CN110282045A - Uneven section and/or avoidance robot and control method can be passed through - Google Patents
Uneven section and/or avoidance robot and control method can be passed through Download PDFInfo
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- CN110282045A CN110282045A CN201910463411.7A CN201910463411A CN110282045A CN 110282045 A CN110282045 A CN 110282045A CN 201910463411 A CN201910463411 A CN 201910463411A CN 110282045 A CN110282045 A CN 110282045A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000005484 gravity Effects 0.000 claims abstract description 4
- 210000002683 foot Anatomy 0.000 claims description 41
- 210000002414 leg Anatomy 0.000 claims description 32
- 238000009434 installation Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 15
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 14
- 210000004394 hip joint Anatomy 0.000 claims description 8
- 210000000629 knee joint Anatomy 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 2
- 238000009510 drug design Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 6
- 240000007817 Olea europaea Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to can pass through uneven section and/or avoidance robot and method comprising chassis, the upper cover being arranged on chassis, the level walking device being mounted on chassis and the bionical object leg device being arranged on chassis.As a further improvement of the above technical scheme: the controller for controlling level walking device Yu bionical object leg device is installed on chassis or upper lid；Sensor/the monitor being electrically connected with remote control terminal, the GPS positioning module being electrically connected with remote control terminal, the rider being electrically connected with the controller and/or battery pack are installed on chassis or upper lid.Rider is that gyroscope or gravity sensor and/or remote control terminal and controller are wirelessly connected；The present invention has rational design, compact-sized and easy to use.
Description
Technical field
The present invention relates to can pass through uneven section and/or avoidance robot and control method.
Background technique
Currently, existing machinery people adapts to energy to uneven section due to carrying a large amount of element, robot inside it
Power is poor, be easy to cause component wear, and when especially encountering step or barrier, existing robot only passes through crawler type machine
The tool talent can be by the step of certain altitude, but crawler travel is slow, and it is poor to encounter barrier emergency capability.
Summary of the invention
The technical problems to be solved by the invention be generally speaking to provide it is a kind of can be by uneven section and/or avoidance machine
People and method；The technical issues of solving in detail and acquirement beneficial effect in aftermentioned content and combine in specific embodiment
Hold and specifically describes.
To solve the above problems, the technical solution used in the present invention is:
It is a kind of including chassis, the upper cover being arranged on chassis, to be mounted on by uneven section and/or avoidance robot
Level walking device on chassis and the bionical object leg device being arranged on chassis.
As a further improvement of the above technical scheme:
Controller for controlling level walking device Yu bionical object leg device is installed on chassis or upper lid；
Sensor/the monitor being electrically connected with remote control terminal and remote control terminal electricity are installed on chassis or upper lid
The GPS positioning module of connection, the rider being electrically connected with the controller and/or battery pack.
Rider is that gyroscope or gravity sensor and/or remote control terminal and controller are wirelessly connected.
Level walking device includes the traveling crawler or traveling wheel being arranged on chassis；Bionical object leg device includes that setting exists
Traveling crawler on chassis.
Bionical object leg device includes the walking foot group of three or four arrangement above at chassis angle；
Walking foot group includes the hinged big leg support of the hip joint steering engine being arranged on chassis, root and hip joint steering engine, sets
It sets the small leg support being hinged on knee joint steering engine in the knee joint steering engine in thigh frame end portion, root, shank frame end portion is set
Ankle-joint steering engine and root are hinged on the foot component on ankle-joint steering engine.
Foot component cantilever end is provided with the arc-shaped feet of ground face contact, is provided with and ankle-joint steering engine in foot component root end
Corresponding technique opening, is provided with the outer shield covered on ankle-joint steering engine in foot component root end.
Level walking device includes the omnidirectional's wheel assembly of three or four arrangement above on chassis periphery；It is arranged on chassis
There is electric motor stand, the driving motor with the transmission connection of omnidirectional's wheel assembly is installed in electric motor stand.
Omnidirectional's wheel assembly includes horizontally disposed and is set with the transmission shaft of driving motor transmission connection, more than two alternate angle degree
In the omni-directional wheel installation part on transmission shaft and the intermediate connection rotary sleeve being mounted between omni-directional wheel installation part.
