A device and method for real-time measurement of a posture of a shovel loading robot vehicle body

Abstract

The present application belongs to the field of heavy load robot for open-pit mine, and particularly relates to a device and method for real-time measurement of the posture of a shovel robot vehicle body, which device comprises: a compression spring sleeve mechanism fixed to the bottom of the vehicle body; a top rod elastically and slidably arranged in the compression spring sleeve mechanism, the bottom of the top rod being used to contact the upper surface of the chassis; a pull rope sensing part fixed to the bottom of the vehicle body, the movable end of the pull rope sensing part being connected to the top end of the top rod; the top rod drives the movable end of the pull rope sensing part to produce displacement. The device also comprises a vehicle body posture measurement method using the above device. The device can be installed between the vehicle body and the chassis to replace the gyroscope, is not affected by dust and noise, has a simple structure, and can conveniently and quickly obtain the posture of the vehicle body.

Description

Technical Field

[0001] This invention belongs to the field of heavy-duty robots for open-pit mines, and particularly relates to a device and method for real-time measurement of the vehicle posture of a shovel loading robot. Background Technology

[0002] In open-pit mining operations, achieving unmanned operation of heavy-duty mining robots is crucial for improving efficiency and safety. In unmanned mining scenarios using heavy-duty shovel-loading robots in open-pit mines, the robot's real-time attitude information plays a vital role in trajectory planning and motion control. Normally, the rotation angle of the shovel-loading robot's body relative to the chassis can be read by an encoder. However, a certain gap exists at the connection between the shovel-loading robot's body and the chassis, forming a ball joint with only rotational drive. The enormous load the shovel-loading robot bears during mining results in an unknown tilt angle between the robot's body and the chassis during operation. The real-time attitude of the body relative to the chassis cannot be accurately obtained, significantly impacting the precision of robot trajectory planning and motion control.

[0003] There are two common methods for measuring the attitude of object A relative to object B: First, install gyroscopes on both objects A and B, and calculate the relative attitude by measuring the angle difference between the two gyroscopes; Second, install a laser rangefinder or ultrasonic rangefinder on object A, and calculate the tilt angle by measuring the distance returned by the laser rangefinder or ultrasonic rangefinder, and then calculate the relative attitude.

[0004] However, these conventional methods face significant challenges in the application of heavy-duty loading robots in open-pit mines: due to their unique structure, it is difficult to install gyroscopes on the chassis of loading robots; the working environment in open-pit mines is usually accompanied by a large amount of dust and loud noise, which causes strong interference to laser rangefinders and ultrasonic rangefinders. Therefore, we propose a device and method for real-time measurement of the vehicle posture of loading robots. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for real-time measurement of the vehicle posture of a loading robot, in order to solve the above-mentioned problems.

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

[0007] A real-time attitude measurement device for a loading robot is provided, positioned between the vehicle body and chassis, with the vehicle body and chassis rotating together. An encoder for measuring the rotation angle is installed between the vehicle body and chassis. The real-time attitude measurement device includes:

[0008] The compression spring sleeve mechanism is fixed to the bottom of the vehicle body.

[0009] The push rod is elastically slidably disposed within the compression spring sleeve mechanism, and the bottom of the push rod is used to contact the upper surface of the chassis.

[0010] A pull rope sensor is fixed to the bottom of the vehicle body, and the movable end of the pull rope sensor is connected to the top end of the top rod.

[0011] The top rod causes the movable end of the pull rope sensor to shift.

[0012] Optionally, the compression spring sleeve mechanism includes a compression spring sleeve mounting plate, which is fixed to the bottom of the vehicle body. A sleeve is detachably connected to the bottom of the compression spring sleeve mounting plate. The sleeve has a hollow structure, and the push rod is slidably disposed inside the sleeve.

[0013] The compression spring sleeve mounting plate is threadedly fitted with the sleeve.

[0014] Optionally, the sleeve has a fixed end of a first guide and a fixed end of a second guide, the movable end of the first guide and the movable end of the second guide are fixed to the same piston rod, and the bottom of the piston rod is fixed to the top of the push rod.

[0015] An elastic section is provided between the top of the piston rod and the inner wall of the sleeve.

[0016] The piston rod is connected to the movable end of the pull rope sensing unit.

