CN110466633A - The adaptive specialized robot of suspension height and operational method suitable for adverse circumstances - Google Patents
The adaptive specialized robot of suspension height and operational method suitable for adverse circumstances Download PDFInfo
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- CN110466633A CN110466633A CN201910800351.3A CN201910800351A CN110466633A CN 110466633 A CN110466633 A CN 110466633A CN 201910800351 A CN201910800351 A CN 201910800351A CN 110466633 A CN110466633 A CN 110466633A
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- height
- chassis body
- shockproof
- suspension height
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/32—Track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of adaptive specialized robot of suspension height suitable for adverse circumstances and operational methods, including chassis body and the suspension shockproof mechanism being connect with chassis body, suspension height setting mechanism, electrically driven and control mechanism, suspension shockproof mechanism and suspension height setting mechanism are provided with two sets, two sets of suspension shockproof mechanisms are respectively arranged at the two sides of chassis body, and every set suspension shockproof mechanism is connect by a set of suspension height setting mechanism with electrically driven and control mechanism.It realizes that two sets of left and right suspension shockproof mechanism is adjusted with respect to the unattached height of chassis body by suspension height setting mechanism, guarantees power commutation and lasting output when to suspension shockproof mechanism height adjustment；Robot traveling attitudes vibration on the way is perceived by setting posture perception mechanism, counter to push away road conditions bumps situation, real-time control adjustment suspension shockproof mechanism height guarantees stationarity, improves obstacle performance, improve the adaptivity of mobile platform.
Description
Technical field
The invention belongs to robot chassis technology fields, and in particular to a kind of suspension height suitable for adverse circumstances is adaptive
Answer specialized robot and operational method.
Background technique
Caterpillar chassis has many advantages, such as that flexible movements, load-bearing capacity is good, obstacle climbing ability is strong, is usually used in complicated severe ground
Particular kind of machine mobile platform.Opposite wheel track formula chassis, caterpillar chassis have stronger due to being provided with suspended shock absorbing mechanism
Obstacle performance and complicated landform handling capacity.The vehicle with walking machine of caterpillar chassis and matched suspension assembly as associated mechanical
Structure, developing direction are sent out around high adaptivity, high movement property energy, security reliability and robust motion etc. always
Exhibition.
Caterpillar chassis mainly uses the shockproof suspension system of specific structure at present, and it is symmetrical to be divided into each side setting
Suspension assembly.It is general to realize that robot exists using the mechanical mechanism that raises to improve caterpillar chassis complex road surface handling capacity
Chassis height in traveling process, to realize avoidance etc..Typical technical solution has Patent No. 201810575356.6 public
A kind of adjustable crawler attachment of cloth realizes the height adjustment on chassis, to improve crawler type bottom by adjusting hydraulic pole length
The passability of disk.The patent No. 201711335346.7 discloses the height adjustment device and method of a kind of caterpillar chassis, hydraulic
The piston cylinder end of cylinder translocation changes the angle between inside and outside drive rod, to change track bottom by setting rack gear engaging mechanism
Consolidation body running height is with avoidance.
The suspension assembly of existing caterpillar chassis generally uses stationary structure, when movement the angle of suspension or
Height can not change, when suspension assembly by " _-" type, "-_ " type or the different complicated ground of other height on both sides, barrier or
When ramp, chassis upper end operating angle changes, serious to the observation of chassis upper end or operating equipment operating angle disturbing influence,
And chassis work smoothness reduce, suspension unbalance stress, and serious deformation can occur for crawler belt, and slight person damages crawler belt or falls
Band, it is heavy then make the left and right sides caterpillar belt structure unbalance stress occur car body damage even topple, seriously endanger the crawler body service life, it is right
Chassis passability and obstacle detouring propose huge challenge.
The scheme that only wheel undercarriage height is adjusted in prior art, it is existing since crawler type driving mechanism is complicated
It is to synchronize to adjust to realize that chassis is whole high to left and right sides suspension in the scheme for thering is crawler type suspension height to adjust
Degree adjustment can not adapt to the different complex road surface of left and right height, not there is independent to suspension, efficient height adjustment also at present
Mechanism or scheme.
Summary of the invention
The purpose of the present invention is to provide a kind of adaptive specialized robot of suspension height suitable for adverse circumstances and its
Operational method independently changes the height of caterpillar chassis side-by-side mounting component, to make suspension and caterpillar system more in real time
It is bonded ground well, suitable for there are the complicated landform of left and right difference in height, raising chassis climbing obstacle performance and work smoothness
Can, solve that compactness of crawler belt when facing all kinds of complicated grounds is poor, falls crawler belt and the problems such as platform inclination even topples.
The technical solution adopted by the present invention to solve the technical problems is: the suspension height suitable for adverse circumstances is adaptive
Specialized robot, including chassis body, suspension shockproof mechanism, suspension height setting mechanism, electrically driven and control mechanism, it is described
Suspension shockproof mechanism, suspension height setting mechanism, electrically driven and control mechanism are connect with chassis body, hang shockproof mechanism
Two sets are provided with suspension height setting mechanism, two sets of suspension shockproof mechanisms are respectively arranged at the two sides of chassis body, every set
Suspension shockproof mechanism is connect by a set of suspension height setting mechanism with electrically driven and control mechanism.
Specifically, the chassis body includes rack, shell, suspension transition plates, shell is set in rack, rack two sides
It is all connected with suspension transition plates.
Specifically, two sets of suspensions shockproof mechanism is respectively arranged in the suspension transition plates of chassis body two sides, every set
Hang shockproof mechanism include suspension side plate, driving wheel, other gear mechanisms, shockproof mechanism, crawler belt, suspension side plate by bracket with
The connection of suspension height setting mechanism；Driving wheel, gear mechanism are provided with to drive, support crawler belt, shock-absorbing machine on suspension side plate
Structure is set on suspension side plate.
