A driving force control device for climbing a robot
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A control device and robot technology, applied in the field of robots, can solve the problems of no climbing speed control, unfavorable robot stability, poor grip of walking wheels, etc., and achieve the effects of reducing blind spots, reducing device wear and extending service life.
Active Publication Date: 2019-12-03
创泽智能机器人集团股份有限公司
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[0004] However, the anti-dumping-based climbing transport robot provided in the above technical solution still has many disadvantages in actual use, such as the walking wheel does not grip the ground firmly, the friction with the ground is small, and it is prone to slipping, which affects climbing. There is no speed control when climbing, which is not conducive to the stability of the robot's work
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Embodiment 1
[0029] according to Figure 1-6 The driving force control device for a robot climbing shown includes a traction head 1, a box body 2 is movably connected to one side of the traction head 1, a traction wheel 3 is provided at the bottom of the traction head 1, and the box body 2 Bottom is provided with driving wheel 4 and driven wheel 5, and described driving wheel 4 and driven wheel 5 outsides are all fixedly connected with fixed gear 6, and described driving wheel 4 is provided with driving motor 7 away from fixed gear 6 side, and described driving The output shaft of the motor 7 is driven and connected to the driving wheel 4, and both sides of the box body 2 are provided with a climbing mechanism, and the climbing mechanism includes two fixed tripods 8 arranged horizontally, between the two fixed tripods 8 A lifting frame 9 is fixedly connected, an electric push rod 10 is fixedly connected to both sides of the box body 2, the output end of the electric push rod 10 is fixedly ...
Embodiment 2
[0035] according to Figure 1-4 A driving force control device for climbing a robot is shown, the obstacle avoidance mechanism includes a steering motor 25 and a steering shaft 26, the output shaft of the steering motor 25 is connected to the steering shaft 26, and the steering shaft 26 is connected to the traction head 1 Integrated setting, the steering shaft 26 is rotationally connected with the box body 2, the ultrasonic sensor 20 senses the road conditions in front of the traction head 1, and uses the camera 21 to take real-time images, and sends the road condition information to the single-chip microcomputer 22. Obstacles, the single-chip microcomputer 22 analyzes the obstacle avoidance route according to the real-time image and the obstacle distance sensed by the ultrasonic sensor 20, the single-chip microcomputer 22 controls the steering motor 25 to work, and the output shaft of the steering motor 25 is driven to connect the steering shaft 26 to make the traction head 1 ...
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Abstract
The invention discloses a robot hill climbing driving force control device, and specifically relates to the field of robots. The robot hill climbing driving force control device comprises a traction head, a box body is movably connected with one side of the traction head, and a traction gear is arranged at the bottom of the traction head; and a driving gear and a driven gear are arranged at the bottom of the box body, the outer sides of the driving gear and the driven gear are fixedly connected with fixed gears, and a driving motor is arranged on the side, away from the fixed gears, of the driving gear, and a driving motor output shaft is connected with the driving gear in a transmission mode. According to the robot hill climbing driving force control device, the slope gradient of the ground is sensed by a photoelectric sensor, when the slope gradient reaches a set value, an electric pushing rod pushes a climbing mechanism to descend, a caterpillar track contacts the ground, the friction force is increased, and the fixed gears mesh with a first rack ring so that the driving gear drives a driving disk, movement of the caterpillar track is convenient, when climbing, a single-chip microcomputer controls over a variable frequency speed regulator, rotating speed of the driving motor is limited, speed of a robot is decreased, the robot is prevented from tipping over, wearing of a device is reduced, and in flat road section, the driving gear and the driven gear pull the box body to increase the operating speed of the robot.
Description
technical field [0001] The invention relates to the field of robots, and more specifically, the invention relates to a driving force control device for climbing a robot. Background technique [0002] Robots are more widely used in daily production and life, and play an important role in industry, medical treatment, service and other fields. During the walking process of the robot, climbing is essential. When the robot is climbing, due to the change of the slope, the inclination angle of the robot itself changes accordingly. [0003] The Chinese patent application publication number CN 108860364 A discloses an anti-overturning climbing transport robot, including a main processing controller and an angle sensor, and a first fixing structure is provided between the first support structure and the second support structure; One side of the first fixed structure is fixedly connected with the first expansion device, and the other side of the first fixed structure is fixedly connec...
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Application Information
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