[0017] Optionally, the first guide portion includes a first guide rail and a first slider, the first slider being slidably engaged with the first guide rail, the first guide rail being fixedly connected inside the sleeve, and the first slider being fixed to the piston rod.

[0018] Optionally, the second guide portion includes a second guide rail and a second slider, the second guide rail and the second slider being slidably engaged, the second guide rail being fixed inside the sleeve, and the second slider being fixed to the piston rod.

[0019] Optionally, the elastic part includes a compression spring, the top end of which is fixedly connected to the bottom of the compression spring sleeve mounting plate, and the bottom end of which is fixedly connected to the top of the piston rod.

[0020] The compression spring is in a compressed state.

[0021] Optionally, an anti-slip head is fixed to the bottom of the top rod.

[0022] Optionally, the pull rope sensing unit includes a pull rope sensor, which is detachably connected to a sensor mounting plate. The sensor mounting plate is fixed to the bottom of the vehicle body. One end of a pull rope is wound inside the pull rope sensor, and the other end of the pull rope passes through the side wall of the sleeve and is fixed to a pull rope connector fixed to the top of the piston rod via a pulley system.

[0023] The pull rope sensor is fixed to the sensor mounting plate by screws.

[0024] Optionally, the pulley block includes a pulley mounting plate, which is fixed to the inner wall of the sleeve. A fixed pulley is rotatably mounted on the pulley mounting plate, and the pull rope is wound around the fixed pulley.

[0025] A method for real-time measurement of the body posture of a loading robot, using the aforementioned device for real-time measurement of the body posture of a loading robot, includes the following steps:

[0026] Determine the axis of rotation of the bottom of the vehicle body.

[0027] On the front side of the axis of rotation rear Location, left side The right side and the right side One of the aforementioned vehicle attitude real-time measurement devices is installed at each location.

[0028] Make the bottom of the top rod of the real-time vehicle attitude measurement device contact the upper surface of the chassis.

[0029] As the vehicle body rotates, the readings of the cable sensors of the four real-time vehicle body attitude measuring devices are taken respectively. , , and .

[0030] The tilt angle of the vehicle body relative to the chassis is calculated based on the readings from the pull rope sensor.

[0031] The encoder reads the rotation angle of the vehicle body relative to the chassis. .

[0032] Based on the tilt angle and the rotation angle Obtain the attitude of the vehicle body relative to the chassis.

[0033] Compared with the prior art, the present invention has the following advantages and technical effects:

[0034] In use, a real-time vehicle attitude measurement device is installed near the axis of rotation. An elastic sliding mechanism between a push rod and a compression spring sleeve ensures the bottom of the push rod remains in contact with the upper surface of the chassis. As the vehicle rotates relative to the chassis, the extension and retraction of the push rod relative to the compression spring sleeve mechanism moves the movable end of the pull rope sensor, generating displacement data. By simultaneously calculating the displacement and rotation data, the vehicle's attitude relative to the chassis can be obtained. This device can replace a gyroscope installed between the vehicle and chassis, is unaffected by dust and noise, and has a simple structure, allowing for convenient and quick acquisition of vehicle attitude. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of the present invention.

[0037] Figure 2 This is a schematic diagram of the internal structure of the present invention.

[0038] Figure 3 This is a schematic diagram of the sensor installation location according to the present invention.

[0039] Figure 4 For the present invention Figure 3 Enlarged view of a portion of point A in the middle.

[0040] Figure 5 This is a top view of the sensor mounting location according to the present invention.

[0041] The components are as follows: 1. Sensor mounting plate; 2. Pull rope sensor; 3. Pull rope; 4. Compression spring sleeve mounting plate; 5. Sleeve; 6. Compression spring; 7. First guide rail; 8. First slider; 9. Top rod; 10. Anti-slip head; 11. Piston column; 12. Second guide rail; 13. Second slider; 14. Pull rope connector; 15. Pulley mounting plate; 16. Fixed pulley. Detailed Implementation

[0042] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Reference Figures 1 to 5 This invention discloses a real-time attitude measurement device for a loading robot, which is installed between the vehicle body and the chassis, with the vehicle body and chassis rotating together. An encoder for measuring the rotation angle is installed between the vehicle body and the chassis. The real-time attitude measurement device includes:

[0045] The compression spring sleeve mechanism is fixed to the bottom of the vehicle body.

