CN110340895A - A kind of control system and control method of chassis lifting wheeled robot - Google Patents
A kind of control system and control method of chassis lifting wheeled robot Download PDFInfo
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- CN110340895A CN110340895A CN201910656698.5A CN201910656698A CN110340895A CN 110340895 A CN110340895 A CN 110340895A CN 201910656698 A CN201910656698 A CN 201910656698A CN 110340895 A CN110340895 A CN 110340895A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention belongs to technical field of robot control, disclose the control system and control method of a kind of chassis lifting wheeled robot, it includes chassis lifting mechanism, holder trigger mechanism, the big module of gripping body three that chassis, which is lifted wheeled robot, it is connect by CAN bus/PWM interface with master control borad, remote control is carried out by Digiplex.The overall structure of robot of the present invention mainly realizes that Omni-mobile, pneumatic device auxiliary climbing, steering engine transmit PWM wave and pull out flag movement to gripper execution by DC speed-reducing；They are controlled by single-chip microcontroller simultaneously, and single-chip microcontroller with each driving chip by connect, and completion output signal-executes instruction-execution this process；Present invention combination remote control technology has built the transmitting of wheeled robot material and materials handling control system, has not only realized and object is accurately struck and taken, while also can be used as a sports humanoid robot, provide the platform of machine type contest for user.
Description
Technical field
The invention belongs to technical field of robot control more particularly to a kind of control systems of chassis lifting wheeled robot
And control method.
Background technique
Currently, the immediate prior art:
The development of robot technology is a scientific technological advance common one comprehensive as a result, also simultaneously, and
The a science technology an of significant impact is produced for socio-economic development, in recent years, with science and technology and correlation theory
Development, the intelligence degree of mobile robot is higher and higher, and people can be done the requirement of task also phase to mobile robot
It should improve, other than wishing that it can be realized basic assembly and housekeeping, while also require it that can independently complete one
A little more complicated tasks, such as chassis lifting material emit and take.
General wheeled vehicle is highly stable rapid in the plane, but is only limitted in plane.For higher
Highland can not just advance.And the function that general wheeled vehicle is able to achieve is all very single.So this just needs car-like robots
There is the function on ground of climbing on chassis and cooperates requirements required for environment.This programme proposes a kind of competing with robot thus
Match related wheeled vehicle, need chassis driving wheel to match with the lifting mechanism on chassis itself realize climb ground function,
And the function that material emits and takes.
Therefore the control problem that target accurately struck and taken gradually causes domestic and foreign scholars' extensive concern.
In conclusion problem of the existing technology is:
(1) in the prior art, the synchronous belt can make the tightness of synchronous belt not due to the distance between synchronizing wheel difference
Together, so as to cause can not be operated simultaneously between synchronous belt, wheel or due to excessively tight and cause not operating between synchronous pulley,
Also will appear Rig up error in synchronous belt installation causes synchronizing wheel to be broken.
(2) prior art multi-function robot, can be due to the stress of each section on chassis when progress chassis is integrally lifted
The lifting speed of uneven or each lifting mechanism is different, cause chassis will appear during lifting chassis Caton, it is unstable and
The phenomenon that specified altitude assignment is not achieved.
(3) in the prior art, the chassis lifting wheeled vehicle is remote manual control humanoid robot, so being limited to manipulator's
In range of visibility, once just can not judge peripheral obstacle beyond the visual field, just it can inevitably collide with barrier.
Solve the difficulty of above-mentioned technical problem: existing technical problem is found out in the production process by team member
Come.If being unable to judge accurately the relative position of two synchronizing wheels in lifting mechanism, and chassis can not be solved and be lifted the process
In Caton problem, then just cannot achieve the function on highland on this car-like robots.If not can solve avoidance problem, not only
The mechanical structure of itself will cause damage, can also affect to the connection of the route of car body.
Solve the meaning of above-mentioned technical problem:
Negative and each hole location are repainted for these problems present invention, and accurate machining is carried out by machine.Also can
Respective synchronization wheel is fixed with electric machine rotational axis, when formal installation, motor drum in-phase is determined according to the tightness of synchronous belt
Position.It is integrally lifted this problem for chassis, force analysis and whole is mainly carried out by each step for going up and down to chassis
The center of gravity of body requires then to do using influence of the qualitative determining the size of each part of dynamics simulation software ADAMS to upper highland
It is in kind out, portion size is adjusted by actual upper island performance, the size of last vehicle and critical component.
