WO2022105624A1 - Independent suspension apparatus capable of maintaining specific track width - Google Patents

Independent suspension apparatus capable of maintaining specific track width Download PDF

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Publication number
WO2022105624A1
WO2022105624A1 PCT/CN2021/128993 CN2021128993W WO2022105624A1 WO 2022105624 A1 WO2022105624 A1 WO 2022105624A1 CN 2021128993 W CN2021128993 W CN 2021128993W WO 2022105624 A1 WO2022105624 A1 WO 2022105624A1
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Prior art keywords
frame
motor
wheel
control system
drive device
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PCT/CN2021/128993
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French (fr)
Chinese (zh)
Inventor
李荣华
杨景山
林婷婷
李圣达
徐梓博
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大连交通大学
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Publication of WO2022105624A1 publication Critical patent/WO2022105624A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D29/00—Superstructures, understructures, or sub-units thereof, characterised by the material thereof
    • B62D29/008—Superstructures, understructures, or sub-units thereof, characterised by the material thereof predominantly of light alloys, e.g. extruded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • the present invention relates to the technical field of wheeled robots, in particular, to an independent suspension device that can maintain a specific wheelbase.
  • Wheeled robots are a direction with research value at present, and Mecanum wheeled AGVs that move in all directions are an important part of them.
  • AGV As a widely used automation equipment, AGV has many advantages such as high automation level, flexible and simple movement, and wide application range. It can improve work efficiency and even completely replace human work in some fields.
  • Suspension mechanism is a general term for all force-transmitting connection devices between the main body of the car's frame and the axle or wheels. Its function is to transmit the forces and moments acting between the wheels and the main body of the frame, and the buffer is transmitted from the uneven road to the body. the impact force, and attenuate the vibration caused by it, so as to ensure that the car can run smoothly.
  • the omnidirectionally moving Mecanum wheeled mobile robot adopts a four-link parallelogram suspension structure.
  • the center of the wheel axle rises, and the angle between the link and the horizontal plane changes.
  • the Mecanum wheel The distance between the lateral center of the trolley also changes.
  • the length of the connecting rod is L
  • the angle between the connecting rod and the horizontal plane is ⁇ when the trolley is running on a flat road.
  • the change of the connecting rod angle is ⁇
  • the method to solve the wheelbase deviation is to use candle suspension or similar candle suspension.
  • the pins are damaged.
  • an independent suspension device capable of maintaining a specific wheel base, which has the advantages of adjusting the lateral distance error of the Mecanum wheel in real time, improving the motion accuracy of the omnidirectional mobile robot, and being easy to maintain.
  • An independent suspension device that can maintain a specific wheel base, including a wheel drive device, a parallelogram suspension mechanism, a shock absorber, a linear motor, an angle sensor, a control system and a frame;
  • the wheel drive device includes a mecanum wheel, a universal coupling and a motor, and the mecanum wheel 1 is connected to the motor through the universal coupling; the motor is mounted on the motor frame, and the The motor frame is installed on the drive device support frame;
  • the parallelogram suspension mechanism includes four connecting rods, the frame is provided with a sliding groove, the upper part of the connecting rod is rotatably connected with a slider that matches the sliding groove, and the lower part is rotatably connected with the drive device support frame , the sliding block cooperates with the sliding groove to form a sliding pair;
  • the shock absorber is a spring damping shock absorber, one end is rotatably connected with the vehicle frame, and the other end is rotatably connected with the drive device support frame;
  • the linear motor is mounted on the vehicle frame, and the output end of the linear motor is fixedly connected to the slider;
  • the angle sensor is used to obtain the change value of the angle between the connecting rod and the horizontal plane and transmit it to the control system in real time.
  • the control system performs calculation processing according to the received signal and drives the linear motor to drive the wheel drive device. Move the corresponding distance in the horizontal direction.
