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A compound-driven spring-coupled active articulated towing robot

A spring coupling and robot technology, applied in the field of towed robots, can solve problems such as collisions and inability to quickly recover attitudes, and achieve the effects of simple mechanical structure, improved compliance and passing performance, and reduced vibration

Inactive Publication Date: 2020-06-02
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies in the prior art, this application provides a compound-driven spring-coupled active articulated towed robot, which solves the problem that the towed robot is prone to collisions and post-collision problems in the face of complex, changeable and multi-obstacle environments. Unable to quickly restore posture, folding and other issues

Method used

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  • A compound-driven spring-coupled active articulated towing robot
  • A compound-driven spring-coupled active articulated towing robot
  • A compound-driven spring-coupled active articulated towing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] This embodiment provides a compound-driven spring-coupled active articulated towing robot, which includes a vehicle body 1 of the towing robot, and driving wheels 2 are installed on both sides of the vehicle body. A control module 3 is provided, and the traction seat 4 is used to install a fixed coil spring 5 at the rear of the traction robot. One end of the drawbar 6 is hinged to the traction seat through a traction pin 7, and the outer end of the coil spring is extended and fixed to the clip of the drawbar. In the groove, it ensures that the drawbar can rotate left and right under the condition that the drawbar is limited by the coil spring. The trailer robot 8 structure is identical with the traction robot but the left and right wheels do not have a drive motor, and the trailer robot 8 is connected with the traction robot by the drawbar 6 . The traction seat 10 is fixedly placed behind the towing robot 8, and its position is maintained on the same line as the tractio...

Embodiment 2

[0030] This embodiment provides a control process of the steering motor during the obstacle avoidance steering process, as follows:

[0031] When the towed robot encounters an obstacle, the steering motor receives the torque output from the control module, and the torque is transmitted to the drawbar b through the traction pin b to drive the towed robot to rotate a certain angle, and then the angle sensor real-time controls the distance between the towed robot. The magnitude of the articulation angle is transmitted to the control module, and the control module continuously outputs torque signals until the articulation angle reaches the desired angle, and the angle sensor is installed next to the fifth wheel b.

[0032] The torque of the steering motor during control can be determined by the following formula:

[0033] M-F t2 L 2 =J 2 alpha (1)

[0034] J 2 =m 3 R 2 (2)

[0035]

[0036] In the formula, M is the torque of the steering motor, F t2 is the lateral fri...

Embodiment 3

[0039] This embodiment provides a control function played by the coil spring during the obstacle avoidance steering process, as follows:

[0040] When the towing robot encounters an obstacle, when the towing robot 1 rotates at a small angle, the towing robot 8 still keeps moving forward stably due to the buffering effect of the coil spring 5, which prevents the towing robot 8 from moving forward when the towing robot 1 continuously swings at a small angle. The shaking phenomenon occurs; when the traction robot 1 turns suddenly or the rotation angle is too large, due to the effect of the coil spring 5, the traction rod 6 hinged with the traction seat 4 behind it is driven to rotate, so that the traction robot 8 and the traction robot 1 are always A smaller articulation angle is maintained, thereby ensuring that the towed robot can pass through quickly and avoid the towed robot 8 from colliding with obstacles when the turning radius is too small.

[0041] The selection of the co...

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PUM

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Abstract

The invention discloses a combination drive type spring coupled active hinged trailer robot which comprises a traction robot and a plurality of trailer robots. The traction robot is connected with thetrailer robots by a hinge mode with springs or an active steering hinge mode with steering motors, and the multiple trailer robots are connected by the hinge mode with springs or the active steeringhinge mode with steering motors. The combination drive type spring coupled active hinged trailer robot is simple in structure and easy to implement, flexibility and smoothness in steering of the trailer robot can be effectively improved to turn passive steering into active steering, and accordingly an obstacle avoiding performance of the trailer robot in an unstructured environment is improved.

Description

technical field [0001] The invention relates to a towing robot, in particular to a compound-driven spring-coupled active articulated towing robot. Background technique [0002] When a towed robot is faced with a complex and changeable multi-obstacle environment, it is often necessary for the towed robot to perform flexible and maneuverable steering. At the same time, when it collides with an obstacle, it is also required that the towed robot can quickly recover its posture. Steering handling performance puts forward higher requirements. However, when the existing towed robot is driving, the force controlling the position and attitude of the towed robot comes entirely from the hook traction force transmitted by the towed robot, and the differential speed between the left and right wheels of the trailer is achieved under the condition of overcoming the ground adhesion For steering purposes, since the hook traction force does not have the form of moment, it is a very challengi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D53/00B60D1/34B62D12/02
Inventor 岳明范明磊侯小强贾瑞明
Owner DALIAN UNIV OF TECH