[0046] The push rod 9 is elastically slidably disposed within the compression spring sleeve mechanism, and the bottom of the push rod 9 is used to contact the upper surface of the chassis.

[0047] The pull rope sensor is fixed to the bottom of the vehicle body, and the movable end of the pull rope sensor is connected to the top of the top rod 9.

[0048] The top rod 9 causes the movable end of the pull rope sensor to shift.

[0049] In use, a real-time vehicle attitude measurement device is installed near the axis of rotation. Through an elastic sliding arrangement between the push rod 9 and the compression spring sleeve mechanism, the compression force keeps the bottom of the push rod 9 in constant contact with the upper surface of the chassis. When the vehicle body and chassis rotate relative to each other, the extension and retraction of the push rod 9 relative to the compression spring sleeve mechanism moves the movable end of the pull rope sensor, generating displacement data. By simultaneously calculating the displacement and rotation data, the vehicle body's attitude relative to the chassis can be obtained. This device can replace a gyroscope installed between the vehicle body and chassis, is unaffected by dust and noise, and has a simple structure, allowing for convenient and quick acquisition of vehicle attitude.

[0050] As an optional implementation, the compression spring sleeve mechanism includes a compression spring sleeve mounting plate 4, which is fixed to the bottom of the vehicle body. A sleeve 5 is detachably connected to the bottom of the compression spring sleeve mounting plate 4. The sleeve 5 has a hollow structure, and the push rod 9 is slidably disposed inside the sleeve 5.

[0051] The compression spring sleeve mounting plate 4 is threadedly fitted with the sleeve 5.

[0052] As an optional implementation, the sleeve 5 has a fixed end of the first guide and a fixed end of the second guide, and the movable ends of the first guide and the second guide are fixed to the same piston rod 11. The bottom of the piston rod 11 is fixed to the top of the push rod 9.

[0053] An elastic part is provided between the top of the piston rod 11 and the inner wall of the sleeve 5.

[0054] The piston rod 11 is connected to the movable end of the pull rope sensing part.

[0055] The pull-wire sensor is used to record the displacement of the piston rod 11 relative to the sleeve 5.

[0056] As an optional implementation, the first guide portion includes a first guide rail 7 and a first slider 8. The first slider 8 is slidably engaged with the first guide rail 7, the first guide rail 7 is fixedly connected inside the sleeve 5, and the first slider 8 is fixed to the piston column 11.

[0057] As an optional implementation, the second guide portion includes a second guide rail 12 and a second slider 13, which are slidably engaged. The second guide rail 12 is fixedly connected inside the sleeve 5, and the second slider 13 is fixed to the piston column 11.

[0058] As an optional implementation, the elastic part includes a compression spring 6, the top end of which is fixedly connected to the bottom of the compression spring sleeve mounting plate 4, and the bottom end of which is fixedly connected to the top of the piston column 11.

[0059] The compression spring 6 is in a compressed state.

[0060] As an optional implementation, the bottom of the top rod 9 is fixed with an anti-slip head 10.

[0061] The compression spring sleeve mechanism includes a compression spring sleeve mounting plate 4, a sleeve 5, a compression spring 6, a push rod 9, an anti-slip head 10, and a piston rod 11. The sleeve 5 is a hollow structure with a circular hole at the bottom, the diameter of which is... satisfy: ,in The diameter of the push rod 9 and the anti-slip head 10 is specified. Furthermore, a circular hole is formed on the left side of the sleeve 5, with a diameter of... satisfy: ,in The diameter of the pull rope.

[0062] The guide rail system includes a first guide section and a second guide section. The first guide section includes a first guide rail 7 and a first slider 8. The second guide section includes a second guide rail 12 and a second slider 13. The compression spring sleeve mechanism cooperates with the guide rail system to ensure that the piston rod 11 drives the pull rope connector 14, the push rod 9, and the anti-slip head 10 to move linearly relative to the sleeve.

[0063] The first slider 8 and the second slider 13 are respectively installed on two adjacent vertical sides of the piston column 11. They adopt a spatial orthogonal double guide rail design, which has high rigidity, precision, stability and load-bearing capacity.

