Suspension system with rigidness adjusted in semiactive manner for caterpillar track type mobile robot

Abstract

The invention relates to a suspension system with rigidness adjusted in a semiactive manner for a caterpillar track type mobile robot. The suspension system comprises a plurality of suspending brackets, a plurality of supporting wheels, a positioning plate and a caterpillar track, wherein the positioning plate is mounted on the lateral side of the caterpillar track; the supporting wheels are mounted at the top of the inner side of the caterpillar track; the suspending brackets are mounted on the inner side of the caterpillar track. According to the suspension system, the rigidness can be adjusted in the semiactive manner; when the robot passes through different task terrains, the rigidness of the suspending brackets can be changed by the acting force, in the vertical direction, of the ground on the suspending brackets, and the suspension system has the capacity to adapt to the rigidness; when a sensor detects that the accelerated speed, in the vertical direction, of the suspending brackets does not meet the requirements of the accelerated speed for passing through a task terrain, namely the optimal rigidness of the suspending brackets for passing through the task terrain is not reached, the electric currents in electromagnet coils can be adjusted, so that the rigidness of the suspension system meets the requirements for passing through the task terrain, and the rigidness adjusting accuracy is improved.

Description

technical field [0001] The invention belongs to the technical field of ground mobile robots, and in particular relates to a crawler-type mobile robot suspension system with semi-active regulation of stiffness. Background technique [0002] The stiffness of the track of a tracked robot will have a certain impact on the motion performance of the robot. Under the rigid fuselage, once the track is selected, its stiffness cannot be changed, that is, it is difficult to use the factor of changing the stiffness to improve the motion performance of the robot. ; In addition, when a robot with a rigid body is moving, especially when moving on unstructured terrain, the trajectory of the center of gravity will have obvious fluctuations, reflecting that there will be obvious vibration when the robot is moving, and when the robot is performing tasks, Often carry a lot of equipment, long-term vibration will cause abnormal parts of the robot, such as loose screws, unstable camera images, etc...

AI Technical Summary

Problems solved by technology

[0002] The stiffness of the track of a tracked robot will have a certain impact on the motion performance of the robot. Under the rigid fuselage, once the track is selected, its stiffness cannot be changed, that is, it is difficult to use the factor of changing the stiffness to improve the motion performance of the robot. ; In addition, when a robot with a rigid body is moving, especially when moving on unstructured terrain, the trajectory of the center of gravity will have obvious fluctuations, reflecting that there will be obvious vibration when the robot is moving, and when the robot is performing tasks, Often carry a lot of equipment, long-term vibration will cause abnormal parts of the robot, such as loose screws, unstable camera images, etc.

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