具有独立升降结构能自动调节姿态的通用移动平台

Universal Mobile Platform with Independent Lifting Structure and Automatic Attitude Adjustment

通过对通用移动平台的斜坡状态以及近转弯两种状态下的受力分析,建立了车体结构、坡度、转弯速度等因素对结构扭矩、抓地力等产品参数的影响的模型,提出一种配备有自动升降系统的移动平台,移动平台由车身、摆臂、车轮构成。摆臂由两段等长支架构成平行四边形结构,摆臂一端连接车身、另一端连接车轮,结构上保证车轮抬起的整个行程中都与车体保持垂直角度,并保证车轮与地面垂直接触,有最大接触面积和抓地力。每个车轮都安装有独立的转向机构,除了正常行驶转向,还可以实现原地转向、平移、定点环绕等特殊动作。车身中安装陀螺仪可以动态监测车身的加速度、角加速度、俯仰角度、横滚角度等信息。摆臂中安装电控撑杆,可以按照主控程序控制动态调整车轮高度控制系统通过输入的产品自身结构参数、环境坡度、转向角度等参数,自动控制升降组件的长度以调节车体的状态,使车体受到的合力通过弯曲中心,滚轮和地面的抓地力保持均匀分布,避免产品使用过程中发生的结构件损坏、抓地力变化引起打滑、滚轮磨损、车体翻滚等问题,提升了移动平台及所搭载设备的性能。新型平台经陡坡、急转弯、加减速等工况测试,测试过程车体能保持需要的姿态,滚轮之间的抓地力差异能控制在2%以内、并能适应30°陡坡等极端环境,提高了产品适应不同使用环境的能力,减少产品故障,为通用移动平台的推广打下了良好的基础。

Through the force analysis of the general mobile platform under the slope state and the near turning state,the model of the influence of the factors such as the body structure,slope,turning speed on the structural torque,grip and other product parameters was established,and a mobile platform equipped with an automatic lifting system was proposed,which composed of the body,swing arm and wheel.The swing arm was a parallelogram structure composed of two equal length brackets.One end of the swing arm was connected to the vehicle body and the other end was connected to the wheel.Structurally,the swing arm ensures that the vertical angle was maintained with the vehicle body during the whole process of wheel lifting,and ensured that the wheel was in vertical contact with the ground,with the maximum contact area and grip force.Each wheel was equipped with an independent steering mechanism.In addition to normal driving and steering,it could also realize special actions such as in-situ steering,translation and fixed-point circling.The gyroscope installed in the vehicle body could dynamically monitor the acceleration,angular acceleration,pitch angle,roll angle and other information of the vehicle body.The electric control strut was installed in the swing arm,which could dynamically adjust the wheel height control system according to the main control program through the input product structure parameters,environmental slope,steering angle and other parameters,the length of the lifting assembly was automatically controlled to adjust the state of the car body,so that the resultant force of the car body passes through the bending center,and the traction force of the roller and the ground was evenly distributed,so as to avoid the problems such as sliding,roller wear and car body rolling caused by the damage of the structural parts and the change of the traction force during the use of the product,and improve the performance of the mobile platform and the equipment.The new platform has been tested on steep slopes,sharp turns,acceleration and deceleration.During the test,the car body can maintain the required posture,the difference in grip between the rollers can be controlled within 2%,and can adapt to extreme environments such as 30°steep slopes.It improves the ability of the product to adapt to different use environments,reduces product failures,and lays a good foundation for the promotion of the universal mobile platform.