And for avoidance problem, we can install infrared proximity transducer around chassis and are also known as infrared electro infrared switch
It is the abbreviation of infrared photoelectric switch, the shading or reflection using object to be detected to infrared beam, by synchronization loop gating
The presence or absence of detection object, object are not limited to metal, detectable to the object of all energy reflection lights.Existing photoelectric sensing
Device preferentially uses wavelength 780mm --- the near infrared light of 3um, and have more stable integrated products, with digital circuit
Interface it is also very simple.Optoelectronic switch output is switching value, can only judge there is clear in measurement distance, cannot provide
The actual range of obstacle.But usually such sensor have an adjustment of sensitivity knob, it is adjustable sense set out away from
From.So encountering barrier when handcar is steered can avoid automatically.It can also be with when robot vehicle has little time reaction
Oneself is protected by anticollision device, collision-prevention device.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of chassis lifting wheeled robot control system and
Control method.
The invention is realized in this way a kind of chassis is lifted wheeled robot control method, comprising:
Chassis module is initialized, lines up the motion state for knowing chassis by the message that CAN sends and receives.Pass through control
DC speed-reducing processed carries out Omni-mobile and chassis lifting mechanism and pneumatic support auxiliary device is cooperated to control the liter of robot
Drop, and bobbin movement state is monitored by chassis control central plate, then chassis is carried out by remote controler and is integrally controlled.
First holder transmitting module is initialized, lines up the movement for knowing holder by the message that CAN/PWM sends and receives
State realizes bowing for holder by control tasks such as control pitching motor, rolling motor, thumb wheel motor and friction turbin generators
It faces upward, shake the head, dialling bullet and the functions such as fire shells, and being parsed by the posture to remote controler, the mechanical, electrical tune of electricity and holder entirety, it is next
Further improve the stabilization and accuracy of holder transmitting.
Module initialization will be first clamped, lines up the movement for knowing gripping body by the message that CAN/PWM sends and receives
State carries out pulling out flag movement, monitors gripping body by clamping module control centre's plate using steering engine transmission PWM wave control gripper
Motion state is completed output signal, is executed instruction, execution.
Further, Omni-mobile is carried out by control DC speed-reducing and chassis lifting mechanism and pneumatic support is cooperated to fill
In the lifting for setting control robot, three stainless steel columns are first fixed into the top of each wheat wheel support in the form of equilateral triangle
It is fixed on baseline center with a thread lead screw, and with the fixed copper post of three pieces of fixed plates, the relative position of lead screw.
Further, Omni-mobile is carried out by control DC speed-reducing and chassis lifting mechanism and pneumatic support is cooperated to fill
In the lifting for setting control robot, further comprise:
When robot prepares upper highland, vehicle lifting, chassis lower section cylinder driver pushes away directive wheel and support plate
Out.Car-like robots, which gradually slow down, supports to front-wheel snap step edge on highland, recycles belt wheel and motor to generate dynamic
Power lifts front-wheel, and rear-wheel pushes vehicle that front-wheel and intermediate supports wheel are pushed to highland.
When rear-wheel and highland side contact, rear-wheel is lifted using the power that belt wheel and motor generate again, and before passing through
The trackability of forward power and intermediate supports wheel is taken turns, vehicle body moves forward, until front and back wheel is all attached on highland.
Further, pitching motor, rolling motor, thumb wheel motor and friction turbin generator are controlled, the pitching of holder is realized, shakes
Head dials bullet and fires shells, and material transmitting is carried out using holder trigger mechanism control robot alignment target, when holder emits
After switch starting, thumb wheel is driven by a motor, and thumb wheel revolving speed can thus be controlled by carrying out PWM pulse width modulation controlled to direct current generator
The number of material is transferred in unit time processed.The effect that will receive spin friction wheel in two sides after material enters launch tube obtains
Certain initial velocity, and friction pulley is worked under the control of direct current generator.
Rotate friction pulley when motor rotates, while the material that rubs makes its obtain kinetic energy, material is launched.
Another object of the present invention is to provide a kind of chassis for implementing the chassis lifting wheeled robot control method
It is lifted wheeled robot control system, the chassis lifting wheeled robot control system includes:
Robot master control system, for controlling the everything of robot.
Chassis, lifting mechanism control system are connect, for controlling the movement of robot omnibearing with robot master control system
And the highland of specified altitude assignment is climbed up in the switching and the fixed point lifting of control robot of speed and motion state.
Front end pneumatic support mechanism control system is connect, for controlling Gao Shikai in robot with robot master control system
The Auxiliary support opened.
Holder trigger mechanism master control system is connect with robot master control system, for control robot alignment target into
The transmitting of row material.
Gripping body control system is connect with robot master control system, for controlling robot to the material of designated position
It takes.
