All-terrain mobile robot active body stabilizing mechanism

Abstract

The present application relates to a kind of all-terrain mobile robot active body stabilizing mechanism, belong to mobile robot technical field.It includes truss body module, double wishbone type damping suspension and body stabilizing mechanism module;The body stabilizing mechanism module includes stabilizing damper lower support, stabilizing mechanism base, slide rail installation vertical plate, slider, slide rail, actuator, actuator mounting plate, actuator connection L-shaped plate, stabilizing damper upper support, stabilizing damper, stabilizing damper lower support is connected with the upper U-shaped swing arm of double wishbone type damping suspension, stabilizing damper is symmetrically arranged on left and right sides, and with truss body, double wishbone type damping suspension and suspension damper constitute a flexible isosceles triangle.The body stabilizing mechanism of the present application effectively and suspension damping mechanism are integrated, do not affect its damping performance, while improving driving torque balance and body stability, body stabilizing system only when needed will intervene work, and wide application range, simultaneously, it can be actively adjusted stabilizing system intervention degree according to road conditions to accurately control body stability.

Description

Technical Field

[0001] This invention relates to an active vehicle stabilization mechanism for an all-terrain mobile robot, belonging to the field of mobile robot technology. Background Technology

[0002] Because all-terrain mobile robots operate in complex environments and exhibit poor stability during movement, this instability affects their accuracy, load-bearing capacity, and drive motor output power, especially in situations requiring high stability and load capacity. Examples include mobile robots carrying bionic robotic arms for intelligent grasping outdoors, and mobile robots carrying cameras for terrain surveying—both scenarios demanding high stability. When mobile robots navigate complex terrain, uneven wheel height can cause significant body swaying, leading to operational failure.

[0003] For example, Chinese patent application No. 201711490143.5 describes a mobile robot stabilization mechanism and a mobile robot equipped with the stabilization mechanism. The mechanism includes two sets of support mechanisms respectively located on the left and right sides of the mobile robot. Each support mechanism includes a lifting column and a lifting mechanism. The lifting column moves up and down under the action of the lifting mechanism to lift the mobile robot off the ground or lower it to the ground. This structure effectively improves the stability of the robot body during stationary operation, but it is difficult to be effective when the mobile robot is moving. Furthermore, this patent lacks a vibration damping mechanism and is only suitable for indoor operations.

[0004] For example, Chinese Patent Application No. 201911097045.4 discloses a balancing system and control method for an all-terrain mobile robot. The balancing system includes a control chip, a gravity sensor, a gyroscope, joint motors, and a motion motor, all mounted on the mobile robot. Data obtained by the gravity sensor and gyroscope are integrated into balancing data, which is stored in a database. The gravity sensor and gyroscope are connected to the control chip through the database. The joint motors and / or motion motors are connected to and controlled by the control chip. This balancing system allows the mobile robot to adapt to various terrains and makes the output driving torque more consistent, converting driving force into traction force more effectively and improving road passability. However, this balancing system lacks a mechanical mechanism to ensure vehicle stability, making it difficult to solve the problems of driving torque output and vehicle balance in complex operating terrain. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an active vehicle stability mechanism for an all-terrain mobile robot, which autonomously selects active and passive control methods to control vehicle stability for different road conditions.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An active vehicle stabilization mechanism for an all-terrain mobile robot is characterized by comprising a truss vehicle body module, a double wishbone damping suspension, and a vehicle stabilization mechanism module; the vehicle stabilization mechanism module includes a lower support for a stabilizing damper, a stabilization mechanism base, a slide rail mounting plate, a slider, a slide rail, an actuator, an actuator mounting plate, an actuator connecting L-shaped plate, an upper support for the stabilizing damper, and the stabilizing damper.

[0008] The stabilizing mechanism base is installed above the front and rear of the truss body module. The slide rail mounting plate is installed on the stabilizing mechanism base. The slide rail is installed on the slide rail mounting plate and connected to a slider. The upper support of the stabilizing damper is installed on the slider and connected to an actuator connecting L-shaped plate. An actuator mounting plate is installed on the top of the slide rail. The actuator is installed on the actuator mounting plate and connected to the actuator connecting L-shaped plate. The upper end of the stabilizing damper is connected to the upper support of the stabilizing damper, and the lower end is connected to the lower support of the stabilizing damper. The lower support of the stabilizing damper is connected to the upper U-shaped swing arm of the double wishbone damping suspension. The stabilizing dampers are symmetrically arranged on the left and right sides and form a flexible isosceles triangle with the truss body and the suspension dampers of the double wishbone damping suspension.

