CN109515087A - A kind of all-terrain moving robot with active independent suspension system - Google Patents
A kind of all-terrain moving robot with active independent suspension system Download PDFInfo
- Publication number
- CN109515087A CN109515087A CN201811301142.6A CN201811301142A CN109515087A CN 109515087 A CN109515087 A CN 109515087A CN 201811301142 A CN201811301142 A CN 201811301142A CN 109515087 A CN109515087 A CN 109515087A
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- robot
- arm
- lower control
- control arm
- column
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- 239000000725 suspension Substances 0.000 title claims abstract description 54
- 238000013016 damping Methods 0.000 claims abstract description 17
- 238000003466 welding Methods 0.000 claims abstract description 4
- 238000005183 dynamical system Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/008—Attaching arms to unsprung part of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of all-terrain moving robot with active independent suspension system, including a robot body, the active independent suspension system being mounted on robot body and hub motor, the quadrangle of robot body has been symmetrically arranged active independent suspension system, and each active independent suspension system includes actuator, upper suspension arm, lower control arm and spring damping；The upper end of actuator is hinged and connected on vehicle frame by column, and the lower end of actuator is hinged and connected to the end of upper suspension arm by column；Upper suspension arm and lower control arm are v-shaped structure, front end is connected by two columns hinges with vehicle frame, the end lower part of upper suspension arm is connected with spring damping by column hinge, lower control arm is follow-on single longitudenal arm structure, lower control arm front end is connected by two column hinges with vehicle frame, and the end of lower control arm is connected with the lower end of spring damping by column hinge；Hub motor is connected by propeller boss connection with lower control arm；It is welding between corresponding ear piece and component.
Description
Technical field
The present invention relates to a kind of all-terrain moving robots, specifically a kind of to have excellent obstacle performance, actively adjust
The active independent suspension formula all-terrain moving robot of appearance function, differential steering function and excellent dynamics ride performance energy.
Technical background
Mobile Series machine people is widely used in all trades and professions, and mainly there are military affairs, agricultural, exploration, fire-fighting, fortune in the field being related to
Defeated, aerospace etc..Common mobile robot mainly has sufficient formula, wheeled, crawler type three categories.Sufficient formula, caterpillar type robot
Obstacle performance is good, but energy utilization rate is low；Wheeled robot mobility is good, however environmental suitability is poor.In order to balance with
The advantage of upper walking mechanism, the present invention design a kind of all-terrain moving robot with active suspension system, can be numerous
Field has wide practical use.
When long-term production practices show mobile robot operation, robot needs frequently traveling in various road conditions, this will
The variation that can cause robot centroid position Yu fuselage posture causes homework precision to reduce, path planning deviates, energy consumption increases
Add, therefore the pose of mobile robot is controlled just be particularly important, traditional robot and move vehicle are usually neglected
Slightly this respect the considerations of, a kind of all-terrain moving robot with active suspension system of the present invention has active pose
The function of adjusting is able to ascend robot obstacle detouring, the performances such as ride performance.
The ATHLETE that typically there is the mobile robot of posture adjustment function to have the U.S., Japanese Roller-Walker,
ALDURO, Halluc-II, Polish LegVan etc..These mobile robots arrange motor in joint mostly, recently as
Mobile robot research is goed deep into, and researchers also gradually recognize the deficiency of such robot, for example, joint load collection
In, the problems such as stability is not easy to control, smooth performance is poor, load capacity is limited, obstacle performance is insufficient.In order to solve this kind of ask
Topic, the present invention base oneself upon subject crossing theory when designing mobile robot, the active suspension system of vehicular field are fused to shifting
In mobile robot design, a kind of excellent obstacle performance, active posture adjustment function, four-wheel steering function, excellent dynamics are designed
The Active suspension formula all-terrain moving robot of ride performance energy.
Traditional mobile robot mostly uses four-wheel steering, however since controller, actuator are excessive, this causes energy consumption to increase
Add, course continuation mileage shortens, the problems such as stability is unreliable, and driving stability is bad.The present invention is in order to prevent the above problem, using difference
Speed turns to, and can either realize that pivot stud can be avoided the above problem again.
