CN107380293B - Mobile robot - Google Patents
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- CN107380293B CN107380293B CN201710757737.1A CN201710757737A CN107380293B CN 107380293 B CN107380293 B CN 107380293B CN 201710757737 A CN201710757737 A CN 201710757737A CN 107380293 B CN107380293 B CN 107380293B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The embodiment of the invention provides a mobile robot. The mobile robot includes: the device comprises an object stage, an active telescopic mechanism, a sensor and a controller; the number of the active telescopic mechanisms is at least two, and the active telescopic mechanisms are hinged on the object stage to support the object stage; the sensor is arranged on the object stage and used for detecting whether the object stage inclines in the adjusting direction; the controller is respectively connected with the sensor and the at least two active telescopic mechanisms and is used for controlling the extension or the shortening of part or all of the at least two active telescopic mechanisms to adjust the object stage to be horizontal when the sensor detects that the object stage inclines in the adjusting direction. According to the embodiment of the invention, when the robot runs on an up-down slope or a rugged terrain, the objective table can be kept horizontal, and the goods on the objective table are prevented from falling off.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mobile robot.
Background
With the continuous development of scientific technology, mobile robots are widely used, for example: a transfer robot for transferring goods in a warehouse.
Although the existing mobile robot has the characteristics of light dead weight, large load, simple mechanism, high walking speed, high working efficiency and the like, when the mobile robot passes through an uphill slope or a downhill slope or a rugged terrain due to the relatively fixed structure of the mobile robot, an object and a horizontal plane borne by the robot have inclination angles, and the object is easy to fall off.
Disclosure of Invention
The invention provides a mobile robot, aiming to keep a stage horizontal and prevent an object from falling off when the robot runs on an up-down slope or a rugged terrain.
Accordingly, in one embodiment of the present invention, a mobile robot is provided. The mobile robot includes: the device comprises an object stage, an active telescopic mechanism, a sensor and a controller; the number of the active telescopic mechanisms is at least two, and the active telescopic mechanisms are hinged on the object stage to support the object stage; the sensor is arranged on the object stage and used for detecting whether the object stage inclines in the adjusting direction; the controller is respectively connected with the sensor and the at least two active telescopic mechanisms and is used for controlling the extension or the shortening of part or all of the at least two active telescopic mechanisms to adjust the object stage to be horizontal when the sensor detects that the object stage inclines in the adjusting direction.
Optionally, the active telescoping mechanism comprises: the first parallelogram mechanism and the driving telescopic rod; the extension end of a first connecting rod in the first parallelogram mechanism is fixedly connected with the objective table; one end of the driving telescopic rod is hinged to the objective table, and the other end of the driving telescopic rod is hinged to any connecting rod in the first parallelogram mechanism except the first connecting rod.
Optionally, the driving telescopic rod comprises a second connecting rod, a third connecting rod and a telescopic assembly; the telescoping assembly comprises: the device comprises a first motor, a lead screw connected with the first motor and a lead screw nut in threaded connection with the lead screw; one end of the second connecting rod is fixedly connected to the screw nut, and the other end of the second connecting rod is hinged to the objective table; one end of the third connecting rod is provided with the first motor, and the other end of the third connecting rod is hinged to any connecting rod of the first parallelogram mechanism except the first connecting rod.
Optionally, the number of the active telescopic mechanisms is two; the two active telescopic mechanisms are respectively positioned at the same side of the objective table; or on opposite sides of the stage.
Optionally, the mobile robot further comprises: a driven telescoping mechanism; the number of the driven telescopic mechanisms is at least one; the driven telescopic mechanism is hinged on the objective table and used for supporting the objective table; the driven telescopic mechanism is in linkage connection with the driving telescopic mechanism, so that the driving telescopic mechanism drives the driven telescopic mechanism to extend when extending, and the driving telescopic mechanism drives the driven telescopic mechanism to shorten when shortening.
Optionally, the driven telescopic mechanism and the driving telescopic mechanism are arranged on two sides of the objective table opposite to each other.
Optionally, the driven telescopic mechanism comprises: the second parallelogram mechanism and the driven telescopic rod; the extension end of a fourth connecting rod in the second parallelogram mechanism is fixedly connected to the objective table; one end of the driven telescopic rod is hinged to the objective table, and the other end of the driven telescopic rod is hinged to any connecting rod in the second parallelogram mechanism except the fourth connecting rod.
