Pivot steering device based on intelligent bearing robot

Abstract

The utility model provides a pivot steering device based on an intelligent bearing robot, which is composed of four groups of driving components with consistent functions, the driving components respectively and independently control the driving and steering of four wheels, and each driving component comprises a driving motor (1), a transmission gear box (2), a universal joint transmission shaft (3), a main pin (4) and a wheel (5), a driving steering arm (6), a steering connecting rod (7) and a steering electric cylinder (8); an output shaft of the driving motor (1) is connected with an input shaft of the intermediate transmission gear box (2), torque of the driving motor (1) is transmitted to the universal joint transmission shaft (3) after passing through the intermediate transmission gear box (2), one side of the universal joint transmission shaft (3) is connected with an output shaft of the intermediate transmission gear box (2), the other side of the universal joint transmission shaft (3) is connected with wheels, and therefore power is transmitted to the wheels (5). The steering device is few in parts and can be arranged in a small space, so that the requirement that the ground clearance is smaller than or equal to 25 mm is met.

Description

Technical Field

[0001] The utility model relates to the technical field of automobiles and sports intelligent load-bearing robots, and in particular to an in-situ steering device based on the intelligent load-bearing robot. Background Art

[0002] The intelligent load-bearing robot is an intelligent robot device that can move autonomously at high speed. The overall height of the intelligent load-bearing robot body is very low. It is an intelligent test device that can achieve stable driving on the road at a speed of more than 120 kilometers per hour. It is mainly used to carry simulated targets to simulate the actual movement scenes of pedestrians, cyclists or passenger cars on the road. In reality, many social road scenes have the movement characteristics of turning on the spot, such as pedestrians returning on the spot when crossing the zebra crossing, bicycles or motorcycles turning around on the spot, etc. Therefore, how to make the intelligent load-bearing robot with a ground clearance of ≤25mm realize turning on the spot is a problem that needs to be solved at present.

[0003] Although the prior art provides a variety of on-the-spot steering solutions, for example: in the prior art, CN114735071A discloses a multi-mode trailing-arm steering drive control system and method for an unmanned platform. The steering drive control system can realize four steering modes, namely, high-speed geometric steering, low-speed compound steering, low-speed geometric steering, and on-the-spot steering, through a control strategy. It can ensure the steering control stability of high-speed driving without losing the performance of the existing unmanned platform, and can significantly improve the maneuverability of the vehicle; when the vehicle's electronic control system fails or the vehicle loses signal, the vehicle can rely on the hydraulic system to automatically return to the center, and can avoid accidents caused by wheel deflection. CN 115257922 A discloses a method, device and control system for controlling a six-wheel mobile robot. The method can detect the real-time motion speed of both sides and control the motion control system of the entire robot according to the motion speed and the target speed, and adjust the torque of each tire in real time. When there are certain asymmetric factors in the six-wheel drive four-wheel steering mobile robot, it can realize low-speed in-situ steering, and can keep the rotation center at the geometric center of the vehicle body, so as to avoid the vehicle body from losing balance on the left and right sides and prevent the occurrence of eccentricity problems during in-situ steering. However, the above-mentioned in-situ steering systems cannot be directly used for intelligent robot equipment that can move autonomously at high speed. Utility Model Content

[0004] The purpose of the utility model is to provide a device that is sensitive to operation, has few transmission parts and small ground clearance, and can be used for on-the-spot steering of intelligent load-bearing robots. The technical solution of the utility model is to provide an on-the-spot steering device based on an intelligent load-bearing robot, which is composed of four groups of driving components with the same functions. The driving components independently control the driving and steering of four wheels. The driving components include a driving motor, a transmission gear box, a universal joint transmission shaft, a kingpin, a wheel, a driving steering arm, a steering connecting rod, and a steering electric cylinder;

[0005] The output shaft of the drive motor is connected to the input shaft of the intermediate transmission gearbox. The torque of the drive motor is transmitted to the universal joint drive shaft after passing through the intermediate transmission gearbox. One side of the universal joint drive shaft is connected to the output shaft of the intermediate transmission gear, and the other side of the universal joint drive shaft is connected to the wheel, thereby transmitting power to the wheel.