[0064] The spatial double orthogonal guide rail design is the minimum complete constraint solution for five degrees of freedom, and it will not produce over-constraints or crosstalk in motion. Compared with a single guide rail, it avoids stress concentration, motion jamming, and thermal deformation.

[0065] Sleeve 5 is detachably connected to compression spring sleeve mounting plate 4. One end of compression spring 6 is connected to compression spring sleeve mounting plate 4, and the other end is connected to piston column 11. Furthermore, compression spring 6 is provided with sufficient preload, and compression spring 6 is always in a compressed state during operation. The front side of piston column 11 is fixedly connected to first slider 8, first slider 8 is slidably connected to first guide rail 7, and first guide rail 7 is fixedly connected to the front side of the inside of sleeve 5. The right side of piston column 11 is fixedly connected to second slider 13, second slider 13 is slidably connected to second guide rail 12, and second guide rail 12 is fixedly connected to the right side of the inside of sleeve 5. One end of push rod 9 is fixedly connected to piston column 11, and the other end passes through the bottom round hole of sleeve 5. Anti-slip head 10 is detachably connected to push rod 9.

[0066] As an optional implementation, the pull rope sensing unit includes a pull rope sensor 2, which is detachably connected to a sensor mounting plate 1. The sensor mounting plate 1 is fixed to the bottom of the vehicle body. One end of a pull rope 3 is wound inside the pull rope sensor 2, and the other end of the pull rope 3 passes through the side wall of the sleeve 5 and is fixed to the pull rope connector 14 fixed to the top of the piston column 11 through a pulley group.

[0067] Specifically, the rope sensor 2 is positioned directly opposite the circular hole on the left side of the sleeve 5.

[0068] With the above settings, the pull rope 3 can pass through the small hole without obstruction, thus extending the service life of the pull rope 3.

[0069] Specifically, the distance between the pull rope sensor 2 and the sleeve 5 shall not exceed half the range of the pull rope sensor 2.

[0070] The pull rope sensor 2 is fixed to the sensor mounting plate 1 with screws.

[0071] The pull rope 3 is made of a material that is not easily deformed by elasticity.

[0072] As an optional implementation, the pulley block includes a pulley mounting plate 15, which is fixed to the inner wall of the sleeve 5. A fixed pulley 16 rotates on the pulley mounting plate 15, and the pull rope 3 is wound around the fixed pulley 16.

[0073] The pull rope sensor 2 is detachably connected to the sensor mounting plate 1. One end of the pull rope 3 is connected to the pull rope sensor 2. The other end passes through the small hole on the left side of the sleeve 5, goes around the fixed pulley 16, and is connected to the pull rope connector 14. The pull rope connector 14 is fixedly connected to the piston column 11.

[0074] The pulley mounting plate 15 is installed on the inner left side of the sleeve 5. The fixed pulley 16 is rotatably connected to the pulley mounting plate 15. The pull rope 3 passes around the fixed pulley 16 and through the circular hole on the left side of the sleeve 5. The front-back central symmetry plane of the fixed pulley 16 coincides with the front-back central symmetry plane of the small hole, so that the axis of the small hole lies in this coincident plane. The horizontal tangent at the highest point of the outer circumference of the fixed pulley 16 and the axis of the small hole lie in the same vertical plane parallel to the left-right direction, and this horizontal tangent is lower than the axis of the small hole in the vertical direction. . The diameter of the pull rope 3 is shown. The fixed pulley system is used to guide the direction of the pull rope 3, ensuring that the pull rope 3 passes through the circular hole on the left side of the sleeve without obstruction.

[0075] The fixed pulley system is used to guide the transmission direction of the pull rope 3, ensuring that the pull rope 3 passes through the circular hole on the left side of the sleeve 5 without obstruction.

[0076] The principle of displacement recording by the pull-cord sensor 2 is based on the transformation of geometric motion relationships: the anti-slip head 10, the push rod 9, the piston rod 11, and the pull-cord connector 14 have the same displacement relative to the sleeve 5. When the piston rod 11 slides relative to the sleeve 5, this displacement is transmitted to the pull-cord 3 through the pull-cord connector 14 fixed to the piston rod 11, causing the pull-cord 3 to undergo an equal length change. The pull-cord sensor 2 directly obtains the real-time displacement of the piston rod 11 relative to the sleeve 5 by accurately measuring the extension and retraction length of the pull-cord 3.