  • the frame is made of 1515 aluminum profiles, and the orthographic projection of the frame on the horizontal plane is symmetrical in front and rear, left and right, and the inner side of the frame is designed with a sunken trough-shaped frame structure for placing and Install the battery, the control system and the navigation device.
  • control system adopts STM32F429 microcontroller.
  • the present invention has the following advantages:
  • the invention provides an independent suspension device that can maintain a specific wheelbase.
  • the Mecanum wheel suspension mechanism is constituted by a Mecanum wheel body, a motor support frame, a four-bar linkage mechanism and a frame beam to form a crank, and a slider is installed on the upper end of the crank to form a crank.
  • a complete crank-slider device, the connection between the Mecanum wheel body and the motor adopts a universal coupling, which can raise the central position of the motor by an appropriate distance and increase the passability of the AGV trolley.
  • Both the wheel set motor support frame and the frame adopt The assembly of the aluminum profile is completed, the modification is convenient, and the replacement cost of parts and the maintenance cost of the robot are reduced.
  • the present invention can be widely promoted in the fields of wheeled robots and the like.
  • FIG. 1 is a schematic top view of the structure of an AGV to which the suspension device of the present invention is applied.
  • FIG. 2 is a schematic structural diagram of the suspension device according to the present invention.
  • FIG. 3 is a schematic structural diagram of the wheel drive device according to the present invention.
  • FIG. 4 is a schematic diagram of the working principle of the suspension device according to the present invention.
  • orientation words such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” etc.
  • positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words “inside and outside” refer to the inside and outside relative to the contour of each component itself.
  • spatially relative terms such as “on”, “over”, “on the surface”, “above”, etc., may be used herein to describe what is shown in the figures.
  • spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “above” or “over” other devices or features would then be oriented “below” or “over” the other devices or features under other devices or constructions”.
  • the exemplary term “above” can encompass both an orientation of "above” and “below.”
  • the device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.
  • the present invention provides an independent suspension device that can maintain a specific wheelbase, which is characterized in that it includes a wheel drive device, a parallelogram suspension mechanism, a shock absorber 5, a linear motor 10, and an angle sensor 7 , control system and frame 8;
  • the wheel drive device includes a mecanum wheel 1, a universal coupling 2 and a motor 3, the mecanum wheel 1 is connected to the motor 3 through the universal coupling 2; the motor 3 is installed In the motor frame, the motor frame is mounted on the drive device support frame 4;
  • the parallelogram suspension mechanism includes four connecting rods 6, a sliding groove is arranged on the frame 8, the upper part of the connecting rod 6 is rotatably connected with a sliding block 12 matching the sliding groove, and the lower part is connected with the driving device.
  • the support frame 4 is rotatably connected, and the sliding block 12 cooperates with the sliding groove to form a sliding pair;
  • the shock absorber 5 is a spring damping shock absorber, one end is rotatably connected with the frame 8, and the other end is rotatably connected with the drive device support frame 4;
  • the linear motor 10 is mounted on the frame 8, and the output end of the linear motor 10 is fixedly connected to the slider 12;
  • the linear motor 10 is used to drive the horizontal movement of the drive device support frame 4 through the slider 12, thereby driving the entire wheel drive device to move horizontally;
  • the angle sensor 7 is installed on the connecting rod 6, and is used to obtain the change value of the angle ⁇ between the connecting rod 6 and the horizontal plane and transmit it to the control system in real time.
  • the control system performs calculation and processing according to the received signal.
  • Driving the linear motor 10 drives the wheel drive device to move a corresponding distance in the horizontal direction.
  • the frame 8 is made of 1515 aluminum profile, which has good strength and light weight; and the orthographic projection of the frame 8 on the horizontal plane is symmetrical in front and rear and left and right, and the inner side of the frame 8 is designed with a sinking
  • the trough-shaped frame structure is used to place and install the battery, the control system and the navigation device.
  • control system adopts STM32F429 microcontroller.
  • each wheel can be provided with a set of independent suspension devices according to the present invention that can maintain a specific wheel spacing.