[0009] Furthermore, the truss body module includes a truss body and mounting plates located on the left and right sides of the truss body.

[0010] Furthermore, the double wishbone suspension module includes an upper U-shaped swing arm and a lower U-shaped swing arm. One end of the upper and lower U-shaped swing arms is hinged to a lower swing arm support, which is fixed to the lower suspension mounting plate. The end of the upper and lower U-shaped swing arms away from the lower suspension mounting plate is hinged to an upper swing arm support, which is fixed to the upper suspension mounting plate of the truss body module. A lower suspension damper support is mounted on the upper U-shaped swing arm, and a suspension damper is fitted on the lower suspension damper support. The end of the suspension damper away from the lower suspension damper support engages with the upper suspension damper support on the truss body module. The upper U-shaped swing arm engages with the vehicle stability mechanism module.

[0011] The vehicle stability mechanism of this invention is effectively integrated with the suspension damping mechanism without affecting its damping performance. At the same time, it improves the balance of driving torque and vehicle stability. The vehicle stability system only intervenes when needed and has a wide range of applications. In addition, it can actively adjust the degree of intervention of the stability system according to road conditions to precisely control vehicle stability.

[0012] Instruction manual illustrations

[0013] Figure 1 This is a structural diagram of the all-terrain mobile robot involved in this invention;

[0014] Figure 2 This is a structural diagram of the stabilizing mechanism module of the present invention.

[0015] In the diagram, 101 is the truss body, 102 is the upper mounting plate of the suspension, 201 is the upper support of the swing arm, 202 is the lower U-shaped swing arm, 203 is the upper U-shaped swing arm, 204 is the lower support of the suspension damper, 205 is the suspension damper, 206 is the upper support of the suspension damper, 207 is the lower mounting plate of the suspension, 208 is the lower support of the swing arm, 301 is the lower support of the stabilizer damper, 302 is the base of the stabilizer mechanism, 303 is the vertical plate of the slide rail mounting, 304 is the slider, 305 is the slide rail, 306 is the actuator, 307 is the actuator mounting plate, 308 is the actuator connecting L-shaped plate, 309 is the upper support of the stabilizer damper, and 310 is the stabilizer damper. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative effort are all within the scope of protection of the present invention. Improvements and modifications based on the present invention are all within the scope of protection of the present invention.

[0017] like Figure 1 , Figure 2 As shown, an active vehicle stabilization mechanism for an all-terrain mobile robot includes a truss body module, a double wishbone damping suspension, and a vehicle stabilization mechanism module. The truss body module includes a truss body 101 and suspension mounting plates 102 located on the left and right sides of the truss body 101. The double wishbone suspension module includes an upper U-shaped swing arm 203 and a lower U-shaped swing arm 202. One end of the upper U-shaped swing arm 203 and the lower U-shaped swing arm 202 is hinged to a lower swing arm support 208, which is fixed to the lower suspension mounting plate 207. The end of the upper U-shaped swing arm 203 and the lower U-shaped swing arm 202 away from the lower suspension mounting plate 207 is hinged to an upper swing arm support 201, which is fixed to the upper suspension mounting plate 102. A lower suspension damper support 204 is mounted on the upper U-shaped swing arm 203. A suspension damper 205 is fitted on the lower suspension damper support 204. The end of the suspension damper 205 away from the lower suspension damper support 204 is fitted to an upper suspension damper support 206 on the truss body module. The upper U-shaped swing arm 203 is fitted to the vehicle stability mechanism module.

