阅读说明：本技术 用于四轮全方位移动机器人的地面自适应悬架及使用方法 (Ground self-adaptive suspension for four-wheel omni-directional mobile robot and using method ) 是由 叶长龙 李延灼 陈南 于苏洋 陶广宏 于 2020-07-20 设计创作，主要内容包括：用于四轮全方位移动机器人的地面自适应悬架及使用方法,包括机器人底盘、复合铰链铰支座及两个对称布置的空间正交单开链悬架,所述机器人底盘下表面中心处通过螺栓连接有复合铰链铰支座,复合铰链铰支座底端通过其上对称设置的连接轴及轴承与空间正交单开链悬架一端连接,空间正交单开链悬架另一端与全方位轮连接。本发明自适应悬架,适用于基于任何类型的轮全方位轮所搭建的四轮全方位移动机器人,通用性强。可保证自适应越障过程不引入新的激振力,越障过程较传统的“弹簧-阻尼”式悬挂平稳性更加显著。空间正交单开链悬架与机器人底盘之间通过四个铰支座及一个复合铰链铰支座连接,具备良好的承载力和稳定性。(The ground self-adaptive suspension comprises a robot chassis, a composite hinge hinged support and two symmetrically arranged spatial orthogonal single-open-chain suspensions, wherein the center of the lower surface of the robot chassis is connected with the composite hinge hinged support through a bolt, the bottom end of the composite hinge hinged support is connected with one end of the spatial orthogonal single-open-chain suspension through a connecting shaft and a bearing which are symmetrically arranged on the composite hinge hinged support, and the other end of the spatial orthogonal single-open-chain suspension is connected with an omnidirectional wheel. The self-adaptive suspension disclosed by the invention is suitable for four-wheel all-directional mobile robots built based on all-directional wheels of any type, and is strong in universality. The self-adaptive obstacle crossing suspension system can ensure that a new exciting force is not introduced in the self-adaptive obstacle crossing process, and the obstacle crossing process is more remarkable in stability compared with the traditional spring-damping suspension. The space orthogonal single-open-chain suspension and the robot chassis are connected through four hinged supports and a composite hinged support, and the space orthogonal single-open-chain suspension has good bearing capacity and stability.)

1. The utility model provides a ground self-adaptation suspension for four-wheel omni-directional mobile robot, its characterized in that, includes the single open chain suspension of space quadrature that robot chassis, compound hinge hinged-support and two symmetrical arrangement, robot chassis lower surface center department has compound hinge hinged-support through bolted connection, and compound hinge hinged-support bottom is connected with single open chain suspension one end of space quadrature through the connecting axle and the bearing that set up on it, and the single open chain suspension other end of space quadrature is connected with the omnidirectional wheel.

2. The ground adaptive suspension for four-wheeled omni-directional mobile robot according to claim 1, wherein: the spatial orthogonal single-split-chain suspension comprises a sixth connecting rod, wherein a connecting hole is formed in the middle of the sixth connecting rod, the connecting frame is connected with a connecting shaft at the bottom end of a hinge support of the composite hinge through the connecting hole in the sixth connecting rod, two ends of the sixth connecting rod are respectively hinged with the head ends of two fifth connecting rods through pin shafts, the tail ends of the two fifth connecting rods are respectively hinged with the head parts of the two fourth connecting rods through pin shafts, the tail ends of the two fourth connecting rods are respectively hinged with the head ends of two groups of second connecting rods through pin shafts, each group of the two second connecting rods is provided with two, the two second connecting rods are symmetrically arranged by taking the third connecting rod as a symmetrical center, the tail ends of the two groups of second connecting rods are respectively connected with the head ends of the two first connecting rods through pin shafts, the middle part of the first connecting rod is connected with one end of the hinge support with a revolute pair, the tail end of the first connecting rod is provided with a connecting seat, and the connecting seat is assembled with the omnidirectional wheel through threaded connection.

3. The ground adaptive suspension for four-wheeled omni-directional mobile robot of claim 2, wherein: the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are two force rods, and two ends of each force rod are revolute pairs; the head rotating pair of the third connecting rod is orthogonal to the rotary axis of the tail rotating pair; and the head rotating pair of the fifth connecting rod is orthogonal to the rotary axis of the tail rotating pair.