Further, the chassis lifting wheeled robot control system further comprises:
Digiplex is connect, for carrying out remote control machine with robot master control system by CAN bus/PWM interface
Device people.
Another object of the present invention is to provide a kind of chassis lifting wheeled robots to include:
Master control borad.
The master control borad is separately connected front end pneumatic support mechanism, holder trigger mechanism, folder by CAN bus/PWM interface
Take mechanism and chassis, lifting mechanism.
Chassis, lifting mechanism are for controlling the movement of robot omnibearing and the switching and control of speed and motion state
The highland of specified altitude assignment is climbed up in robot fixed point lifting processed.
Front end pneumatic support mechanism, the Auxiliary support opened when for controlling high in robot.
Holder trigger mechanism carries out material transmitting for controlling robot alignment target.
Gripping body, for controlling robot to the material of designated position.
Master control borad also passes through CAN bus/PWM interface connection Digiplex, for carrying out remote control.
Further, the gripping body is divided into elevating mechanism and gripping body.The elevating mechanism is chassis elevating mechanism,
Gripping body is steering engine machinery folder.It when clamping material, provides and embraces power accordingly, material is clamped, the power that holds that steering engine provides makes
Machinery folder clamps material.Gripper inside groove has covered anti-slip rubber.
Further, chassis structure is realized high on Omni-mobile and cooperation chassis lifting mechanism by DC speed-reducing
Ground, Pneumatic support device auxiliary robot ascend a height ground, holder trigger mechanism control pitching motor, rolling motor, thumb wheel motor with
And friction turbin generator, the pitching of holder is realized by holder yaw/pitch, thumb wheel and friction pulley respectively, is shaken the head, group bullet and transmitting
Shell.
The chassis is equipped with support using four-wheel Mecanum wheel driving structure and chassis the right and left center
The supplementary structure of guide wheel and pneumatic support guide wheel.
Four-wheel forms leg by fixing with three root long bars one, root lead screw, two boards block respectively, then by being fixed on chassis
Third plate.
Further, pneumatic support mechanism in front end is fixed on the underface on chassis.
Gripping body is fixed on right above the tail portion of chassis.
Holder trigger mechanism is fixed on above chassis, and is fixed with gas cylinder at holder trigger mechanism rear portion.
In conclusion advantages of the present invention and good effect are as follows:
The present invention is based on common wheeled vehicle models to have built the transmitting of wheeled robot material and object in conjunction with remote control technology
Expect control system of taking, not only realize and object is accurately struck and taken, while also can be used as a sports humanoid robot,
The platform of machine type contest is provided for user.
Lifting its structure of wheeled robot in chassis provided by the invention includes chassis lifting mechanism, holder trigger mechanism, folder
The big module of mechanism three is taken, is connect by CAN bus/PWM interface with master control borad comprising them, is remotely grasped by Digiplex
Control.The overall structure of robot of the present invention mainly realizes Omni-mobile, pneumatic device auxiliary climbing, rudder by DC speed-reducing
Machine transmits PWM wave and pulls out flag movement to gripper execution.Simultaneously they be all to be controlled by single-chip microcontroller, single-chip microcontroller by with each driving
Chip connection completes output signal-and executes instruction-execution this process.
Detailed description of the invention
Fig. 1 is lifting wheeled robot control system figure in chassis provided in an embodiment of the present invention.
Fig. 2 is motor speed, electric current, output power and efficiency performance ginseng under different torques provided in an embodiment of the present invention
Number figure.
Fig. 3 is car-like robots control system schematic diagram provided in an embodiment of the present invention.
Fig. 4 is lifting robot schematic diagram in chassis provided in an embodiment of the present invention.
Fig. 5 is one schematic diagram of robot guide wheel touching provided in an embodiment of the present invention highland.
Fig. 6 is two schematic diagrames of robot guide wheel touching provided in an embodiment of the present invention highland.
Fig. 7 is robot chassis lifting provided in an embodiment of the present invention, and starter supports a schematic diagram.
Fig. 8 is robot chassis lifting provided in an embodiment of the present invention, and starter supports two schematic diagrames.
Fig. 9 is that foreleg lifting forward movement provided in an embodiment of the present invention makes that guide wheel is supported to be supported in highland, pastes back leg
Invest one figure of highland side.
Figure 10 is that foreleg lifting forward movement provided in an embodiment of the present invention makes that guide wheel is supported to be supported in highland, pastes back leg
Invest two figure of highland side.
Figure 11 is that rear-wheel provided in an embodiment of the present invention lifts, and the support by the forward power of front-wheel and guide wheel is car body
Climb up one figure of highland.
