.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466633A (en) * | 2019-08-28 | 2019-11-19 | 山东国兴智能科技股份有限公司 | The adaptive specialized robot of suspension height and operational method suitable for adverse circumstances |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466633A (en) * | 2019-08-28 | 2019-11-19 | 山东国兴智能科技股份有限公司 | The adaptive specialized robot of suspension height and operational method suitable for adverse circumstances |
| CN110466633B (en) * | 2019-08-28 | 2023-11-03 | 山东国兴智能科技股份有限公司 | Suspension height self-adaptive special robot suitable for severe environment and operation method |
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