CN114735095A - System and method for robot self-righting - Google Patents
System and method for robot self-righting Download PDFInfo
- Publication number
- CN114735095A CN114735095A CN202210309585.XA CN202210309585A CN114735095A CN 114735095 A CN114735095 A CN 114735095A CN 202210309585 A CN202210309585 A CN 202210309585A CN 114735095 A CN114735095 A CN 114735095A
- Authority
- CN
- China
- Prior art keywords
- box
- machine body
- crawler
- deflection
- righting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/08—Superstructures for load-carrying vehicles comprising adjustable means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a system and a method for self-righting of a robot, which relate to the field of transport robots and comprise a machine body, wherein support arms arranged on two sides of the bottom of the machine body are respectively connected with a crawler belt driving box, and the crawler belt driving box is connected with a crawler belt through a plurality of crawler belt wheels, and the system has the advantages that: when the machine body is in a large-slope ascending, the levelness of the material carrying platform is detected in real time through the levelness detection module in the detection box, the levelness detection module senses that the material carrying platform finds the deviation in the pitching direction, and at the moment, the hydraulic drive is adjusted and independently controlled through each crawler belt box connected to the bottom of the machine body, so that one end of the machine body is lifted, and the machine body is reset and adjusted back to a horizontal state; when a large-slope downhill is carried out, deflection of the switching part between the adapter and the deflection seat is realized by controlling the work of the deflection drive, and the material carrying platform is adjusted to be kept in a horizontal state.
Description
Technical Field
The present invention relates to the field of transport robots, and more particularly to a system and method for robot self-righting.
Background
Along with the development of science and technology, transfer robot's application is popularized gradually, and traditional transfer robot only is applicable to the work of realizing carrying the goods on the flat place, and when meetting the ground that the gradient is big, the unsmooth range of ground is big or the ground surface is wet and slippery, traditional transfer robot is difficult to go, and when traditional transfer robot went on this kind of abominable ground environment when bearing the weight of goods, lead to the goods slope of carrying to fall the damage easily, cause economic loss.
Disclosure of Invention
It is an object of the present invention to provide a system and method for robot self-righting that addresses the problems set forth in the background above.
In order to achieve the purpose, the invention provides the following technical scheme: a system for robot self-righting, which comprises a bod, the equal switching in bottom both sides of organism has a pair of support arm that parallels the setting, and the support arm that bottom of the body both sides were established is connected with a track drive case respectively, the outside of track drive case is connected with a plurality of athey wheels, and track drive case is connected with the track through a plurality of athey wheels, upper end one side of organism is equipped with the adapter, and the adapter has the transposition seat through the shaft member switching, deflects the seat upper end and the bottom welded fastening who carries the material platform, and the adapter has the drive of deflecting with the switching department of deflection seat hookup, the bottom of carrying the material platform is equipped with the detection box, and the bottom front-in end of organism is equipped with the camera, and one side of camera is equipped with laser road surface flatness meter, and one side of organism is equipped with the control box.
Preferably, one side of the bottom of the machine body, corresponding to each support arm, is connected with a crawler box for adjusting hydraulic drive, the crawler box is used for adjusting a telescopic rod of the hydraulic drive to extend downwards obliquely, and the end part of the telescopic rod of the crawler box for adjusting the hydraulic drive is provided with a hinged joint hinged with the middle part of the corresponding support arm.
Preferably, independent driving assemblies are arranged inside the two crawler driving boxes, and the driving assemblies inside the crawler driving boxes are in transmission connection with the crawler.
Preferably, one side of keeping away from inclined to one side swivel seat on the organism is equipped with a pair of auxiliary stay hydraulic drive, and the vertical upwards extension setting of auxiliary stay hydraulic drive's telescopic link, and auxiliary stay hydraulic drive's telescopic link end is equipped with the elasticity kicking block.
Preferably, the inside of the detection box is provided with a levelness detection module and a signal output module, and the inside of the control box is provided with a control processing module, a wireless receiving module and a wireless transmitting module.