Specifically, the suspension height setting mechanism is set between the rack of chassis body and suspension transition plates, every set
Suspension height setting mechanism includes suspension height adjustment mechanism and the adaptive transmission mechanism of power.
Specifically, every set suspension height adjustment mechanism includes shaft, adjusting seat, slide bar, first connecting rod, the second company
Bar, third connecting rod, lead screw, lifting motor, adjustment block, lifting linking member, adjusting seat are arranged on the inside of rack, and the side of adjusting seat is perpendicular
Histogram has set up notch, and the slide bar that can be slided up and down is equipped in notch, and the lower end of slide bar and one end of lifting linking member connect
It connects, the L-shaped structure of lifting linking member, the other end and the suspension transition plates of lifting linking member are connected and fixed；The upper end of slide bar connects third
One end of one end of connecting rod, the upper end of notch and first connecting rod connects, the other end of first connecting rod, one end of second connecting rod, the
The middle part of three-link by shaft it is hinged, first connecting rod, second connecting rod and third connecting rod be in interconnection shape, third connecting rod it is another
One end is provided with sliding block, and sliding block lower end surface is provided with lifting motor, and the other end of second connecting rod is provided with adjustment block, and adjustment block is
There are helicitic texture in feed screw nut, inside, and adjustment block and lead screw are cooperatively connected, and lead screw passes perpendicularly through the sliding block of third connecting rod end,
The lower end of lead screw and the output axis connection of lifting motor.
Specifically, the adaptive transmission mechanism of power includes the first reversing mechanism, transmission telescoping mechanism, the second reversing machine
The input terminal of structure, the first reversing mechanism is connected to motor, and the output end of the first reversing mechanism passes through transmission telescoping mechanism and second
The input terminal of reversing mechanism connects, and the output end of the second reversing mechanism is connect with driving wheel.
Specifically, the electrically driven and control mechanism include control mechanism, posture perception mechanism, motor-driven mechanism,
Motor, battery, barrier sensing mechanisms, control mechanism, posture perception mechanism, motor-driven mechanism, motor, battery are all set in
Machine frame inside, control mechanism connect posture perception mechanism, motor-driven mechanism, barrier sensing mechanisms and suspension height adjusting
Lifting motor in mechanism, motor-driven mechanism connect motor, and number of motors is two sets, are arranged symmetrically, the output of two sets of motors
Axis respectively connects two set of first reversing mechanism in suspension height setting mechanism, each consuming components company of battery and robot interior
It connects, barrier sensing mechanisms is distance measuring sensor or laser radar, and barrier sensing mechanisms is mounted on the shell in front of rack.
A kind of operational method of the adaptive specialized robot of suspension height suitable for adverse circumstances, including specialized robot
Road surface motion work method by flat road conditions and specialized robot are by " _-" type or "-_ " type or so difference in height
Road surface motion work method.
Specifically, road surface motion work method of the specialized robot Jing Guo flat road conditions the following steps are included:
(1) lifting motor in control mechanism control suspension height setting mechanism keeps self-supplying capacity to be failure to actuate, at this time chassis
The suspension shockproof mechanism of main body two sides is in sustained height level with respect to chassis body；
(2) control mechanism controls motor-driven mechanism two sets of motors of driving in electrically driven and control mechanism and turns respectively
Dynamic, power is transmitted to the first reversing mechanism through machine shaft output shaft, continues through transmission telescoping mechanism and reaches the second reversing machine
Structure, the driving wheel movement from driving suspension shockproof mechanism；
(3) after driving wheel rotation, dragging crawler belt rotation, and then other gear mechanism rotations are driven, it is formed continuous to crawler belt
Rotation, so that chassis body be driven to move；
(4) control mechanism is by changing the steering of two sets of left and right motor and direction in above-mentioned motion process, to complete bottom
Straight ahead, straight line retrogressing, turning or the original place circus movement of disc main body.
Specifically, the specialized robot is by " _-" left low and right high type or "-_ " right low left high type or so difference in height
Road surface motion work method the following steps are included:
(1) when specialized robot is by " _-" left low and right high type road surface, the suspension shockproof mechanism in left side can sink contiguously
Face, and the suspension shockproof mechanism on right side can then keep a relatively high height, chassis body generation deflects to the left, specific to make
Steps are as follows for industry:
1) control mechanism by posture perception mechanism collect chassis body have begun generation slightly be tilted to the left when, control
Mechanism processed starts to control the lifting motor rotation in left side in suspension height setting mechanism；
2) when the lifting motor on the left of rotates, lead screw rotation is driven, is acted on by linkage, slide bar is transported downwards in adjusting seat
It is dynamic, drive the suspension shockproof mechanism in lifting linking member and the left side being attached thereto to carry out height adjustment downwards with respect to rack；
3) at this point, the suspension shockproof mechanism in left side and its suspension side plate, the driving wheel, other gear mechanisms, shock-absorbing of inside
Mechanism and external height of crawler integrally increase, thus the chassis body that Contrary compensation is tilted to the left；
4) during suspension height adjusts, the motor rotation of control mechanism also real-time control two sides, power is changed through first
Driving wheel into mechanism, transmission telescoping mechanism and the second reversing mechanism driving suspension shockproof mechanism moves；Wherein transmission is flexible
Mechanism guarantees that power commutation, transmission of the suspension height setting mechanism when carrying out suspension height adjustment extend to guarantee that power continues
Output；
5) further, when above-mentioned adjustment process is not enough to the trend or speed that Contrary compensation chassis body is tilted to the left
When, control mechanism controls the lifting motor rotation on right side in suspension height setting mechanism, by above-mentioned steps 1) mistake of-step 4)
Cheng Hou, the suspension shockproof mechanism on right side and its suspension side plate, driving wheel, other gear mechanisms, shockproof mechanism and the outside of inside
Height of crawler integrally reduce, thus the chassis body that Contrary compensation is tilted to the left, after completing above-mentioned suspension height compensation, bottom
Disc main body can keep relative horizontal movement on " _-" type road surface；
(2) when specialized robot is by "-_ " right low left high type road surface, the suspension shockproof mechanism on right side can sink contiguously
Face, and the suspension shockproof mechanism in left side can then keep a relatively high height, chassis body generation deflects to the right, specific to make
Industry step is opposite with the job step of above-mentioned steps (1)；
(3) when specialized robot passes through other left and right difference in height road surfaces, in chassis body motion process, due to by left
The road surface of right difference in height can make chassis body occur horizontal deflection, the deflection action can be perceived by posture perception mechanism and on
The suspension height setting mechanism at left and right sides of control mechanism analysis and Decision Control is reached, thus to the chassis for just starting deflection
Main body or so height independent compensation, while it is high simultaneously also to cooperate barrier sensing mechanisms to complete left and right sides suspension shockproof mechanism
Degree compensation, completes obstacle detouring.