Omni-directional wheel installation part includes the interior retainer being sleeved on transmission shaft, is arranged on interior retainer and for coaxial embedding
It is convex that the positioning spigot that rotary sleeve is connected among dress, the technique being distributed on interior retainer are raised, adjacent technique is arranged in distribution
Rise between wheel installation gap, positioned at wheel installation gap location and for lateral surface with face contact olive-shaped idler wheel, be inserted into
Wheel beaming roller in olive-shaped idler wheel, the outside link plate that the wheel beaming roller other side is arranged in, setting are in outside link plate and for accommodating olive
The technique gap of olive shape idler wheel and the outer buckle closure being arranged on the outside of outside link plate；
Wheel shaft roll end is rotatably mounted between outside link plate and technique protrusion；
Middle pad is provided on the inside of outside link plate.
Include the following steps；
Step 1, firstly, robot coordinate is sent to remote control terminal by GPS positioning module, sensor/monitor will be real
Shi Lukuang is sent to remote control terminal；Then, path of the remote control terminal setting robot to stroke end；
Step 2, firstly, the path in robot installation steps one moves ahead；Then,
When walking on level land, controller controls steering engine, firstly, the arc-shaped feet of walking foot group rises and and ground distributor
From omnidirectional's wheel assembly and ground face contact；Then, driving motor driving omnidirectional's wheel assembly moves ahead；
When can be walked by uneven section and/or avoidance, controller controls steering engine, firstly, the arc of walking foot group
Underfooting drop and with ground face contact, omnidirectional's wheel assembly and surface separation；Then, servo driving foot component is walked.Present invention design one
Kind it can pass through by the mobile avoidance robot in uneven section and avoiding obstacles and uneven road surface can be passed through
Operation instruction: the movement avoidance robot can adapt to the obstacle road surface of logarithm big absolutely, at military and civilian aspect
Have wide practical use, people can be replaced to enter the field that dangerous or people is difficult to enter and worked.
The robot of the design can stablize advance on rugged road.Encounter energy when may span across barrier such as step
Complete across movement, encounter can not across obstacle be can complete avoidance movement.And there is outstanding speed on steady road
And stability, flexibility.Adapt to the indoor and outdoor surroundings of the overwhelming majority.
Robot is mounted with that visual sensor collects complaint message, judges to path, selects the logical of avoidance or obstacle detouring
Cross mode.
The robot use wheeled and sufficient two kinds of move modes of formula, sufficient formula can by it is almost all of injustice section,
And wheeled construction can make up the slow disadvantage of sufficient formula movement speed, and omni-directional wheel is used in this product, can complete comprehensive
The balance moved and maintain fuselage.It is unstable to avoid the excessive movement of traditional wheel leg composite mobile robot leg weight
Big disadvantage is limited with wheel type mobile position.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More detailed description is gone.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of present invention process opening.
Fig. 3 is the structural schematic diagram of omni-directional wheel installation part of the present invention.
Fig. 4 is control flow schematic diagram of the invention.
Wherein: 1, chassis；2, upper cover；3, rider；4, battery pack；5, walking foot group；6, omnidirectional's wheel assembly；7, hip joint
Steering engine；8, big leg support；9, knee joint steering engine；10, small leg support；11, ankle-joint steering engine；12, foot component；13, sensor/monitoring
Device；14, arc-shaped feet；15, technique is open；16, outer shield；17, electric motor stand；18, driving motor；19, omni-directional wheel installation part；
20, intermediate connection rotary sleeve；21, outer buckle closure；22, outside link plate；23, middle pad；24, interior retainer；25, beaming roller is taken turns；26, olive
Olive shape idler wheel；27, positioning spigot；28, technique gap；29, technique protrusion.
Specific embodiment
As shown in Figs 1-4, each scheme can pass through uneven section with reasonable combination or exclusive use, the energy of the present embodiment
And/or avoidance robot, including chassis 1, setting the One On The Chassis upper cover 2, be mounted on the One On The Chassis level walking device, with
And it is arranged in the One On The Chassis bionical object leg device.To realize climbing, avoidance using bionical object leg, pass through level walking device
It realizes and quickly moves ahead, so that the adaptability of greatly expanding machinery people, realizes that high speed is walked.