Preferably, a signal output module arranged inside the detection box is connected with a control element module inside the control box through a data line, the camera and the laser pavement flatness meter are connected with the control element module inside the control box through the data line, and the wireless receiving module and the wireless transmitting module are provided with a remote controller matched with the wireless receiving module and the wireless transmitting module.
The method for a system for robotic self-righting as described above, comprising the operations of:
the first operation: self-righting system in heavy grade ground environment driving: the invention carries out large-gradient upslope: through the levelness detection module real-time detection that detects the box inside and carry the levelness of expecting the platform, levelness detection module response is carried the material platform and is found the skew of pitching the direction, adjusts hydraulic drive through each track case that connects bottom of the body alone this moment and carries out the independent control to make organism one end lift up, make organism reset callback to the horizontality, carry out the heavy grade downhill path: the deflection of the switching part between the adapter and the deflection seat is realized by controlling the work of the deflection drive, and the material loading platform is adjusted to be kept in a horizontal state;
and operation II: self-righting system in rough ground environment driving: the telescopic rod which is driven by hydraulic pressure is adjusted to retract by simultaneously controlling the crawler belt box connected to one side of the machine body, so that the crawler belt driving box is lifted up, the lateral deviation angle of the machine body is adjusted back, and the horizontal state of the machine body is always kept.
The invention has the technical effects and advantages that:
1. the crawler type traveling mode is more suitable for traveling on wet and slippery ground, the stability of the traveling process is guaranteed, the independent driving assemblies are arranged in the two crawler driving boxes, the driving assemblies in the crawler driving boxes are in transmission connection with the crawler belts, the crawler belts on two sides are driven through different driving assemblies, and the equipment is more flexible in steering;
2. when the machine body is in a large-slope ascending, the levelness of the material carrying platform is detected in real time through the levelness detection module in the detection box, the levelness detection module senses that the material carrying platform finds the deviation in the pitching direction, and at the moment, the hydraulic drive is adjusted and independently controlled through each crawler belt box connected to the bottom of the machine body, so that one end of the machine body is lifted, and the machine body is reset and adjusted back to a horizontal state; when a large-slope downhill is carried out, deflection of a switching part between the adapter and the deflection seat is realized by controlling the work of deflection driving, and the material carrying platform is adjusted to be kept in a horizontal state;
3. when the crawler belt type lifting device passes through the road surfaces with different heights on two sides, the crawler belt box connected to one side of the machine body is controlled to adjust the retraction of the hydraulically driven telescopic rod, so that the crawler belt driving box is lifted up, the lateral deviation angle of the machine body is adjusted back, and the horizontal state of the machine body is always kept.
Drawings
Fig. 1 is a schematic perspective view 1 of the present invention.
Fig. 2 is a perspective view 2 of the present invention.
Fig. 3 is a front view of the structure of the present invention.
Fig. 4 is a side view of the structure of the present invention.
Fig. 5 is a schematic diagram of the operation of the present invention during uphill driving.
Fig. 6 is a schematic diagram of the operation of the present invention when going downhill.
FIG. 7 is a schematic view of the present invention operating over rough terrain.
In the figure: 1. a body; 2. a support arm; 3. a track drive box; 4. a crawler wheel; 401. a crawler belt; 5. the crawler belt box adjusts hydraulic drive; 6. a transfer seat; 7. a deflection seat; 701. deflection driving; 8. a material loading platform; 9. a detection cartridge; 10. a control box; 11. a camera; 12. auxiliary support hydraulic drive; 1201. and an elastic top block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a system for self-righting of a robot as shown in figures 1-7, which comprises a machine body 1, wherein a pair of support arms 2 which are arranged in parallel are respectively connected to two sides of the bottom of the machine body 1 in a switching way, the support arms 2 arranged on two sides of the bottom of the machine body 1 are respectively connected with a crawler driving box 3, a plurality of crawler wheels 4 are connected to the outer side of the crawler driving box 3, the crawler driving box 3 is connected with a crawler 401 through the plurality of crawler wheels 4, the crawler type running mode is more suitable for running on a wet and slippery ground, the running process is ensured to be stable, independent driving components are arranged in the two crawler driving boxes 3, the driving components in the crawler driving boxes 3 are in transmission connection with the crawler 401, the crawler 401 at two sides are driven through different driving components, the equipment is more flexibly steered, a switching seat 6 is arranged on one side of the upper end of the machine body 1, the switching seat 6 is connected with a biased rotary seat 7 through a shaft member, the upper end of the deflection seat 7 is welded and fixed with the bottom of the material loading platform 8, a deflection drive 701 is connected with the joint of the adapter seat 6 and the deflection seat 7, and the deflection drive 701 is used for driving the joint of the adapter seat 6 and the joint of the deflection seat 7, so that the deflection angle between the material loading platform 8 and the machine body 1 can be adjusted.