[0006] The steering electric cylinder is connected to the steering connecting rod, which can drive the steering connecting rod to move. One end of the steering connecting rod is connected to the steering electric cylinder, and the other end of the steering connecting rod is connected to the driving steering arm. The steering connecting rod pushes the driving steering arm to rotate around the vertical axis of the kingpin, thereby driving the wheel to rotate around the kingpin.

[0007] Furthermore, when turning in situ, one side of the wheels on both sides of the chassis of the intelligent load-bearing robot rotates forward and the other side rotates reversely.

[0008] Furthermore, when turning on the spot, the left front wheel and the right rear wheel rotate clockwise around the kingpin to the limit position, and the right front wheel and the left rear wheel are controlled to rotate counterclockwise around the kingpin to the limit position.

[0009] The beneficial effect of this solution is that the in-situ steering device of the intelligent load-bearing robot designed by the utility model, the torque of the driving motor is transmitted to the universal joint drive shaft after passing through the intermediate transmission gear box, and then connected to the wheel through the universal joint drive shaft, has few parts, and can be arranged in a small space, thereby meeting the requirement of ground clearance ≤ 25mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The advantages of the above and / or additional aspects of the present application will become apparent and easily understood in the description of the embodiments in conjunction with the following drawings, in which:

[0011] Figure 1 It is a structural schematic diagram of the four-wheel drive system of the intelligent load-bearing robot of the utility model;

[0012] Figure 2 This is a schematic diagram of the posture of the in-situ steering wheel of an embodiment of the utility model;

[0013] Figure 3 It is a schematic diagram of the system architecture of an embodiment of the utility model;

[0014] Figure 4 It is a control strategy flow chart of an embodiment of the utility model;

[0015] Figure 5 It is a schematic diagram of an on-site turning model of an embodiment of the utility model.

[0016] Among them: 1-drive motor; 2-transmission gearbox; 3-universal joint drive shaft; 4-kingpin; 5-wheel; 6-steering arm; 7-steering connecting rod; 8-steering electric cylinder. DETAILED DESCRIPTION

[0017] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

[0018] In the present invention, the terms "install", "connect", "connect", "fix", "front and back", "left and right", "inside and outside", "up and down" and the like should be understood in a broad sense based on the device. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "connect" can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] As attached Figure 1-3 As shown, this embodiment provides an in-situ steering device based on an intelligent load-bearing robot, which is composed of four groups of driving components with the same functions, and the driving components independently control the driving and steering of four wheels, wherein the driving components include a driving motor 1, a transmission gear box 2, a universal joint drive shaft 3, a kingpin 4, a wheel 5, a driving steering arm 6, a steering link 7, and a steering electric cylinder 8.

[0020] The output shaft of the driving motor 1 is connected to the input shaft of the intermediate transmission gear box 2, and the torque of the driving motor 1 is transmitted to the universal joint transmission shaft 3 after passing through the intermediate transmission gear box 2. One side of the universal joint transmission shaft 3 is connected to the output shaft of the intermediate transmission gear 2, and the other side of the universal joint transmission shaft 3 is connected to the wheel, thereby transmitting power to the wheel 5;

[0021] The steering electric cylinder 8 is connected to the steering link 7, and the steering electric cylinder 8 can drive the steering link 7 to move. One end of the steering link 7 is connected to the steering electric cylinder 8, and the other end of the steering link 7 is connected to the driving steering arm 6. The steering link 7 pushes the driving steering arm 6 to rotate around the vertical axis of the kingpin, thereby driving the wheel 5 to rotate around the kingpin 4.

[0022] When an intelligent load-bearing robot turns on the spot, one side of the wheels on the chassis of the intelligent load-bearing robot is driven to rotate forward and the other side is driven to rotate reversely. The steering controls the left front wheel and the right rear wheel to rotate clockwise around the kingpin to the limit position, and controls the right front wheel and the left rear wheel to rotate counterclockwise around the kingpin to the limit position.

