Controllable link type differential balance device and mobile platform with same

Abstract

The invention discloses a controllable connecting rod type differential motion balancing device. The controllable connecting rod type differential motion balancing device comprises a space seven-rod mechanism, a sliding block driving unit and a locking unit; the space seven-rod mechanism comprises a rack, a sliding block, a balance rod, two lateral rocking rods and two lateral connecting rods; the sliding block is connected with the rack through a moving pair, the balance rod is connected with the sliding block in a pivoted manner, the two lateral rocking rods and the rack form a coaxial rotary pair, and the two lateral connecting rods are connected with the balance rod and the lateral rocking rods through spherical hinges respectively; movement of the sliding block is driven and braked through the sliding block driving unit; and the locking unit is connected with the balance rod and can lock and release rotation of the balance rod. The invention further discloses a moving platform of the controllable connecting rod type differential motion balancing device; the rack is connected with a main vehicle body of the moving platform, and the two lateral rocking rods are connected with two walking parts of the moving platform. By means of the moving platform, enabled control over the differential motion balancing function and initiative adjustment on the pitch angle of the main vehicle body are achieved, and therefore the moving platform has the better terrain adaptability and the better stability.

Description

technical field [0001] The invention relates to the field of mobile technology, in particular to a controllable link-type differential balance device and a mobile platform with the same, which can be used for mobile robots. Background technique [0002] The mobile platform uses a differential balance device to connect its main vehicle body and the left and right running parts, which can make the mobile platform have good performance of passively adapting to the terrain. For example, the patent rocker type four-wheel robot (authorized announcement number: CN101549715B) proposes a robot consisting of a main box, a differential balancer, left and right rockers and wheels, and the differential balancer is connected to the main box. With the left and right rockers connected to the wheels. With this technical solution, when the robot is driving on uneven terrain, the wheels can drive the left and right joysticks to swing associated with the main box, and at the same time distribu...

AI Technical Summary

Problems solved by technology

[0003] However, because of the existence of the differential balance device (device), and because the differential balance device (device) cannot be locked, when the mobile platform using the differential balance device (device) operates on some uneven terrain The time difference dynamic balance device makes the movement of the mobile platform unstable. For example, when the patented rocker-type four-wheel robot (authorized announcement number: CN101549715B) turns on uneven terrain, it may cause a certain wheel to lift up and cause overturning.

In addition, after the existing differential balance device (device) connects the main vehicle body and the left and right running parts, the initial angle between the main vehicle body and the left and right running parts is determined and cannot be adjusted. Therefore, the pitch angle of the main vehicle body cannot be adjusted actively. adjust

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