One side that 1 bottom of organism corresponds every support arm 2 is connected with the track case and adjusts hydraulic drive 5, and the telescopic link that hydraulic drive 5 was adjusted to the track case extends downwards to one side, and the telescopic link tip that hydraulic drive 5 was adjusted to the track case is equipped with the middle part of hinge and corresponding support arm 2 and articulates mutually, and hydraulic drive 5 is adjusted all by its drive of independent control to every track case for the regulation of track drive case 3 is more nimble changeable.
Carry the bottom of material platform 8 and be equipped with detection box 9, the bottom of organism 1 advances the end and is equipped with camera 11 for road conditions data when collection equipment advances, one side of camera 11 is equipped with laser road surface flatness appearance for gather the place ahead road surface flatness, make things convenient for equipment to carry out the pre-adjustment, one side of organism 1 is equipped with control box 10.
The inside levelness detection module and the signal output module of being equipped with of detection box 9, levelness detection module is used for real-time supervision to carry material platform 8 and whether keeps the horizontality, and will carry the state of material platform 8 and be connected with the inside control element module of control box 10 through the data line by the signal output module, make the regulation by the corresponding subassembly of the inside control processing module control of control box 10, control box 10 wireless receiving module and wireless transmitting module are equipped with the suitable remote controller that matches with it, the staff can long-rangely issue control command to equipment, and can accept the information of equipment feedback, camera 11 and laser road surface levelness appearance all are connected with the inside control element module of control box 10 through the data line, be used for real-time feedback road conditions.
One side of keeping away from eccentric seat 7 on organism 1 is equipped with a pair of auxiliary stay hydraulic drive 12, and the telescopic link of auxiliary stay hydraulic drive 12 upwards extends the setting perpendicularly, and the telescopic link end of auxiliary stay hydraulic drive 12 is equipped with elasticity kicking block 1201, and as shown in fig. 4, when going on flat ground, the extension of auxiliary stay hydraulic drive 12 is until elasticity kicking block 1201 supports the material platform 8 bottom, improves the support stability to material platform 8.
Method for a system for robotic self-righting, comprising the operations of:
operation one: self-righting system in heavy grade ground environment driving: the invention carries out large-gradient upslope: as shown in fig. 5, the levelness of the material carrying platform 8 is detected in real time by a levelness detection module inside the detection box 9, the levelness detection module senses the offset of the material carrying platform 8 in the pitching direction, and at the moment, the hydraulic drive 5 is independently controlled by independently adjusting each crawler belt box connected to the bottom of the machine body 1, so that one end of the machine body 1 is lifted, and the machine body 1 is reset and adjusted back to a horizontal state; carrying out large-gradient downhill: as shown in fig. 6, by controlling the operation of the deflection driver 701, the deflection of the transition between the adapter 6 and the deflection base 7 is realized, and the material loading platform 8 is adjusted to be kept in a horizontal state;
and operation II: self-righting system in rough ground environment driving: as shown in fig. 7, when the equipment needs to pass through a road with different heights on two sides, the telescopic rod of the hydraulic drive 5 is adjusted to retract by controlling the crawler belt box connected to one side of the machine body 1, so that the crawler belt drive box 3 is lifted up, the lateral deviation angle of the machine body 1 is adjusted back, and the horizontal state of the machine body 1 is always maintained.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some technical features, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A system for self-righting of a robot, comprising a body (1), characterized in that: the device is characterized in that a pair of support arms (2) which are arranged in parallel are respectively connected to two sides of the bottom of the machine body (1) in a switching way, the support arms (2) arranged on two sides of the bottom of the machine body (1) are respectively connected with a crawler driving box (3), the outer side of the crawler driving box (3) is connected with a plurality of crawler wheels (4), the crawler driving box (3) is connected with a crawler (401) through the plurality of crawler wheels (4), one side of the upper end of the machine body (1) is provided with a switching seat (6), the switching seat (6) is connected with a deflection seat (7) through a shaft rod piece in a switching way, the upper end of the deflection seat (7) is fixedly welded with the bottom of a material carrying platform (8), a deflection driving device (701) is connected with the switching place of the deflection seat (6) and the deflection seat (7), a detection box (9) is arranged at the bottom of the material carrying platform (8), a camera (11) is arranged at the front end of the bottom of the machine body (1), and a laser pavement levelness instrument is arranged at one side of the camera (11), one side of the machine body (1) is provided with a control box (10).
