System and method for robot self-righting

Abstract

The present invention discloses a system and method for robot self-alignment, which relates to the field of transport robots, including a machine body, support arms arranged on both sides of the bottom of the machine body are respectively connected to a track drive box, and the track drive box is connected to tracks through multiple track wheels. The beneficial effects are as follows: when the present invention performs a steep uphill climb, the levelness of a loading platform is detected in real time by a levelness detection module inside a detection box, the levelness detection module senses the displacement of the loading platform in the pitch direction, and at this time, the hydraulic drive of each track box connected to the bottom of the machine body is adjusted and controlled separately, so that one end of the machine body is lifted, so that the machine body is reset and called back to a horizontal state; when performing a steep downhill climb, the deflection of the adapter between the adapter seat and the deflection seat is realized by controlling the operation of the deflection drive, and the loading platform is adjusted to remain in a horizontal state.

Description

Technical Field

[0001] The present invention relates to the field of transport robots, and in particular to a system and method for self-correction of robots. Background Art

[0002] With the development of science and technology, the application of handling robots has gradually become popular. Traditional handling robots are only suitable for carrying goods on flat ground. When encountering a ground with a large inclination, a large uneven ground or a slippery surface, traditional handling robots are difficult to drive. When traditional handling robots carry goods and drive on such harsh ground environments, it is easy for the goods being carried to tilt, fall and be damaged, causing economic losses. Summary of the invention

[0003] The object of the present invention is to provide a system and method for robot self-correction to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a system for robot self-alignment, comprising a machine body, a pair of parallel support arms are connected to both sides of the bottom of the machine body, and the support arms arranged on both sides of the bottom of the machine body are respectively connected to a track drive box, a plurality of track wheels are connected to the outer side of the track drive box, and the track drive box is connected to the track through a plurality of track wheels, an adapter seat is provided on one side of the upper end of the machine body, a deflection seat is connected to the adapter seat through an axial rod member, the upper end of the deflection seat is welded and fixed to the bottom of the loading platform, and a deflection drive is connected to the adapter seat and the deflection seat at the junction, a detection box is provided at the bottom of the loading platform, a camera is provided at the bottom forward end of the machine body, a laser road levelness meter is provided on one side of the camera, and a control box is provided on one side of the machine body.

[0005] Preferably, a crawler box adjustment hydraulic drive is connected to one side of the bottom of the machine body corresponding to each support arm, the telescopic rod of the crawler box adjustment hydraulic drive extends obliquely downward, and a hinge joint is provided at the end of the telescopic rod of the crawler box adjustment hydraulic drive to be hinged with the middle part of the corresponding support arm.

[0006] Preferably, independent drive components are arranged inside the two track drive boxes, and the drive components inside the track drive boxes are connected to the track transmission.

[0007] Preferably, a pair of auxiliary support hydraulic drives are provided on one side of the machine body away from the deflection seat, the telescopic rods of the auxiliary support hydraulic drives are vertically extended upward, and elastic top blocks are provided at the ends of the telescopic rods of the auxiliary support hydraulic drives.

[0008] Preferably, the detection box is provided with a levelness detection module and a signal output module, and the control box is provided with a control processing module, a wireless receiving module and a wireless transmitting module.

[0009] Preferably, the signal output module provided inside the detection box is connected to the control element module inside the control box through a data cable, the camera and the laser road level meter are both connected to the control element module inside the control box through data cables, and the wireless receiving module and the wireless transmitting module are provided with remote controllers corresponding thereto.

[0010] The method for the robot self-correction system as described above includes the following operations:

[0011] Operation 1: Self-righting system when driving on a steep ground environment: The present invention performs steep uphill climbing: the levelness of the loading platform is detected in real time by the levelness detection module inside the detection box. The levelness detection module senses the deviation of the loading platform in the pitch direction. At this time, the hydraulic drive of each crawler box connected to the bottom of the machine body is adjusted and controlled separately, so that one end of the machine body is lifted, and the machine body is reset to a horizontal state, and steep downhill climbing is performed: the deflection of the adapter between the adapter and the deflection seat is realized by controlling the operation of the deflection drive, and the loading platform is adjusted to remain in a horizontal state;

[0012] Operation 2: Self-righting system when driving on uneven ground: By simultaneously controlling the crawler box connected to one side of the machine body to adjust the hydraulically driven telescopic rod to retract, the crawler drive box is lifted up, the side deviation angle of the machine body is adjusted, and the machine body is always kept in a horizontal state.