The invention has the following advantages: the present invention realizes two sets of left and right by invention suspension height setting mechanism
The unattached height that shockproof mechanism is hung with respect to chassis body adjusts, while ensure that when to suspension shockproof mechanism height adjustment
Power commutation and lasting output, ensure that the power demand of robot motion；By setting, posture perception mechanism perceives robot
It advances attitudes vibration on the way, it is counter to push away road conditions bumps situation, so that real-time control adjustment suspension shockproof mechanism height, guarantees robot
The level and stationarity advanced on the way improve obstacle performance, improve the adaptivity of mobile platform, to promotion specialized robot
Play a significant role in complicated severe ground high-performance, high smooth motion.
Detailed description of the invention
Fig. 1 is the adaptive specialized robot schematic perspective view of suspension height of the present invention.
Fig. 2 is the adaptive specialized robot schematic view of the front view of suspension height of the present invention.
Fig. 3 is the adaptive specialized robot left view structural representation of suspension height of the present invention.
Fig. 4 is the adaptive specialized robot right side structural representation of suspension height of the present invention.
Fig. 5 is the adaptive specialized robot backsight structural representation of suspension height of the present invention.
Fig. 6 is the overlooking structure diagram after the adaptive specialized robot removal upper housing of suspension height of the present invention.
Fig. 7 is the schematic perspective view of suspension height adjustment mechanism of the present invention.
Fig. 8 is the schematic view of the front view of suspension height adjustment mechanism of the present invention.
Fig. 9 is the left view structural representation of suspension height adjustment mechanism of the present invention.
Figure 10 is the right side structural representation of suspension height adjustment mechanism of the present invention.
Figure 11 is the schematic perspective view of the adaptive transmission mechanism of power of the present invention.
Figure 12 is the schematic view of the front view of the adaptive transmission mechanism of power of the present invention.
Figure 13 is the left view structural representation of the adaptive transmission mechanism of power of the present invention.
Figure 14 is the right side structural representation of the adaptive transmission mechanism of power of the present invention.
Figure 15 is the overlooking structure diagram of the adaptive transmission mechanism of power of the present invention.
Specific embodiment
The following is specific embodiments of the present invention, is described further to technical solution of the present invention, but of the invention
Protection scope is not limited to these examples.It is all to be included in the present invention without departing substantially from the change of present inventive concept or equivalent substitute
Protection scope within.
As shown in Figure 1, 2, suitable for the adaptive specialized robot of the suspension height of adverse circumstances, including it is chassis body 1, outstanding
Hang shockproof mechanism 2, suspension height setting mechanism 3, electrically driven and control mechanism 4, suspension shockproof mechanism 2, suspension height adjusting
Mechanism 3, electrically driven and control mechanism 4 are connect with chassis body 1, hang shockproof mechanism 2 and suspension height setting mechanism 3 is equal
Two sets are provided with, two sets of suspension shockproof mechanisms 2 are respectively arranged at the two sides of chassis body 1, and every set suspension shockproof mechanism 2 passes through one
Set suspension height setting mechanism 3 is connect with electrically driven and control mechanism 4.
Chassis body 1 is the ontology of specialized robot, realizes the connection to other components, supports and fixes function, such as Fig. 6
Shown, chassis body 1 includes rack 11, shell 12, suspension transition plates 13, and shell 12 is plate structure, totally 6 face, and shell 12 is set
It is placed in rack 11, for protecting robot interior component, to form the hollow structure of sealing.Rack 11 is square framework type
Structure, 11 two sides of rack are all connected with suspension transition plates 13.Suspension transition plates 13 is rectangle stripe board, and quantity is two sets, respectively
It is fixed on 11 left and right sides of rack.Suspension transition plates 13 is connecting base plate main body 1, suspension anti-vibration component 2 and suspension height adjusting
The intermediary of mechanism 3.
Suspension shockproof mechanism 2 can realize contact friction and shock-proof effect of the robot with ground, two sets of suspension shockproof mechanisms 2
11 two sides of rack are respectively arranged in the suspension transition plates 13 of 1 two sides of chassis body and are in, as shown in figure 5, the suspension of every set is kept away
Shaking mechanism 2 includes suspension side plate 21, driving wheel 22, other gear mechanisms 23, shockproof mechanism 24, crawler belt 25.It is logical to hang side plate 21
Bracket is crossed to connect with suspension height setting mechanism 3；Driving wheel 22, gear mechanism 23, driving wheel 22 are provided on suspension side plate 21
It is set to suspension 21 rear end of side plate, to drive crawler belt 25 to rotate, other gear mechanisms 23 are set on suspension side plate 21, to
It drags crawler belt 25 or realizes the functions such as load-bearing.Shockproof mechanism 24 is set on suspension side plate 21, passes through elastic element or damping group
Part is realized to suspension shockproof mechanism 2 and ground damping effect.
Hang the working mechanism of shockproof mechanism 2 are as follows: when driving wheel 22 rotates, dragging crawler belt 25 is rotated, and then drives other
Gear mechanism 23 rotates, and is formed to 25 continuous rotation of crawler belt, so that chassis body 1 be driven to move；Meanwhile shockproof mechanism 24 passes through
The damping weakening effect of natural resiliency element or dampening assembly is weakened or even is disappeared to the vibration for passing to chassis body 1 from ground
It removes.