Controller for controlling level walking device Yu bionical object leg device is installed on chassis 1 or upper cover 2；It can be with
It is the conventional controls such as single-chip microcontroller or processor.
Sensor/the monitor 13 being electrically connected with remote control terminal is installed on chassis 1 or upper cover 2 and realizes that road conditions are real-time
It uploads, so that background monitoring, the GPS positioning module being electrically connected with remote control terminal realize position precise positioning and controller electricity
The rider 3 of connection realizes that balance control prevents from toppling and/or battery pack 4 provides electric energy.
Rider 3 is gyroscope；Gravity sensor and/or remote control terminal and controller are wirelessly connected.
Level walking device includes being arranged in the schemes such as the One On The Chassis traveling crawler or traveling wheel；Bionical object leg device packet
It includes and is arranged in the One On The Chassis traveling crawler, but inefficiency.
The walking foot group 5 that bionical object leg device includes three or three arrangement above at 1 jiao of chassis, preferential four, from
And there is good balance；There is better adaptability to complex road condition.
Specifically, walking foot group 5 includes that setting is cut with scissors in the One On The Chassis hip joint steering engine 7, root and hip joint steering engine 7
The big leg support 8 that connects, the knee joint steering engine 9 that big 8 end of leg support is set, root be hinged on small leg support 10 on knee joint steering engine 9,
Ankle-joint steering engine 11 and root that small 10 end of leg support is arranged in are hinged on the foot component 12 on ankle-joint steering engine 11.To
Realize that height freely controls.
12 cantilever end of foot component is provided with the arc-shaped feet 14 of ground face contact, design rationally, is set in 12 root end of foot component
It is equipped with technique opening 15 corresponding with ankle-joint steering engine 11, is provided with and is covered on ankle-joint steering engine 11 in 12 root end of foot component
Outer shield 16, design is rationally, easy for installation, prevents sundries from entering.
Level walking device includes three or four omnidirectional's wheel assemblies 6 that 1 periphery of chassis is arranged in；It is arranged on chassis 1
There is electric motor stand 17, the driving motor 18 with 6 transmission connection of omnidirectional wheel assembly is installed in electric motor stand 17.To realize drive more
It is dynamic, it freely turns to, flexibility is good.
Omnidirectional's wheel assembly 6 includes transmission shaft that is horizontally disposed and being sequentially connected with driving motor 18, more than two alternate angle degree
The omni-directional wheel installation part 19 being sleeved on transmission shaft and the intermediate connection rotary sleeve being mounted between omni-directional wheel installation part 19
20.Stability is good.By wrong angle design, so that always having idler wheel and ground face contact when motor rotates.
Omni-directional wheel installation part 19 includes the interior retainer 24 being sleeved on transmission shaft, is arranged on interior retainer 24 and is used for
The coaxial positioning spigot 27 for being embedded in intermediate connection rotary sleeve 20, the technique protrusion 29 being distributed on interior retainer 24, distribution setting
Wheel installation gap between adjacent technique protrusion 29, the olive positioned at wheel installation gap location and for lateral surface and ground face contact
Olive shape idler wheel 26, the outside link plate 22 that wheel 25 other side of beaming roller is arranged in, is set the wheel beaming roller 25 being inserted into olive-shaped idler wheel 26
It sets in outside link plate 22 and is used to accommodate the technique gap 28 of olive-shaped idler wheel 26 and the outer of 22 outside of outside link plate is set
Buckle closure 21；
Wheel 25 end of beaming roller is rotatably mounted between outside link plate 22 and technique protrusion 29；
Middle pad 23 is provided on the inside of outside link plate 22.Its is firm in structure, convenient for disassembly and assembly, adaptable to road conditions.
Control robot method includes the following steps；
Step 1, firstly, robot coordinate is sent to remote control terminal by GPS positioning module, sensor/monitor 13 will
Real-time road is sent to remote control terminal；Then, path of the remote control terminal setting robot to stroke end；
Step 2, firstly, the path in robot installation steps one moves ahead；Then,
When walking on level land, controller control steering engine, firstly, walking foot group 5 arc-shaped feet 14 rise and with ground
Face separation, omnidirectional's wheel assembly 6 and ground face contact；Then, driving motor 18 drives omnidirectional's wheel assembly 6 to move ahead；
When can be walked by uneven section and/or avoidance, controller controls steering engine, firstly, the arc of walking foot group 5
Foot 14 decline and with ground face contact, omnidirectional's wheel assembly 6 and surface separation；Then, servo driving foot component 12 is walked.