[0077] A real-time attitude measurement device is installed on the bottom of the loading robot's chassis. Under the action of a pre-tensioned compression spring 6, the piston rod 11 slides relative to the sleeve 5 via the guide rail system until the anti-slip head 10 abuts against the upper surface of the loading robot's chassis. Due to the thrust of the pre-tensioned compression spring 6, the anti-slip head 10 of the tilt angle measurement device can abut against the upper surface of the chassis whenever the chassis body undergoes any tilt angle change. When the chassis body's attitude changes, the relative tilt angle between the chassis and the chassis body causes the anti-slip head 10, push rod 9, piston rod 11, and pull rope connector 14 to undergo linear displacement along the sleeve 5. The pull rope sensor 2, under the action of the sensing system, can record the displacement of the piston rod 11 relative to the sleeve 5.

[0078] A method for real-time measurement of the body posture of a loading robot, using the aforementioned device for real-time measurement of the body posture of a loading robot, includes the following steps:

[0079] Determine the axis of rotation of the bottom of the vehicle body.

[0080] On the front side of the axis of rotation rear Location, left side The right side and the right side A real-time vehicle attitude measurement device is installed at each location.

[0081] Make the bottom of the top rod 9 of the real-time vehicle attitude measurement device contact the upper surface of the chassis.

[0082] As the vehicle body rotates, the readings from the cable sensors of the four real-time vehicle body attitude measurement devices are taken respectively. , , and .

[0083] The tilt angle of the vehicle body relative to the chassis is calculated based on the readings from the cable sensor.

[0084] The rotation angle of the vehicle body relative to the chassis is read from the encoder. .

[0085] Based on tilt angle and rotation angle Obtain the attitude of the vehicle body relative to the chassis.

[0086] Attitude measurement methods include the following steps:

[0087] S1, on the front side of the rotary axis at the bottom of the loader robot body. rear side Left side and the right side Each is equipped with one of these attitude real-time measurement devices, among which , , and The sleeve should be larger than the diameter of the vehicle body's pivot shaft, and perpendicular to the mounting surface. Simultaneously, the four concentric annular areas on the chassis centered on the pivot shaft should remain substantially flat, with their inner and outer diameters defined as follows:

[0088] Ring 1: Inner Diameter , outer diameter

[0089] Ring 2: Inner Diameter , outer diameter

[0090] Ring 3: Inner Diameter , outer diameter

[0091] Ring 4: Inner Diameter , outer diameter

[0092] The piston rod 11 and the sleeve 5 form a sliding pair. The anti-slip head 10 and the upper surface of the chassis form a 5-DOF spatial higher pair, restricting only the degree of freedom of movement away from the upper surface of the chassis. The vehicle body, the four tilt measuring devices, and the chassis form a four-chain parallel mechanism. Under the action of the compressed spring 6, when the vehicle body undergoes any tilt angle change relative to the chassis, the anti-slip head 10 of the tilt measuring device can always abut against the upper surface of the chassis.

[0093] S2, read the readings from the four pull-cord sensors 2 on the front, back, left, and right sides. , , and The data is transmitted to the processor of the shovel robot.

[0094] S3, calculate the tilt angle of the vehicle body relative to the chassis based on the reading of the rope sensor 2. The tilt angle of the vehicle body relative to the chassis along the longitudinal direction of the vehicle body can be expressed as: The angle of inclination of the vehicle body relative to the chassis along the left-right direction can be expressed as: .

[0095] S4, Read the rotation angle of the loader body relative to the chassis from the encoder of the loader robot. The attitude of the loading robot's body relative to the chassis can be expressed as:

[0096] ;

[0097] All aspects not detailed in this invention are conventional technical means well known to those skilled in the art.