  • the Mecanum wheel 1 passes through the uneven road 9 (this Assuming that it is a protruding road surface, if the ground is low, the same principle), the Mecanum wheel 1 will move upward relative to the frame 8, so that the shock absorber 5 is compressed, and the rotation angle of the connecting rod 6 decreases.
  • the unsprung device (the Mecanum wheel 1, the universal joint 2 and the motor 3) has a tendency to move to the left, and this movement will cause the center of the Mecanum wheel 1 to move to the outside , the wheelbase becomes larger.
  • the present invention intends to install a servo linear motor 10 on the frame 8 and the slider fixed to the upper part of the connecting rod 6, and install an angle sensor on the connecting rod 6 , cooperate with the control system to control the entire suspension device, when the angle sensor 7 detects that the angle of the connecting rod 6 decreases, it will immediately transmit an angle change signal to the control system, which drives the linear motor 10 to move to the right To offset the displacement deviation of the wheel moving to the left.
  • the angle sensor 7 transmits the angle offset signal

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Provided by the present invention is an independent suspension apparatus capable of maintaining a specific track width, comprising a wheel drive apparatus, a parallelogramical suspension mechanism, a shock absorber, a linear motor, an angle sensor, a control system, and a vehicle frame; said wheel drive apparatus comprises a Mecanum wheel, a universal coupling, and an electric motor; the parallelogramical suspension mechanism comprises four connecting rods, said vehicle frame is provided with a slide groove, the upper part of the connecting rod is rotationally connected to a slide block matching said slide groove, and the lower part is rotationally connected to a support frame of the drive apparatus; the shock absorber is a spring-damped shock-absorbing apparatus; the output end of said linear motor is fixedly connected to the slide block; the angle sensor is used for obtaining the value of change of the angle between the connecting rod and the horizontal plane and transmitting it in real time to said control system. The technical solution of the present invention has advantages such as real-time adjustment of the lateral distance error of a Mecanum wheel, improvement of the accuracy of movement of an omnidirectional mobile robot, and easy maintenance.

Description

一种可保持特定轮距的独立悬挂装置An independent suspension that maintains a specific wheelbase 技术领域technical field
本发明涉及轮式机器人技术领域，具体而言，尤其涉及一种可保持特定轮距的独立悬挂装置。The present invention relates to the technical field of wheeled robots, in particular, to an independent suspension device that can maintain a specific wheelbase.
背景技术Background technique
轮式机器人是目前具有研究价值的方向，全方位移动的麦克纳姆轮式AGV是其中的重要组成部分。AGV作为一种应用广泛的自动化设备，具有自动化水平高，运动灵活简便、应用范围广等许多优点。可以提高工作效率，在某些领域甚至可以完全代替人类工作。Wheeled robots are a direction with research value at present, and Mecanum wheeled AGVs that move in all directions are an important part of them. As a widely used automation equipment, AGV has many advantages such as high automation level, flexible and simple movement, and wide application range. It can improve work efficiency and even completely replace human work in some fields.
悬挂机构是汽车的车架主体与车桥或车轮之间的一切传力连接装置的总称，其作用是传递作用在车轮和车架主体之间的力和力矩，并且缓冲由不平路面传给车身的冲击力，并衰减由此引起的震动，以保证汽车能平稳地行驶。Suspension mechanism is a general term for all force-transmitting connection devices between the main body of the car's frame and the axle or wheels. Its function is to transmit the forces and moments acting between the wheels and the main body of the frame, and the buffer is transmitted from the uneven road to the body. the impact force, and attenuate the vibration caused by it, so as to ensure that the car can run smoothly.
