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A Lightweight Detection and Sampling Wheeled Robot with Active Suspension Structure

A wheeled robot and active suspension technology, applied in the field of robotics, can solve problems such as difficulties, low sampling efficiency, and limitations of mechanical arms, and achieve the effects of high controllability, convenient installation, and compact structure

Active Publication Date: 2022-04-12
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing sampling robots using robotic arms have large volume and weight, and complicated and difficult control. In a relatively narrow environment, the work of the robotic arm will be limited, and the sampling efficiency is low or even unable to complete the sampling work.

Method used

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  • A Lightweight Detection and Sampling Wheeled Robot with Active Suspension Structure
  • A Lightweight Detection and Sampling Wheeled Robot with Active Suspension Structure
  • A Lightweight Detection and Sampling Wheeled Robot with Active Suspension Structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] When the robot is running normally, the power assembly 2 on the hub drives the four hubs to rotate at the same speed, and the vehicle travels in a straight line. When the robot needs to turn, this embodiment takes left turning as an example, and it is also the same when turning right. The wheel hub power assembly 2 on the right drives the right wheel hub speed to be greater than the left wheel hub speed, because the drive units of the four wheel hubs of the vehicle are completely independent. , at this time the car body will turn to the left, and the turning angle and speed are controlled by the car body control system. At the same time, the right active suspension assembly 1 drives the support angle of the right car body to drop, and the left active suspension assembly 1 controls the elevation of the left support structure to cope with the body roll when turning and ensure the stability of the vehicle body when turning.

Embodiment 2

[0049] When the robot encounters an obstacle, this embodiment takes the left side encountering a raised obstacle as an example, and when the right side encounters an obstacle, or other terrain such as a depression, this embodiment is used as a reference. The left front wheel hub power assembly 2 drives the speed of the left front wheel to increase. At the same time, the left front wheel active suspension assembly 1 controls the angle between the left front support arm of the vehicle body and the vehicle body to become smaller, and the speed and support angle of the other three wheels remain unchanged. After that, restore the state of the supporting device and the rotational speed of the hub.

Embodiment 3

[0051] When the robot needs to collect samples, it first drives to the top of the sample, the sampling power unit 3401 is turned on, and drives the bevel gear 3403 to rotate. The bevel gear 3403 and the screw rod 3402 are connected by a ball screw, and the rotation of the bevel gear 3403 is transformed into the screw rod 3402. Linear motion up and down. Screw mandrel 3402 moves downwards, promotes lower connecting plate 3407 to move downwards, drives connecting rod 3406 to rotate, and makes 3 catch discs 3408 to open. At this time, due to the attractive force between the positioning magnet 3412 installed on the chassis and the bearing roller 3411 on the door 3410, the door 3410 will not be pushed open by the connecting rod. Such as Figure 6 shown.

[0052] The screw mandrel 3402 continues to move downward, and when the shoulder of the screw mandrel 3402 is pressed on the cover plate 3404, the catch plate 3408 is opened to the maximum, and the sampling power unit 3401 contin...

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Abstract

The invention discloses a light detection and sampling wheeled robot with an active suspension structure. Each wheel has an independent drive unit and a suspension unit. The angle and speed of the vehicle body are detected by sensors such as a gyroscope carried by the vehicle body, and then each wheel is controlled. Active suspension drive unit, the active suspension drive unit drives the suspension arm to rotate, thereby adjusting the support angle of different wheels to the body, so that the light sampling wheeled robot can pass through different terrains. The middle part is equipped with a new sample sampling mechanism. The sampling mechanism cooperates with the power system and suspension system of the robot. When the robot drives above the sample, the gripper of the sampling mechanism opens. During the downward movement of the sampling gripper, the The connecting rod device pushes the door at the bottom of the robot car body to open, and the sampling gripper extends out of the car body; after the sampling is completed, the power unit reverses, the control gripper closes, and moves upward, and the connecting rod device drives the door at the bottom of the car body Closed to complete sample sampling.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a light-weight detection and sampling wheeled robot with an active suspension structure. Background technique [0002] In the process of industrial technology and scientific research, sometimes it is necessary to collect some samples for experimental analysis. The environment in which these samples are located may be relatively harsh, with uneven terrain, which is inconvenient or even impossible to perform manual sampling; and in many cases, the environmental physical space of the samples is relatively narrow, and it is inconvenient for large sampling robots to enter; There is no high requirement on the quality of the collected samples. [0003] In existing technologies and products, most sampling robots use the "mobile platform + mechanical arm" method to achieve sampling work. However, the existing sampling robots using mechanical arms have large volume and weight, and complex...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D63/02B62D63/04B60K7/00B60K17/04B60G3/02B60G17/015G01N1/02
CPCB62D63/02B62D63/04B60K7/0007B60K17/043B60G3/02B60G17/015G01N1/02B60K2007/0092B60K2007/0061
Inventor 安宁李月华朱世强刘铭钟心亮
Owner ZHEJIANG LAB