[0098] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0099] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A real-time attitude measurement device for a loading robot, disposed between the vehicle body and chassis, wherein the vehicle body and chassis are rotatably coupled, and an encoder for measuring the rotation angle is provided between the vehicle body and chassis, characterized in that, The real-time vehicle attitude measurement device includes: A compression spring sleeve mechanism is fixed to the bottom of the vehicle body; The push rod (9) is elastically slidably disposed in the compression spring sleeve mechanism, and the bottom of the push rod (9) is used to contact the upper surface of the chassis; A pull rope sensor is fixed to the bottom of the vehicle body, and the movable end of the pull rope sensor is connected to the top end of the top rod (9). The top rod (9) causes the movable end of the pull rope sensing part to move.

2. The device for real-time measurement of the vehicle body attitude of a loading robot according to claim 1, characterized in that: The compression spring sleeve mechanism includes a compression spring sleeve mounting plate (4), which is fixed to the bottom of the vehicle body. A sleeve (5) is detachably connected to the bottom of the compression spring sleeve mounting plate (4). The sleeve (5) has a hollow structure, and the top rod (9) is slidably disposed inside the sleeve (5).

3. The device for real-time measurement of the vehicle body attitude of a loading robot according to claim 2, characterized in that: The sleeve (5) has a fixed end of the first guide and a fixed end of the second guide. The movable end of the first guide and the movable end of the second guide are fixed to the same piston column (11). The bottom of the piston column (11) is fixed to the top of the push rod (9). An elastic part is provided between the top of the piston rod (11) and the inner wall of the sleeve (5); The piston rod (11) is connected to the movable end of the pull rope sensing part.

4. The device for real-time measurement of the vehicle body attitude of a loading robot according to claim 3, characterized in that: The first guide portion includes a first guide rail (7) and a first slider (8). The first slider (8) is slidably engaged with the first guide rail (7). The first guide rail (7) is fixed inside the sleeve (5). The first slider (8) is fixed with the piston column (11).

5. The device for real-time measurement of the vehicle body attitude of a loading robot according to claim 3, characterized in that: The second guide portion includes a second guide rail (12) and a second slider (13), the second guide rail (12) and the second slider (13) are slidably engaged, the second guide rail (12) is fixed inside the sleeve (5), and the second slider (13) is fixed to the piston column (11).

6. The device for real-time measurement of the vehicle body attitude of a loading robot according to claim 3, characterized in that: The elastic part includes a compression spring (6), the top end of which is fixedly connected to the bottom of the compression spring sleeve mounting plate (4), and the bottom end of which is fixedly connected to the top of the piston column (11). The compression spring (6) is in a compressed state.

7. The device for real-time measurement of the vehicle body attitude of a loading robot according to claim 1, characterized in that: The bottom of the top rod (9) is fixed with an anti-slip head (10).

8. A real-time attitude measurement device for a loading robot according to claim 3, characterized in that: The pull rope sensing unit includes a pull rope sensor (2), which is detachably connected to a sensor mounting plate (1). The sensor mounting plate (1) is fixed to the bottom of the vehicle body. One end of a pull rope (3) is wound inside the pull rope sensor (2). The other end of the pull rope (3) passes through the side wall of the sleeve (5) and is fixed to the pull rope connector (14) fixed to the top of the piston rod (11) through a pulley group.

9. A real-time attitude measurement device for a loading robot according to claim 8, characterized in that: The pulley assembly includes a pulley mounting plate (15), which is fixed to the inner wall of the sleeve (5). A fixed pulley (16) rotates on the pulley mounting plate (15), and the pull rope (3) is wound around the fixed pulley (16).

10. A method for real-time measurement of the body posture of a loading robot, using the real-time measurement device for the body posture of a loading robot as described in any one of claims 1-9, characterized in that, Includes the following steps: Determine the axis of rotation at the bottom of the vehicle body; On the front side of the axis of rotation rear Location, left side The right side and the right side One of the aforementioned vehicle attitude real-time measurement devices is installed at each location; Make the bottom of the top rod (9) of the real-time vehicle posture measuring device contact the upper surface of the chassis; As the vehicle body rotates, the readings of the cable sensors of the four real-time vehicle body attitude measuring devices are taken respectively. , , and ; The tilt angle of the vehicle body relative to the chassis is calculated based on the readings of the pull rope sensor. The encoder reads the rotation angle of the vehicle body relative to the chassis. ; Based on the tilt angle and the rotation angle Obtain the attitude of the vehicle body relative to the chassis.

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