所述全方位移动的麦克纳姆轮式移动机器人采用四连杆平行四边形悬挂结构，当车轮经过障碍物时，轮轴中心升高，连杆与水平面的夹角发生变化，同时，麦克纳姆轮小车横向中心的距离也发生变化，假设连杆长度为L,当小车在平坦路面行驶时连杆与水平面的夹角为α，当车轮经过不平路面时，由于地面障碍物对车轮的垂直作用，连杆角度变化为Δα，车轮被抬起的高度为h＝L*(cosα-cos(α-Δα))，同时，由于连杆绕其与车架铰接的轴旋转运动，铰接于连杆另一端的车轮行驶中心线与小车纵向中心线将发生偏离，偏移距离d＝L*(sinα-sin(α-Δα))，车轮中心在水平面内的这部分位移将导致小车轮距发生变化，使理想轮距遭到破坏，导致前后轮不在一条直线上行驶。The omnidirectionally moving Mecanum wheeled mobile robot adopts a four-link parallelogram suspension structure. When the wheel passes through the obstacle, the center of the wheel axle rises, and the angle between the link and the horizontal plane changes. At the same time, the Mecanum wheel The distance between the lateral center of the trolley also changes. Assuming that the length of the connecting rod is L, the angle between the connecting rod and the horizontal plane is α when the trolley is running on a flat road. The change of the connecting rod angle is Δα, and the height of the wheel being lifted is h=L*(cosα-cos(α-Δα)). The center line of the wheel at one end will deviate from the longitudinal center line of the trolley, and the offset distance d=L*(sinα-sin(α-Δα)), this part of the displacement of the wheel center in the horizontal plane will lead to the change of the trolley wheel base The ideal wheelbase is destroyed, resulting in the front and rear wheels not driving in a straight line.
目前解决轮距偏差的方法是采用烛式悬挂或者类似烛式悬挂方案，该方案的不足之处是小车越障运动过程中主销外圆柱面受到的压力很大，不 规律的压力波动对主销损坏较大。At present, the method to solve the wheelbase deviation is to use candle suspension or similar candle suspension. The pins are damaged.
发明内容SUMMARY OF THE INVENTION
针对现有技术不足，而提供一种可保持特定轮距的独立悬挂装置，具备实时调整麦克纳姆轮横向距离误差、提高全方位移动机器人动作精度和易维护等优点。Aiming at the deficiencies of the prior art, an independent suspension device capable of maintaining a specific wheel base is provided, which has the advantages of adjusting the lateral distance error of the Mecanum wheel in real time, improving the motion accuracy of the omnidirectional mobile robot, and being easy to maintain.
本发明采用的技术手段如下：The technical means adopted in the present invention are as follows:
一种可保持特定轮距的独立悬挂装置，包括车轮驱动装置、平行四边形悬挂机构、减振器、直线电机、角度传感器、控制***和车架；An independent suspension device that can maintain a specific wheel base, including a wheel drive device, a parallelogram suspension mechanism, a shock absorber, a linear motor, an angle sensor, a control system and a frame;
所述车轮驱动装置包括麦克纳姆轮、万向联轴器和电机，所述麦克纳姆轮1通过所述万向联轴器连接于所述电机；所述电机安装于电机架，所述电机架安装于驱动装置支撑架；The wheel drive device includes a mecanum wheel, a universal coupling and a motor, and the mecanum wheel 1 is connected to the motor through the universal coupling; the motor is mounted on the motor frame, and the The motor frame is installed on the drive device support frame;
所述平行四边形悬挂机构包括四个连杆，所述车架上设置滑动槽，所述连杆上部转动连接有与所述滑动槽相匹配的滑块，下部与所述驱动装置支撑架转动连接，所述滑块与所述滑动槽配合形成滑动副；The parallelogram suspension mechanism includes four connecting rods, the frame is provided with a sliding groove, the upper part of the connecting rod is rotatably connected with a slider that matches the sliding groove, and the lower part is rotatably connected with the drive device support frame , the sliding block cooperates with the sliding groove to form a sliding pair;
所述减振器为弹簧阻尼减振装置，一端与所述车架转动连接，另一端与所述驱动装置支撑架转动连接；The shock absorber is a spring damping shock absorber, one end is rotatably connected with the vehicle frame, and the other end is rotatably connected with the drive device support frame;
所述直线电机安装于所述车架，所述直线电机的输出端与所述滑块固定连接；The linear motor is mounted on the vehicle frame, and the output end of the linear motor is fixedly connected to the slider;
所述角度传感器用于获取所述连杆与水平面的夹角变化值并实时传送至所述控制***，所述控制***根据接收的信号进行计算处理后驱动所述直线电机带动所述车轮驱动装置在水平方向移动相应距离。The angle sensor is used to obtain the change value of the angle between the connecting rod and the horizontal plane and transmit it to the control system in real time. The control system performs calculation processing according to the received signal and drives the linear motor to drive the wheel drive device. Move the corresponding distance in the horizontal direction.
