CN111845998A - Robot moving platform - Google Patents
Robot moving platform Download PDFInfo
- Publication number
- CN111845998A CN111845998A CN202010683448.3A CN202010683448A CN111845998A CN 111845998 A CN111845998 A CN 111845998A CN 202010683448 A CN202010683448 A CN 202010683448A CN 111845998 A CN111845998 A CN 111845998A
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- wheels
- travelling
- support legs
- mobile platform
- hub
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- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000008901 benefit Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
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Classifications
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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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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a robot moving platform, which comprises: a frame; the travelling mechanisms are at least three and are arranged on the outer side of the frame in a surrounding manner, each travelling mechanism comprises at least two travelling wheels and driving devices, the travelling wheels are coaxially arranged, the number of the driving devices is equal to that of the travelling wheels, the driving devices correspond to the travelling wheels one by one, and each driving device is used for driving the travelling wheel corresponding to the driving device to rotate; and the control mechanism is electrically connected with each driving device. The robot moving platform provided by the embodiment of the invention can achieve the purposes of strong obstacle crossing capability, good stability and high walking speed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot moving platform.
Background
At present, robots at home and abroad can be divided into a wheeled robot and a tracked robot according to a walking mechanism, wherein the wheeled robot comprises at least two wheeled mechanisms, each wheeled mechanism is a walking wheel, and the wheeled robot has the advantages of high efficiency, high speed and stable action, but the obstacle crossing capability of the wheeled robot is limited and cannot pass through a road edge and a stair step; the walking mechanism of the crawler-type robot is a crawler, and the crawler-type robot has the advantages of high efficiency, strong obstacle crossing capability and stable action. However, the track structure of the tracked robot is more complex than the wheel structure of the wheeled robot, and the tracked robot is heavier, which is not favorable for increasing the speed of the tracked robot.
Disclosure of Invention
The purpose of the invention is: the invention provides a robot moving platform, which aims to achieve the purposes of strong obstacle crossing capability, good stability and high walking speed.
In order to achieve the above object, the present invention provides a robot moving platform, comprising:
a frame;
the travelling mechanisms are at least three and are arranged on the outer side of the frame in a surrounding manner, each travelling mechanism comprises at least two travelling wheels and driving devices, the travelling wheels are coaxially arranged, the number of the driving devices is equal to that of the travelling wheels, the driving devices correspond to the travelling wheels one by one, and each driving device is used for driving the travelling wheel corresponding to the driving device to rotate;
and the control mechanism is electrically connected with each driving device.
In some embodiments of this application, the walking wheel includes wheel hub and roller, wheel hub with drive arrangement's power take off end is connected, wheel hub has the supporting leg that extends to the direction of keeping away from its center, the roller is located the supporting leg is kept away from the one end at wheel hub center.
In some embodiments of the present application, the traveling mechanism includes two traveling wheels, and two the supporting legs of the traveling wheels are alternately arranged.
In some embodiments of the application, the frame is provided with at least three openings for installing running gear, two drive arrangement install in the opposite both sides of opening, two the walking wheel install in the opening.
In some embodiments of the present application, the hub has at least two of the support legs, and all of the support legs of the same hub are disposed at intervals in a circumferential direction of the hub.
In some embodiments of the present application, an included angle between any two adjacent support legs of the same traveling mechanism is equal.
In some embodiments of the present application, the rollers of the two travelling wheels of the same travelling mechanism are arranged close to each other in a pair.
In some embodiments of the present application, the hub has three of the support legs, and three of the support legs are Y-shaped.
In some embodiments of the present application, the axial direction of the roller forms an oblique angle with the transverse axis of the hub.
In some embodiments of the present application, the robot moving platform further includes an obstacle avoidance sensor, the obstacle avoidance sensor is disposed on the frame, and the obstacle avoidance sensor is electrically connected to the control mechanism.
The embodiment of the invention provides a robot moving platform, which has the following beneficial effects compared with the prior art:
the walking mechanism comprises at least two walking wheels, and the walking wheels are independently driven by respective corresponding driving devices, so that the walking mechanism has stronger power, and the deformation of the walking mechanism is completed by adjusting the included angle of two adjacent walking wheels of the same walking mechanism, so that the walking mechanism can pass through complex terrains such as road edges, stairs and the like;
in addition, as the travelling wheels are of a wheel type structure, compared with a crawler type structure, the wheel type structure has the advantages of light weight, high travelling speed and small jolt.