Figure 12 is that rear-wheel provided in an embodiment of the present invention lifts, and the support by the forward power of front-wheel and guide wheel is car body
Climb up two figures of highland.
Figure 13 is the locking schematic diagram provided in an embodiment of the present invention to material target.
Figure 14 is the schematic diagram of taking provided in an embodiment of the present invention to material.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
In the prior art, the synchronous belt due to the distance between synchronizing wheel difference, can make the tightness of synchronous belt different,
So as to cause can not be operated simultaneously between synchronous belt, wheel or due to excessively tight and cause not operating between synchronous pulley,
Synchronous belt, which also will appear Rig up error when installing, causes synchronizing wheel to be broken.Prior art multi-function robot is carrying out chassis entirety
, can be different due to the lifting speed of the unbalance stress of each section on chassis or each lifting mechanism when lifting, cause chassis being lifted
It will appear chassis Caton, unstable and the phenomenon that specified altitude assignment is not achieved in the process.
In view of the problems of the existing technology, the present invention provides a kind of chassis lifting wheeled robot control system and
Control method is with reference to the accompanying drawing explained in detail the present invention.
As shown in Figure 1, the present invention provides a kind of chassis lifting wheeled robot control system, the chassis is lifted wheeled machine
Device people's control system includes:
Robot master control system, for controlling the everything of robot.
Chassis, lifting mechanism control system are connect, for controlling the movement of robot omnibearing with robot master control system
And the highland of specified altitude assignment is climbed up in the switching and the fixed point lifting of control robot of speed and motion state.
Front end pneumatic support mechanism control system is connect, for controlling Gao Shikai in robot with robot master control system
The Auxiliary support opened.
Holder trigger mechanism main control is connect with robot master control system, carries out object for controlling robot alignment target
Material transmitting.
Gripping body control system is connect with robot master control system, for controlling robot to the material of designated position
It takes.
The chassis lifting wheeled robot control system further comprises:
Digiplex is connect, for carrying out remote control machine with robot master control system by CAN bus/PWM interface
Device people.
Chassis provided in an embodiment of the present invention is lifted wheeled robot control method, comprising:
Omni-mobile is carried out by control DC speed-reducing and chassis lifting mechanism and Pneumatic support device is cooperated to control
The lifting of robot.
By control pitching motor, rolling motor, thumb wheel motor and friction turbin generator, realize the pitching of holder, shake the head,
It dials bullet and fires shells.
It carries out pulling out flag movement using steering engine transmission PWM wave control gripper, completes output signal, execute instruction, complete to move
Make.
Omni-mobile is carried out by control DC speed-reducing and chassis lifting mechanism and Pneumatic support device is cooperated to control
In the lifting of robot, three stainless steel columns and one are first fixed into the top of each wheat wheel support in the form of equilateral triangle
Thread lead screw is fixed on baseline center, and with the fixed copper post of three pieces of fixed plates, the relative position of lead screw.
Omni-mobile is carried out by control DC speed-reducing and chassis lifting mechanism and Pneumatic support device is cooperated to control
In the lifting of robot, further comprise:
When robot prepares upper highland, vehicle lifting, chassis lower section cylinder driver pushes away directive wheel and support plate
Out.Car-like robots, which gradually slow down, supports to front-wheel snap step edge on highland, recycles belt wheel and motor to generate dynamic
Power lifts front-wheel, and rear-wheel pushes vehicle that front-wheel and intermediate supports wheel are pushed to highland.
When rear-wheel and highland side contact, rear-wheel is lifted using the power that belt wheel and motor generate again, and before passing through
The trackability of forward power and intermediate supports wheel is taken turns, vehicle body moves forward, until front and back wheel is all attached on highland.
Pitching motor, rolling motor, thumb wheel motor and friction turbin generator are controlled, the pitching of holder is realized, shakes the head, dials bullet
And in firing shells, material transmitting is carried out using holder trigger mechanism control robot alignment target, when holder emission switch opens
After dynamic, thumb wheel is driven by a motor, and thumb wheel revolving speed thus can control unit by carrying out PWM pulse width modulation controlled to direct current generator
The number of material is transferred in time.The effect that will receive spin friction wheel in two sides after material enters launch tube obtains centainly
Initial velocity, and friction pulley is worked under the control of direct current generator.
Rotate friction pulley when motor rotates, while the material that rubs makes its obtain kinetic energy, material is launched.
Another object of the present invention is to provide a kind of chassis lifting wheeled robots to include:
Master control borad.