Suspension height setting mechanism 3 is realized to the highly automated adjustment of suspension shockproof mechanism 2, is divided into symmetrical two
Set, and be set between 11 two sides of rack and suspension transition plates 13.As shown in figure 3, every set suspension height setting mechanism 3 includes outstanding
Hang height regulating mechanism 31 and the adaptive transmission mechanism 32 of power.
The setting of suspension height adjustment mechanism 31 is in 11 left and right sides of rack, to realize the opposite suspension shockproof mechanism of rack 11
2 function of regulating height thereof, as shown in Fig. 4, Fig. 7-10, suspension height adjustment mechanism 31 includes shaft 310, adjusting seat 311, slide bar
312, first connecting rod 313, second connecting rod 314, third connecting rod 315, lead screw 316, lifting motor 317, adjustment block 318, lifting connect
Bar 319.
Adjusting seat 311, which is arranged on 11 inside of rack, the side vertical direction of adjusting seat 311, is provided with notch, in notch
Equipped with the slide bar 312 that can be slided up and down, the lower end of slide bar 312 is connect with one end of lifting linking member 319, and lifting linking member 319 is in L
Shape slab construction, the other end and the suspension transition plates 13 of lifting linking member 319 are connected and fixed.The upper end connection third of slide bar 312 connects
The upper end of one end of bar 315, notch is connect with one end of first connecting rod 313, the other end, the second connecting rod 314 of first connecting rod 313
One end, the middle part of third connecting rod 315 it is hinged by shaft 310, first connecting rod 313, second connecting rod 314 and third connecting rod 315
In interconnection shape, the other end of third connecting rod 315 is provided with sliding block, and sliding block lower end surface is provided with lifting motor 317, and second connects
The other end of bar 314 is provided with adjustment block 318, and adjustment block 318 is feed screw nut, and there are helicitic texture, adjustment block 318 and silk in inside
Thick stick 316 is cooperatively connected, and lead screw 316 passes perpendicularly through and is provided with sliding block and adjustment block 318, lead screw at the other end of third connecting rod 315
316 lower end and the output axis connection of lifting motor 317.
The principle or working method that 31 pairs of suspension height adjustment mechanism suspension shockproof mechanisms 2 highly adjust are as follows: when lifting electricity
When machine 317 rotates, drives lead screw 316 to rotate, due to 318 inside feed screw nut of adjustment block and 316 fiting effect of lead screw, make to adjust
318 OQ t motor 317 of block moves up and down, and second connecting rod 314 moves up and down at this time, thus drive shaft 310 obliquely or
Reverse movement, drive first connecting rod 313, third connecting rod 315 to the direction close to lead screw 316 obliquely or counter motion, thus
Band moving slide-bar 312 moves up and down in adjusting seat 311, and final realize drives lifting linking member 319 and the suspension being attached thereto to keep away
Mechanism 2 is shaken to adjust with respect to 11 upper-lower height of rack.
The adaptive transmission mechanism 32 of power is highly adjusted to guarantee in 3 pairs of suspension shockproof mechanisms 2 of suspension height setting mechanism
When whole, continuous power output transfer function is provided, as shown in figure 11, the adaptive transmission mechanism 32 of power includes the first reversing mechanism
321, it is driven telescoping mechanism 322, the second reversing mechanism 323, the input terminal of the first reversing mechanism 321 is connect with motor 44, and first
The output end of reversing mechanism 321 is connect by being driven telescoping mechanism 322 with the input terminal of the second reversing mechanism 323, the second commutation
The output end of mechanism 323 is connect with driving wheel 22.
First reversing mechanism 321 is mainly realized is transferred to transmission from electrically driven and control mechanism 4 for power after commutating
Telescoping mechanism 322, as shown in figs. 12-15, the first reversing mechanism 321 include first rotating shaft 321a, the first umbrella tooth 321b, first
Frame 321c, second support 321d, the second shaft 321e, the second umbrella tooth 321f, third umbrella tooth 321g.First rotating shaft 321a is set to
Among first support 321c, the one end first rotating shaft 321a connects the output shaft of motor 44, and the other end connects the first umbrella tooth 321b, the
One umbrella tooth 321b, the second umbrella tooth 321f, third umbrella tooth 321g engage connection between each other, and third umbrella tooth 321g is arranged at second
On frame 321d, first support 321c and second support 321d are U structure, vertical to connect, and first support 321c and second
Bearing is equipped between bracket 321d, the second shaft 321e passes through bearing to make angle between first support 321c and second support 321d
Degree adjustment, and second one end shaft 321e passes through bearing and connects the second umbrella tooth 321f, the 321g connection of third umbrella tooth is driven telescopic machine
First sleeve 322a in structure 322, the axle center first sleeve 322a and the axle center first rotating shaft 321a angle are 90 °.
The commutation of first reversing mechanism 321 and power transfer principle are as follows: after power is transferred to first rotating shaft 321a, first turn
Power is transferred to the second shaft 321e, due to the second umbrella of the second shaft 321e connection by gear engagement by axis 321a
Tooth 321f is also engaged with third umbrella tooth 321g, the first sleeve 322a that power is transferred to third umbrella tooth 321g and is attached thereto
On, the axle center first sleeve 322a and the axle center first rotating shaft 321a angle are 90 ° at this time.