4. The use method of the ground adaptive suspension for the four-wheeled omni-directional mobile robot according to claim 1, comprising the steps of:

when the omnidirectional wheel A of the omnidirectional mobile robot moves to the height of an obstacle and climbs up gradually, the omnidirectional wheel D descends along with the ascending of the omnidirectional wheel A because the spatial orthogonal single-open-chain suspension has one degree of freedom in space, and the hinged supports of the spatial orthogonal single-open-chain suspension on the sides of the omnidirectional wheel A and the omnidirectional wheel D are correspondingly lifted and descended at the same height because the suspension has symmetry; the two space orthogonal single open chain suspensions which are symmetrically arranged can move differentially by introducing the composite hinge support, so that the other space orthogonal single open chain suspension is not influenced by the movement of the obstacle-crossing side space orthogonal single open chain suspension, the omnidirectional wheel B and the omnidirectional wheel C are still effectively contacted with the horizontal ground, and the obstacle crossing process is completed.

Technical Field

The invention belongs to the technical field of self-adaptive suspensions, and particularly relates to a ground self-adaptive suspension for a four-wheel all-directional mobile robot and a use method thereof, in particular to a four-wheel all-directional mobile robot with X-shaped wheel shafts.

Background

Most of the existing omni-directional mobile robots do not have ground self-adaptive capability, and the situation that the omni-directional wheels are suspended or are not tightly contacted with the ground so as to cause insufficient driving force exists when crossing obstacles. The suspensions adopted by a few omni-directional mobile robots with ground self-adaptive capacity are mostly in a spring-damping mode. The suspension is similar to a car suspension in structure, and can adapt to the ground when crossing an obstacle, but the vibration exciting force is introduced by the structure of 'spring-damping', so that the motion smoothness of the omnidirectional mobile robot is reduced.

Disclosure of Invention

The invention provides a ground self-adaptive suspension for a four-wheel omni-directional mobile robot and a using method thereof, which solve the problems of poor ground environment adaptability, poor motion stability and the like of the existing omni-directional mobile robot and realize the ground self-adaptation and heavy load of the four-wheel omni-directional mobile robot with X-shaped wheel shafts.

A ground self-adaptation suspension for four-wheel omni-directional mobile robot, including robot chassis, compound hinge hinged-support and two symmetrical arrangement's space quadrature list open chain suspension, robot chassis lower surface center department has compound hinge hinged-support through bolted connection, and compound hinge hinged-support bottom is connected with space quadrature list open chain suspension one end through the connecting axle and the bearing that set up on it, and the space quadrature list open chain suspension other end is connected with the omnidirectional wheel.

The spatial orthogonal single-split-chain suspension comprises a sixth connecting rod, wherein a connecting hole is formed in the middle of the sixth connecting rod, the connecting frame is connected with a connecting shaft at the bottom end of a hinge support of the composite hinge through the connecting hole in the sixth connecting rod, two ends of the sixth connecting rod are respectively hinged with the head ends of two fifth connecting rods through pin shafts, the tail ends of the two fifth connecting rods are respectively hinged with the head parts of the two fourth connecting rods through pin shafts, the tail ends of the two fourth connecting rods are respectively hinged with the head ends of two groups of second connecting rods through pin shafts, each group of the two second connecting rods is provided with two, the two second connecting rods are symmetrically arranged by taking the third connecting rod as a symmetrical center, the tail ends of the two groups of second connecting rods are respectively connected with the head ends of the two first connecting rods through pin shafts, the middle part of the first connecting rod is connected with one end of the hinge support with a revolute pair, the hinged support is used for supporting and connecting the suspension and the all-directional mobile robot chassis, the connecting seat is arranged at the tail end of the first connecting rod and is connected with the all-directional wheel through threads, the first connecting rod is used for providing supporting force and connecting the all-directional wheel, the tail end of the first connecting rod is an executing end of a space orthogonal single open chain, and the included angle between the two fifth connecting rods is 90 degrees.