2. The system for robotic self-righting according to claim 1, wherein: one side of the bottom of the machine body (1) corresponding to each support arm (2) is connected with a crawler box for adjusting the hydraulic drive (5), a telescopic rod of the crawler box for adjusting the hydraulic drive (5) extends downwards obliquely, and the end part of the telescopic rod of the crawler box for adjusting the hydraulic drive (5) is provided with a hinged joint hinged with the middle part of the corresponding support arm (2).
3. The system for robotic self-righting according to claim 1, wherein: two inside independent drive assembly that is provided with of track drive case (3), and the drive assembly and track (401) transmission in track drive case (3) are connected.
4. The system for robotic self-righting according to claim 1, wherein: one side of keeping away from eccentric seat (7) on organism (1) is equipped with a pair of auxiliary stay hydraulic drive (12), and the telescopic link of auxiliary stay hydraulic drive (12) upwards extends the setting perpendicularly, and the telescopic link end of auxiliary stay hydraulic drive (12) is equipped with elasticity kicking block (1201).
5. The system for robotic self-righting according to claim 1, wherein: the levelness detection module and the signal output module are arranged in the detection box (9), and the control processing module, the wireless receiving module and the wireless transmitting module are arranged in the control box (10).
6. System for robotic self-righting according to claim 1 or 5, characterized in that: the signal output module arranged in the detection box (9) is connected with the control element module in the control box (10) through a data line, the camera (11) and the laser pavement flatness meter are connected with the control element module in the control box (10) through data lines, and the wireless receiving module and the wireless transmitting module are provided with a remote controller matched with the wireless receiving module and the wireless transmitting module.
7. Method for a system for robot self-righting according to any of the claims 1-6, characterized in that it comprises the following operations:
operation one: self-righting system in heavy grade ground environment driving: the invention carries out large-gradient upslope: through the levelness that detects the inside levelness detection module real-time detection of detection box (9) carried material platform (8), levelness detection module response carries material platform (8) and discovers the skew of pitching the direction, adjusts hydraulic drive (5) through each track case that connects organism (1) bottom alone this moment and carries out independent control to make organism (1) one end lift up, make organism (1) reset back to the horizontality, carry out the heavy grade downhill path: the deflection of the switching part between the adapter (6) and the deflection seat (7) is realized by controlling the work of the deflection drive (701), and the material loading platform (8) is adjusted to be kept in a horizontal state;
and operation II: self-righting system in rough ground environment driving: the telescopic rod of the hydraulic drive (5) is adjusted to retract by simultaneously controlling the crawler belt box connected to one side of the machine body (1), so that the crawler belt drive box (3) is lifted up, the lateral deviation angle of the machine body (1) is adjusted back, and the horizontal state of the machine body (1) is always kept.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309585.XA CN114735095A (en) | 2022-03-27 | 2022-03-27 | System and method for robot self-righting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309585.XA CN114735095A (en) | 2022-03-27 | 2022-03-27 | System and method for robot self-righting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114735095A true CN114735095A (en) | 2022-07-12 |
Family