Optionally, the driven telescopic mechanism is in linkage connection with the driving telescopic mechanism through a fifth connecting rod.
Optionally, the driven telescopic rod comprises: a twelfth link and a thirteenth link; one end of the thirteenth connecting rod is provided with a slot, and the other end of the thirteenth connecting rod is hinged to any connecting rod except the fourth connecting rod in the second parallelogram mechanism; one end of the twelfth connecting rod is inserted into the slot to form a sliding pair, and the other end of the twelfth connecting rod is hinged to the objective table.
Optionally, a sliding wheel and a second motor are arranged at the bottom of the active telescopic mechanism; and the power output end of the second motor is connected with the power input end of the sliding wheel.
In the technical scheme provided by the embodiment of the invention, at least two active telescopic mechanisms are arranged below the object stage to support the object stage, a sensor is arranged on the object stage to detect whether the object stage inclines in the adjusting direction, and once the object stage is detected, the controller controls the extension or the shortening of part of or all the active telescopic mechanisms in the at least two active telescopic mechanisms according to the detection result of the sensor so as to adjust the object stage to be in a horizontal state. Therefore, the mobile robot provided by the invention can keep the objective table horizontal when running on an up-down slope or a rugged terrain so as to prevent the object from falling off.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 2 is an exploded view of an active telescopic mechanism according to an embodiment of the present invention;
FIG. 3 is an exploded view of a retraction assembly according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a retraction assembly according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 6 is an exploded view of a mobile robot according to an embodiment of the present invention;
FIG. 7 is an exploded view of a driven telescoping mechanism according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 10 is a schematic diagram illustrating yet another exploded view of a mobile robot according to an embodiment of the present invention;
fig. 11 is a schematic mechanical movement diagram of a mobile robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used to describe XXX in embodiments of the present invention, these XXX should not be limited to these terms. These terms are only used to distinguish XXX from each other. For example, a first XXX may also be referred to as a second XXX, and similarly, a second XXX may also be referred to as a first XXX, without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a monitoring", depending on the context. Similarly, the phrase "if it is determined" or "if it is monitored (a stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when monitoring (a stated condition or event)" or "in response to monitoring (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention. As shown in fig. 1, the mobile robot includes: a stage 1, an active telescopic mechanism 3, a sensor (not shown), and a controller (not shown). The number of the active telescopic mechanisms 3 is at least two, and the active telescopic mechanisms are hinged to the object stage 1 to support the object stage 1; the sensor is arranged on the object stage 1 and used for detecting whether the object stage 1 inclines in the adjusting direction; the controller is respectively connected with the sensor and the at least two active telescopic mechanisms 3 and is used for controlling the extension or the shortening of part or all of the at least two active telescopic mechanisms 3 to adjust the object stage 1 to be horizontal when the sensor detects that the object stage 1 inclines in the adjusting direction.
The tilt direction of the stage 1 includes two dimensions: front-to-back tilt and side-to-side tilt. When the vehicle passes through the road surface with different front and rear heights (namely, when the vehicle goes up and down a slope), the vehicle belongs to the front and rear inclination condition, and when the vehicle passes through the road surface with different left and right heights, the vehicle belongs to the left and right inclination condition. Any tilt angle of the stage in any direction can be resolved into these two dimensions, i.e., any tilt angle of the stage in any direction can be described by a front-to-back tilt and/or a side-to-side tilt.
When the number of the active telescopic mechanisms 3 is two, the two active telescopic mechanisms can be respectively positioned at the same side of the objective table; or on opposite sides of the object table to support the object table 1. The mobile robot can realize the adjustment of the inclination angle in one dimension direction. For example: if the two active telescopic mechanisms 3 are respectively positioned at the left and right of the rear side or the front side of the object stage 1 (as shown in fig. 1), the left and right inclination can be adjusted to be horizontal, and the robot can keep the object stage horizontal when passing through the road surfaces with different left and right heights. If the two active telescopic mechanisms 3 are respectively positioned at the front and back of the left side or the right side of the objective table 1, the front and back can be adjusted to be inclined to the horizontal, and the robot can keep the objective table horizontal when going up and down.