Robot leg: the sufficient formula for robot is walked；Steering engine: being installed on robot leg joint, is responsible for joint
The speed of the angle of movement.Omni-directional wheel: for the wheel type mobile of robot, all-around mobile of the robot on road surface is realized；
Fuselage: installation motor receives, transmission, controller；Motor: it is responsible for the movement of omni-directional wheel；Battery pack: it is provided for steering engine and motor
The energy；Controller: the direction of motion and speed of control motor and steering engine；Sensor: picture monitor provides for remote monitor
Image information.
Robot motion's process: robot is placed on ground, and the coordinate of the given GPS of remote control terminal is practical to be
Destination, robot will move ahead towards this direction.It, can be in front of whole synchronous robot by camera during moving ahead
Influence information.Wheel type mobile is used if advancing on level land, if road bumpiness is uneven, ratcheting mechanism is difficult to keep stable advance
Then robot leg is made to land, lift fuselage, advanced using sufficient formula, if encounter the obstacle that can not be crossed, if barrier is on a left side
Side, then controlling robot, forward cut-through object goes to coordinate to the right, if barrier controls robot and move ahead to the left on right side
Cut-through object goes to coordinate.If encountering when may span across barrier such as step, can complete to cross over.
When using the present invention, chassis 1, upper cover 2, rider 3, battery pack 4, foot group 5 of walking, omnidirectional's wheel assembly 6, hip joint
Steering engine 7, big leg support 8, knee joint steering engine 9, small leg support 10, ankle-joint steering engine 11, foot component 12, sensor/monitor 13, arc
Foot 14, technique opening 15, outer shield 16, electric motor stand 17, driving motor 18, omni-directional wheel installation part 19, centre connection rotary sleeve
20, outer buckle closure 21, outside link plate 22, middle pad 23, interior retainer 24, wheel beaming roller 25, olive-shaped idler wheel 26, positioning spigot 27,
Technique gap 28, technique protrusion 29,
The present invention has rational design, it is low in cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund,
It is compact-sized and easy to use.
It is to disclose in order to more clear, and the prior art is just no longer enumerated that the present invention, which fully describes,.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious for being combined for those skilled in the art to multiple technical solutions of the invention.And these are modified or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of can pass through uneven section and/or avoidance robot, it is characterised in that: including chassis (1), be arranged in chassis (1)
On upper cover (2), the level walking device that is mounted on chassis (1) and the bionical object leg device being arranged on chassis (1).
2. according to claim 1 can pass through uneven section and/or avoidance robot, it is characterised in that: in chassis (1) or
Controller for controlling level walking device Yu bionical object leg device is installed in upper cover (2)；
Sensor/the monitor (13) being electrically connected with remote control terminal is installed on chassis (1) or upper cover (2), is controlled with long-range
The GPS positioning module of end electrical connection processed, the rider (3) being electrically connected with the controller and/or battery pack (4).
3. according to claim 2 can pass through uneven section and/or avoidance robot, it is characterised in that: rider (3) is
Gyroscope or gravity sensor and/or remote control terminal and controller are wirelessly connected.
4. according to claim 1 can pass through uneven section and/or avoidance robot, it is characterised in that: level walking dress
Set traveling crawler or traveling wheel including being arranged on chassis (1)；Bionical object leg device includes the walking being arranged on chassis (1)
Crawler belt.
5. according to claim 1 can pass through uneven section and/or avoidance robot, it is characterised in that: bionical object leg dress
Set the walking foot group (5) including three or four arrangement above at chassis (1) angle；
Walk foot group (5) include that hinged big of hip joint steering engine (7) on chassis (1), root and hip joint steering engine (7) is set
Leg support (8), setting are hinged on the small leg support on knee joint steering engine (9) in the knee joint steering engine (9) of big leg support (8) end, root
(10), it is arranged and is hinged on the foot on ankle-joint steering engine (11) in the ankle-joint steering engine (11) of small leg support (10) end and root
Component (12).
