CN108340981B - All-terrain multipurpose mobile robot - Google Patents

Abstract

The invention relates to an all-terrain multipurpose mobile robot which comprises a chassis module, a combined vehicle body damping system module, a vehicle body and a sensing and control system module, wherein the chassis module is connected with the combined vehicle body damping system module; the chassis module comprises a chassis, a speed reducer, a servo motor, a coupler and wheels; the combined type vehicle body damping system module comprises a fixed support frame, a longitudinal connecting rod, a transverse support frame, a transverse connecting rod, a vehicle body mounting plate connecting rod, a plate spring and a damper; the sensing and control system module comprises an ultrasonic sensor, an RFID site card reader, a magnetic navigation sensor, a battery, a display screen, a laser radar, a vision sensor, a GPS antenna, an upper computer controller, a servo driver and a chassis controller. The invention has high damping performance, strong obstacle crossing capability, accurate positioning and high precision, is provided with a multi-information sensing channel, can walk indoors or outdoors, and can realize all-terrain movement.

Description

An all-terrain multipurpose mobile robot

technical field

The invention relates to the technical field of mobile robots, in particular to an all-terrain multipurpose mobile robot.

Background technique

Mobile robots have the characteristics of strong mobility and good controllability. With the continuous development of science and technology, the research of all-terrain mobile robots has attracted more and more attention from robot researchers. It is widely used in fields such as rescue and field investigation operations. At present, all-terrain mobile robots are mostly crawler-type, with limited obstacle-surmounting performance and low steering precision, making it difficult to operate smoothly, accurately and efficiently in complex ground environments.

For example, Chinese Patent No. 200710158426.X discloses an all-terrain mobile robot, including a car body, a leg structure and a driving wheel. The left and right sides of the body are symmetrical, and there are six sets of driving wheels, which are respectively installed at the end of the leg structure; the transition flange of the leg structure is bolted to the output flange of the worm gear reducer installed inside the car body, and installed The adapter flange in the middle of the driving wheel is bolted to the transmission shaft installed at the end of the leg structure. The shock absorption effect of the body of this robot has certain limitations. When walking on complex terrain outdoors, the degree of bumps is large and the movement is violent, which is easy to damage the internal components of the robot and reduce its service life.

For example, China Patent No. 201710158756.2 discloses an all-terrain mobile robot chassis, including a drive motor with a reducer, two longitudinal beams, beams, body side panels, grommets and driver mounting plates, motor drivers, and partition plates , Connecting corner codes, battery pack fixing plate, battery main frame, supporting copper column connection, shock-absorbing spring. This kind of robot does not have multi-information perception channels, the positioning accuracy is not high, and there are limitations in the ability to perceive complex environments, so it is difficult to accurately move autonomously to the target.

With the rising cost of labor and the transformation of enterprises from labor-intensive to technology-intensive, it has become an inevitable trend for intelligent robots to replace manual work. Intelligent mobile robot is a kind of robot. It can perceive the environment and its own state through sensors, conduct independent analysis, judgment and decision-making on complex environments, and realize goal-oriented autonomous movement, thereby completing a robot system with certain operating functions.

Therefore, a modular mobile robot with four-wheel drive, high steering precision, shock-absorbing mechanism and suitable for all-terrain has great application prospects. This four-wheel-drive all-terrain mobile robot has the advantages of sensitive maneuverability, shock resistance and shock resistance, and high stability in overcoming obstacles.

The all-terrain multi-purpose mobile robot is an intelligent mobile operation platform that effectively copes with complex environments and has independent decision-making.

Contents of the invention

In order to avoid and solve the above-mentioned technical problems, the present invention proposes an all-terrain multipurpose mobile robot.

The technical problem to be solved by the present invention adopts the following technical solutions to realize:

An all-terrain multipurpose mobile robot, including a chassis module that drives the robot to walk, a combined body shock absorption system module that is installed on the chassis module and connected to the body, and that is installed on the body and chassis modules and provides multiple information sensing channels to perceive complex Terrain sensing and control system module.

As a further improvement of the present invention, the chassis module includes a chassis and a wheel driving device installed on the chassis, the wheel driving devices are distributed on the left and right sides of the chassis, and the combined body damping system module is installed on the chassis.

As a further improvement of the present invention, the chassis includes two L-shaped wheel fixing plates symmetrically distributed, two beams connected to the L-shaped wheel fixing plates and forming a rectangular frame, and a bottom plate installed in the rectangular frame.

As a further improvement of the present invention, there are four wheel drive devices, and they are distributed at the left front, left rear, right front and right rear of the vehicle body.

As a further improvement of the present invention, the wheel driving device includes a speed reducer installed inside the L-shaped wheel fixing plate, a servo motor connected to the speed reducer, and a coupling shaft installed on the outside of the L-shaped wheel fixing plate and connected to the speed reducer Gear, the wheel connected with the coupling. The shaft coupling is connected with a shaft coupling mounting flange connected with the L-shaped wheel fixing plate, and the shaft coupling is equipped with a bearing located inside the shaft coupling mounting flange.

As a further improvement of the present invention, the two bearings are coaxially distributed.

As a further improvement of the present invention, the wheel includes a hub, a tire installed on the hub, and a hub end cap installed on the hub, and bolts are installed on the hub and the hub end cap.

As a further improvement of the present invention, the reducer is equipped with a reducer flat key matched with the shaft coupling.

As a further improvement of the present invention, the combined vehicle body damping system module includes a longitudinal damping assembly, a transverse damping assembly, and a vehicle body damping assembly connected in sequence from bottom to top.

As a further improvement of the present invention, the longitudinal shock absorbing assembly includes two fixed support frames symmetrically distributed, two longitudinal support frames located between the two fixed support frames, one end hinged on the longitudinal support frame and the other end hinged on the fixed Several longitudinal connecting rods on the support frame.

The transverse damping assembly includes a transverse support frame above the longitudinal support frame, several transverse connecting rods with one end hinged on the longitudinal support frame and the other end hinged on the transverse support frame.

The vehicle body shock absorbing assembly includes a vehicle body mounting plate located above the transverse support frame, a body mounting plate connecting rod with one end hinged on the vehicle body mounting plate and the other end hinged on the transverse support frame, and two ends respectively mounted on the vehicle body. The plate connecting rods are hingedly connected to the leaf springs.

The combined vehicle body damping system module also includes a number of hinged joints at both ends that are respectively connected to the fixed support frame and the longitudinal support frame, the longitudinal support frame and the lateral support frame, and the adjacent longitudinal support frame, lateral support frame and vehicle body mounting plate. shock absorber.

As a further improvement of the present invention, the longitudinal connecting rods are distributed at the front and rear ends of the fixed support frame and the longitudinal support frame, and the longitudinal connecting rods at any one of the front and rear ends are distributed up and down and obliquely inward The two set above.

As a further improvement of the present invention, the transverse connecting rods are distributed on the left and right sides of the vehicle body mounting plate, and the transverse connecting rods on either side of the left and right sides are distributed in the front and rear and arranged obliquely forward and upward. two.

As a further improvement of the present invention, there are two groups of connecting rods of the vehicle body mounting plate along the length direction of the transverse connecting rods, and each group is two.

As a further improvement of the present invention, there are two shock absorbers on the fixed support frame and the longitudinal support frame, and they are installed at the third points of the fixed support frame and the longitudinal support frame.

As a further improvement of the present invention, there is one shock absorber on the longitudinal support frame and the transverse support frame and is installed in the middle of the longitudinal support frame and the transverse support frame.

As a further improvement of the present invention, there are two shock absorbers on adjacent longitudinal support frames and they are installed at the third points of the longitudinal support frames.

As a further improvement of the present invention, one shock absorber is provided on the left and right sides of the transverse support frame and the vehicle body mounting plate, and is located in the middle of the transverse support frame and the vehicle body mounting plate.

As a further improvement of the present invention, the vehicle body is connected with the vehicle body mounting plate.

As a further improvement of the present invention, the sensing and control system module includes a sensing device for sensing the external environment of the robot, and a control system connected with the sensing device for data processing and controlling the movement of the robot.

As a further improvement of the present invention, the sensing device includes several ultrasonic sensors installed around the vehicle body, an RFID site card reader connected to the bottom of the chassis module, a magnetic navigation sensor connected to the front end of the chassis module, and a magnetic navigation sensor installed on the chassis module. The battery and the display screen installed on the front of the vehicle body, the front end of the vehicle body is equipped with a laser radar, a visual sensor, and a GPS antenna. The laser radar, vision sensor, and GPS antenna are distributed in rows.

As a further improvement of the present invention, there are four ultrasonic sensors and they are respectively installed on the front, rear, left and right sides of the vehicle body. And constitute the obstacle avoidance function block of the robot.

As a further improvement of the present invention, a display screen mounting frame for installing a display screen is fixed on the vehicle body, a vehicle front end bracket is fixed on the front side of the vehicle body, and a laser radar for installing a laser radar is connected to the left side of the vehicle body front end bracket. Bracket, visual sensors and GPS antennas are respectively installed in the middle and right side of the front-end bracket of the vehicle body, and the RFID site card reader is installed in the middle of the outside of the base plate, and the front-end surface of the crossbeam at the front-end is connected with a magnetic navigation device. The magnetic navigation sensor bracket of the sensor, the battery is installed in the middle of the inner side of the bottom plate.

As a further improvement of the present invention, the control system includes an upper computer controller, a servo driver connected to the chassis module, and a chassis controller connected to the servo driver and connected to the upper computer controller.

As a further improvement of the present invention, the host computer controller is fixed on the battery.

As a further improvement of the present invention, the servo driver is connected to the servo motor in the chassis module, and there are four servo drivers, which are respectively connected to the left front servo driver and the left rear servo motor connected to the left front servo motor in the wheel drive device. The left rear servo driver, the right front servo driver connected to the right front servo motor, and the right rear servo driver connected to the right rear servo motor.

The servo motor is also connected with a motor encoder, and the motor encoder is connected to the servo driver to control the movement of the wheels.

The servo drives are all located on the inner side of the bottom plate.

The lidar, GPS antenna, and vision sensor constitute the outdoor movement sensor of the robot, and the lidar, RFID site card reader and magnetic navigation sensor constitute the indoor movement sensor of the robot.

The vehicle body is also equipped with peripheral functional components for controlling the start and stop of the robot, including a start button, a stop button and an emergency stop button.

The host computer controller includes: a 4G network service module for 4G or wireless WIFI communication with an external mobile phone APP, an outdoor mobile control module connected with an outdoor mobile sensor, an indoor mobile control module connected with an indoor mobile sensor, and a peripheral function The basic peripheral function block for component connection, and the serial port communication module for communicating with the chassis controller.

The present invention has means for realizing autonomous walking and intelligent operation; matching the strength and deflection of the vehicle frame, optimizing the strength and shock absorption effect of the vehicle frame and vehicle body; expanding the application range of general-purpose standard interfaces and communication protocols, and can flexibly configure information perception and Intelligent operation tools and other modules; provide application platforms for flexible manufacturing systems, intelligent agricultural equipment and its compound operation tools, fire rescue and other application fields.

The beneficial effects of the present invention are:

1. The present invention has a modular body structure and a shock absorption system, and adopts a frame that matches the strength and deflection, which enhances the robot's ability to overcome obstacles; under the action of external forces, it can greatly slow down the vibration of the body and improve the robot's ability to walk on complex ground. The robot has high overall stability, accurate positioning and high precision, and is easy to install and disassemble.

2. The present invention is equipped with sensing and control system modules, so that the robot has multiple information sensing channels, can choose indoor and outdoor positioning methods, and matches with the outdoor map, so that the robot can walk autonomously in indoor and outdoor environments, and can realize all-terrain movement .

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a perspective view of the present invention;

Fig. 2 is the schematic diagram of the three-dimensional installation structure of the chassis module and the combined vehicle body damping system module in the present invention;

Fig. 3 is a three-dimensional structural schematic diagram of the chassis module and part of the sensing and control system module in the present invention;

Fig. 4 is a cross-sectional view of the installation structure of the wheel drive device in the chassis module of the present invention;

Fig. 5 is a schematic diagram of the exploded structure of the wheel driving device in the chassis module of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional installation structure of the vehicle body and some sensing and control system modules in the present invention;

Fig. 7 is the three-dimensional structure schematic diagram of the module of combined vehicle body damping system in the present invention;

Fig. 8 is the front view of the combined vehicle body damping system module in the present invention;

Fig. 9 is the right side view of the combined vehicle body damping system module in the present invention;

Fig. 10 is the top view of the combined vehicle body damping system module in the present invention;

Fig. 11 is a control block diagram of the sensing and control system module in the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

As shown in Figures 1 to 11, an all-terrain multipurpose mobile robot includes a chassis module 1 that drives the robot to walk, a combined body damping system module 2 that is installed on the chassis module 1 and connected to a vehicle body 3, and is installed on the chassis module 1. The sensor and control system module 4 on the body 3 and the chassis module 1 provides multiple information sensing channels to sense complex terrain. The modular design of chassis module, body damping system module, body, sensing and control system module is easy to install and disassemble, which can alleviate the body bump caused by wheel vibration caused by complex terrain, and also improve the turning of the mobile robot. vehicle body stability.

The chassis module 1 includes a chassis 11 and a wheel driving device 12 installed on the chassis 11, the wheel driving device 12 is distributed on the left and right sides of the chassis 11, and the combined body damping system module 2 is installed on the chassis 11 .

The chassis 11 includes two L-shaped wheel fixing plates 111 symmetrically distributed, two beams 112 connected to the L-shaped wheel fixing plates 111 and forming a rectangular frame, and a bottom plate 113 installed in the rectangular frame.

There are four wheel drive devices 12, and they are distributed at the left front, left rear, right front and right rear of the vehicle body 3.

The wheel driving device 12 includes a speed reducer 121 installed inside the L-shaped wheel fixing plate 111, a servo motor 122 connected to the input end of the speed reducer 121, installed on the outside of the L-shaped wheel fixing plate 111 and connected to the speed reducer 121 The shaft coupling 123, the wheel 124 connected with the shaft coupling 123. The coupling 123 is connected with a coupling mounting flange 125 connected to the L-shaped wheel fixing plate 111 , and the coupling 123 is equipped with a bearing 126 located inside the coupling mounting flange 125 . When in use, the connection resistance between the servo motor 122 and the wheel 124 is reduced through the cooperation of the coupling mounting flange 125 and the coupling 123, which can reduce power loss, improve the flexibility of the movement of the wheel 124, and prolong the driving time of the entire wheel. The service life of the device 12.

The bearings 126 are two coaxially distributed.

The wheel 124 includes a hub 1241 , a tire 1242 installed on the hub 1241 , and a hub cover 1243 installed on the hub 1241 , and bolts 1244 are installed on the hub 1241 and the hub cover 1243 .

A reducer flat key 127 matched with the shaft coupling 123 is installed on the reducer 121 .

Based on the above-mentioned chassis module 1, a four-wheel drive method is adopted to enhance the off-road capability of the robot to adapt to complex route movements in different situations. When in use, the robot is controlled by the sensor and control system module 4 through the wheel driving device 12 at the four positions of the front left, the rear left, the front right and the rear right of the vehicle body 3. The rotational speed is output to the wheels 124 through the shaft coupling 123 to provide the power for the robot to move and realize the advancement on the road.

The combined vehicle body damping system module 2 includes a longitudinal damping assembly, a transverse damping assembly, and a vehicle body damping assembly connected sequentially from bottom to top.

The longitudinal damping assembly includes two fixed support frames 21 symmetrically distributed, two longitudinal support frames 22 located between the two fixed support frames 21, one end hinged on the longitudinal support frame 22 and the other end hinged on the fixed support frame 21 Several longitudinal connecting rods 23 on it.

The transverse damping assembly includes a transverse support frame 24 located above the longitudinal support frame 22 , and several transverse connecting rods 25 with one end hinged on the longitudinal support frame 22 and the other end hinged on the transverse support frame 24 .

The vehicle body shock absorbing assembly includes a vehicle body mounting plate 26 above the transverse support frame 24, a vehicle body mounting plate connecting rod 27 with one end hinged on the vehicle body mounting plate 26 and the other end hinged on the transverse support frame 24, two The ends are respectively hinged leaf springs 29 connected to the body mounting plate connecting rods 27.

The combined vehicle body damping system module 2 also includes two ends respectively connected with the fixed support frame 21 and the longitudinal support frame 22, the longitudinal support frame 22 and the transverse support frame 24, the adjacent longitudinal support frame 22, the transverse support frame 24 and the vehicle body The mounting plate 26 is hingedly connected to the shock absorber 28 .

The longitudinal connecting rods 23 are distributed at the front and rear ends of the fixed support frame 21 and the longitudinal support frame 22, and the longitudinal connecting rods 23 at any one of the front and rear ends are distributed up and down and arranged obliquely to the inside and above. two. When in use, ensure the connection strength and certain flexibility between the fixed support frame 21 and the longitudinal support frame 22, so as to eliminate part of the force on the ground.

The transverse connecting rods 25 are distributed on the left and right sides of the vehicle body mounting plate 26, and the transverse connecting rods 25 on either side of the left and right sides are distributed in front and rear and arranged obliquely forward and upward.

Two groups of connecting rods 27 of the vehicle body mounting plate are arranged along the length direction of the transverse connecting rod 25 and each group is two.

There are two shock absorbers 28 on the fixed support frame 21 and the longitudinal support frame 22 and are installed at the third points of the fixed support frame 21 and the longitudinal support frame 22 . When in use, the shock absorbers 28 are evenly distributed to ensure effective shock absorption everywhere on the fixed support frame 21 and the longitudinal support frame 22 .

There is one shock absorber 28 on the longitudinal support frame 22 and the transverse support frame 24 and is installed in the middle of the longitudinal support frame 22 and the transverse support frame 24 .

There are two shock absorbers 28 on adjacent longitudinal support frames 22 and they are installed at the third points of the longitudinal support frames 22 . When in use, the shock absorbers 28 are evenly distributed to ensure effective shock absorption everywhere between the longitudinal support frames 22 .

There is one shock absorber 28 on the left and right sides of the transverse support frame 24 and the vehicle body mounting plate 26 and is located in the middle of the transverse support frame 24 and the vehicle body mounting plate 26 .

The vehicle body 3 is connected to a vehicle body mounting plate 26 .

Based on the above, in the vehicle body damping system module 2, the robot receives the force from the ground and transmits it to the fixed support frame 21 through the chassis 11. Through the functions of the shock absorber 28 and the longitudinal connecting rod 23, it can buffer and eliminate The component force received from the ground in the left and right direction, at the same time, the longitudinal support frame 22 and the transverse support frame 24, through the cooperation of the shock absorber 28 and the transverse connecting rod 25, can buffer and eliminate the component force received in the front and rear direction, Under the action of the body mounting plate connecting rod 27 and the shock absorber 28, it can buffer and eliminate the effect on the distributed body 3, realize the maximum shock absorption effect on the robot in three aspects, and form a frame that matches the strength and deflection. Significantly, the obstacle surmounting performance is greatly improved.

The sensing and control system module 4 includes a sensing device for sensing the external environment of the robot, and a control system connected with the sensing device for data processing and controlling the movement of the robot.

The sensing device includes several ultrasonic sensors 410 installed around the vehicle body, an RFID site card reader 411 connected to the bottom of the chassis module 1, a magnetic navigation sensor 412 connected to the front end of the chassis module 1, and a magnetic navigation sensor 412 installed on the chassis module 1. A battery 413 and a display screen 414 installed on the front end of the vehicle body. A laser radar 415 , a visual sensor 416 and a GPS antenna 417 are installed on the front end of the vehicle body 3 . The laser radar 415, vision sensor 416, and GPS antenna 417 are distributed in rows.

There are four ultrasonic sensors 410 and they are respectively mounted on the front, rear, left and right sides of the vehicle body 3 . And constitute the obstacle avoidance function block of the robot.

The vehicle body 3 is fixed with a display screen mounting frame 421 for installing a display screen 414, the front side of the vehicle body 3 is fixed with a vehicle body front bracket 422, and the left side of the vehicle body front bracket 422 is connected with a laser radar for installing a laser radar 415. Bracket 423, visual sensor 416 and GPS antenna 417 are respectively installed in the middle and right side of the front-end bracket 422 of the vehicle body, and the RFID station card reader 411 is installed in the middle of the outside of the base plate 113 and is positioned on the crossbeam 112 at the front end A magnetic navigation sensor bracket 424 for installing a magnetic navigation sensor 412 is connected to the front end, and the battery 413 is installed in the middle of the inner side of the bottom plate 113 .

The control system includes an upper computer controller 418 , a servo driver 419 connected to the chassis module 1 , and a chassis controller 420 connected to the servo driver 419 and connected to the upper computer controller 418 .

The host computer controller 418 is fixed on the battery 413 .

The servo driver 419 is connected to the servo motor 122 in the chassis module 1. There are four servo drivers 419, which are respectively the left front servo driver connected to the left front servo motor in the wheel driving device 12, and the left rear servo motor connected to the left rear servo motor. The right front servo driver connected to the servo driver, the right front servo motor, and the right rear servo driver connected to the right rear servo motor.

The servo motor 122 is also connected with a motor encoder, and the motor encoder is connected to the servo driver 419 to control the movement of the wheel 124 .

The servo drivers 419 are located inside the bottom plate 113 .

The lidar 415, GPS antenna 417, and vision sensor 416 constitute the outdoor movement sensor of the robot, and the lidar 415, the RFID site card reader 411 and the magnetic navigation sensor 412 constitute the indoor movement sensor of the robot.

The vehicle body 3 is also equipped with peripheral functional components for controlling the start and stop of the robot, including a start button, a stop button and an emergency stop button.

The host computer controller 418 includes: a 4G network service module for 4G or wireless WIFI communication with an external mobile phone APP, an outdoor mobile control module connected with an outdoor mobile sensor, an indoor mobile control module connected with an indoor mobile sensor, and a peripheral device The basic peripheral function blocks connected with the functional components, and the serial port communication module for realizing communication with the chassis controller 420 .

The working principle of the present invention is further elaborated below:

When working, the robot realizes wireless connection with the external mobile terminal through the 4G network service module.

When the robot is working indoors, the route is identified and calculated through the detection of the indoor movement sensor, the upper computer controller 418 communicates with the chassis controller 420, and starts the movement of the wheel drive devices 12 at four positions on the bottom plate 113 to drive the trolley. Install and calculate the route to walk, and at the same time, the host computer controller 418 receives the signals of the ultrasonic sensors 410 at various azimuths to avoid obstacles in time.

When the robot is outdoors, the position of the robot is detected by the outdoor movement sensor and the external route is identified, and the upper computer controller 418 communicates with the chassis controller 420 to start the movement of the wheel drive devices 12 at four positions on the bottom plate 113 to drive The trolley is installed to calculate the route and walk, and at the same time, the host computer controller 418 receives signals from the ultrasonic sensors 410 at various positions to avoid obstacles in time.

The mobile APP can display the state of the robot and various data information in real time, which is convenient for the operator to observe.

The invention can adapt to movement in various indoor and outdoor environments, realize all-terrain multipurpose movement, and greatly improve the use range and performance of the robot.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and what are described in the above-mentioned embodiments and description are only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention also has various Variations and improvements all fall within the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. An all-terrain multipurpose mobile robot, characterized in that: the robot comprises a chassis module (1) for driving the robot to walk, a combined type vehicle body damping system module (2) which is arranged on the chassis module (1) and connected with a vehicle body (3), and a sensing and control system module (4) which is arranged on the vehicle body (3) and the chassis module (1) and provides a multi-information sensing channel for sensing complex terrains; the combined type vehicle body damping system module (2) comprises a longitudinal damping component, a transverse damping component and a vehicle body damping component which are sequentially connected from bottom to top;

the longitudinal shock absorption assembly comprises two fixed support frames (21) which are symmetrically distributed, two longitudinal support frames (22) which are positioned between the two fixed support frames (21), and a plurality of longitudinal connecting rods (23) with one ends hinged on the longitudinal support frames (22) and the other ends hinged on the fixed support frames (21);

the transverse shock absorption assembly comprises a transverse supporting frame (24) positioned above the longitudinal supporting frame (22), and a plurality of transverse connecting rods (25) with one ends hinged on the longitudinal supporting frame (22) and the other ends hinged on the transverse supporting frame (24);

the automobile body damping component comprises an automobile body mounting plate (26) positioned above the transverse supporting frame (24), an automobile body mounting plate connecting rod (27) with one end hinged on the automobile body mounting plate (26) and the other end hinged on the transverse supporting frame (24) which are symmetrically arranged, and a plate spring (29) with two ends respectively hinged with the automobile body mounting plate connecting rod (27);

the combined type vehicle body damping system module (2) further comprises a plurality of dampers (28) with two ends respectively hinged with the fixed support frame (21) and the longitudinal support frame (22), the longitudinal support frame (22) and the transverse support frame (24), the adjacent longitudinal support frame (22) and the transverse support frame (24) and the vehicle body mounting plate (26);

two groups of vehicle body mounting plate connecting rods (27) are arranged along the length direction of the transverse connecting rods (25), and each group is two; the number of the shock absorbers (28) on the fixed support frame (21) and the longitudinal support frame (22) is two, and the shock absorbers are arranged at the trisection points of the fixed support frame (21) and the longitudinal support frame (22); the shock absorber (28) on the longitudinal support frame (22) and the transverse support frame (24) is one and is arranged in the middle of the longitudinal support frame (22) and the transverse support frame (24); the number of the shock absorbers (28) positioned on the adjacent longitudinal support frames (22) is two, and the shock absorbers are arranged at the trisection points of the longitudinal support frames (22); the shock absorber (28) on the transverse support frame (24) and the vehicle body mounting plate (26) is arranged on the left side and the right side of the shock absorber respectively and is positioned in the middle of the transverse support frame (24) and the vehicle body mounting plate (26).

2. An all-terrain multi-purpose mobile robot as recited in claim 1, wherein: the chassis module (1) comprises a chassis (11) and a wheel driving device (12) arranged on the chassis (11), and the combined type vehicle body damping system module (2) is arranged on the chassis (11).

3. An all-terrain multi-purpose mobile robot as recited in claim 2, wherein: the chassis (11) comprises two symmetrically distributed L-shaped wheel fixing plates (111), two cross beams (112) which are connected with the L-shaped wheel fixing plates (111) and form a rectangular frame, and a bottom plate (113) arranged in the rectangular frame.

4. An all-terrain multi-purpose mobile robot as recited in claim 3, wherein: the wheel driving device (12) comprises a speed reducer (121) arranged on the inner side of an L-shaped wheel fixing plate (111), a servo motor (122) connected with the speed reducer (121), a coupler (123) arranged on the outer side of the L-shaped wheel fixing plate (111) and connected with the speed reducer (121), and wheels (124) connected with the coupler (123).

5. An all-terrain multi-purpose mobile robot as recited in claim 1, wherein: the sensing and control system module (4) comprises a sensing device for sensing the external environment of the robot and a control system which is connected with the sensing device and used for processing data and controlling the movement of the robot.

6. An all-terrain multi-purpose mobile robot as recited in claim 5, wherein: the sensing device comprises a plurality of ultrasonic sensors (410) arranged around a vehicle body (3), an RFID site card reader (411) connected to the bottom of a chassis module (1), a magnetic navigation sensor (412) connected to the front end of the chassis module (1), a battery (413) arranged on the chassis module (1), and a display screen (414) arranged at the front end of the vehicle body (3), wherein a laser radar (415), a vision sensor (416) and a GPS antenna (417) are arranged at the front end of the vehicle body (3).

7. An all-terrain multi-purpose mobile robot as recited in claim 5, wherein: the control system comprises an upper computer controller (418), a servo driver (419) connected with the chassis module, and a chassis controller (420) connected with the servo driver (419) and the upper computer controller (418).

Images