进一步地，所述车架采用1515铝型材制成，且所述车架在水平面上的正投影前后对称、左右对称，所述车架内侧设计有下沉的槽形框体结构用以放置和安装电池、所述控制***和导航装置。Further, the frame is made of 1515 aluminum profiles, and the orthographic projection of the frame on the horizontal plane is symmetrical in front and rear, left and right, and the inner side of the frame is designed with a sunken trough-shaped frame structure for placing and Install the battery, the control system and the navigation device.
进一步地，所述控制***采用STM32F429单片机。Further, the control system adopts STM32F429 microcontroller.
较现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
本发明提供的可保持特定轮距的独立悬挂装置，麦克纳姆轮悬挂机构通过麦克纳姆轮本体，电机支撑架和四连杆机构以及车架横梁构成曲柄，曲柄上端安装有滑块，构成一个完整的一个曲柄滑块装置，麦克纳姆轮本体与电机的连接采用万向联轴器可使电机中心位置升高适当距离，增加AGV小车通过性，轮组电机支撑架和车架都采用铝型材组装完成，改型方便，减少零件的更换成本和机器人的维护成本。The invention provides an independent suspension device that can maintain a specific wheelbase. The Mecanum wheel suspension mechanism is constituted by a Mecanum wheel body, a motor support frame, a four-bar linkage mechanism and a frame beam to form a crank, and a slider is installed on the upper end of the crank to form a crank. A complete crank-slider device, the connection between the Mecanum wheel body and the motor adopts a universal coupling, which can raise the central position of the motor by an appropriate distance and increase the passability of the AGV trolley. Both the wheel set motor support frame and the frame adopt The assembly of the aluminum profile is completed, the modification is convenient, and the replacement cost of parts and the maintenance cost of the robot are reduced.
基于上述理由本发明可在轮式机器人等领域广泛推广。Based on the above reasons, the present invention can be widely promoted in the fields of wheeled robots and the like.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.
图1为应用本发明所述悬挂装置的AGV的俯视结构示意图。FIG. 1 is a schematic top view of the structure of an AGV to which the suspension device of the present invention is applied.
图2为本发明所述悬挂装置的结构示意图。FIG. 2 is a schematic structural diagram of the suspension device according to the present invention.
图3为本发明所述车轮驱动装置结构示意图。FIG. 3 is a schematic structural diagram of the wheel drive device according to the present invention.
图4为本发明所述悬挂装置工作原理示意图。FIG. 4 is a schematic diagram of the working principle of the suspension device according to the present invention.
图中：1、麦克纳姆轮；2、万向联轴器；3、电机；4、驱动装置支撑架；5、减振器；6、连杆；7、角度传感器；8、车架；9、路面；10、直线电机；11、控制***；12、滑块。In the picture: 1. Mecanum wheel; 2. Universal coupling; 3. Motor; 4. Drive support frame; 5. Shock absorber; 6. Connecting rod; 7. Angle sensor; 8. Frame; 9. Road surface; 10. Linear motor; 11. Control system; 12. Slider.
具体实施方式Detailed ways
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。 以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本发明的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。同时，应当清楚，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员己知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific value should be construed as illustrative only and not as limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制：方位词“内、外”是指相对于各部件本身的轮廓的内外。In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的 不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under other devices or constructions". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.