6. according to claim 5 can pass through uneven section and/or avoidance robot, it is characterised in that: in foot component
(12) cantilever end is provided with the arc-shaped feet (14) of ground face contact, is provided with and ankle-joint steering engine (11) in foot component (12) root end
Corresponding technique is open (15), and the outer shield (16) covered on ankle-joint steering engine (11) is provided in foot component (12) root end.
7. according to claim 1-6 can pass through uneven section and/or avoidance robot, it is characterised in that: flat
Ground running gear includes the omnidirectional's wheel assembly (6) of three or four arrangement above on chassis (1) periphery；It is arranged on chassis (1)
There are electric motor stand (17), the driving motor (18) with omnidirectional's wheel assembly (6) transmission connection is installed in electric motor stand (17).
8. according to claim 7 can pass through uneven section and/or avoidance robot, it is characterised in that: omnidirectional's wheel assembly
(6) include horizontally disposed and be sleeved on transmission shaft with the transmission shaft of driving motor (18) transmission connection, more than two alternate angle degree
Omni-directional wheel installation part (19) and be mounted between omni-directional wheel installation part (19) intermediate connect rotary sleeve (20).
9. according to claim 8 can pass through uneven section and/or avoidance robot and method, it is characterised in that: omnidirectional
Wheel installation part (19) includes the interior retainer (24) being sleeved on transmission shaft, is arranged on interior retainer (24) and for coaxial embedding
The positioning spigot (27) of intermediate connection rotary sleeve (20) of dress, the technique raised (29) being distributed on interior retainer (24), distribution are set
It sets the wheel installation gap between adjacent technique raised (29), be located at wheel installation gap location and for lateral surface and ground face contact
Olive-shaped idler wheel (26), be inserted into olive-shaped idler wheel (26) wheel beaming roller (25), setting is in wheel beaming roller (25) other side
Outside link plate (22), setting are in outside link plate (22) and for accommodating technique gap (28), the Yi Jishe of olive-shaped idler wheel (26)
Set the outer buckle closure (21) on the outside of outside link plate (22)；
Wheel beaming roller (25) end is rotatably mounted between outside link plate (22) and technique raised (29)；
Middle pad (23) are provided on the inside of outside link plate (22).
10. -9 described in any item robot control methods according to claim 1, it is characterised in that: include the following steps；
Step 1, firstly, robot coordinate is sent to remote control terminal by GPS positioning module, sensor/monitor (13) will be real
Shi Lukuang is sent to remote control terminal；Then, path of the remote control terminal setting robot to stroke end；
Step 2, firstly, the path in robot installation steps one moves ahead；Then,
When walking on level land, controller control steering engine, firstly, walking foot group (5) arc-shaped feet (14) rise and with ground
Face separation, omnidirectional's wheel assembly (6) and ground face contact；Then, driving motor (18) driving omnidirectional's wheel assembly (6) moves ahead；
When can be walked by uneven section and/or avoidance, controller controls steering engine, firstly, the arc-shaped feet of walking foot group (5)
(14) decline and with ground face contact, omnidirectional's wheel assembly (6) and surface separation；Then, servo driving foot component (12) is walked.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910463411.7A CN110282045A (en) | 2019-05-30 | 2019-05-30 | Uneven section and/or avoidance robot and control method can be passed through |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910463411.7A CN110282045A (en) | 2019-05-30 | 2019-05-30 | Uneven section and/or avoidance robot and control method can be passed through |
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| CN110282045A true CN110282045A (en) | 2019-09-27 |
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| CN201910463411.7A Pending CN110282045A (en) | 2019-05-30 | 2019-05-30 | Uneven section and/or avoidance robot and control method can be passed through |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667725A (en) * | 2019-11-11 | 2020-01-10 | 路邦科技授权有限公司 | Balance system of all-terrain mobile robot and control method thereof |
| CN112519912A (en) * | 2020-11-27 | 2021-03-19 | 桂林航天工业学院 | Running gear of joint robot |
| CN113602374A (en) * | 2021-08-31 | 2021-11-05 | 天津大学 | Novel metamorphic eight-rod foldable wheel-leg robot |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
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| CN113602374B (en) * | 2021-08-31 | 2022-08-26 | 天津大学 | Novel metamorphic eight-rod foldable wheel-leg robot |
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