[0023] like Figure 3 As shown in the figure, the intelligent load-bearing robot divides the hardware system of the intelligent load-bearing robot into multiple subsystems such as the weak-current control unit, the drive unit, the battery system, the high-precision integrated navigation system and the lead-out module through the modular design concept, and establishes electrical connections between the subsystems. In order to meet the requirements of waterproof and dustproof, each subsystem is sealed separately, and a waterproof aviation plug is reserved for the electrical connection of each subsystem, and each compartment is sealed at the same time.

[0024] like Figure 4-5 As shown, the four-wheel differential drive achieves steering through the difference in speed between the left and right wheels. The model is mainly driven by four motors. The movement of the model is determined by the interaction force between the wheels and the ground. It has the advantages of strong straight-line walking ability and strong driving force.

[0025] This embodiment provides a method for controlling on-site steering of an intelligent load-bearing robot, comprising the following steps:

[0026] Step 1: When the remote control dial switch is switched to the on-the-spot steering mode, the wheel angle enters the on-the-spot steering mode by controlling the four steering motors.

[0027] The on-the-spot steering mode can effectively reduce wheel wear and wheel driving force when turning on the spot;

[0028] Figure 5 Explanation of the symbols in the figure: Vi: linear velocity of the i-th wheel;

[0029] Set the left wheel speed VL = V1 = V2, and the right wheel speed VR = V3 = V4;

[0030] In order to ensure the real-time response of the motor control speed, the motor working mode is set to speed mode. The motor driver already contains speed PID and current PID control loops. It is only necessary to adjust the PID parameters through the host computer software supporting the driver.

[0031] Step 2: When the throttle stick is pushed forward, a target speed VL=1m / s instruction is sent to the left motor driver, and a target speed VR=-1m / s instruction is sent to the right motor driver, and the intelligent load-bearing robot will turn to the right in place;

[0032] Step 3: When the throttle stick is pushed back, a target speed VL=-1m / s instruction is sent to the left motor driver, and a target speed VR=1m / s instruction is sent to the right motor driver, and the intelligent load-bearing robot will turn to the left in situ;

[0033] Step 4: When the throttle stick returns to the center, a target speed command of VL = VR = 0 m / s is sent to the left and right motor drivers, and the intelligent load-bearing robot stops moving.

[0034] The steps in this application can be adjusted in order, combined, and deleted according to actual needs.

[0035] Although the present application is disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and are not intended to limit the application of the present application. The scope of protection of the present application is defined by the appended claims and may include various modifications, alterations and equivalents made to the utility model without departing from the scope and spirit of the present application.

Claims

1. An in-situ steering device based on an intelligent load-bearing robot, the in-situ steering device is composed of four groups of driving components with the same functions, the driving components independently control the driving and steering of four wheels, the driving components include a driving motor (1), a transmission gear box (2), a universal joint transmission shaft (3), a kingpin (4), a wheel (5), a driving steering arm (6), a steering connecting rod (7), and a steering electric cylinder (8); characterized in that: The output shaft of the driving motor (1) is connected to the input shaft of the transmission gear box (2), and the torque of the driving motor (1) is transmitted to the universal joint transmission shaft (3) after passing through the transmission gear box (2). One side of the universal joint transmission shaft (3) is connected to the output shaft of the transmission gear box (2), and the other side of the universal joint transmission shaft (3) is connected to the wheel, thereby transmitting power to the wheel (5); The steering electric cylinder (8) is connected to the steering link (7), and the steering electric cylinder (8) can drive the steering link (7) to move. One end of the steering link (7) is connected to the steering electric cylinder (8), and the other end of the steering link (7) is connected to the driving steering arm (6). The steering link (7) drives the driving steering arm (6) to rotate around the vertical axis of the kingpin, thereby driving the wheel (5) to rotate around the kingpin (4).

2. The in-situ steering device based on the intelligent load-bearing robot according to claim 1, characterized in that: When turning on the spot, one side of the wheels on both sides of the chassis of the intelligent load-bearing robot rotates forward and the other side rotates reversely.

3. The in-situ steering device based on the intelligent load-bearing robot according to claim 2, characterized in that: When turning on the spot, the left front and right rear wheels rotate clockwise around the kingpin to the limit position, and the right front and left rear wheels are controlled to rotate counterclockwise around the kingpin to the limit position.

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