The four-wheel electrically-driven omni-directional mobile robot comprises a vehicle body, and four sets of wheel track adjusting mechanisms, driving wheel supports and electric steering driving wheels are sequentially installed below the vehicle body. The wheel track adjusting mechanism comprises a double-rocker-arm structure and an air bag to form an air bag lever mechanism, the double-rocker-arm structure rotates outwards or inwards under the stretching or retracting action of the air bag, the air bag is installed in the middle of the driving wheel support to form an air bag jacking mechanism, and the height of a vehicle body is increased or decreased under the stretching or retracting action of the air bag. And the electric steering driving wheels can independently steer to realize walking in any direction. Air bag control is adopted to achieve wheel track and vehicle body height changes, torque is large, the size is small, control is easy, and the good damping effect is achieved. The system further comprises an angle sensor and a pressure sensor, the vehicle-mounted controller conducts calculation according to feedback angle and pressure data through a double-control-ring self-adaption algorithm, and the vehicle body angle and the air bag pressure are adjusted so that the self-adaption effect of stable advancing under different road conditions can be achieved.
本发明公开了一种旱地田间四轮电驱全向移动机器人,包括车体,车体下方依次安装四组轮距调整机构,驱动轮支架和电动转向驱动轮;轮距调整机构包括双摇臂结构和气囊,形成气囊杠杆机构,双摇臂结构在气囊的伸出或缩回动作下发生向外或向内旋转,驱动轮支架中间安装气囊,形成气囊顶升机构,在气囊的伸出或缩回动作下,实现车身高度的增加或降低;电动转向驱动轮可独立转向实现任意方向的行走。采用气囊控制实现轮距和车身高度变化,力矩大体积小控制简单,具有良好的减震效果。还包括角度和压力传感器,车载控制器根据反馈的角度和压力数据,采用双控制环自适应算法进行计算,调整车体角度和气囊压力以达到在不同路况下平稳行进的自适应效果。
Four-wheel electrically-driven omni-directional mobile robot for dry field
旱地田间四轮电驱全向移动机器人
2023-04-28
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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