The master control borad is separately connected front end pneumatic support mechanism, holder trigger mechanism, folder by CAN bus/PWM interface
Take mechanism and chassis, lifting mechanism.
Chassis, lifting mechanism are for controlling the movement of robot omnibearing and the switching and control of speed and motion state
The highland of specified altitude assignment is climbed up in robot fixed point lifting processed.
Front end pneumatic support mechanism, the Auxiliary support opened when for controlling high in robot.
Holder trigger mechanism carries out material transmitting for controlling robot alignment target.
Gripping body, for controlling robot to the material of designated position.
Master control borad also passes through CAN bus/PWM interface connection Digiplex, for carrying out remote control.
The gripping body is divided into elevating mechanism and gripping body.The elevating mechanism is chassis elevating mechanism, catching device
Structure is steering engine machinery folder.It when clamping material, provides and embraces power accordingly, material is clamped, the power that holds that steering engine provides makes mechanical folder
Material is clamped.Gripper inside groove has covered anti-slip rubber.
Chassis structure realizes highland on Omni-mobile and cooperation chassis lifting mechanism by DC speed-reducing, pneumatic to prop up
With ascending a height, holder trigger mechanism controls pitching motor, rolling motor, thumb wheel motor and friction pulley electricity to support arrangement auxiliary robot
Machine realizes the pitching of holder by holder yaw/pitch, thumb wheel and friction pulley respectively, shakes the head, dials bullet and fire shells.
The chassis is equipped with support using four-wheel Mecanum wheel driving structure and chassis the right and left center
The supplementary structure of guide wheel and pneumatic support guide wheel.
Four-wheel forms leg by fixing with three root long bars one, root lead screw, two boards block respectively, then by being fixed on chassis
Third plate.
Front end pneumatic support mechanism is fixed on the underface on chassis.
Gripping body is fixed on right above the tail portion of chassis.
Holder trigger mechanism is fixed on above chassis, and is fixed with gas cylinder at holder trigger mechanism rear portion
In embodiments of the present invention, the chassis structure of robot of the present invention mainly realizes that omnidirectional moves by DC speed-reducing
Highland on dynamic and cooperation chassis lifting mechanism, with ascending a height, holder trigger mechanism then needs Pneumatic support device auxiliary robot
Pitching motor, rolling motor, thumb wheel motor and friction turbin generator are controlled, passes through holder yaw/pitch, thumb wheel and friction respectively
It takes turns to realize the pitching of holder, shake the head, dial bullet and fire shells, steering engine transmits PWM wave and pulls out flag movement to gripper execution.Simultaneously
They are controlled by STM32 development board, development board by being connect with each driving chip, complete output signal-execute instruction-
This process of execution.
In embodiments of the present invention, the chassis is using conventional four-wheel Mecanum wheel driving structure and bottom
The supplementary structure of the support guide wheel and pneumatic support guide wheel of disk the right and left center.The chassis is using basic frame
Rack and panel construction can be first by the top of each wheat wheel support with the shape of equilateral triangle to make chassis achieve the effect that rise and fall
Formula fixes three stainless steel columns and a thread lead screw is fixed on baseline center, and with three pieces of fixed plates fixed copper posts, lead screw
Relative position.The fixed plate of the close wheat wheel is fixed on chassis, and second piece of fixed plate also is secured to chassis, wheat wheel by copper post
It then can be freely up and down with top support plate.For control chassis and the opposite speed and harmony moved up and down of wheat wheel, chassis
Lifting mechanism using being screw nut driven, fix with a synchronizing wheel by each nut, also installs in given position
There is one to be connected to the motor the synchronizing wheel connect, and wants to involve by two synchronizing wheels by synchronous belt.In order to give full play to motor performance,
Selection is accelerated with the toothed belt transmission of transmission ratio 1:2, while being designed tensioning wheel and being tensioned to synchronous belt.
In embodiments of the present invention, the front end pneumatic support mechanism installed below the chassis, by 2 guide wheels, 2 pieces of front-wheels
Support plate, sliding rail and cylinder composition, as shown in the figure.The front wheel supporting plate of 2 pieces of outer profile L+ Internal periphery J-types is consolidated by copper post
It is fixed.Wherein, the front end of L-type has certain radian, generates unnecessary friction and resistance when reducing execution climbing This move
Power, the Internal periphery of J-type increase the endurance of support front edge of board, ensure that 2 small-sized guide wheels can be under the promotion of cylinder smoothly
Auxiliary top bar movement is executed, actual operability is improved.When robot prepares upper highland, vehicle lifting, chassis lower section gas
Cylinder driving device releases 2 directive wheels and support plate.Car-like robots, which gradually slow down, supports to height for front-wheel snap step edge
On the ground, front-wheel is lifted using the power that belt wheel+motor generates later, rear-wheel pushes vehicle that front-wheel and intermediate supports wheel are pushed to height
Ground.When rear-wheel and highland side contact, rear-wheel is lifted using the power that belt wheel+motor generates again, and forward by front-wheel
Power and intermediate supports wheel trackability, vehicle body moves forward, until front and back wheel is all attached on highland.
