CN109515087B - All-terrain mobile robot with active independent suspension system - Google Patents
All-terrain mobile robot with active independent suspension system Download PDFInfo
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- CN109515087B CN109515087B CN201811301142.6A CN201811301142A CN109515087B CN 109515087 B CN109515087 B CN 109515087B CN 201811301142 A CN201811301142 A CN 201811301142A CN 109515087 B CN109515087 B CN 109515087B
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- control arm
- robot
- column
- independent suspension
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- 239000000725 suspension Substances 0.000 title claims abstract description 43
- 238000013016 damping Methods 0.000 abstract description 10
- 238000005265 energy consumption Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
Abstract
The invention provides an all-terrain mobile robot with an active independent suspension system, which comprises a robot body, the active independent suspension system and a hub motor, wherein the active independent suspension system and the hub motor are arranged on the robot body; the upper end of the actuator is hinged to the frame through a column, and the lower end of the actuator is hinged to the tail end of the upper control arm through a column; the upper control arm and the lower control arm are of V-shaped structures, the front ends of the upper control arm and the lower control arm are connected with the frame through two column hinges, the lower part of the tail end of the upper control arm is connected with the spring damping through a column hinge, the lower control arm is of an improved single longitudinal arm structure, the front end of the lower control arm is connected with the frame through two column hinges, and the tail end of the lower control arm is connected with the lower end of the spring damping through a column hinge; the hub motor is connected with the lower control arm in a hub connection mode; the corresponding ear pieces and the parts are welded.
Description
Technical Field
The invention relates to an all-terrain mobile robot, in particular to an active independent suspension type all-terrain mobile robot with excellent obstacle crossing performance, active posture adjusting function, differential steering function and excellent dynamic running smoothness.
Technical Field
The mobile series robot is widely applied to various industries, and the related fields mainly comprise military affairs, agriculture, exploration, fire fighting, transportation, aerospace and the like. Common mobile robots mainly comprise a foot type robot, a wheel type robot and a crawler type robot. The foot type and crawler type robots have good obstacle crossing performance, but the energy utilization rate is low; the wheeled robot has good maneuvering performance, but has poor environmental adaptability. In order to take the advantages of the travelling mechanism into consideration, the invention designs the all-terrain mobile robot with the active suspension system, and the all-terrain mobile robot has wide application prospect in various fields.
Long-term production practices show that when the mobile robot works, the robot needs to frequently run on various road conditions, the change of the position of the mass center of the robot and the posture of a machine body can be caused, the working precision is reduced, the path planning is deviated, and the energy consumption is increased, so that the control of the posture of the mobile robot is particularly important, the consideration of the aspects of the traditional robot and a mobile vehicle is generally ignored, the all-terrain mobile robot with the active suspension system has the function of active posture adjustment, and the performance of obstacle crossing, running smoothness and the like of the robot can be improved.
Typical mobile robots with attitude adjusting function include ATHLETE of America, Roller-Walker, ALDURO, Halluc-II of Japan, LegVan of Poland and the like. In recent years, with the progress of mobile robots, researchers have come to recognize the shortcomings of such robots, such as load concentration at joints, difficulty in controlling stability, poor smooth performance, limited load capacity, and insufficient obstacle crossing performance. In order to solve the problems, the active suspension type all-terrain mobile robot with excellent obstacle crossing performance, active posture adjusting function, four-wheel steering function and excellent dynamic running smoothness is designed by integrating an active suspension system in the field of vehicles into the design of the mobile robot according to the interdisciplinary concept when the mobile robot is designed.
The traditional mobile robot mostly adopts four-wheel steering, however, because the number of controllers and actuators is too much, the energy consumption is increased, the endurance mileage is shortened, the stability is unreliable, the driving stability is not good, and the like. In order to avoid the problems, the differential steering is adopted, so that the pivot steering can be realized, and the problems can be avoided.
Most of traditional mobile robots with active posture adjusting functions need to be in a working state all the time, so that the service life of an actuator, the energy utilization rate and the mileage of the robot are reduced. The driving of the mobile robot in an active or passive posture is realized. The service life of the actuator is prolonged, the energy utilization rate is increased, and the endurance mileage of the robot is increased.
Almost all robots are designed without adding damping elements in consideration of low running speed, so that the structure of the robot is close to rigidity, and the running smoothness, stability and comfort are reduced. The damping spring is innovatively added into the mobile robot, so that the driving smoothness, the stability and the comfort of the mobile robot are improved. Can effectively block ground impact, buffer vibration and improve the cross-country performance.
Almost all robots are designed without a suspension system, and even if the robots are provided with simple non-independent suspensions, the left wheel and the right wheel of the robot are mutually connected when bouncing, so that the driving comfort and the control stability are reduced. Meanwhile, the design freedom is small due to the simple structure, and the control stability is poor. The active independent suspension is innovatively added, the problems are effectively solved, the double-A-arm suspension is properly improved, and the single-trailing-arm suspension is added, so that the stability of the double-A-arm suspension is effectively improved.