Transmission telescoping mechanism 322, which is realized, is transferred to the second reversing mechanism 323 from the first reversing mechanism 321 for power, and
In power transmission process, the variation of power transmission length is realized by itself telescoping mechanism.As shown in figure 13, it is driven telescoping mechanism
322 include first sleeve 322a, third shaft 322b, second sleeve 322c, and first sleeve 322a and second sleeve 322c are
Pivot structure, one end of first sleeve 322a are connect with the third umbrella tooth 321g of the first reversing mechanism 321, first sleeve 322a's
The other end is connect by third shaft 322b with one end of second sleeve 322c, the other end of second sleeve 322c and the second commutation
4th umbrella tooth 323a connection of mechanism 323.First sleeve 322a and second sleeve 322c is hollow structure, third shaft 322b
Both ends be respectively equipped with spring structure, the both ends of third shaft 322b are plugged in first sleeve 322a and second sleeve 322c respectively
Hollow structure in, by the elastic force of spring structure act on third shaft 322b first sleeve 322a and second sleeve 322c it
Between suspend.The cross sectional shape one of the both ends of third shaft 322b and first sleeve 322a and second sleeve 322c hollow structure
It causes, is polygon than a circular one, it is preferably rectangular.
There are gap, i.e., between the both ends of third shaft 322b and first sleeve 322a and second sleeve 322c hollow structure
The cross sectional shape of three shaft 322b is slightly less than the cross sectional shape of first sleeve 322a, second sleeve 322c hollow structure, and effect is
When first sleeve 322a rotates, third shaft 322b can be driven to rotate, and then drive second sleeve 322c rotation；And first sleeve
When the distance between 322a and second sleeve 322c change, third shaft 322b is between first sleeve 322a and second sleeve 322c
Since action edge transmitting of going forward side by side of floating between first sleeve 322a and second sleeve 322c is realized in spring effect.
In order to guarantee that third shaft 322b insertion distance in first sleeve 322a and second sleeve 322c is identical, third turns
Axis 322b is due to the effect of gravity, therefore the elastic force of the spring structure for the end third shaft 322b connecting with second sleeve 322c is answered
Slightly larger than the elastic force of the spring structure for the end third shaft 322b being connect with first sleeve 322a.
In order to guarantee third shaft 322b without departing from first sleeve 322a, second sleeve 322c, therefore first sleeve 322a,
The length of third shaft 322b is not to be exceeded when distance increases between second sleeve 322c, works as first sleeve 322a, second certainly
When distance reduces between sleeve 322c, the length that compression distance is not less than third shaft 322b should be also followed.
The structure composition and function of second reversing mechanism 323 are consistent with the first reversing mechanism 321, as shown in Figure 12,13, the
Two reversing mechanisms 323 include the 4th umbrella tooth 323a, third bracket 323b, the 5th umbrella tooth 323c, the 4th shaft 323d, the 4th bracket
323e, the 6th umbrella tooth 323f, the 5th shaft 323g.4th umbrella tooth 323a is connect with second sleeve 322c, the 4th umbrella tooth 323a,
Connection is intermeshed between five umbrella tooth 323c and the 6th umbrella tooth 323f, the 4th umbrella tooth 323a is arranged on third bracket 323b, the
Six umbrella tooth 323f are arranged on the 4th bracket 323e, and third bracket 323b is vertically arranged with the 4th bracket 323e opposite direction, the 5th umbrella
Tooth 323c is provided through on the 4th shaft 323d between third bracket 323b and the 4th bracket 323e, the 5th umbrella tooth 323c with
One end of 5th shaft 323g connects, and the other end of the 5th shaft 323g is connect with driving wheel 22, and the axis of the 5th shaft 323g
The axle center angle of the heart and second sleeve 322c are 90 °.
The adaptive transmission mechanism 32 of power realizes that whole Commutating mechanism and power transmission function are as follows:
Due to the output shaft of first rotating shaft 321a connection motor 44, power needs to be transferred to the 5th where driving wheel 22
Shaft 323g, and since driving wheel 22 can hang the effect and phase that shockproof mechanism 2 highly adjusts with 3 pairs of suspension height setting mechanism
It changes between distance vertical first rotating shaft 321a, therefore there are two the functions of the adaptive realization of transmission mechanism 32 of power:
(1) power commutation function
When first rotating shaft 321a and the 5th shaft 323g be not in same straight line, due to the first umbrella tooth 321b, the second umbrella tooth
321f, third umbrella tooth 321g intermeshing effect, cooperation first support 321c and second support 321d make from first rotating shaft
The power commutation of 321a input, the axle center of final first rotating shaft 321a and the axle center angle of third umbrella tooth 321g are 90 °, realize one
Secondary commutation.Power reaches the through first sleeve 322a, third shaft 322b, second sleeve 322c transmission axle from third umbrella tooth 321g
Four umbrella tooth 323a, by the engagement of the 4th umbrella tooth 323a, the 5th umbrella tooth 323c and the 6th umbrella tooth 323f in the second reversing mechanism 323
Second of power commutation is realized in effect, it may be assumed that the angle of the axle center of the 4th umbrella tooth 323a and the 6th umbrella tooth 323f axis is 90 °, from
And makes the axle center angle of first rotating shaft 321a and the 5th shaft 323g become 0 °, be parallel to each other but be not overlapped.First rotating shaft
Vertical distance between 321a and the 5th shaft 323g is to be driven the length of telescoping mechanism 322.
(2) power transmission extension function
When hanging shockproof mechanism 2 and being adjusted with respect to 1 upper-lower height of chassis body, be connected at this time with the shaft of motor 44 the
One shaft 321a occurs height relative to the vertical distance of the 5th shaft 323g on driving wheel 22 and adjusts, to make first sleeve
Passive extension or compression occur for the spacing between 322a and second sleeve 322c.Due to being driven the effect of telescoping mechanism 322, third
The spring at the both ends shaft 322b takes off third shaft 322b not always in first sleeve 322a, the effect of second sleeve 322c inner support
From first sleeve 322a, second sleeve 322c, held so that the power between first sleeve 322a and second sleeve 322c be made to transmit
It is continuous continuous.