In embodiments of the present invention, the holder trigger mechanism carries out material transmitting for controlling robot alignment target,
When holder emission switch starting after, thumb wheel is driven by a motor, thumb wheel revolving speed by direct current generator carry out PWM pulse width modulation controlled this
Sample can control the number that material is transferred in the unit time.It will receive spin friction wheel in two sides after material enters launch tube
Effect obtain certain initial velocity, and friction pulley is worked under the control of direct current generator.When motor rotation rotates friction
It is dynamic, while the material that rubs makes it obtain kinetic energy, material is just launched.This simple principle both ensure that material was sent out
The stability penetrated, and the fabulous angle for controlling material transmitting, speed.
In embodiments of the present invention, the gripping body is divided into elevating mechanism and gripping body.The elevating mechanism is
Chassis elevating mechanism, gripping body are steering engine machinery folder.When clamping material, it is desirable to provide power is embraced accordingly, it could be by material clamp
It takes without falling, so holding power in this structure and being provided by steering engine, by the sending of order, clamps mechanical folder by material.
To increase the frictional force between gripper and material, one layer of anti-slip rubber is increased in gripper inside groove.
The invention will be further described combined with specific embodiments below.
Embodiment
System provided in an embodiment of the present invention uses the holder plate and chassis control plate of autonomous Design, uses
STM32F407VE is connect as master control, by CAN bus/PWM interface with master control borad, carries out remote control by Digiplex.
The transmission of CAN message is unified in task and carries out, and using queue form, the queued discipline of first in, first out ensure that message is complete
While transmission, and the timeslice of FreeRTOS is reasonably utilized, so that control task has time enough to execute largely
Logical operation, while the CAN register by detecting STM32 master control realizes the Fault recovery of CAN, thus multi-ensuring bottom
The normal operation of disk and horizontal stage electric machine.The overall structure of robot of the present invention mainly realizes that omnidirectional moves by DC speed-reducing
Dynamic, pneumatic device auxiliary climbing, steering engine transmits PWM wave and pulls out flag movement to gripper execution.They are all to pass through single-chip microcontroller simultaneously
Control, single-chip microcontroller with each driving chip by connect, and completion output signal-executes instruction-execution this process.
The chassis structure of robot of the present invention mainly realizes Omni-mobile and the lift of cooperation chassis by DC speed-reducing
Highland in mechanism is risen, with ascending a height, holder trigger mechanism then needs to control pitching motor, rolling Pneumatic support device auxiliary robot
Motor, thumb wheel motor and friction turbin generator, realize bowing for holder by holder yaw/pitch, thumb wheel and friction pulley respectively
It faces upward, shake the head, dialling bullet and fire shells, steering engine transmits PWM wave and pulls out flag movement to gripper execution.
The chassis is using conventional four-wheel Mecanum wheel driving structure and chassis the right and left center
Support guide wheel and pneumatic support guide wheel supplementary structure.Four-wheel is respectively by solid with three root long bars one, root lead screw, two boards block
It is shaped as leg, then the third plate by being fixed on chassis, secures the relative position between each leg in chassis plane.To
Realize moving up and down for chassis.And pneumatic structure is then fixed on the underface on chassis, gripping body is being fixed on chassis tail portion just
Top, trigger mechanism is fixed on above chassis, and is fixed with gas cylinder at trigger mechanism rear portion, each mechanism being fixed on chassis
It is that corresponding position is allocated in by dynamics simulation software ADAMS, center of gravity is made to be maintained at center chassis.
Chassis is controlled by synchronizing wheel, band chassis lifting by four direct current generators, and the chassis is lifted part
Include trigger mechanism, gripping body, pneumatic support mechanism.Its summation weight is m=13600g=13.6kg, needed for a motor
Receiving weight is m=3.4kg, it is known that the equivalent arm of force between synchronizing wheel is l=100mm, the load of available motor are as follows:
Gl=3.4 × 9.8 M=m × 0.1=3.32N.m
Motor tentatively uses RM3508 decelerating motor, transmission ratio 19:1, so the torque of required motor are as follows:
T=M × i=3.32 × 1/19=0.17N.m
According to the performance parameter of motor, as shown in figure 3, give when output voltage is 24V, it is corresponding under different torques
Motor speed, electric current, output power and efficiency performance parameter.