实施例1Example 1
如图1-2所示，本发明提供了一种可保持特定轮距的独立悬挂装置，其特征在于，包括车轮驱动装置、平行四边形悬挂机构、减振器5、直线电机10、角度传感器7、控制***和车架8；As shown in Figures 1-2, the present invention provides an independent suspension device that can maintain a specific wheelbase, which is characterized in that it includes a wheel drive device, a parallelogram suspension mechanism, a shock absorber 5, a linear motor 10, and an angle sensor 7 , control system and frame 8;
所述车轮驱动装置包括麦克纳姆轮1、万向联轴器2和电机3，所述麦克纳姆轮1通过所述万向联轴器2连接于所述电机3；所述电机3安装于电机架，所述电机架安装于驱动装置支撑架4；The wheel drive device includes a mecanum wheel 1, a universal coupling 2 and a motor 3, the mecanum wheel 1 is connected to the motor 3 through the universal coupling 2; the motor 3 is installed In the motor frame, the motor frame is mounted on the drive device support frame 4;
所述平行四边形悬挂机构包括四个连杆6，所述车架8上设置滑动槽，所述连杆6上部转动连接有与所述滑动槽相匹配的滑块12，下部与所述驱动装置支撑架4转动连接，所述滑块12与所述滑动槽配合形成滑动副；The parallelogram suspension mechanism includes four connecting rods 6, a sliding groove is arranged on the frame 8, the upper part of the connecting rod 6 is rotatably connected with a sliding block 12 matching the sliding groove, and the lower part is connected with the driving device. The support frame 4 is rotatably connected, and the sliding block 12 cooperates with the sliding groove to form a sliding pair;
所述减振器5为弹簧阻尼减振装置，一端与所述车架8转动连接，另一端与所述驱动装置支撑架4转动连接；The shock absorber 5 is a spring damping shock absorber, one end is rotatably connected with the frame 8, and the other end is rotatably connected with the drive device support frame 4;
所述直线电机10安装于所述车架8，所述直线电机10的输出端与所述滑块12固定连接；The linear motor 10 is mounted on the frame 8, and the output end of the linear motor 10 is fixedly connected to the slider 12;
所述直线电机10用于通过所述滑块12带动所述驱动装置支撑架4的水平移动进而带动整个所述车轮驱动装置进行水平移动；The linear motor 10 is used to drive the horizontal movement of the drive device support frame 4 through the slider 12, thereby driving the entire wheel drive device to move horizontally;
所述角度传感器7安装于所述连杆6，用于获取所述连杆6与水平面的夹角α变化值并实时传送至所述控制***，所述控制***根据接收的信号进行计算处理后驱动所述直线电机10带动所述车轮驱动装置在水平方向移动 相应距离。The angle sensor 7 is installed on the connecting rod 6, and is used to obtain the change value of the angle α between the connecting rod 6 and the horizontal plane and transmit it to the control system in real time. The control system performs calculation and processing according to the received signal. Driving the linear motor 10 drives the wheel drive device to move a corresponding distance in the horizontal direction.
进一步地，所述车架8采用1515铝型材制成，强度好，重量轻；且所述车架8在水平面上的正投影前后对称、左右对称，所述车架8内侧设计有下沉的槽形框体结构用以放置和安装电池、所述控制***和导航装置。Further, the frame 8 is made of 1515 aluminum profile, which has good strength and light weight; and the orthographic projection of the frame 8 on the horizontal plane is symmetrical in front and rear and left and right, and the inner side of the frame 8 is designed with a sinking The trough-shaped frame structure is used to place and install the battery, the control system and the navigation device.
进一步地，所述控制***采用STM32F429单片机。Further, the control system adopts STM32F429 microcontroller.
