摘要
针对扫地机器人越障高度较低的问题,设计了一种触发式液压辅助越障机构。该机构无须额外驱动即可使机器人在正常行驶和越障模式之间来回切换,减小了控制单元的复杂度。首先,介绍了机构各模块的结构组成和工作原理;其次,利用UG软件绘制了辅助越障机构的三维结构图,分析了驱动轮在越障临界点的受力,给出了辅助驱动力的计算公式;再次,对其易损件——液压杆进行静力学分析,并对装有触发式液压辅助越障机构的扫地机器人进行了越障仿真,从理论上验证了该机构的可行性;最后,根据扫地机器人的产品参数,结合实际工况,制作了辅助越障机构,并将其搭载在扫地机器人上进行实验。理论分析与实验结果表明,触发式液压辅助越障机构能提供足够的辅助驱动力,提高了扫地机器人的越障高度,有效解决了扫地机器人在越障时因动力不足而被卡死的问题。研究结果可为扫地机器人的结构优化提供参考。
Aiming at the problem of low obstacle crossing height of sweeping robot, a trigger hydraulic auxiliary obstacle crossing mechanism was designed. The mechanism can switch back and forth between normal driving and obstacle crossing modes without additional driving, which reduces the complexity of the control unit. Firstly, the structure and working principle of each module of the mechanism were introduced;secondly, the three-dimensional structure diagram of the auxiliary obstacle crossing mechanism was drawn,the force on the obstacle crossing critical point of driving wheel was analyzed,and the calculation formula of auxiliary driving force was given;thirdly, the statics analysis of its vulnerable part—hydraulic rod was carried out, and the obstacle crossing simulation of the sweeping robot equipped with trigger hydraulic auxiliary obstacle crossing mechanism was carried out to verify the feasibility of the mechanism in theory;finally, according to the parameters of the sweeping robot,combined with the actual working conditions, the auxiliary obstacle crossing mechanism was made and carried on the sweeping robot for experiments. The theoretical analysis and experimental results showed that the trigger hydraulic auxiliary obstacle crossing mechanism could provide sufficient auxiliary driving force, raise the obstacle crossing height of the sweeping robot, and effectively solve the problem that the sweeping robot was stuck due to insufficient power. The research result can provide reference for the structural optimization design of sweeping robot.
作者
郝为亮
潘春荣
任艳奎
HAO Wei-liang;PAN Chun-rong;REN Yan-kui(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)
出处
《工程设计学报》
CSCD
北大核心
2021年第5期569-575,共7页
Chinese Journal of Engineering Design
基金
国家自然科学基金资助项目(51665018)。
关键词
扫地机器人
越障
触发模块
液压模块
sweeping robot
obstacle crossing
trigger module
hydraulic module