As shown in table 1, under several typicalness motor performance parameter.Motor status is near pressure point of maximum efficiency, can
To meet work requirements.
The performance parameter of motor under 1 typicalness of table
With reference to the accompanying drawing to chassis lifting of the invention robot ascend a height process and material process of taking make it is further
Description.
In embodiments of the present invention, Fig. 3 is car-like robots control system schematic diagram provided in an embodiment of the present invention.
Fig. 4 is lifting robot schematic diagram in chassis provided in an embodiment of the present invention.
Fig. 5 is one schematic diagram of robot guide wheel touching provided in an embodiment of the present invention highland.
Fig. 6 is two schematic diagrames of robot guide wheel touching provided in an embodiment of the present invention highland.
Fig. 7 is robot chassis lifting provided in an embodiment of the present invention, and starter supports a schematic diagram.
Fig. 8 is robot chassis lifting provided in an embodiment of the present invention, and starter supports two schematic diagrames.
Fig. 9 is that foreleg lifting forward movement provided in an embodiment of the present invention makes that guide wheel is supported to be supported in highland, pastes back leg
Invest one figure of highland side.
Figure 10 is that foreleg lifting forward movement provided in an embodiment of the present invention makes that guide wheel is supported to be supported in highland, pastes back leg
Invest two figure of highland side.
Figure 11 is that rear-wheel provided in an embodiment of the present invention lifts, and the support by the forward power of front-wheel and guide wheel is car body
Climb up one figure of highland.
Figure 12 is that rear-wheel provided in an embodiment of the present invention lifts, and the support by the forward power of front-wheel and guide wheel is car body
Climb up two figures of highland.
Figure 13 is the locking schematic diagram provided in an embodiment of the present invention to material target.
Figure 14 is the schematic diagram of taking provided in an embodiment of the present invention to material.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of chassis is lifted wheeled robot control method, which is characterized in that described kind of chassis lifting wheeled robot control
Method includes:
Line up the motion state on acquisition chassis by the message that CAN sends and receives, and controls DC speed-reducing and carry out omnidirectional
It moves and cooperates chassis lifting mechanism and pneumatic support auxiliary device to control the lifting of robot, and supervised by chassis control central plate
Depending on bobbin movement state, then chassis is carried out by remote controler and is integrally controlled；
Line up the motion state of acquisition holder by the message that CAN/PWM sends and receives, and controls pitching motor, rolling electricity
Machine, thumb wheel motor and friction pulley motor control task carry out the pitching of holder, shake the head, dial and bullet and fire shells, and by pair
The posture of the mechanical, electrical tune of remote controler, electricity and holder entirety is parsed；
Line up the motion state of acquisition gripping body by the message that CAN/PWM sends and receives, and transmits PWM wave using steering engine
Control gripper pull out flag movement, monitors gripping body motion state by clamping module control centre's plate, complete output signal,
It executes instruction, execution.
2. chassis as described in claim 1 is lifted wheeled robot control method, which is characterized in that slowed down by control direct current
Motor carries out Omni-mobile and chassis lifting mechanism and Pneumatic support device is cooperated to control in the lifting of robot, first by each wheat
Three stainless steel columns are fixed in the top of wheel support in the form of equilateral triangle and a thread lead screw is fixed on baseline center, and
With the fixed copper post of three pieces of fixed plates, the relative position of lead screw.
3. chassis as described in claim 1 is lifted wheeled robot control method, which is characterized in that slowed down by control direct current
Motor carries out Omni-mobile and chassis lifting mechanism and Pneumatic support device is cooperated to control in the lifting of robot, further wraps
It includes:
When highland in robot, vehicle lifting, chassis lower section cylinder driver releases directive wheel and support plate；Vehicle machine
Device people, which is gradually slowed down, supports to front-wheel snap step edge on highland, before the power for recycling belt wheel and motor to generate lifts
Wheel, rear-wheel push vehicle that front-wheel and intermediate supports wheel are pushed to highland；
When rear-wheel and highland side contact, lift rear-wheel using the power that belt wheel and motor generate again, and by front-wheel to
The trackability of preceding power and intermediate supports wheel, vehicle body move forward, until front and back wheel is all attached on highland.