Electrically driven and control mechanism 4 is robot parameter acquisition, information fusion, power drive and control decision mechanism,
As shown in Fig. 3, Fig. 6, electrically driven and control mechanism 4 includes control mechanism 41, posture perception mechanism 42, motor-driven mechanism
43, motor 44, battery 45, barrier sensing mechanisms 46.Control mechanism 41, posture perception mechanism 42, motor-driven mechanism 43, electricity
Machine 44, battery 45 are all set in inside rack 11, and control mechanism 41 connects posture perception mechanism 42, motor-driven mechanism 43, barrier
Hinder the lifting motor 317 in object sensing mechanisms 46 and suspension height setting mechanism 3, posture perception mechanism 42 can real-time perception bottom
The left and right oblique attitude degree of disc main body 1 and by the parameter feedback to control mechanism 41.Motor-driven mechanism 43 connects motor 44
Realize power drive, for the setting of motor 44 at 11 inside rear of rack, 44 quantity of motor is two sets, is arranged symmetrically, two sets of motors 44
Output shaft respectively connect the first rotating shaft 321a in suspension height setting mechanism 3 in two set of first reversing mechanism 321.Battery 45
It connect with each consuming components of robot interior, powers for robot interior consuming components.Barrier sensing mechanisms 46 is ranging
Sensor or laser radar, barrier sensing mechanisms 46 is mounted on the shell 1 in 11 front of rack, to detect front obstacle
Height simultaneously transmits information to control mechanism 41.
Electrically driven and control mechanism 4 working principle are as follows: control mechanism 41 is driven by control motor-driven mechanism 43
The two sets of motors 44 in left and right rotate respectively, to realize that the movement to chassis body 1 drives.During moving driving, machine is controlled
Structure 41 perceives the angle that tilts of chassis body 1 by control posture perception mechanism 42, judges the concave-convex road conditions on traveling ground,
Height tune to 3 pairs of suspension height setting mechanism suspension shockproof mechanisms 2 at left and right sides of real-time control with respect to chassis body 1
It is whole, guarantee the horizontal movement of chassis body 1.Control mechanism 41 is hindered by control barrier sensing mechanisms 46 in front of car body simultaneously
Hinder the height detection of object, thus the height of the opposite suspension shockproof mechanism 2 of adjustment chassis body 1 in real time, improve kinetic stability and
Obstacle performance.
A kind of operational method of the adaptive specialized robot of suspension height suitable for adverse circumstances, including specialized robot
Road surface motion work method by flat road conditions and specialized robot are by " _-" type or "-_ " type or so difference in height
Road surface motion work method.
1, when road surface of the specialized robot Jing Guo flat road conditions, since left and right sides suspension shockproof mechanism 2 is anti-by ground
Feedforward parameter is consistent, so that it is horizontal with respect to holding to make chassis body 1, to make the suspension shockproof mechanism 2 of 1 left and right sides of chassis body
Etc. high degree of motion, motion work method the following steps are included:
(1) control mechanism 41 controls the holding of lifting motor 317 self-supplying capacity in suspension height setting mechanism 3 and is failure to actuate, this
When 1 two sides of chassis body suspension shockproof mechanism 2 with respect to chassis body 1 be in sustained height horizontal；
(2) control mechanism 41 controls the motor-driven mechanism 43 in electrically driven and control mechanism 4 and drives two sets of motors 44
It rotates respectively, power is transmitted to the first rotating shaft 321a in the first reversing mechanism 321 through 44 output shaft of motor, continues through first
Umbrella tooth 321b, the second umbrella tooth 321f, third umbrella tooth 321g, first sleeve 322a, third shaft 322b, second sleeve 322c,
Four umbrella tooth 323a, the 5th umbrella tooth 323c, the 6th umbrella tooth 323f are transmitted to the 5th shaft 323g, and power is by the first reversing mechanism 321
It is driven telescoping mechanism 322 and is transmitted to the second reversing mechanism 323, so that the driving wheel 22 in suspension shockproof mechanism 2 be driven to move；
(3) after driving wheel 22 rotates, dragging crawler belt 25 is rotated, and then other gear mechanisms 23 is driven to rotate, and is formed to shoe
25 continuous rotation of band, so that chassis body 1 be driven to move.
Further, steering and direction of the control mechanism 41 by two sets of left and right motor 44 in the above-mentioned motion process of change,
To complete the straight ahead of chassis body 1, the movement such as straight line retreats, turning or original place are turn-taked.
2, the adaptive specialized robot of suspension height is in the left and right height such as " _-" left low and right high type or "-_ " right low left high type
When the road surface movement of difference, since left and right sides suspension shockproof mechanism 2 is inconsistent by ground feedback parameter, to make chassis body
1 deviates horizontal, run-off the straight, and it is whole to control suspension height after the Parameter analysis that control mechanism 41 is acquired by posture perception mechanism 42
Determine mechanism 3 to act, to make 2 And of Varying Depth of the suspension shockproof mechanism movement of 1 left and right sides of chassis body, specialized robot warp
Cross the road surface motion work method of " _-" left low and right high type or "-_ " right low left high type or so difference in height the following steps are included:
(1) when specialized robot is by " _-" left low and right high type road surface, the suspension shockproof mechanism 2 in left side can sink contiguously
Face, and the suspension shockproof mechanism 2 on right side can then keep a relatively high height, the generation of chassis body 1 deflects to the left, specifically
Job step is as follows:
1) control mechanism 41 is collected chassis body 1 and is had begun and occurs slightly to be tilted to the left by posture perception mechanism 42
When, the lifting motor 317 that control mechanism 41 starts to control left side in suspension height setting mechanism 3 rotates；
2) it when the lifting motor 317 on the left of rotates, drives lead screw 316 to rotate, is acted on by linkage, slide bar 312 is adjusting
Moved downward in seat 311, drive the suspension shockproof mechanism 2 in lifting linking member 319 and the left side being attached thereto with respect to rack 11 to
Lower progress height adjustment；
3) at this point, the suspension shockproof mechanism 2 in left side and its suspension side plate 21, the driving wheel 22, other gear mechanisms of inside
23, shockproof mechanism 24 and the whole increase of 25 height of the crawler belt of outside, thus the chassis body 1 that Contrary compensation is tilted to the left；
4) during suspension height adjusts, the motor 44 of the also real-time control two sides of control mechanism 41 is rotated, and power is through the
Driving wheel 22 in one reversing mechanism 321, transmission telescoping mechanism 322 and the second reversing mechanism 323 driving suspension shockproof mechanism 2 is transported
It is dynamic；Wherein transmission telescoping mechanism 322 guarantees that power of the suspension height setting mechanism 3 when carrying out suspension height adjustment is commutated, passed
It is dynamic to extend to guarantee that power persistently exports；
5) further, when above-mentioned adjustment process is not enough to the trend or speed that Contrary compensation chassis body 1 is tilted to the left
When, the lifting motor 317 that control mechanism 41 controls right side in suspension height setting mechanism 3 rotates, by above-mentioned steps 1)-step
4) after process, the suspension shockproof mechanism 2 on right side and its internal suspension side plate 21, other gear mechanisms 23, are kept away driving wheel 22
It shakes mechanism 24 and external 25 height entirety of crawler belt reduces, so that the chassis body 1 that Contrary compensation is tilted to the left, is completed above-mentioned
After suspension height compensation, chassis body 1 can keep relative horizontal movement on " _-" type road surface.