The second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are two force rods, and two ends of each force rod are revolute pairs; the second connecting rod is used for pulling or pushing the first connecting rod to transmit motion; the head rotating pair of the third connecting rod is orthogonal to the rotating axis of the tail rotating pair, and the third connecting rod is used for pulling or pushing the second connecting rod to transfer motion so as to change the motion transfer direction; the fourth connecting rod is used for pulling or pushing the third connecting rod to transfer motion; the head rotating pair of the fifth connecting rod is orthogonal to the rotating axis of the tail rotating pair, and the fifth connecting rod is mainly used for pulling or pushing the fourth connecting rod to transfer motion so as to change the motion transfer direction.

A use method of a ground self-adaptive suspension for a four-wheel omni-directional mobile robot comprises the following steps:

when the omnidirectional wheel A of the omnidirectional mobile robot moves to the height of an obstacle and climbs up gradually, the omnidirectional wheel D descends along with the ascending of the omnidirectional wheel A because the spatial orthogonal single-open-chain suspension has one degree of freedom in space, and the hinged supports of the spatial orthogonal single-open-chain suspension on the sides of the omnidirectional wheel A and the omnidirectional wheel D are correspondingly lifted and descended at the same height because the suspension has symmetry; the two space orthogonal single open chain suspensions which are symmetrically arranged can move differentially by introducing the composite hinge support, so that the other space orthogonal single open chain suspension is not influenced by the movement of the obstacle-crossing side space orthogonal single open chain suspension, the omnidirectional wheel B and the omnidirectional wheel C are still effectively contacted with the horizontal ground, and the obstacle crossing process is completed.

The invention has the beneficial effects that:

the ground self-adaptive suspension applied to the four-wheel omni-directional mobile robot provided by the invention can be suitable for the four-wheel omni-directional mobile robot built based on any type of wheel omni-directional wheels, and has strong universality. The self-adaptive obstacle crossing suspension system can ensure that a new exciting force is not introduced in the self-adaptive obstacle crossing process, and the obstacle crossing process is more remarkable in stability compared with the traditional spring-damping suspension. The space orthogonal single-open-chain suspension is connected with the omnibearing chassis through the four hinged supports and the composite hinged support, and has good bearing capacity and stability. When the two spatial orthogonal single-open-chain suspensions are symmetrically arranged, the ground self-adaptive motion of the four-wheel omnidirectional mobile robot can be realized, and the real-time effective grounding of the omnidirectional wheels of the omnidirectional mobile robot is ensured, so that the effective driving performance of the omnidirectional wheels is ensured.

Drawings

FIG. 1 is a schematic diagram of a ground adaptive suspension for a four-wheeled omni-directional mobile robot according to the present invention;

FIG. 2 is a schematic diagram of a spatial orthogonal single open chain structure in the adaptive mechanism of the present invention;

FIG. 3 is a diagram of the obstacle crossing process of the ground adaptive suspension for the four-wheeled omni-directional mobile robot according to the present invention;

1-omni wheel a, 2-omni wheel B, 3-omni wheel C, 4-omni wheel D, 5-robot chassis, 6-compound hinge mount, 7-space orthogonal single open chain suspension, 701-first link, 702-hinge mount, 703-second link, 704-third link, 705-fourth link, 706-fifth link, 707-sixth link.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1 and 2, the ground self-adaptive suspension for the four-wheeled omni-directional mobile robot includes a robot chassis 5, a composite hinge hinged support 6 and two symmetrically arranged spatial orthogonal single-open-chain suspensions 7, the composite hinge hinged support 6 is connected to the center of the lower surface of the robot chassis 5 through a bolt, the bottom end of the composite hinge hinged support 6 is connected with one end of the spatial orthogonal single-open-chain suspension 7 through a connecting shaft and a bearing arranged thereon, and the other end of the spatial orthogonal single-open-chain suspension 7 is connected with an omni-directional wheel.