When the number of the active telescopic mechanisms 3 is three, two of the active telescopic mechanisms can be respectively arranged at the front and the rear of the left side, and the other active telescopic mechanism is arranged at the right side relatively. That is, the stage can be kept horizontal when moving on any rugged and complicated road.
When the number of the active telescopic mechanisms 3 is four, two of the active telescopic mechanisms can be respectively arranged at the front and the rear of the left side, and the other two active telescopic mechanisms are oppositely arranged at the front and the rear of the right side. The robot can realize the adjustment of the inclination angle in two dimensional directions, namely, the inclination angle in any direction can be adjusted. That is, the stage can be kept horizontal when moving on any rugged and complicated road.
In the technical scheme provided by the embodiment of the invention, at least two active telescopic mechanisms are arranged below the object stage to support the object stage, a sensor is arranged on the object stage to detect whether the object stage inclines in the adjusting direction, and once the object stage is detected, the controller controls the extension or the shortening of part of or all the active telescopic mechanisms in the at least two active telescopic mechanisms according to the detection result of the sensor so as to adjust the object stage to be in a horizontal state. Therefore, the mobile robot provided by the invention can keep the objective table horizontal when running on an up-down slope or a rugged terrain so as to prevent the object from falling off.
Specifically, the active telescopic mechanism 3 may be in the form of a simple active telescopic rod, or in the form of a combination of a parallelogram mechanism and an active telescopic rod.
If the active telescopic mechanism 3 is in a simple active telescopic rod form, the upper end of the active telescopic rod is hinged on the objective table, and the lower end of the active telescopic rod is fixed on a support table of the mobile robot.
If the active telescoping mechanism 3 is a combination of a parallelogram mechanism and an active telescoping rod, the active telescoping mechanism 3, as shown in fig. 1, includes: a first parallelogram mechanism 201 and a drive telescopic rod 202. The first parallelogram mechanism 201 includes a first link 2011, a sixth link 38, a seventh link 36 and an eighth link 37, wherein the first link 2011 and the seventh link 36 are parallel to each other, and the sixth link 38 and the eighth link 37 are parallel to each other. The extension end of the first link 2011 of the first parallelogram mechanism 201 is fixedly connected to the object stage 1; one end of the driving telescopic rod 202 is hinged to the object stage 1, and the other end of the driving telescopic rod is hinged to any connecting rod of the first parallelogram mechanism 201 except the first connecting rod 2011. It should be noted that the other end of the driving telescopic rod 202 may be hinged to any position of the sixth link 38, the seventh link 36 and the eighth link 37, except where the sixth link 38 and the eighth link 37 are hinged to the first link 2011. Fig. 1 shows that the other end of the driving telescopic rod 202 is hinged to the middle portion of the sixth link 38. The first link 2011 is perpendicular to the stage 1.
As shown in fig. 2, 3 and 4, the driving telescopic rod 202 includes a second connecting rod 31, a third connecting rod 33 and a telescopic assembly 32; the retraction assembly 32 comprises: a first motor 326, a lead screw 324 connected with the first motor 326, and a lead screw nut 323 in threaded connection with the lead screw 324; one end of the second connecting rod 31 is fixedly connected to the screw nut 323, and the other end thereof is hinged to the objective table 1; one end of the third link 33 is provided with the first motor 326, and the other end thereof is hinged to any link of the first parallelogram mechanism 201 except the first link 2011. The first motor 326 is connected to the controller, and the controller controls the first motor to drive the lead screw to rotate so as to extend or shorten the length of the active telescopic rod.