Tradition has the mobile robot of active posture adjustment function, and posture adjustment actuator is needed to be constantly in working condition mostly,
This causes the service life of actuator, and energy utilization rate and robot course continuation mileage reduce, of the present invention to have active posture adjustment
The mobile robot of function can switch on or off the participation of posture adjustment actuator as needed.Realize mobile robot actively or
The traveling of passive posture.Improve the service life of actuator, energy utilization rate and robot course continuation mileage.
Almost all of robot is not in design in view of travel speed is high, and all that vibration damping element is not added, this causes
Robot architecture leads to ride performance, stability, comfort decline close to rigidity.Mobile robot of the present invention
Innovative addition damping spring, improves the ride performance of mobile robot, stability, comfort.It can be effectively blocked
Ground shock, buffering vibration improve cross-country ability.
Almost all of robot, all without suspension system, is simple rigid axle suspension having in design,
This causes robot left and right wheels in spring, can be implicative of each other, and reduces the comfort of traveling and the stability of manipulation.While because
Simple structure keeps the freedom degree of design small, and the stability of manipulation is poor.And the addition active independent suspension that the present invention is innovative,
It is effectively improved the above problem, and double A arm sling framves are suitably modified, single trailling arm type suspension is added, effectively improves double A arm slings
Stability.
Summary of the invention
The invention aims to provide a kind of all-terrain moving robot with active independent suspension system, this is entirely
Shape mobile robot has excellent obstacle performance, and active posture adjustment function, four-wheel differentia turning function, excellent dynamics traveling is smoothly
Performance.
The object of the present invention is achieved like this: a kind of all-terrain moving robot with active independent suspension system,
Including a robot body, the active independent suspension system being mounted on robot body and hub motor, the robot
The quadrangle of ontology has been symmetrically arranged active independent suspension system, each active independent suspension system include actuator,
Upper suspension arm, lower control arm and spring damping；The upper end of the actuator is hinged and connected on vehicle frame by column, the lower end of actuator
The end of upper suspension arm is hinged and connected to by column；The upper suspension arm and lower control arm are v-shaped structure, front end passes through two columns hinges
It is connected with vehicle frame, the end lower part of the upper suspension arm is connected with spring damping by column hinge, and the lower control arm is modified
Single longitudenal arm structure, the lower control arm front end is connected by two columns hinge with vehicle frame, the end of the lower control arm and spring
The lower end of damping is cut with scissors by column to be connected；The hub motor is connected by propeller boss connection with lower control arm；Corresponding ear piece
It is welding between component.
Advantages of the present invention and technical effect:
(1), the present invention can be realized four-wheel differentia steering using four-wheel drive mode, can not go beyond when longitudinal driving direction encounters
Obstacle and when getting deeply stuck in wherein (such as muddy road surface), can original place switch driving direction, and then get rid of obstacle.
(2), a kind of all-terrain moving robot with active suspension system of the present invention has active pose tune
The advantages that function of section, is able to ascend robot obstacle detouring, the performances such as ride performance, adaptable strong, mobility is good,
There are to obtain the more thick advantages in day in the fields such as military investigation, resource exploration.
(3), the present invention bases oneself upon subject crossing theory, by the Active suspension system of vehicular field when designing mobile robot
System is fused in mobile robot design, designs a kind of excellent obstacle performance, active posture adjustment function, four-wheel steering function,
The Active suspension formula all-terrain moving robot of excellent dynamics ride performance energy, has very strong realistic meaning.
(4), traditional mobile robot mostly uses four-wheel steering, however since controller, actuator are excessive, this leads to energy consumption
The problems such as increase, course continuation mileage shorten, and stability is unreliable, and driving stability is bad.The present invention uses to prevent the above problem
Differential steering can either realize that pivot stud can be avoided the above problem again.
Tradition has the mobile robot of active posture adjustment function, and posture adjustment actuator is needed to be constantly in working condition mostly,
This causes the service life of actuator, and energy utilization rate and robot course continuation mileage reduce, of the present invention to have active posture adjustment
The mobile robot of function can switch on or off the participation of posture adjustment actuator as needed.Realize mobile robot actively or
The traveling of passive posture.Improve the service life of actuator, energy utilization rate and robot course continuation mileage.