Disclosure of Invention
The invention aims to provide an all-terrain mobile robot with an active independent suspension system, which has excellent obstacle crossing performance, an active posture adjusting function, a four-wheel differential steering function and excellent dynamic running smoothness performance.
The purpose of the invention is realized as follows: an all-terrain mobile robot with an active independent suspension system comprises a robot body, the active independent suspension system and a hub motor, wherein the active independent suspension system and the hub motor are installed on the robot body; the upper end of the actuator is hinged to the frame through a column, and the lower end of the actuator is hinged to the tail end of the upper control arm through a column; the upper control arm and the lower control arm are of V-shaped structures, the front ends of the upper control arm and the lower control arm are connected with the frame through two column hinges, the lower part of the tail end of the upper control arm is connected with the spring damping through a column hinge, the lower control arm is of an improved single-longitudinal-arm structure, the front end of the lower control arm is connected with the frame through two column hinges, and the tail end of the lower control arm is connected with the lower end of the spring damping through a column hinge; the hub motor is connected with the lower control arm in a hub connection mode; the corresponding ear pieces and the parts are welded.
The invention has the advantages and technical effects that:
(1) the four-wheel differential steering system can realize four-wheel differential steering by adopting a four-wheel drive mode, and when the longitudinal driving direction meets an obstacle which cannot be surmounted and is deeply sunk (such as a muddy road), the driving direction can be switched on site, so that the obstacle is eliminated.
(2) The all-terrain mobile robot with the active suspension system has the function of active pose adjustment, can improve the performance of the robot such as obstacle crossing, driving smoothness and the like, has the advantages of strong adaptability, good maneuvering performance and the like, and has the advantage of being much in day and thick in the fields of military investigation, resource exploration and the like.
(3) When the mobile robot is designed, the active suspension type all-terrain mobile robot with excellent obstacle crossing performance, active posture adjusting function, four-wheel steering function and excellent dynamic running smoothness is designed by integrating the active suspension system in the field of vehicles into the design of the mobile robot according to the interdisciplinary concept, and has very strong practical significance.
(4) The traditional mobile robot mostly adopts four-wheel steering, however, because the number of controllers and actuators is too much, the energy consumption is increased, the endurance mileage is shortened, the stability is unreliable, the driving stability is not good, and the like. In order to avoid the problems, the differential steering is adopted, so that the pivot steering can be realized, and the problems can be avoided.
Most of traditional mobile robots with active posture adjusting functions need to be in a working state all the time, so that the service life of an actuator, the energy utilization rate and the mileage of the robot are reduced. The driving of the mobile robot in an active or passive posture is realized. The service life of the actuator is prolonged, the energy utilization rate is increased, and the endurance mileage of the robot is increased.
(5) Almost all robots are designed considering that the running speed is not high, and no damping element is added, so that the structure of the robot is close to rigidity, and the running smoothness, stability and comfort are reduced. The damping spring is innovatively added into the mobile robot, so that the driving smoothness, the stability and the comfort of the mobile robot are improved. Can effectively block ground impact, buffer vibration and improve the cross-country performance.
(6) Almost all robots are designed without a suspension system, and even if the robots are provided with simple non-independent suspensions, the left wheel and the right wheel of the robot are mutually involved when bouncing, so that the driving comfort and the control stability are reduced. Meanwhile, the design freedom is small due to the simple structure, and the control stability is poor. The active independent suspension is innovatively added, the problems are effectively solved, the double-A-arm suspension is properly improved, and the single-trailing-arm suspension is added, so that the stability of the double-A-arm suspension is effectively improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the robot of the present invention.
Fig. 2 is a schematic structural diagram of the robot body in fig. 1 according to the present invention.
Fig. 3 is an enlarged structural schematic diagram of a single active independent suspension mechanism of the robot in fig. 1.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings:
shown in figures 1, 2 and 3: an all-terrain mobile robot with an active independent suspension system comprises a robot body 1, active independent suspension systems 2 and hub motors 3, wherein the active independent suspension systems 2 and the hub motors 3 are installed on the robot body 1, four corners of the robot body 1 are respectively and symmetrically provided with the active independent suspension systems 2, and each active independent suspension system 2 comprises an actuator 2-1, an upper control arm 2-2, a lower control arm 2-3 and a spring damper 2-4; the upper end of the actuator 2-1 is hinged to the frame 1 through a column, and the lower end of the actuator 2-1 is hinged to the tail end of the upper control arm 2-2 through a column; the upper control arm 2-2 and the lower control arm 2-3 are of a V-shaped structure, the front ends of the upper control arm 2-2 and the lower control arm 2-3 are connected with the frame 1 through two column hinges, the lower part of the tail end of the upper control arm 2-2 is connected with the spring damper 2-4 through a column hinge, the lower control arm 2-3 is of an improved single longitudinal arm structure, the front end of the lower control arm 2-3 is connected with the frame 1 through two column hinges, and the tail end of the lower control arm 2-3 is connected with the lower end of the spring damper 2-4 through a column hinge; the hub motor 3 is connected with the lower control arm 2-3 in a hub connection mode; the corresponding ear pieces and the parts are welded.
