The hydraulically-driven transportation robot is provided with a steering driving mechanism used for controlling steering of wheels, a rotating speed sensor used for detecting the rotating speed of the wheels, a gyroscope used for detecting the gradient of a vehicle body, an accelerometer used for detecting the acceleration of the vehicle body and a speed sensor used for detecting the speed of the vehicle body. The flow distribution and control of each wheel steering driving mechanism of the transportation robot are adjusted by adopting a PID control algorithm, the adaptive matching of different operation conditions (steering, unbalance loading and the like) can be realized, and the system has the characteristics of low cost, high precision, good linearity and fast response; each wheel is provided with an independent steering driving mechanism, and the steering wheels do not influence each other, so that the steering angles of the wheels can be automatically adjusted, the steering center is ensured to be always on the same straight line vertical to the vehicle body, the sliding friction between the wheels and the ground is reduced, and the service life of the wheels is prolonged.
本发明所述的液压驱动运输机器人,设有用于控制车轮转向的转向驱动机构,用于检测车轮转速的转速传感器,用于检测车身的倾斜度的陀螺仪,用于检测车身的加速度的加速度计,用于检测车身的速度的速度传感器,通过采用PID控制算法调整运输机器人各个车轮转向驱动机构的流量分配和控制,能够实现不同运行工况(转向、偏载等)的自适应匹配,具有成本低、精度高、线性度好、响应快的特点;由于本发明中各车轮均有独立的转向驱动机构,各转向轮之间互不影响,因此能够自动调节车轮转角,确保转向中心始终在垂直于车身的一条直线上,减少车轮与地面滑动摩擦,延长车轮寿命。
Hydraulically-driven transportation robot
一种液压驱动运输机器人
2023-11-24
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Biped robot lower limb mechanism driven hydraulically
Europäisches Patentamt | 2015
|Hydraulically-driven lower limb mechanism of humanoid robot
Europäisches Patentamt | 2024
|