在AGV小车上，每一个车轮处均可以设置一组本发明所述的可保持特定轮距的独立悬挂装置，图3-4所示，当所述麦克纳姆轮1经过不平路面9(此处假设为突起路面，如遇低洼地面道理相同)时，所述麦克纳姆轮1将相对所述车架8向上运动，使所述减振器5受压，所述连杆6的转角减小，同时簧下装置(所述麦克纳姆轮1、所述万向联轴器2和所述电机3)有向左运动趋势，此运动将导致所述麦克纳姆轮1中心向外侧移动，轮距变大，为解决此问题，本发明拟在所述车架8和与所述连杆6上部固接的滑块上安装伺服直线电机10，在所述连杆6上安装角度传感器，与控制***配合以控制整个悬挂装置，当所述角度传感器7检测到所述连杆6角度减小时，将立即传送角度变化信号给控制***，所述控制***即驱动直线电机10向右运动以抵销车轮向左运动的位移偏差。On the AGV car, each wheel can be provided with a set of independent suspension devices according to the present invention that can maintain a specific wheel spacing. As shown in Figures 3-4, when the Mecanum wheel 1 passes through the uneven road 9 (this Assuming that it is a protruding road surface, if the ground is low, the same principle), the Mecanum wheel 1 will move upward relative to the frame 8, so that the shock absorber 5 is compressed, and the rotation angle of the connecting rod 6 decreases. At the same time, the unsprung device (the Mecanum wheel 1, the universal joint 2 and the motor 3) has a tendency to move to the left, and this movement will cause the center of the Mecanum wheel 1 to move to the outside , the wheelbase becomes larger. In order to solve this problem, the present invention intends to install a servo linear motor 10 on the frame 8 and the slider fixed to the upper part of the connecting rod 6, and install an angle sensor on the connecting rod 6 , cooperate with the control system to control the entire suspension device, when the angle sensor 7 detects that the angle of the connecting rod 6 decreases, it will immediately transmit an angle change signal to the control system, which drives the linear motor 10 to move to the right To offset the displacement deviation of the wheel moving to the left.
具体地，假设所述连杆6长度为L，当小车在平坦路面行驶时连杆与水平面的夹角为α，当所述麦克纳姆轮1经过不平路面9时，由于地面障碍物对所述麦克纳姆轮1的垂直作用，所述连杆6角度变化为Δα，所述麦克纳姆轮1被抬起的高度为h＝L*(cosα-cos(α-Δα))，同时，由于所述连杆6绕其与所述车架8转动，转动连接于所述连杆6另一端的所述麦克纳姆轮1的行驶中心线与小车纵向中心线将发生偏离，偏移距离d＝L*(sinα-sin(α-Δα))，所述麦克纳姆轮1中心在水平面内的这部分位移将导致小车轮距发生变化，使理想轮距遭到破坏，导致前后轮不在一条直线上行驶，为此，所述角度传感器7将角度偏移信号Δα传送到所述控制***进行数据计算，然后将位移信号传给所述直线电机10，所述直线电机10开始工作，带动所述车轮驱动装置在水平方向移动相应距离以恢复原始位置，使轮距保持恒定。这种纠偏动作是在微小位移情况下就开始进行，本发明所述角度传感器7采用型号为LVT428T的角度传感器，角度测量精度为0.3度，响应时间为0.01s，能 够充分满足使用精度要求。Specifically, assuming that the length of the connecting rod 6 is L, and the angle between the connecting rod and the horizontal plane is α when the car is running on a flat road, when the Mecanum wheel 1 passes through the uneven road 9, the obstacles on the ground The vertical action of the Mecanum wheel 1, the angle change of the connecting rod 6 is Δα, the height of the Mecanum wheel 1 being lifted is h=L*(cosα-cos(α-Δα)), and at the same time, As the connecting rod 6 rotates around it and the frame 8, the running centerline of the Mecanum wheel 1 rotatably connected to the other end of the connecting rod 6 will deviate from the longitudinal centerline of the trolley, and the offset distance d=L*(sinα-sin(α-Δα)), this part of the displacement of the center of the Mecanum wheel 1 in the horizontal plane will cause the track of the small wheel to change, the ideal track will be destroyed, and the front and rear wheels will not be To drive on a straight line, the angle sensor 7 transmits the angle offset signal Δα to the control system for data calculation, and then transmits the displacement signal to the linear motor 10, and the linear motor 10 starts to work, driving the The wheel driving device moves a corresponding distance in the horizontal direction to restore the original position, so that the wheel base is kept constant. This deviation-correcting action starts under the condition of slight displacement. The angle sensor 7 of the present invention adopts the angle sensor of the model LVT428T, the angle measurement accuracy is 0.3 degrees, and the response time is 0.01s, which can fully meet the use accuracy requirements.