During the adjustment of above-mentioned suspension height, control mechanism 41 is by control barrier sensing mechanisms 46 in front of car body
The height detection of barrier, when the adjustment of above-mentioned suspension height finishes, 1 relative level of chassis body when and current chassis body 1
When can not still pass through barrier, the suspension height setting mechanism 3 that control mechanism 41 controls the left and right sides simultaneously at this time is realized to a left side
The suspension shockproof mechanism 2 of right two sides reduces height to promote chassis body 1 to clear the jumps.When the suspension of the left and right sides is kept away
What shake mechanism 2 reduction height can not still clear the jumps after being at the highest notch to minimum point, 1 height of chassis body, control mechanism
41 control motors 44 stop working and provide alarm signal.
(2) when specialized robot is by "-_ " right low left high type road surface, the suspension shockproof mechanism 2 on right side can sink contiguously
Face, and the suspension shockproof mechanism 2 in left side can then keep a relatively high height, the generation of chassis body 1 deflects to the right, specifically
Job step is opposite with the job step of above-mentioned steps (1).
(3) when specialized robot passes through other left and right difference in height road surfaces, process is similar to (1) or (2), and mechanism is identical,
In 1 motion process of chassis body, since the road surface by left and right difference in height can make chassis body 1 that horizontal deflection, the deflection occur
The suspension that movement can be perceived by posture perception mechanism 42 and is uploaded at left and right sides of the analysis of control mechanism 41 and Decision Control
Height setting mechanism 3, to guarantee that chassis body 1 moves to 1 or so the height independent compensation of chassis body for just starting deflection
Horizontality and stationarity, while it is high simultaneously also to cooperate barrier sensing mechanisms 46 to complete left and right sides suspension shockproof mechanism 2
Degree compensation, completes obstacle detouring, improves chassis climbing obstacle performance.
The present invention is not limited to the above-described embodiments, anyone should learn that the structure made under the inspiration of the present invention becomes
Change, the technical schemes that are same or similar to the present invention are fallen within the scope of protection of the present invention.
Technology not described in detail in the present invention, shape, construction portion are well-known technique.
Claims (10)
1. being suitable for the adaptive specialized robot of suspension height of adverse circumstances, which is characterized in that kept away including chassis body, suspension
Shake mechanism, suspension height setting mechanism, electrically driven and control mechanism, the suspension shockproof mechanism, suspension height setting mechanism,
Electrically driven and control mechanism is connect with chassis body, hangs shockproof mechanism and suspension height setting mechanism is provided with two
Set, two sets of suspension shockproof mechanisms are respectively arranged at the two sides of chassis body, and every set suspension shockproof mechanism passes through a set of suspension height
Setting mechanism is connect with electrically driven and control mechanism.
2. being suitable for the adaptive specialized robot of suspension height of adverse circumstances as described in claim 1, which is characterized in that institute
Stating chassis body includes rack, shell, suspension transition plates, and shell is set in rack, and rack two sides are all connected with suspension transition plates.
3. being suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 1 or 2, feature exists
In two sets of suspensions shockproof mechanism is respectively arranged in the suspension transition plates of chassis body two sides, and every set hangs shockproof mechanism
Including hanging side plate, driving wheel, other gear mechanisms, shockproof mechanism, crawler belt, suspension side plate is adjusted by bracket and suspension height
Mechanism connection；Driving wheel, gear mechanism are provided with to drive, support crawler belt on suspension side plate, and shockproof mechanism is set to suspension
On side plate.
4. being suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 1 or 2, feature exists
In the suspension height setting mechanism is set between the rack of chassis body and suspension transition plates, every set suspension height adjusting
Mechanism includes suspension height adjustment mechanism and the adaptive transmission mechanism of power.
5. being suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 4, which is characterized in that institute
Stating every set suspension height adjustment mechanism includes shaft, adjusting seat, slide bar, first connecting rod, second connecting rod, third connecting rod, lead screw, liter
Motor, adjustment block, lifting linking member drop, and adjusting seat is arranged on the inside of rack, it is provided with notch on the side vertical direction of adjusting seat,
The slide bar that can be slided up and down is equipped in notch, the lower end of slide bar and one end of lifting linking member connect, the L-shaped knot of lifting linking member
Structure, the other end and the suspension transition plates of lifting linking member are connected and fixed；Slide bar upper end connection third connecting rod one end, notch it is upper
End is connect with one end of first connecting rod, and the other end of first connecting rod, one end of second connecting rod pass through shaft in the middle part of third connecting rod
Hingedly, first connecting rod, second connecting rod and third connecting rod are in interconnection shape, and the other end of third connecting rod is provided with sliding block, sliding block
Lower end surface is provided with lifting motor, and the other end of second connecting rod is provided with adjustment block, and adjustment block is feed screw nut, and there is screw thread in inside
Structure, adjustment block and lead screw are cooperatively connected, and lead screw passes perpendicularly through the sliding block of third connecting rod end, the lower end of lead screw and lifting motor
Output axis connection.