(5), almost all of robot considers that travel speed is not high in design, all that vibration damping element is not added, this
Cause robot architecture close to rigidity, leads to ride performance, stability, comfort decline.Moving machine of the present invention
The addition damping spring of device people's novelty, improves the ride performance of mobile robot, stability, comfort.It can be effective
Ground shock is blocked, buffering vibration improves cross-country ability.
(6), almost all of robot is that simple dependent is outstanding having in design all without suspension system
Frame, this causes robot left and right wheels in spring, can be implicative of each other, and reduces the comfort of traveling and the stability of manipulation.Together
When because simple structure make design freedom degree it is small, the stability of manipulation is poor.And the addition active stand alone type that the present invention is innovative
Suspension is effectively improved the above problem, and double A arm sling framves is suitably modified, and single trailling arm type suspension is added, and effectively improves double
A arm sling stability.
Detailed description of the invention
Fig. 1 is robot overall structure diagram of the present invention.
Fig. 2 is the structural schematic diagram of robot body in Fig. 1 of the present invention.
Fig. 3 is the single active independent suspension mechanism enlarged structure schematic diagram of Tu1Zhong robot of the present invention.
Specific embodiment
It describes the specific embodiments of the present invention in detail with reference to the accompanying drawing:
As shown in attached drawing 1,2 and 3: a kind of all-terrain moving robot with active independent suspension system, including a machine
Human body 1, the active independent suspension system 2 being mounted on robot body 1 and hub motor 3, the four of the robot body 1
Angle has been symmetrically arranged active independent suspension system 2, and each active independent suspension system 2 includes actuator 2-1, upper control
Arm 2-2, lower control arm 2-3 and spring damping 2-4 processed；The upper end of the actuator 2-1 is hinged and connected on vehicle frame 1 by column, is made
The lower end of dynamic device 2-1 is hinged and connected to the end of upper suspension arm 2-2 by column；The upper suspension arm 2-2 and lower control arm 2-3 is V
Shape structure, front end are connected by two column hinges with vehicle frame 1, and end lower part and the spring damping 2-4 of the upper suspension arm 2-2 passes through
Column hinge is connected, and the lower control arm 2-3 is follow-on single longitudenal arm structure, and the front end the lower control arm 2-3 passes through two column hinges
It is connected with vehicle frame 1, the end of the lower control arm 2-3 is connected with the lower end of spring damping 2-4 by column hinge；The hub motor
3 are connected by propeller boss connection with lower control arm 2-3；It is welding between corresponding ear piece and component.
The hub motor 3 constitutes the dynamical system of robot, turns to actuator 2-1 and constitutes the active tune of robot
Appearance executes system, and the battery, sensor and control module are integrated in robot body 1, constitutes the electric appliance of robot
System, this is not research emphasis of the invention, therefore is not described in detail；Designed robot is using left and right, front and back symmetrical junction
Structure, overall dimension are 1200mm × 800mm × 1000mm, and typical feature is to joined automobile active independent suspension element, tool
Body structure is as shown in Figure 2.
The present invention uses four-wheel drive mode, and specific embodiment is to arrange hub motor 2-9 in each driving wheel, specifically
On-link mode (OLM) may refer to automobile construction, this is not research emphasis of the present invention.
Four-wheel differentia turning function of the present invention is to realize original place differential steering function by the rotation of hub motor 2-9.
Active attitude of the present invention, which is adjusted, to be rotated by the flexible drive upper suspension arm 2-2 of actuator 2-1, is hindered by spring
Control force is transmitted to single longitudenal arm 2-3 by the secondary transmitting of Buddhist nun 2-4, adjustment that is close and realizing body gesture.
The present invention can be realized the switching of the active/passive pose adjustment mode of mobile robot, when road conditions are bad, actuation
Device 2-1 participates in work, realizes the adjustment of fuselage pose, guarantees excellent ride performance, and robot is active pose adjustment at this time；When
In preferable road conditions, actuator 2-1's traveling does not work, and can guarantee using the distinctive spring damping suspension system of robot itself
Preferable ride performance.The artificial passive pose adjustment of machine at this time.Full vehicle arranges four actuator, it can be achieved that fuselage height,
Pitching, the active attitude adjustment for rolling multi-angle in range, realize excellent obstacle detouring and ride performance.