In an implementable version, as shown in fig. 3 and 4, retraction assembly 32 can comprise a first motor 326, a lead screw 324, a bearing 325, a lead screw nut 323, a sleeve 321, a retraction head 322; a first end of the third link 33 is hinged to any link of the first parallelogram mechanism 201 except the first link 2011, a second end of the third link is fixedly connected to one end of the sleeve 321, a groove is formed in the second end of the third link, and the first motor 326 is arranged in the groove; the outer ring of the bearing 325 is fixed in the sleeve 321; the lead screw 324 is fixed in the inner ring of the bearing 325; the first motor 326 is connected to a first end of the lead screw 324 to drive the lead screw 324 to rotate; the lead screw nut 323 is arranged in the sleeve 321 and is in threaded connection with the lead screw 324; a groove is formed in the first end of the telescopic head 322, the first end of the telescopic head 322 is fixed to the lead screw nut 323, and the opening of the groove faces the second end of the lead screw 324; one end of the second connecting rod 31 is fixedly connected to the second end of the telescopic head 322, and the other end thereof is hinged to the objective table 1. The screw nut 323 is engaged with the screw 324, and the first end of the telescopic head 322 is fixed to the screw nut 323, so that when the first motor 326 drives the screw 324 to rotate, the telescopic head 322 is driven to move telescopically, thereby forming a sliding pair. Since the telescopic head 322 is fixed on the second link 31 and the sleeve 321 is fixed on the third link 33, the telescopic movement of the telescopic head 322 realizes the movement of the second link 31 relative to the third link 33. Of course, the telescoping assembly could also be a hydraulic cylinder structure.
Further, as shown in fig. 5, the mobile robot may further include: a driven telescopic mechanism 2; the number of the driven telescopic mechanisms 2 is at least one; the driven telescopic mechanism 2 is hinged on the objective table 1 and used for supporting the objective table 1; driven telescopic machanism 2 with initiative telescopic machanism 3 linkage is connected to drive when initiative telescopic machanism 3 extends driven telescopic machanism 2 extends driven telescopic machanism 2 shortens when initiative telescopic machanism 3 shortens. The driven telescopic mechanism 2 and the driving telescopic mechanism 3 are oppositely arranged on two sides of the objective table 1 and connected in a linkage mode, and the driven telescopic mechanism 2 is fixedly connected with the driving telescopic mechanism 3 through a fifth connecting rod 4 to achieve linkage connection.
As shown in fig. 6, the driven retracting mechanism 2 includes: a second parallelogram 401 and a driven telescopic rod 402; the extension end of a fourth connecting rod 4011 in the second parallelogram mechanism 401 is fixedly connected to the objective table 1; one end of the driven telescopic rod 402 is hinged to the object stage 1, and the other end is hinged to any one of the second parallelogram mechanism 401 except the fourth connecting rod 4011 except the hinged positions of the ninth connecting rod 25, the eleventh connecting rod 24 and the fourth connecting rod 4011. The second parallelogram mechanism 401 includes a fourth link 4011, a ninth link 25, a tenth link 23, and an eleventh link 24. The fourth link 4011 is parallel to the tenth link 23, and the ninth link 25 is parallel to the eleventh link 24. Wherein the fourth link 4011 is perpendicular to the stage 1.
As shown in fig. 7, the driven telescopic rod 402 includes: a twelfth link 21 and a thirteenth link 22. One end of the thirteenth link 22 is provided with a slot, and the other end thereof is hinged to any link of the second parallelogram mechanism 401 except the fourth link 4011. One end of the twelfth connecting rod 21 is inserted into the slot to form a sliding pair, and the other end thereof is hinged to the object stage 1.
It should be noted that, if the active telescoping mechanism and the passive telescoping mechanism are a combination of a parallelogram mechanism and a telescopic rod, the bottom of one of the active telescoping mechanism and the driven telescoping mechanism may be fixed to the support table of the robot, and the bottoms of the remaining telescoping mechanisms may slide on the support table of the robot.
Or the bottom of each active telescopic mechanism is provided with a sliding wheel and a second motor; and the power output end of the second motor is connected with the power input end of the sliding wheel. Specifically, the sliding wheel and the second motor are disposed at the extended end of the seventh link 36, and the extended end of the seventh link 36 and the extended end of the first link 2011 are extended ends in opposite directions, as shown in fig. 1, the extended end of the first link 2011 is an extended end in the x direction (upward) as indicated in fig. 1, and the extended end of the seventh link 36 is an extended end in the y direction (downward) as indicated in fig. 1. Preferably, the rear wheel is set as a driving wheel (a sliding wheel connected with a second motor), and the front wheel is set as a universal wheel (without motor drive). Under the condition, the installed sliding wheels can directly contact with the ground to move, so that the adjustment of the inclination angle in the adjusting direction and the adjustment of the gravity center position of the goods on the object stage can be realized, and the gravity center position of the goods on the object stage can be adjusted and the distance between the front wheel and the rear wheel or the left wheel and the right wheel can be adjusted to adjust the area of the chassis due to the existence of the parallelogram mechanism.