6. being suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 4, which is characterized in that institute
The adaptive transmission mechanism of power is stated to include the first reversing mechanism, be driven telescoping mechanism, the second reversing mechanism, the first reversing mechanism
Input terminal is connected to motor, and the output end of the first reversing mechanism is connected by the input terminal of transmission telescoping mechanism and the second reversing mechanism
It connects, the output end of the second reversing mechanism is connect with driving wheel.
7. being suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 1 or 2, feature exists
In described electrically driven and control mechanism includes control mechanism, posture perception mechanism, motor-driven mechanism, motor, battery, barrier
Hinder object sensing mechanisms, control mechanism, posture perception mechanism, motor-driven mechanism, motor, battery are all set in machine frame inside, control
Liter in mechanism connection processed posture perception mechanism, motor-driven mechanism, barrier sensing mechanisms and suspension height setting mechanism
Motor drops, and motor-driven mechanism connects motor, and number of motors is two sets, is arranged symmetrically, the output shaft of two sets of motors respectively connects
Each consuming components of two set of first reversing mechanism in suspension height setting mechanism, battery and robot interior connect, barrier
Sensing mechanisms is distance measuring sensor or laser radar, and barrier sensing mechanisms is mounted on the shell in front of rack.
8. a kind of operational method of the adaptive specialized robot of suspension height suitable for adverse circumstances, which is characterized in that including
Road surface motion work method of the specialized robot Jing Guo flat road conditions and specialized robot are by " _-" type or "-_ " type or so
The road surface motion work method of difference in height.
9. the operational method suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 8,
Be characterized in that, road surface motion work method of the specialized robot Jing Guo flat road conditions the following steps are included:
(1) lifting motor in control mechanism control suspension height setting mechanism keeps self-supplying capacity to be failure to actuate, at this time chassis body
The suspension shockproof mechanism of two sides is in sustained height level with respect to chassis body；
(2) control mechanism controls motor-driven mechanism two sets of motors of driving in electrically driven and control mechanism and rotates respectively, moves
Power is transmitted to the first reversing mechanism through machine shaft output shaft, continues through transmission telescoping mechanism and reaches the second reversing mechanism, from
Driving wheel movement in driving suspension shockproof mechanism；
(3) after driving wheel rotation, dragging crawler belt rotation, and then other gear mechanism rotations are driven, it is formed to crawler belt continuous rotation,
To drive chassis body to move；
(4) control mechanism is by changing the steering of two sets of left and right motor and direction in above-mentioned motion process, to complete chassis master
Straight ahead, straight line retrogressing, turning or the original place circus movement of body.
10. the operational method suitable for the adaptive specialized robot of suspension height of adverse circumstances as claimed in claim 8,
It is characterized in that, the road surface fortune of the specialized robot by " _-" left low and right high type or "-_ " right low left high type or so difference in height
Dynamic operational method the following steps are included:
(1) when specialized robot is by " _-" left low and right high type road surface, the suspension shockproof mechanism in left side, which can sink, contacts ground, and
The suspension shockproof mechanism on right side can then keep a relatively high height, and chassis body generation deflects to the left, specific job step
It is rapid as follows:
1) control mechanism by posture perception mechanism collect chassis body have begun generation slightly be tilted to the left when, control machine
Structure starts to control the lifting motor rotation in left side in suspension height setting mechanism；
2) when the lifting motor on the left of rotates, lead screw rotation being driven, is acted on by linkage, slide bar moves downward in adjusting seat,
The suspension shockproof mechanism in lifting linking member and the left side being attached thereto is driven to carry out height adjustment downwards with respect to rack；
3) at this point, the suspension shockproof mechanism in left side and its suspension side plate, the driving wheel, other gear mechanisms, shockproof mechanism of inside
Integrally increase with external height of crawler, thus the chassis body that Contrary compensation is tilted to the left；
4) during suspension height adjusts, the motor rotation of control mechanism also real-time control two sides, power is through the first reversing machine
Driving wheel movement in structure, transmission telescoping mechanism and the second reversing mechanism driving suspension shockproof mechanism；Wherein it is driven telescoping mechanism
Guarantee that power commutation, transmission of the suspension height setting mechanism when carrying out suspension height adjustment extend to guarantee that it is defeated that power continues
Out；
5) further, when above-mentioned adjustment process is not enough to the trend or speed that Contrary compensation chassis body is tilted to the left, control
The lifting motor rotation on right side in mechanism controls suspension height setting mechanism processed, by above-mentioned steps 1) after the process of-step 4),
The suspension shockproof mechanism on right side and its crawler belt for hanging side plate, driving wheel, other gear mechanisms, shockproof mechanism and outside of inside
Height is whole to be reduced, thus the chassis body that Contrary compensation is tilted to the left, after completing above-mentioned suspension height compensation, chassis body
Relative horizontal movement can be kept on " _-" type road surface；
(2) when specialized robot is by "-_ " right low left high type road surface, the suspension shockproof mechanism on right side, which can sink, contacts ground, and
The suspension shockproof mechanism in left side can then keep a relatively high height, and chassis body generation deflects to the right, specific job step
Suddenly opposite with the job step of above-mentioned steps (1)；
(3) when specialized robot passes through other left and right difference in height road surfaces, in chassis body motion process, due to high by left and right
The road surface of degree difference can make chassis body that horizontal deflection occur, which can be perceived and be uploaded to by posture perception mechanism
Suspension height setting mechanism at left and right sides of control mechanism analysis and Decision Control, thus to the chassis body for just starting deflection
Left and right height independent compensation, while can also cooperate barrier sensing mechanisms to complete left and right sides suspension shockproof mechanism and highly mend simultaneously
It repays, completes obstacle detouring.
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