Claims (2)
1. a kind of all-terrain moving robot with active independent suspension system, it is characterised in that: the robot includes one
Robot body (1), the active independent suspension system (2) being mounted on robot body (1) and hub motor (3), the machine
The quadrangle of device human body (1) has been symmetrically arranged active independent suspension system (2), each active independent suspension system
It (2) include actuator (2-1), upper suspension arm (2-2), lower control arm (2-3) and spring damping (2-4)；The actuator (2-1)
Upper end be hinged and connected on vehicle frame (1) by column, the lower end of actuator (2-1) is hinged and connected to upper suspension arm (2-2) by column
End；The upper suspension arm (2-2) and lower control arm (2-3) are v-shaped structure, front end is connected by two columns hinges with vehicle frame (1),
The end lower part of the upper suspension arm (2-2) is connected with spring damping (2-4) by column hinge, and the lower control arm (2-3) is to change
Into the single longitudenal arm structure of type, the lower control arm front end (2-3) is connected by two column hinges with vehicle frame 1, lower control arm (2-3) end
End is cut with scissors by column to be connected with spring damping (2-4), and the hub motor 3 is connected by propeller boss connection with lower control arm 2-3；
It is welding between corresponding ear piece and component.
2. a kind of all-terrain moving robot with active independent suspension system according to claim 1, feature exist
In: the hub motor (3) constitutes the dynamical system of robot, turns to actuator (2-1) and constitutes the active tune of robot
Appearance executes system, the Electrical System that battery, sensor and control module are integrated in the robot body (1), constitutes robot
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811301142.6A CN109515087B (en) | 2018-11-02 | 2018-11-02 | All-terrain mobile robot with active independent suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811301142.6A CN109515087B (en) | 2018-11-02 | 2018-11-02 | All-terrain mobile robot with active independent suspension system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109515087A true CN109515087A (en) | 2019-03-26 |
| CN109515087B CN109515087B (en) | 2021-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811301142.6A Expired - Fee Related CN109515087B (en) | 2018-11-02 | 2018-11-02 | All-terrain mobile robot with active independent suspension system |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605947A (en) * | 2019-09-23 | 2019-12-24 | 安徽工程大学 | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm |
| CN112590990A (en) * | 2020-12-15 | 2021-04-02 | 航天科工智能机器人有限责任公司 | Reconfigurable modular robot system |
| CN114348110A (en) * | 2022-02-11 | 2022-04-15 | 贵州翰凯斯智能技术有限公司 | Differential active steering system of self-walking robot platform and control method |
| CN114537546A (en) * | 2022-01-28 | 2022-05-27 | 安徽工程大学 | A drive stepping mechanism for all-terrain mobile robot |
| WO2024063703A1 (en) * | 2022-07-11 | 2024-03-28 | Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S. | Drivetrain system for an autonomous delivery robot |
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| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN207747692U (en) * | 2018-01-03 | 2018-08-21 | 杭州艾米机器人有限公司 | Robot hangs shock mitigation system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605947A (en) * | 2019-09-23 | 2019-12-24 | 安徽工程大学 | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm |
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| CN112590990A (en) * | 2020-12-15 | 2021-04-02 | 航天科工智能机器人有限责任公司 | Reconfigurable modular robot system |
| CN112590990B (en) * | 2020-12-15 | 2022-04-12 | 航天科工智能机器人有限责任公司 | Reconfigurable modular robot system |
| CN114537546A (en) * | 2022-01-28 | 2022-05-27 | 安徽工程大学 | A drive stepping mechanism for all-terrain mobile robot |
| CN114537546B (en) * | 2022-01-28 | 2024-03-12 | 安徽工程大学 | Driving gear-shifting mechanism for all-terrain mobile robot |
| CN114348110A (en) * | 2022-02-11 | 2022-04-15 | 贵州翰凯斯智能技术有限公司 | Differential active steering system of self-walking robot platform and control method |
| WO2024063703A1 (en) * | 2022-07-11 | 2024-03-28 | Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S. | Drivetrain system for an autonomous delivery robot |
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