[0013] Technical effects and advantages of the present invention:

[0014] 1. The crawler-type walking mode in the present invention is more suitable for traveling on slippery ground, ensuring the stability of the driving process, and the two crawler drive boxes are provided with independent drive components, and the drive components inside the crawler drive box are connected to the crawler transmission, and the crawlers on both sides are driven by different drive components, which makes the steering of the equipment more flexible;

[0015] 2. When the present invention is going uphill with a large slope, the horizontality of the loading platform is detected in real time by the horizontality detection module inside the detection box. The horizontality detection module senses the deviation of the loading platform in the pitch direction. At this time, the hydraulic drive of each crawler box connected to the bottom of the machine body is adjusted and controlled separately, so that one end of the machine body is lifted and the machine body is reset to a horizontal state; when going downhill with a large slope, the deflection of the adapter between the adapter and the deflection seat is realized by controlling the work of the deflection drive, so that the loading platform is adjusted to remain in a horizontal state;

[0016] 3. When the present invention passes through roads with different heights on both sides, the crawler box connected to one side of the machine body is controlled to adjust the hydraulically driven telescopic rod to retract, thereby raising the crawler drive box and adjusting the side deviation angle of the machine body to always keep the machine body in a horizontal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram 1 of the three-dimensional structure of the present invention.

[0018] Figure 2 Schematic diagram 2 of the three-dimensional structure of the present invention.

[0019] Figure 3 It is a front view of the structure of the present invention.

[0020] Figure 4 It is a side view of the structure of the present invention.

[0021] Figure 5 It is a schematic diagram of the working of the present invention when going uphill.

[0022] Figure 6 It is a schematic diagram of the operation of the present invention when going downhill.

[0023] Figure 7 The figure is a schematic diagram of the operation of the present invention when passing through uneven ground.

[0024] In the figure: 1. body; 2. support arm; 3. track drive box; 4. track wheel; 401, track; 5. track box adjustment hydraulic drive; 6. adapter seat; 7. deflection seat; 701, deflection drive; 8. loading platform; 9. detection box; 10. control box; 11. camera; 12. auxiliary support hydraulic drive; 1201, elastic top block. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The present invention provides Figure 1-7The robot self-correction system shown in the figure comprises a body 1, a pair of parallel support arms 2 are connected to both sides of the bottom of the body 1, and the support arms 2 arranged on both sides of the bottom of the body 1 are respectively connected to a crawler drive box 3, and the outer side of the crawler drive box 3 is connected to a plurality of crawler wheels 4, and the crawler drive box 3 is connected to a crawler 401 through the plurality of crawler wheels 4. The crawler-type walking mode is more suitable for driving on slippery ground to ensure the stability of the driving process, and the two crawler drive boxes 3 are provided with independent driving components, and the crawler drive The driving assembly inside the box 3 is connected to the crawler track 401, and the crawler tracks 401 on both sides are driven by different driving assemblies, which makes the steering of the equipment more flexible. A transfer seat 6 is provided on one side of the upper end of the body 1, and the transfer seat 6 is connected to a deflection seat 7 through an axial rod. The upper end of the deflection seat 7 is welded and fixed to the bottom of the loading platform 8, and the transfer point between the transfer seat 6 and the deflection seat 7 is connected with a deflection drive 701. The deflection drive 701 is used to drive the connection between the transfer seat 6 and the deflection seat 7 to realize the adjustment of the deflection angle between the loading platform 8 and the body 1.

[0027] A track box adjustment hydraulic drive 5 is connected to one side of each support arm 2 at the bottom of the machine body 1. The telescopic rod of the track box adjustment hydraulic drive 5 extends obliquely downward, and a hinge joint is provided at the end of the telescopic rod of the track box adjustment hydraulic drive 5 to be hinged to the middle part of the corresponding support arm 2. The drive of each track box adjustment hydraulic drive 5 is controlled individually, so that the adjustment of the track drive box 3 is more flexible and changeable.

[0028] A detection box 9 is provided at the bottom of the loading platform 8, and a camera 11 is provided at the bottom front end of the body 1 for collecting road condition data when the equipment is moving forward. A laser road surface levelness meter is provided on one side of the camera 11 for collecting the levelness of the road surface ahead to facilitate pre-adjustment of the equipment. A control box 10 is provided on one side of the body 1.

[0029] The detection box 9 is provided with a level detection module and a signal output module. The level detection module is used to monitor in real time whether the loading platform 8 remains horizontal, and the state of the loading platform 8 is connected to the control element module inside the control box 10 by the signal output module through a data line. The control processing module inside the control box 10 controls the corresponding components to make adjustments. The wireless receiving module and the wireless transmitting module of the control box 10 are provided with remote controllers suitable for them. The staff can remotely issue control instructions to the equipment and receive information feedback from the equipment. The camera 11 and the laser road level meter are connected to the control element module inside the control box 10 through a data line for real-time feedback of road conditions.