As shown in fig. 1 and 2, the upper extension end (i.e., the extension end in the x direction indicated in fig. 1) of the first link 2011 of the first parallelogram mechanism 201 of the active telescopic mechanism 3 is fixed on the stage 1 and is perpendicular to the stage 1. A first pulley 34 and a second motor 35 (not shown in fig. 1) are provided on a lower extended end (i.e., an extended end in the y direction indicated in fig. 1) of the seventh link 36 parallel to the first link 2011. As shown in fig. 6 and 7, an upper extension end (i.e., an extension end in the x direction indicated in fig. 6) of the fourth link 4011 in the second parallelogram mechanism 401 of the driven telescopic mechanism 2 is fixed to the stage 1 and is perpendicular to the stage 1. A second sliding wheel 27 and a third motor 26 are provided on a lower extended end (i.e., an extended end in the y direction indicated in fig. 6) of the tenth link 23 parallel to the fourth link 4011.
When the number of the active telescopic mechanisms is two, as shown in fig. 1, a first active telescopic mechanism a3 and a second active telescopic mechanism B3 of the two active telescopic mechanisms are respectively located on the same side of the object stage. Preferably, the two first active telescoping mechanisms A3 and the second active telescoping mechanism B3 may be mirror-symmetric structures with the main axis of the first link 2011 as a symmetric axis, so as to support the object table 1, that is, the first link in the first active telescoping mechanism A3 and the first link in the second active telescoping mechanism B3 are the same link.
Optionally, the first active telescoping mechanism a3 and the second active telescoping mechanism B3 are each provided at the bottom with a first sliding wheel and a second motor. In this case, the mobile robot can adjust the tilt angle in one dimension direction (for example, tilt left and right), and can also adjust the position of the center of gravity of the load on the stage and the area of the chassis.
When the number of the active telescopic mechanisms is three (not shown), the first active telescopic mechanism A3 and the second active telescopic mechanism B3 are disposed on the same side of the stage, and the third active telescopic mechanism C3 is disposed on the other side of the stage with respect to the first active telescopic mechanism A3 or the second active telescopic mechanism B3. Preferably, the first active telescoping mechanism A3 and the second active telescoping mechanism B3 may be mirror-symmetric structures with the main axis of the first link 2011 as a symmetric axis, that is, the first link in the first active telescoping mechanism A3 and the first link in the second active telescoping mechanism B3 are the same link, the third active telescoping mechanism C3 and the first active telescoping mechanism A3 or the second active telescoping mechanism B3 are symmetrically disposed on the other side of the stage in parallel, and the first link of the third active telescoping mechanism C3 and the first link of the second active telescoping mechanism B3 are the same link.
Optionally, the bottoms of the first active telescoping mechanism a3, the second active telescoping mechanism B3 and the third active telescoping mechanism C3 are all provided with a first sliding wheel and a second motor. Preferably, the front wheels are arranged as universal wheels and later on the driving wheels (i.e. the sliding wheels driven by the motor). In this case, the mobile robot can adjust the tilt angle in any direction, and can also adjust the center of gravity of the load on the stage and the chassis area.
When the number of the active telescopic mechanisms is four, as shown in fig. 9 and 10, the first active telescopic mechanism a3 and the second active telescopic mechanism B3 are disposed on the same side of the stage, and the third active telescopic mechanism C3 and the fourth active telescopic mechanism D3 are disposed on the opposite side of the stage. Preferably, the first active telescoping mechanism a3 and the second active telescoping mechanism B3 may be mirror images of the main axis of the first link 2011. The third active telescoping mechanism C3 and the fourth active telescoping mechanism D3 are oppositely arranged on the other side of the object stage in the same mirror image symmetrical structure. The four active telescoping mechanisms may share the same first link.
Optionally, the bottoms of the first active telescoping mechanism a3, the second active telescoping mechanism B3, the third active telescoping mechanism C3, and the fourth active telescoping mechanism D3 are all provided with a first sliding wheel and a second motor. Preferably, the front wheels are provided as universal wheels and the rear wheels are provided as driving wheels. As shown in fig. 9, the bottom of the first active telescoping mechanism a3 and the third active telescoping mechanism C3 are provided with driving wheels, i.e. a first sliding wheel and a second motor, and the bottom of the second active telescoping mechanism B3 and the fourth active telescoping mechanism D3 are provided with universal wheels, without a second motor. In this case, the mobile robot can adjust the tilt angle in any direction, and can also adjust the center of gravity of the load on the stage and the chassis area.
