The invention discloses a mobile robot and a crawler-type chassis and a gravity center self-balancing device and method thereof, the mobile robot comprises the crawler-type chassis, the crawler-type chassis comprises the gravity center self-balancing device, and the gravity center self-balancing device comprises a transverse sliding mechanism; the longitudinal sliding mechanism is connected with the transverse sliding mechanism and can move along the transverse sliding mechanism; the balancing weight is connected with the longitudinal sliding mechanism and moves along the longitudinal sliding rail; the sensor is installed in the vehicle body of the crawler-type chassis and used for collecting the vehicle body posture of the crawler-type chassis in real time; and the controller is arranged in the vehicle body of the crawler-type chassis, is respectively connected with the sensor, the transverse sliding mechanism and the longitudinal sliding mechanism, and is used for driving a motor of the transverse sliding mechanism and/or the longitudinal sliding mechanism in real time based on a signal acquired by the sensor so as to adjust the position of the balancing weight. The invention further discloses a gravity center self-balancing method of the crawler-type chassis.
一种移动机器人及其履带式底盘和重心自平衡装置及方法,该移动机器人包括履带式底盘,该履带式底盘包括重心自平衡装置,该重心自平衡装置包括:横向滑动机构;纵向滑动机构,与横向滑动机构连接并可沿横向滑动机构移动;配重块,与所述纵向滑动机构连接,并沿所述纵向滑轨移动;传感器,安装在所述履带式底盘的车体内,用于实时采集所述履带式底盘的车体姿态;以及控制器,安装在所述履带式底盘的车体内,并分别与所述传感器、横向滑动机构和纵向滑动机构连接,基于所述传感器采集的信号,实时驱动所述横向滑动机构和/或所述纵向滑动机构的电机,以调整所述配重块的位置。本发明还公开了该履带式底盘的重心自平衡方法。
Mobile robot and crawler-type chassis and gravity center self-balancing device and method thereof
移动机器人及其履带式底盘和重心自平衡装置及方法
28.10.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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