The hub motor 3 forms a power system of the robot, the steering actuator 2-1 forms an active posture adjusting execution system of the robot, and the battery, the sensor and the control module are all integrated in the robot body 1 to form an electric system of the robot, which is not a research focus of the invention and therefore is not described in detail; the designed robot adopts a left-right and front-back symmetrical structure, the overall size is 1200mm multiplied by 800mm multiplied by 1000mm, the typical characteristic is that an automobile active independent suspension element is added, and the specific structure is shown in figure 2.
The four-wheel drive mode is adopted, the hub motors 2-9 are arranged on the driving wheels in the specific implementation mode, and the specific linkage mode can be referred to the automobile structure, which is not the research focus of the invention.
The four-wheel differential steering function of the invention realizes the in-situ differential steering function through the rotation of the hub motors 2-9.
The active attitude adjustment of the invention is to drive the upper control arm 2-2 to rotate through the extension and contraction of the actuator 2-1, and transmit the control force to the single longitudinal arm 2-3 through the secondary transmission of the spring damping 2-4, thereby realizing the adjustment of the attitude of the vehicle body.
The invention can realize the switching of active/passive posture adjustment modes of the mobile robot, when the road condition is not good, the actuator 2-1 participates in the work to realize the posture adjustment of the robot body, and the excellent driving smoothness is ensured, and at the moment, the robot is used for active posture adjustment; when the robot runs under a good road condition, the actuator 2-1 does not work, and good running smoothness can be guaranteed by utilizing a special spring damping suspension system of the robot. At this time, the robot is passively attitude-adjusted. Four actuators are arranged on the whole vehicle, so that the active posture adjustment of multiple angles in the range of the height, the pitching and the heeling of the vehicle body can be realized, and the excellent obstacle crossing and driving smoothness are realized.
Claims (2)
1. An all terrain mobile robot having an active independent suspension system, characterized by: the robot comprises a robot body (1), active independent suspension systems (2) and a hub motor (3), wherein the active independent suspension systems (2) and the hub motor are installed on the robot body (1), four corners of the robot body (1) are respectively and symmetrically provided with the active independent suspension systems (2), and each active independent suspension system (2) comprises an actuator (2-1), an upper control arm (2-2), a lower control arm (2-3) and a spring damper (2-4); the upper end of the actuator (2-1) is hinged to the frame through a column, and the lower end of the actuator (2-1) is hinged to the tail end of the upper control arm (2-2) through a column; the upper control arm (2-2) and the lower control arm (2-3) are of a V-shaped structure, the front ends of the upper control arm and the lower control arm are connected with a frame through two column hinges, the lower part of the tail end of the upper control arm (2-2) is connected with a spring damper (2-4) through a column hinge, the lower control arm (2-3) is of an improved single longitudinal arm structure, the front end of the lower control arm (2-3) is connected with the frame through two column hinges, the tail end of the lower control arm (2-3) is connected with the spring damper (2-4) through a column hinge, and the hub motor (3) is connected with the lower control arm (2-3) through a shaft hub connection mode; the corresponding ear pieces and the parts are welded.
2. An all terrain mobile robot having an active independent suspension system, as defined in claim 1, wherein: the hub motor (3) forms a power system of the robot, the actuator (2-1) forms an active posture adjusting execution system of the robot, and a battery, a sensor and a control module are integrated in the robot body (1) to form an electric system of the robot.
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN109515087A CN109515087A (en) | 2019-03-26 |
| CN109515087B true CN109515087B (en) | 2021-09-14 |
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| 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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| CN110605947B (en) * | 2019-09-23 | 2024-03-12 | 安徽工程大学 | All-terrain independent suspension mobile robot for farm based on ROS scheduling 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 |
| 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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| DE3902407C1 (en) * | 1989-01-27 | 1990-05-10 | Audi Ag, 8070 Ingolstadt, De | Bearing |
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| CN105522879A (en) * | 2016-01-24 | 2016-04-27 | 刘言成 | Vibration power generation system of special double-fork-arm independent suspension |
| CN107902006A (en) * | 2017-11-10 | 2018-04-13 | 吉林大学 | The active/passive pose adjustment robot of the full landform of wheel leg type |
| 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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2018
- 2018-11-02 CN CN201811301142.6A patent/CN109515087B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3902407C1 (en) * | 1989-01-27 | 1990-05-10 | Audi Ag, 8070 Ingolstadt, De | Bearing |
| CN201833870U (en) * | 2010-09-07 | 2011-05-18 | 浙江信阳实业有限公司 | Four-wheel independent driving device of all-terrain vehicle |
| CN104589943A (en) * | 2015-01-22 | 2015-05-06 | 石宇 | Output type multi-bearing-point independent suspension |
| CN105522879A (en) * | 2016-01-24 | 2016-04-27 | 刘言成 | Vibration power generation system of special double-fork-arm independent suspension |
| CN107902006A (en) * | 2017-11-10 | 2018-04-13 | 吉林大学 | The active/passive pose adjustment robot of the full landform of wheel leg type |
| 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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| CN109515087A (en) | 2019-03-26 |
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