It should be noted that, when there are two active telescoping mechanisms, one or two driven telescoping mechanisms 2 may be provided to make the stage more stable. Of course, more driven telescopic mechanisms may be provided below the stage, and the present invention is not limited to this. When the number of the driving telescopic mechanisms is more than three, the driven telescopic mechanisms are not needed to be arranged, and one or more driven telescopic mechanisms can be arranged, which is not particularly limited in the present invention.
As shown in fig. 8, the mobile robot includes a first driving telescopic mechanism A3, a second driving telescopic mechanism B3, and a first driven telescopic mechanism a 2. The first active telescoping mechanism a3 and the second active telescoping mechanism B3 are arranged on the same side of the object stage 1 in mirror symmetry with the main axis of the first link 2011 as a symmetry axis. The first driven telescopic mechanism A2 and the first driving telescopic mechanism A3 or the second driving telescopic mechanism B3 are oppositely arranged on two sides of the objective table 1, and the first driven telescopic mechanism A2 is in linkage connection with the driving telescopic mechanism which is oppositely arranged on the other side of the objective table 1. Fig. 8 shows that the first driven telescopic mechanism a2 is arranged on both sides of the objective table 1 opposite to the first driving telescopic mechanism A3, and the first driven telescopic mechanism a2 is connected with the first driving telescopic mechanism A3 through a fifth link 4. The driving telescopic mechanism and the driven telescopic mechanism which are linked can exchange positions.
As shown in fig. 5, the mobile robot includes a first driving telescopic mechanism A3, a second driving telescopic mechanism B3, a first driven telescopic mechanism a2, and a second driven telescopic mechanism B2. The first active telescoping mechanism a3 and the second active telescoping mechanism B3 are arranged on the same side of the object stage 1 in mirror symmetry with the main axis of the first link 2011 as a symmetry axis. The first driven telescopic mechanism A2 and the first driving telescopic mechanism A3 are oppositely arranged on two sides of the object stage, and the second driven telescopic mechanism B2 and the second driving telescopic mechanism B3 are oppositely arranged on two sides of the object stage. The first driven telescopic mechanism A2 and the first driving telescopic mechanism A3 are fixedly connected through a fifth connecting rod 4 to realize linkage of the two mechanisms; the second driven telescopic mechanism B2 and the second driving telescopic mechanism B3 are fixedly connected through a fourteenth connecting rod 5 to realize linkage of the two mechanisms. And the first driven telescopic mechanism A2 and the second driven telescopic mechanism B2 are arranged on the same side of the object stage in a mirror symmetry structure by taking the main axis of the fourth connecting rod 4011 as a symmetry axis. Preferably, the fourth link 4011 is the same link as the first link 2011. The driving telescopic mechanism and the driven telescopic mechanism which are linked can exchange positions.
Fig. 11 is a schematic diagram of the robot mechanism movement. Referring to fig. 1, it can be seen that AB corresponds to the stage 1, GH corresponds to the first link 2011, BF corresponds to the active telescopic rod 202, HE corresponds to the sixth link 38, DE corresponds to the seventh link 36, and DG corresponds to the eighth link 37, wherein AI, JG, JK, KH correspond to the links of the second active telescopic assembly B3 one by one.
As can be seen from the figure, the number n of active members is 10, the low-order number Pl is 14, and the high-order number Ph is 0, and then F is 2 calculated according to the degree of freedom calculation formula F3 n- (2Pl + Ph). Since the robot has two prime movers for the telescoping assemblies (i.e., the active telescoping rod between AI and the telescoping assembly in the active telescoping rod between BF in FIG. 11), the mechanism has deterministic motion.
The operation of a mobile robot (as shown in fig. 5) including two active telescoping mechanisms and two passive telescoping mechanisms will be briefly described. The working principle of the mobile robot with other structures is similar, and the description is omitted.