4. chassis as described in claim 1 is lifted wheeled robot control method, which is characterized in that control pitching motor, cross
Motor, thumb wheel motor and friction turbin generator are shaken, the pitching of holder is realized, shakes the head, dials bullet and fire shells, sent out using holder
It penetrates mechanism controls robot alignment target and carries out material transmitting, after the starting of holder emission switch, thumb wheel is driven by a motor, thumb wheel
Revolving speed thus can control the number of dial-out material in the unit time by carrying out PWM pulse width modulation controlled to direct current generator；When
Material, which enters after launch tube, will receive the effect of two sides spin friction wheel and obtains certain initial velocity, and friction pulley is in direct current
It works under the control of motor；
Rotate friction pulley when motor rotates, while the material that rubs makes its obtain kinetic energy, material is launched.
5. a kind of chassis lifting wheeled robot control for implementing the lifting of chassis described in claim 1 wheeled robot control method
System, which is characterized in that the chassis is lifted wheeled robot control system and includes:
Robot master control system, for controlling the everything of robot；
Chassis, lifting mechanism control system are connect with robot master control system, for control robot omnibearing movement and
The highland of specified altitude assignment is climbed up in the switching and the fixed point lifting of control robot of speed and motion state；
Front end pneumatic support mechanism control system connecting with robot master control system, opening when for controlling high in robot
Auxiliary support；
Holder trigger mechanism main control is connect with robot master control system, carries out material hair for controlling robot alignment target
It penetrates；
Gripping body control system is connect with robot master control system, the material of designated position is carried out for controlling robot
It takes.
6. the chassis of lifting wheeled robot control method in chassis as claimed in claim 5 is lifted wheeled robot control system,
It is characterized in that, the chassis lifting wheeled robot control system further comprises:
Digiplex is connect, for carrying out remote control machine with robot master control system by CAN bus/PWM interface
People.
7. a kind of chassis for implementing the lifting of chassis described in claim 1 wheeled robot control method is lifted wheeled robot,
It is characterized in that, institute chassis lifting wheeled robot includes:
Master control borad；
The master control borad is separately connected front end pneumatic support mechanism, holder trigger mechanism, catching device by CAN bus/PWM interface
Structure and chassis, lifting mechanism；
Chassis, lifting mechanism are for controlling the movement of robot omnibearing and the switching of speed and motion state and control machine
Device people pinpoints the highland that specified altitude assignment is climbed up in lifting；
Front end pneumatic support mechanism, the Auxiliary support opened when for controlling high in robot；
Holder trigger mechanism carries out material transmitting for controlling robot alignment target；
Gripping body, for controlling robot to the material of designated position；
Master control borad also passes through CAN bus/PWM interface connection Digiplex, for carrying out remote control.
8. chassis as claimed in claim 7 is lifted wheeled robot, which is characterized in that
The gripping body is divided into elevating mechanism and gripping body；The elevating mechanism is chassis elevating mechanism, and gripping body is
Steering engine machinery folder；It when clamping material, provides and embraces power accordingly, material is clamped, what steering engine provided, which holds power, makes mechanical folder by object
Feed collet is lived；Gripper inside groove has covered anti-slip rubber.
9. chassis as claimed in claim 7 is lifted wheeled robot, which is characterized in that
Chassis structure realizes highland on Omni-mobile and cooperation chassis lifting mechanism, pneumatic support dress by DC speed-reducing
Set auxiliary robot with ascending a height, holder trigger mechanism controls pitching motor, rolling motor, thumb wheel motor and friction turbin generator,
The pitching of holder is realized by holder yaw/pitch, thumb wheel and friction pulley respectively, shakes the head, dial bullet and fires shells；
The chassis is equipped with support guide wheel using four-wheel Mecanum wheel driving structure and chassis the right and left center
With the supplementary structure of pneumatic support guide wheel；
Four-wheel is respectively by forming leg, then the third by being fixed on chassis with three root long bars one, root lead screw, the fixation of two boards block
Plate.
10. chassis as claimed in claim 7 is lifted wheeled robot, which is characterized in that front end pneumatic support mechanism is fixed on
The underface on chassis；
Gripping body is fixed on right above the tail portion of chassis；
Holder trigger mechanism is fixed on above chassis, and is fixed with gas cylinder at holder trigger mechanism rear portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910656698.5A CN110340895A (en) | 2019-07-19 | 2019-07-19 | A kind of control system and control method of chassis lifting wheeled robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910656698.5A CN110340895A (en) | 2019-07-19 | 2019-07-19 | A kind of control system and control method of chassis lifting wheeled robot |
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| CN110340895A true CN110340895A (en) | 2019-10-18 |
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| CN201910656698.5A Pending CN110340895A (en) | 2019-07-19 | 2019-07-19 | A kind of control system and control method of chassis lifting wheeled robot |
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