The spatial orthogonal single-open-chain suspension 7 comprises a sixth connecting rod 707, a connecting hole is arranged in the middle of the sixth connecting rod 707, the connecting frame is connected with a connecting shaft at the bottom end of a composite hinge hinged support 6 through the connecting hole on the sixth connecting rod 707, two ends of the sixth connecting rod 707 are respectively hinged with the head ends of two fifth connecting rods 706 through pin shafts, the tail ends of the two fifth connecting rods 706 are respectively hinged with the head parts of two fourth connecting rods 705 through pin shafts, the tail ends of the two fourth connecting rods 705 are respectively hinged with the two third connecting head parts through pin shafts, the tail ends of the two third connecting rods 704 are respectively hinged with the head ends of two groups of second connecting rods 703 through pin shafts, each group of second connecting rods 703 is provided with two, the two second connecting rods 703 are symmetrically arranged by taking the third connecting rod 704 as a symmetric center, the tail ends of the two groups of second connecting rods 703 are respectively connected with the head ends of two first connecting, the other end of the hinged support 702 is screwed on the lower surface of the robot chassis 5 through a bolt, the hinged support 702 is used for supporting and connecting the suspension and the omnidirectional moving robot chassis 5, the tail end of the first connecting rod 701 is provided with a connecting seat, the connecting seat and the omnidirectional wheel are connected and assembled together through threads, the first connecting rod 701 is used for providing supporting force and connecting the omnidirectional wheel, the tail end of the first connecting rod 701 is an execution end of a spatial orthogonal single-open chain, the included angle between the two fifth connecting rods 706 is 90 degrees, the connecting seat at the tail ends of the two first connecting rods 701 on one spatial orthogonal single-open chain suspension 7 is respectively provided with the omnidirectional wheel A1 and the omnidirectional wheel D4, the connecting seat at the tail ends of the two first connecting rods 701 on the other spatial orthogonal single-open chain suspension 7 is respectively provided with the omnidirectional wheel B2 and the omnidirectional wheel C3, the omnidirectional wheel A1 is adjacent to the omnidirectional wheel B2, the omnidirectional wheel A1, the, The omnidirectional wheel D4, the omnidirectional wheel B2 and the omnidirectional wheel C3 are of the same type and are MY 4.

The second connecting rod 703, the third connecting rod 704, the fourth connecting rod 705 and the fifth connecting rod 706 are two force rods, and two ends of the two force rods are revolute pairs; the second connecting rod 703 is used for pulling or pushing the first connecting rod 701 to transfer motion; the head revolute pair of the third connecting rod 704 is orthogonal to the revolution axis of the tail revolute pair, and the third connecting rod 704 is used for pulling or pushing the second connecting rod 703 to transfer motion so as to change the motion transfer direction; the fourth link 705 acts to pull or push the third link 704 to transmit motion; the head revolute pair of the fifth connecting rod 706 is orthogonal to the revolution axis of the tail revolute pair, and the fifth connecting rod 706 mainly plays a role in pulling or pushing the fourth connecting rod 705 to transfer motion and change the motion transfer direction.

A use method of a ground self-adaptive suspension for a four-wheel omni-directional mobile robot comprises the following steps:

as shown in fig. 3, when the omni-directional wheel a1 of the omni-directional mobile robot moves to the height of the obstacle and climbs up gradually, because the spatial orthogonal single-open chain suspension 7 has one degree of freedom in space, the head end of the first link 701 connected to the omni-directional wheel a1 rotates downward, the tail end of the second link 702 connected to the first link 701 moves downward, the third link 704, the fourth link 705 and the fifth link 706 drive the sixth link 707 to rotate downward at one end connected to the omni-directional wheel a1, the sixth link 707 rotates upward at the other end connected to the omni-directional wheel D4, the fifth link 706, the fourth link 705 and the third link 704 connected to the other end of the sixth link 707 transmit the upward rotation to the head end of the second link 702, the second link 702 rises upward, the first link 701 is driven to rotate upward at the head end to rotate downward the head end of the first link 701 so that the omni-directional wheel D4 moves downward with the rising of the omni-directional wheel a1, moreover, because the suspension has symmetry, the heights of the hinge supports 702 of the omnidirectional wheel A1 and the omnidirectional wheel D4 side space orthogonal single open chain suspension 7 which correspondingly rise and fall are consistent; the two symmetrically arranged two spatial orthogonal single-open-chain suspensions 7 can move differentially by introducing the composite hinge hinged support 6, so that the other spatial orthogonal single-open-chain suspension 7 is not influenced by the movement of the obstacle crossing side spatial orthogonal single-open-chain suspension 7, and the omnidirectional wheel B2 and the omnidirectional wheel C3 are still effectively contacted with the horizontal ground until the obstacle crossing process is completed.