The telescopic assemblies in the two driving telescopic rods can realize the position movement of the wheels relative to the object stage through the control of motors in the two driving telescopic rods. When the robot goes up and down a slope, once the sensor detects that the object stage inclines forwards and backwards, the controller drives the telescopic assemblies in part or all of the two driving telescopic rods to extend or shorten according to the inclination angle detected by the sensor so as to adjust the object stage to be horizontal. For example: if the front of the object stage is higher than the rear, the telescopic rod in front of the object stage can be shortened, or the telescopic rod behind the object stage can be extended, so that the object stage is kept horizontal (for example, a gyroscope is arranged on the object stage, so that the deflection angle relative to the horizontal plane can be detected), an object on the object stage is centered, and the goods are prevented from falling off.
Except that can make the objective table keep the level, the motor still can control the increase of front and back wheel interval in two flexible subassemblies, increases the chassis area, and the motion is more stable. When the robot turns, the motor can make two wheel intervals reduce in two flexible subassemblies, reduces its turning radius, reduces the focus position, more is fit for turning. For example: when the robot moves straight, the telescopic link can be extended to increase the distance between the front wheel and the rear wheel and increase the area of the chassis, and once the robot is detected to turn, the telescopic link can be shortened to reduce the distance between the front wheel and the rear wheel, reduce the turning radius of the front wheel and the rear wheel and lower the gravity center position.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A mobile robot, comprising: the device comprises an object stage, an active telescopic mechanism, a sensor and a controller;
the number of the active telescopic mechanisms is at least two, and the active telescopic mechanisms are hinged on the object stage to support the object stage;
the sensor is arranged on the object stage and used for detecting whether the object stage inclines in the adjusting direction;
the controller is respectively connected with the sensor and the at least two active telescopic mechanisms and is used for controlling the extension or contraction of part or all of the at least two active telescopic mechanisms to adjust the object stage to be horizontal when the sensor detects that the object stage inclines in the adjusting direction;
the active telescopic mechanism comprises: the first parallelogram mechanism and the driving telescopic rod; the extension end of a first connecting rod in the first parallelogram mechanism is fixedly connected to the objective table; one end of the driving telescopic rod is hinged to the objective table, and the other end of the driving telescopic rod is hinged to any connecting rod of the first parallelogram mechanism except the first connecting rod;
the driving telescopic rod comprises a second connecting rod, a third connecting rod and a telescopic assembly; the telescopic assembly comprises a first motor, a lead screw, a bearing, a lead screw nut, a sleeve and a telescopic head; the first end of the third connecting rod is hinged to any connecting rod except the first connecting rod in the first parallelogram mechanism, the second end of the third connecting rod is fixedly connected to one end of the sleeve, a groove is formed in the second end of the third connecting rod, and the first motor is arranged in the groove;
the outer ring of the bearing is fixed in the sleeve; the lead screw is fixed in the inner ring of the bearing; the first motor is connected with the first end of the lead screw; the screw nut is arranged in the sleeve and is in threaded connection with the screw; a first end of the telescopic head is provided with a groove, the first end of the telescopic head is fixed on the screw nut, and a groove opening of the telescopic head is right opposite to a second end of the screw; one end of the second connecting rod is fixedly connected to the second end of the telescopic head, and the other end of the second connecting rod is hinged to the objective table.
2. The mobile robot of claim 1, wherein the number of active telescoping mechanisms is two;
the two active telescopic mechanisms are respectively positioned at the same side of the objective table; or on opposite sides of the stage.
3. The mobile robot of claim 1, further comprising: a driven telescoping mechanism;
the number of the driven telescopic mechanisms is at least one;
the driven telescopic mechanism is hinged on the objective table and used for supporting the objective table;
the driven telescopic mechanism is in linkage connection with the driving telescopic mechanism, so that the driving telescopic mechanism drives the driven telescopic mechanism to extend when extending, and the driving telescopic mechanism drives the driven telescopic mechanism to shorten when shortening.
4. The mobile robot as claimed in claim 3, wherein the driven telescopic mechanism and the driving telescopic mechanism which are linked are disposed on opposite sides of the stage.
5. The mobile robot of claim 3, wherein the slave telescoping mechanism comprises: the second parallelogram mechanism and the driven telescopic rod;
the extension end of a fourth connecting rod in the second parallelogram mechanism is fixedly connected to the objective table;
one end of the driven telescopic rod is hinged to the objective table, and the other end of the driven telescopic rod is hinged to any connecting rod in the second parallelogram mechanism except the fourth connecting rod.