[0030] A pair of auxiliary support hydraulic drives 12 are provided on one side of the machine body 1 away from the deflection seat 7. The telescopic rods of the auxiliary support hydraulic drives 12 are vertically extended upward, and elastic top blocks 1201 are provided at the ends of the telescopic rods of the auxiliary support hydraulic drives 12. Figure 4 As shown, when driving on flat ground, the auxiliary support hydraulic drive 12 is extended until the elastic top block 1201 supports the bottom of the loading platform 8, thereby improving the support stability of the loading platform 8.

[0031] A method for a robot self-correction system includes the following operations:

[0032] Operation 1: Self-righting system in steep slope environment: The present invention performs steep uphill driving: Figure 5 As shown, the levelness of the loading platform 8 is detected in real time by the levelness detection module inside the detection box 9. The levelness detection module senses the deviation of the loading platform 8 in the pitch direction. At this time, the hydraulic drive 5 of each crawler box connected to the bottom of the machine body 1 is adjusted and controlled separately, so that one end of the machine body 1 is lifted, so that the machine body 1 is reset and called back to the horizontal state; go downhill with a large slope: as Figure 6 As shown, by controlling the operation of the deflection drive 701, the deflection of the transfer point between the transfer seat 6 and the deflection seat 7 is achieved, and the loading platform 8 is adjusted to remain in a horizontal state;

[0033] Operation 2: Self-righting system when driving on uneven ground: Figure 7 As shown, when the equipment needs to pass through roads with different heights on both sides, the telescopic rod of the hydraulic drive 5 is retracted by simultaneously controlling the track box connected to one side of the body 1, thereby raising the track drive box 3 and adjusting the side deviation angle of the body 1 to always keep the body 1 in a horizontal state.

[0034] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A system for self-correction of a robot, comprising a body (1), characterized in that: A pair of support arms (2) arranged in parallel are connected to both sides of the bottom of the machine body (1), and the support arms (2) arranged on both sides of the bottom of the machine body (1) are respectively connected to a crawler drive box (3), the outer side of the crawler drive box (3) is connected to a plurality of crawler wheels (4), and the crawler drive box (3) is connected to a crawler (401) through the plurality of crawler wheels (4). A transfer seat (6) is provided on one side of the upper end of the machine body (1), and the transfer seat (6) is connected to a deflection seat (7) through an axle rod. The upper end of the deflection seat (7) is welded and fixed to the bottom of the loading platform (8), and a deflection drive (701) is connected to the transfer point between the transfer seat (6) and the deflection seat (7). A detection box (9) is provided at the bottom of the loading platform (8), a camera (11) is provided at the bottom forward end of the machine body (1), a laser road level meter is provided on one side of the camera (11), and a control box (10) is provided on one side of the machine body (1); A crawler box adjustment hydraulic drive (5) is connected to one side of each support arm (2) at the bottom of the machine body (1), the telescopic rod of the crawler box adjustment hydraulic drive (5) extends obliquely downward, and a hinge joint is provided at the end of the telescopic rod of the crawler box adjustment hydraulic drive (5) and is hinged to the middle part of the corresponding support arm (2); Independent drive components are arranged inside the two crawler drive boxes (3), and the drive components inside the crawler drive boxes (3) are drivingly connected to the crawler (401); A pair of auxiliary support hydraulic drives (12) are provided on one side of the machine body (1) away from the deflection seat (7), telescopic rods of the auxiliary support hydraulic drives (12) are vertically extended upwards, and elastic top blocks (1201) are provided at the ends of the telescopic rods of the auxiliary support hydraulic drives (12); The detection box (9) is provided with a levelness detection module and a signal output module, and the control box (10) is provided with a control processing module, a wireless receiving module and a wireless transmitting module; The signal output module provided inside the detection box (9) is connected to the control element module inside the control box (10) via a data line, the camera (11) and the laser road level meter are both connected to the control element module inside the control box (10) via a data line, and the wireless receiving module and the wireless transmitting module are provided with remote controllers adapted thereto; The method for the robot self-correction system includes the following operations: Operation 1: Self-righting system when driving in a steep ground environment: The robot performs steep uphill climbing: The levelness of the loading platform (8) is detected in real time by the levelness detection module inside the detection box (9). The levelness detection module senses the displacement of the loading platform (8) in the pitch direction. At this time, the hydraulic drive (5) of each crawler box connected to the bottom of the body (1) is adjusted and controlled separately, so that one end of the body (1) is lifted, so that the body (1) is reset and returned to a horizontal state, and the steep downhill climbing is performed: the deflection of the transfer point between the transfer seat (6) and the deflection seat (7) is achieved by controlling the operation of the deflection drive (701), and the loading platform (8) is adjusted to remain in a horizontal state; Operation 2: The self-righting system during driving on uneven ground: The telescopic rod of the hydraulic drive (5) of the crawler box connected to one side of the machine body (1) is retracted by controlling the crawler drive box (3) to rise and lift, and the side deviation angle of the machine body (1) is adjusted, so as to always keep the machine body (1) in a horizontal state.

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