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some or all of the technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (3)

  1. 一种可保持特定轮距的独立悬挂装置，其特征在于，包括车轮驱动装置、平行四边形悬挂机构、减振器、直线电机、角度传感器、控制***和车架；An independent suspension device that can maintain a specific wheel base is characterized by comprising a wheel drive device, a parallelogram suspension mechanism, a shock absorber, a linear motor, an angle sensor, a control system and a vehicle frame;
    所述车轮驱动装置包括麦克纳姆轮、万向联轴器和电机，所述麦克纳姆轮1通过所述万向联轴器连接于所述电机；所述电机安装于电机架，所述电机架安装于驱动装置支撑架；The wheel drive device includes a mecanum wheel, a universal coupling and a motor, and the mecanum wheel 1 is connected to the motor through the universal coupling; the motor is mounted on the motor frame, and the The motor frame is installed on the drive device support frame;
    所述平行四边形悬挂机构包括四个连杆，所述车架上设置滑动槽，所述连杆上部转动连接有与所述滑动槽相匹配的滑块，下部与所述驱动装置支撑架转动连接，所述滑块与所述滑动槽配合形成滑动副；The parallelogram suspension mechanism includes four connecting rods, the frame is provided with a sliding groove, the upper part of the connecting rod is rotatably connected with a slider that matches the sliding groove, and the lower part is rotatably connected with the drive device support frame , the sliding block cooperates with the sliding groove to form a sliding pair;
    所述减振器为弹簧阻尼减振装置，一端与所述车架转动连接，另一端与所述驱动装置支撑架转动连接；The shock absorber is a spring damping shock absorber, one end is rotatably connected with the vehicle frame, and the other end is rotatably connected with the drive device support frame;
    所述直线电机安装于所述车架，所述直线电机的输出端与所述滑块固定连接；The linear motor is mounted on the vehicle frame, and the output end of the linear motor is fixedly connected to the slider;
    所述角度传感器用于获取所述连杆与水平面的夹角变化值并实时传送至所述控制***，所述控制***根据接收的信号进行计算处理后驱动所述直线电机带动所述车轮驱动装置在水平方向移动相应距离。The angle sensor is used to obtain the change value of the angle between the connecting rod and the horizontal plane and transmit it to the control system in real time. The control system performs calculation processing according to the received signal and drives the linear motor to drive the wheel drive device. Move the corresponding distance in the horizontal direction.
  2. 根据权利要求1所述的可保持特定轮距的独立悬挂装置，其特征在于，所述车架采用1515铝型材制成，且所述车架在水平面上的正投影前后对称、左右对称，所述车架内侧设计有下沉的槽形框体结构用以放置和安装电池、所述控制***和导航装置。The independent suspension device capable of maintaining a specific wheelbase according to claim 1, wherein the frame is made of 1515 aluminum profiles, and the orthographic projection of the frame on the horizontal plane is symmetrical in front and rear and left and right, so The inner side of the frame is designed with a sunken trough-shaped frame structure for placing and installing the battery, the control system and the navigation device.
  3. 根据权利要求1所述的可保持特定轮距的独立悬挂装置，其特征在于，所述控制***采用STM32F429单片机。The independent suspension device capable of maintaining a specific wheelbase according to claim 1, wherein the control system adopts STM32F429 single-chip microcomputer.
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