6. The mobile robot of claim 3, wherein the driven telescoping mechanism is in linkage with the driving telescoping mechanism via a fifth link.
7. The mobile robot of claim 5, wherein the driven telescoping rod comprises: a twelfth link and a thirteenth link;
one end of the thirteenth connecting rod is provided with a slot, and the other end of the thirteenth connecting rod is hinged to any connecting rod except the fourth connecting rod in the second parallelogram mechanism;
one end of the twelfth connecting rod is inserted into the slot to form a sliding pair, and the other end of the twelfth connecting rod is hinged to the objective table.
8. The mobile robot as claimed in claim 1, wherein the bottom of the active telescoping mechanism is provided with a sliding wheel and a second motor;
and the power output end of the second motor is connected with the power input end of the sliding wheel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757737.1A CN107380293B (en) | 2017-08-29 | 2017-08-29 | Mobile robot |
| PCT/CN2017/108672 WO2019041513A1 (en) | 2017-08-29 | 2017-10-31 | Mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757737.1A CN107380293B (en) | 2017-08-29 | 2017-08-29 | Mobile robot |
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| CN107380293A CN107380293A (en) | 2017-11-24 |
| CN107380293B true CN107380293B (en) | 2020-05-19 |
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| CN201710757737.1A Active CN107380293B (en) | 2017-08-29 | 2017-08-29 | Mobile robot |
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| CN (1) | CN107380293B (en) |
| WO (1) | WO2019041513A1 (en) |
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| CN110253593B (en) * | 2019-06-03 | 2021-07-20 | 北京交通大学 | Wheeled obstacle-surmounting robot with deformable frame structure |
| CN113086047B (en) * | 2021-04-06 | 2022-07-12 | 哈尔滨工业大学 | Multi-connecting-rod type wheel-step composite multi-terrain detection vehicle |
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| CN203391898U (en) * | 2013-06-17 | 2014-01-15 | 范雄 | Balancing system for two-wheeled motorcycle |
| CN105128015A (en) * | 2015-10-08 | 2015-12-09 | 深圳市易致机器人科技有限公司 | Support frame capable of rising and falling automatically and mobile robot having support frame |
| CN105197124A (en) * | 2015-10-08 | 2015-12-30 | 深圳市易致机器人科技有限公司 | Supporting frame capable of rising and falling automatically and mobile robot with same |
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| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| JP4224029B2 (en) * | 2005-01-06 | 2009-02-12 | 株式会社東芝 | Mobile robot |
| CN100564987C (en) * | 2008-04-24 | 2009-12-02 | 上海交通大学 | Moving carrier automatic leveling system |
| CN101704416B (en) * | 2009-11-20 | 2013-06-05 | 河南科技大学 | Lunar vehicle |
| CN104443100A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Gravity center adjusting mechanism for ladder climbing robot |
| CN104787140B (en) * | 2015-04-24 | 2017-02-01 | 桂林电子科技大学 | Wire-walking device imitating seesaw balance principle |
| CN107089181A (en) * | 2017-04-28 | 2017-08-25 | 南通大学 | Three-dimensional automatic leveling toter |
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| CN207129039U (en) * | 2017-08-29 | 2018-03-23 | 歌尔科技有限公司 | A kind of mobile robot |
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- 2017-08-29 CN CN201710757737.1A patent/CN107380293B/en active Active
- 2017-10-31 WO PCT/CN2017/108672 patent/WO2019041513A1/en active Application Filing
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| CN203391898U (en) * | 2013-06-17 | 2014-01-15 | 范雄 | Balancing system for two-wheeled motorcycle |
| CN105128015A (en) * | 2015-10-08 | 2015-12-09 | 深圳市易致机器人科技有限公司 | Support frame capable of rising and falling automatically and mobile robot having support frame |
| CN105197124A (en) * | 2015-10-08 | 2015-12-30 | 深圳市易致机器人科技有限公司 | Supporting frame capable of rising and falling automatically and mobile robot with same |
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| Publication number | Publication date |
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| WO2019041513A8 (en) | 2019-06-06 |
| WO2019041513A1 (en) | 2019-03-07 |
| CN107380293A (en) | 2017-11-24 |
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