ID=82277505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210309585.XA Pending CN114735095A (en) | 2022-03-27 | 2022-03-27 | System and method for robot self-righting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114735095A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63227481A (en) * | 1987-03-17 | 1988-09-21 | Kubota Ltd | Backhoe |
| US6325167B1 (en) * | 1999-06-11 | 2001-12-04 | Ming-Shyang Jiang | Structure of an electrical wheelchair |
| JP2002227246A (en) * | 2001-02-06 | 2002-08-14 | Komatsu Ltd | Operating vehicle available on irregular ground |
| GB201105811D0 (en) * | 2011-04-06 | 2011-05-18 | Smalley Richard | Remote controlled tracked implement carrier for agricultural, forestry, environmental, construction and civil engineering uses |
| CN109795966A (en) * | 2019-03-01 | 2019-05-24 | 湖北高曼重工科技有限公司 | A kind of axial caterpillar belt self-walking type aerial work platforms leveled at any time of energy two |
| CN216002815U (en) * | 2021-11-01 | 2022-03-11 | 卓斐(东营)农业科技研究院有限公司 | Crawler climbing container horizontal adjusting device |
-
2022
- 2022-03-27 CN CN202210309585.XA patent/CN114735095A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63227481A (en) * | 1987-03-17 | 1988-09-21 | Kubota Ltd | Backhoe |
| US6325167B1 (en) * | 1999-06-11 | 2001-12-04 | Ming-Shyang Jiang | Structure of an electrical wheelchair |
| JP2002227246A (en) * | 2001-02-06 | 2002-08-14 | Komatsu Ltd | Operating vehicle available on irregular ground |
| GB201105811D0 (en) * | 2011-04-06 | 2011-05-18 | Smalley Richard | Remote controlled tracked implement carrier for agricultural, forestry, environmental, construction and civil engineering uses |
| CN109795966A (en) * | 2019-03-01 | 2019-05-24 | 湖北高曼重工科技有限公司 | A kind of axial caterpillar belt self-walking type aerial work platforms leveled at any time of energy two |
| CN216002815U (en) * | 2021-11-01 | 2022-03-11 | 卓斐(东营)农业科技研究院有限公司 | Crawler climbing container horizontal adjusting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10625796B2 (en) | Auto-leveling drive axle device for wheeled tractor, and leveling method | |
| US5655615A (en) | Wheeled vehicle for distributing agricultural materials in fields having uneven terrain | |
| US11524735B2 (en) | Work vehicle | |
| US4166511A (en) | Four-track low ground pressure crawler vehicle | |
| US11447374B2 (en) | Crane counterweight and suspension | |
| WO2004041589A1 (en) | Method and device for supporting a self-supporting load an undercarriages | |
| CN110494349B (en) | Working vehicle | |
| CN111247057A (en) | Working vehicle | |
| CN212123315U (en) | Kiwi fruit picking robot moving platform | |
| CN109911055A (en) | Unmanned barrier-exceeding vehicle | |
| CN114223339A (en) | A robot chassis and agricultural robot for paddy field multifunctional operation | |
| JP2018167692A (en) | Work vehicle | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN114735095A (en) | System and method for robot self-righting | |
| US7735574B2 (en) | Motor grader with adjustable front wheel structure | |
| CN86101778A (en) | A kind of novel metal trash receptacle truck of practicality | |
| US4147218A (en) | Bulldozer attachment for four-tracked tractor | |
| CN112896348A (en) | Automatic navigation three-point leveling type hydraulic active suspension chassis | |
| CN207875325U (en) | A kind of homing guidance vehicle tail end lifting gear and automatic guided vehicle | |
| CN116021938B (en) | Four-wheel electric drive omnidirectional mobile robot for dry land field | |
| CN213676932U (en) | Intelligent chassis attitude leveling system | |
| CN212605028U (en) | Anti-tilting supporting device of crawler conveyor | |
| CN211168549U (en) | Self-leveling mechanism of transverse belt conveyor | |
| CN211149280U (en) | Multi-span greenhouse land track dual-purpose multifunctional transport vehicle | |
| CN113812232A (en) | Self-adaptive support platform convenient for smart orchard operation and operation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |