CN104859744B - Robot slides in driven wheeled swing arm omnidirectional - Google Patents
Robot slides in driven wheeled swing arm omnidirectional Download PDFInfo
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- CN104859744B CN104859744B CN201510238356.3A CN201510238356A CN104859744B CN 104859744 B CN104859744 B CN 104859744B CN 201510238356 A CN201510238356 A CN 201510238356A CN 104859744 B CN104859744 B CN 104859744B
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- motor
- bar portion
- arm
- leg
- robot
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Abstract
The present invention provides a kind of driven wheeled swing arm omnidirectional and slides robot, including pedestal, M bar leg arms are provided with below the pedestal, the wherein positive integer of M >=3, M motor is fixedly installed on the pedestal, to drive and the one-to-one M bars leg arm of the M motor, every the leg arm includes bar portion, wheel carrier, and the wheel with one end pivot joint of wheel carrier, the other end of the wheel carrier is connected with one end of the bar portion, it can be rotated by axis of one end of bar portion, the other end of the bar portion and the output shaft direct or indirect connection of motor, the axis of the bar portion is relative to ground inclination；By the rotating manner for controlling each motor, so that the suitable swing of the M bars leg arm, M bar leg arms are arranged so that mutually collide because interfering during the two legs arm swing of arbitrary neighborhood, to realize that the walking of robot one way or another is slided by driven wheeled swing arm omnidirectional.The present invention has the advantages that motion mode is relatively simple and flexible.
Description
Technical field
The present invention relates to a kind of robot, and robot is slided more particularly to a kind of driven wheeled swing arm omnidirectional.
Background technology
With the development of the society, the development of robot technology is with rapid changepl. never-ending changes and improvements, it is used to detect in robot field at present
Look into, explore and scientific research is more or ground mobile robot, it is most widely used in ground mobile robot mainly to have leg
It is arm-type and two kinds wheeled, and wheeled robot can be divided into active wheeled robot and driven wheeled machine by its wheel power source
Device people.
Driven wheeled robot as one of wheeled robot classification, due to have concurrently it is wheeled rapidly and efficiently the characteristics of and wheel
The characteristics of axis is without motor direct-drive, and it is increasingly becoming domestic and international researcher research hotspot of interest.
Existing typical driven wheeled robot such as Roller-Walk, four-wheel token ring algorithm and apery roller-skating machine
People etc., since the free degree of robot control is more, when realizing wheeled slide, control is more complicated for movement, it is difficult to simple
Mechanism realizes Omni-mobile.
The content of the invention
In view of the deficienciess of the prior art, the object of the present invention is to provide a kind of driven wheeled swing arm omnidirectional to slide machine
People, it is only necessary to control robot leg arm that gliding motility can be achieved around fixing axle reciprocally swinging, any one in four leg arms is transported
It is dynamic that power can be provided, it can realize any direction movement of robot by varying the direction of rotation of four leg arms.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
Robot, including pedestal slide in a kind of driven wheeled swing arm omnidirectional, and M bar leg arms are provided with below the pedestal, its
The positive integer of middle M >=3, is fixedly installed M motor on the pedestal, to drive and the one-to-one M bars of the M motor
Leg arm, every leg arm include bar portion, wheel carrier, and the wheel being pivotally connected with one end of wheel carrier, the other end of the wheel carrier with
One end of the bar portion is connected, and can be rotated by axis of one end of bar portion, the other end of the bar portion and the output shaft of motor
Direct or indirect connection, the axis of the bar portion is relative to ground inclination；By the rotating manner for controlling each motor so that institute
State the suitable swing of M bar leg arms, M bar leg arms be arranged so that during the two legs arm swing of arbitrary neighborhood will not because interfering and
Mutually collision, to realize that the walking of robot one way or another is slided by driven wheeled swing arm omnidirectional.
The rotating manner of motor, refers to the parameters that motor rotates, such as the rotating forward of motor（Rotate clockwise）, reversion
（Rotation counterclockwise）, stalling interval time, rotary speed, rotating cycle etc..
Further, control system and sensing device are provided with pedestal, to pass through the rotating manner of program controlled motor.
It is preferred that the other end of bar portion is indirectly connected with by retarder or the output shaft of other transmission mechanisms and motor.
It is preferred that wheel can also replace with skates.Setting in this way, robot can slide in smooth ice face
OK.
Compared with prior art, the present invention has the advantages that the substantive distinguishing features and notable protruded as follows：
The present invention can be achieved to advance or retreat by the swing of motor control leg arm and turning action, mechanism are simple；Often
Bar leg arm is separate, any one reciprocally swinging can all provide power, and kinematic dexterity is stronger；By the rotation for controlling leg arm
Direction can allow robot to realize the gliding motility of any direction.The present invention is used as a kind of driven wheeled robot, has movement
The advantages of mode is relatively simple and flexible.
Brief description of the drawings
Fig. 1 is that the schematic perspective view of robot slides in the driven wheeled swing arm omnidirectional of one embodiment of the present of invention；
Fig. 2 is that the schematic front view of robot slides in the driven wheeled swing arm omnidirectional of one embodiment of the present of invention；
Fig. 3 is that the schematic top plan view of robot slides in the driven wheeled swing arm omnidirectional of one embodiment of the present of invention.
Embodiment
The specific embodiment of the present invention is described further below in conjunction with attached drawing.
As shown in Figure 1, Figure 2 and Figure 3, robot, including pedestal 1, the lower section of pedestal 1 are slided by a kind of driven wheeled swing arm omnidirectional
Four leg arms are provided with, are fixedly installed four motors 3 on pedestal 1 respectively, to drive and four motors 3 one-to-one four
Bar leg arm 2, wherein every leg arm 2 includes bar portion 21, wheel carrier 22, and the wheel 23 with one end pivot joint of wheel carrier 22, wheel carrier 22
The other end be connected with one end of bar portion 21 and rotated by axis of one end of bar portion 21, the other end of bar portion 21 and motor 3
Output shaft direct or indirect connection, the axis of bar portion 21 is relative to ground inclination；By controlling the rotating manner of each motor 3,
So that the suitable swing of four leg arms, four leg arms will not be because of hair when being arranged so that the two legs arm swing of arbitrary neighborhood
Life is interfered and is mutually collided, to realize that the walking of robot one way or another is slided by driven wheeled swing arm omnidirectional.
The rotating manner of motor, refers to the parameters that motor rotates, such as the rotating forward of motor（Rotate clockwise）, reversion
（Rotation counterclockwise）, stalling interval time, rotary speed, rotating cycle etc..
Control system and sensing device are provided with pedestal 1, to pass through the rotating manner of program controlled motor 3.
Specifically, in the present embodiment, as shown in Figure 1, the contact point on wheel 23 and ground is to leg arm 2 and the axis of motor 3
The distance of the extension line of line and the intersection point on ground, that is, the length of the pendulum radius on the ground of leg arm 2 are less than square base 1
The length of side half, robot center of gravity under various athletic postures is formed all the time in four wheels with ground contact points
Quadrangle in, and ensure the kinetic stability of robot.
Wheel 23 is installed on wheel carrier 22 by the way that pin is secondary, in order to increase the rolling flexibility of wheel 23, is connected at both
Place adds rolling bearing；Wheel carrier 22 is connected by deep groove ball bearing with bar portion 21, and the structure of bar portion 21 is one curved
Hollow circular-tube, drives wheel carrier 22 to deflect at the same time around its connecting shaft when leg arm 2 is swung；Four leg arms are respectively symmetrically installed on base
At four angles of seat 1；Four motors 3 are fixedly mounted on by screw on the upper surface of pedestal 1, as shown in figure 3, motor 3 turns
Moving axis is fixedly connected by yielding coupling 4 with leg arm 2, or the rotation axis of motor 3 passes through retarder and other transmission devices
And it is connected indirectly with leg arm 2.
The wheel 23 of the present invention can also replace with skates.Setting in this way, robot can be in smooth ice faces
On slide.
Claims (4)
1. robot slides in a kind of driven wheeled swing arm omnidirectional, it is characterised in that including pedestal, M is provided with below the pedestal
Bar leg arm, the wherein positive integer of M >=3, are fixedly installed M motor on the pedestal, to drive with the M motor one by one
Corresponding M bars leg arm, every leg arm include bar portion, wheel carrier, and the wheel with one end pivot joint of wheel carrier, the wheel carrier
The other end is connected with one end of the bar portion, can be rotated by axis of one end of bar portion, the other end and motor of the bar portion
Output shaft direct or indirect connection, the axis of the bar portion is relative to ground inclination；By the rotation side for controlling each motor
Formula so that will not be because when the suitable swing of the M bars leg arm, M bar leg arms are arranged so that the two legs arm swing of arbitrary neighborhood
Interfere and mutually collide, to realize that the walking of robot one way or another is slided by driven wheeled swing arm omnidirectional.
2. robot slides in driven wheeled swing arm omnidirectional according to claim 1, it is characterised in that is set on the pedestal
There are control system and sensing device, to pass through the rotating manner of motor described in programme-control.
3. robot slides in driven wheeled swing arm omnidirectional according to claim 1, it is characterised in that the bar portion it is another
End is directly connected to motor output shaft or is indirectly connected with by the output shaft of retarder and motor.
4. robot slides in driven wheeled swing arm omnidirectional according to claim 1, it is characterised in that the wheel replaces with
Skates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510238356.3A CN104859744B (en) | 2015-05-12 | 2015-05-12 | Robot slides in driven wheeled swing arm omnidirectional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510238356.3A CN104859744B (en) | 2015-05-12 | 2015-05-12 | Robot slides in driven wheeled swing arm omnidirectional |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104859744A CN104859744A (en) | 2015-08-26 |
| CN104859744B true CN104859744B (en) | 2018-05-01 |
Family
ID=53906031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510238356.3A Expired - Fee Related CN104859744B (en) | 2015-05-12 | 2015-05-12 | Robot slides in driven wheeled swing arm omnidirectional |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104859744B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310963B (en) * | 2022-01-18 | 2024-02-13 | 上海交通大学 | Skiing multi-legged robot |
| CN114590338B (en) * | 2022-03-11 | 2023-05-30 | 上海交通大学 | Skating hexapod robot structure |
| CN114435507B (en) * | 2022-03-11 | 2022-12-27 | 上海交通大学 | Skating multi-foot robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL153136B (en) * | 1972-05-31 | 1977-05-16 | Konijn Machinebouw Nv | AMPHIBIUS VEHICLE. |
| CN202593676U (en) * | 2012-03-31 | 2012-12-12 | 浙江工业大学 | Three-wheel-foot type serial-parallel combined robot |
| CN104443092B (en) * | 2014-11-05 | 2017-07-25 | 上海大学 | A kind of apery slides frog board robot |
-
2015
- 2015-05-12 CN CN201510238356.3A patent/CN104859744B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104859744A (en) | 2015-08-26 |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20210512 |
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| CF01 | Termination of patent right due to non-payment of annual fee |