[0018] The vehicle stability mechanism module includes a stability mechanism base 302 mounted on the upper front and rear of the truss vehicle body 101, a slide rail mounting vertical plate 303 mounted on the stability mechanism base 302, a slide rail 305 mounted on the slide rail mounting vertical plate 303 and connected to a slider 304, a stabilizing damper upper support 309 mounted on the slider 304 and connected to an actuator connecting L-shaped plate 308, an actuator mounting plate 307 mounted on the top of the slide rail 305, an actuator 306 mounted on the actuator mounting plate 307 and connected to the actuator connecting L-shaped plate 308, a stabilizing damper 310 whose upper end is connected to the stabilizing damper upper support 309 and whose lower end is connected to the stabilizing damper lower support 301, and a stabilizing damper lower support 301 connected to an upper U-shaped swing arm 203. There are two stabilizing dampers 310, symmetrical on the left and right sides, forming a flexible isosceles triangle with the truss vehicle body 101 and the suspension damper 205. When the all-terrain mobile robot is walking on a smooth road surface, the left and right wheels 401 are at the same level, and the vehicle stability module does not intervene in the suspension operation. When the all-terrain mobile robot is walking on a complex road surface, the left and right wheels 401 are at different heights from the ground, and the vehicle stability module intervenes in the suspension operation. At this time, the pressure on the two sides of the vehicle stability mechanism's shock absorber 310 is different, and the compression length is different, which causes the two sides of the flexible isosceles triangle to be different. Then the slider 304 slides with the slide rail 305 to maintain the two sides being equal, so that the left and right wheels are at the same height from the ground, maintaining vehicle stability.

[0019] The above description is merely one embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, or improvements made within the technical solution and principle of the present invention, especially the application of principles and design methods, such as the design principles and specific effective methods of the present invention, should be included within the protection scope of the present invention.

Claims

1. An active vehicle stabilization mechanism for an all-terrain mobile robot, characterized in that: The system includes a truss body module, a double wishbone damping suspension, and a vehicle stability mechanism module. The vehicle stability mechanism module includes a lower support (301) for a stabilizer damper (310), a stability mechanism base (302), a mounting plate (303) for a slide rail (305), a slider (304), a slide rail (305), an actuator (306), an actuator (306) mounting plate, an actuator (306) connecting L-shaped plate, an upper support (309) for the stabilizer damper (310), and the stabilizer damper (310). The stabilizing mechanism base (302) is installed above the front and rear of the truss body of the truss body module. The slide rail (305) mounting plate (303) is installed on the stabilizing mechanism base (302). The slide rail (305) is installed on the slide rail (305) mounting plate (303) and connected to a slider (304). The upper support (309) of the stabilizing damper (310) is installed on the slider (304) and connected to an actuator (306) connecting L-shaped plate. The top of the slide rail (305) is equipped with an actuator (306) mounting plate. The stabilizer (310) is mounted on the actuator (306) mounting plate and connected to the actuator (306) connecting L-shaped plate. The upper end of the stabilizer (310) is connected to the upper support (309) of the stabilizer (310), and the lower end is connected to the lower support (301) of the stabilizer (310). The lower support (301) of the stabilizer (310) is connected to the upper U-shaped swing arm (203) of the double wishbone damping suspension. The stabilizer (310) is symmetrically arranged on the left and right sides and forms a flexible isosceles triangle with the truss body and the suspension damper (205) of the double wishbone damping suspension.

2. The active vehicle stabilization mechanism for an all-terrain mobile robot according to claim 1, characterized in that: The truss body module includes a truss body (101) and suspension mounting plates (102) located on the left and right sides of the truss body.

3. The active vehicle stabilization mechanism for an all-terrain mobile robot according to claim 1, characterized in that: The double wishbone suspension includes an upper U-shaped swing arm (203) and a lower U-shaped swing arm (202). A lower swing arm support (208) is hinged to one end of each of the upper and lower U-shaped swing arms (203) and is fixed to the lower suspension mounting plate (207). An upper swing arm support (201) is hinged to the end of each of the upper and lower U-shaped swing arms (203) away from the lower suspension mounting plate (207). The upper swing arm support (201) is connected to the frame body. The module's suspension mounting plate (102) is fixed, and a suspension damper (205) lower support (204) is installed on the upper U-shaped swing arm (203). A suspension damper (205) is fitted on the suspension damper (205) lower support (204). The end of the suspension damper (205) away from the suspension damper (205) lower support (204) is fitted with the upper support of the suspension damper (205) on the truss body module. The upper U-shaped swing arm (203) is fitted with the vehicle stability mechanism module.

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