Drawings
Fig. 1 is a first schematic structural diagram of a robot mobile platform in a fast translation state according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram ii of the robot moving platform in the fast translation state according to the embodiment of the present invention.
Fig. 3 is a first schematic structural diagram of the robot moving platform in a dynamic adjustment state according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram ii of the robot moving platform in the dynamic adjustment state according to the embodiment of the present invention.
Fig. 5 is a third schematic structural diagram of the robot moving platform in the dynamic adjustment state according to the embodiment of the present invention.
Fig. 6 is a first schematic structural diagram of the robot moving platform in an obstacle crossing state according to the embodiment of the present invention.
Fig. 7 is a second schematic structural diagram of the robot moving platform in an obstacle crossing state according to the embodiment of the present invention.
FIG. 8 is a schematic structural view of a vehicle frame according to an embodiment of the present invention.
In the figure, 1, a frame; 2. a traveling mechanism; 21. a traveling wheel; 211. a hub; 212. supporting legs; 213. a roller; 22. a drive device; 3. and (4) opening.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 to 8, a preferred embodiment of the present invention provides a robot moving platform, which includes: the device comprises a frame 1, a traveling mechanism 2 and a control mechanism; the number of the travelling mechanisms 2 is at least three, the at least three travelling mechanisms 2 are arranged on the outer side of the frame 1 in a surrounding mode, each travelling mechanism 2 comprises at least two travelling wheels 21 and driving devices 22, the travelling wheels 21 are coaxially arranged, the number of the driving devices 22 is equal to that of the travelling wheels 21, the driving devices 22 correspond to the travelling wheels 21 one by one, and each driving device 22 is used for driving the travelling wheel 21 corresponding to the driving device to rotate; the control mechanism is electrically connected to each of the driving devices 22.
Based on the above arrangement, since the traveling mechanism 2 includes at least two traveling wheels 21, and each traveling wheel 21 is independently driven by the corresponding driving device 22, the power of the traveling mechanism 2 is stronger, and the deformation of the traveling mechanism 2 is completed by adjusting the included angle of two adjacent traveling wheels 21 of the same traveling mechanism, so that the traveling mechanism 2 can pass through complex terrains such as road edges and stairs;
in addition, as the travelling wheels 21 are of a wheel type structure, compared with a crawler type structure, the wheel type structure has the advantages of light weight, high travelling speed and small jolt.
Alternatively, in some embodiments, as shown in fig. 1 to 7, the road wheel 21 includes a hub 211 and a roller 213, the hub 211 is connected to the power output end of the driving device 22, the hub 211 has a support leg 212 extending away from the center thereof, and the roller 213 is provided at an end of the support leg 212 away from the center of the hub 211. Thus, each driving device 22 of the same traveling mechanism 2 drives the corresponding wheel hub 211 to rotate, so that the rollers 213 of the same traveling mechanism 2 are alternately contacted with the ground, thereby facilitating the movement of the robot moving platform.
Alternatively, in some embodiments, as shown in fig. 1-7, the travel mechanism 2 includes two travel wheels 21, and the support legs 212 of the two travel wheels 21 are alternately arranged. Therefore, compared with one walking wheel 21, the two walking wheels 21 can enable the obstacle crossing capability of the walking mechanism 2 to be stronger and the walking speed to be faster; compared with the number of the walking wheels 21 which exceeds two, the two walking wheels 21 are more convenient to connect with the frame 1, excessive restraint is avoided, the walking mechanism 2 can move more flexibly, the cost is lower, and the control mode is simpler.
Alternatively, in some embodiments of the present application, as shown in fig. 1-7, the frame 1 is provided with at least three openings 3 for mounting the running gear 2, two running wheels 21 are mounted in the openings 3, and two driving devices 22 are mounted on opposite sides of the openings 3. Thus, the user only needs to detachably mount the driving device 22 on the side of the opening 3 by the fastening member, compared with the mounting of the driving device 22 on the middle of the opening 3, thereby making the fixing manner of the driving device 22 simpler; in addition, the opening 3 can facilitate the rotation of the traveling wheels 21 without causing an obstruction to the rotation of the traveling wheels 21.
Alternatively, in some embodiments of the present application, as shown in fig. 1 to 7, in order to allow the traveling wheel 21 to have a smoother traveling state, the hub 211 has at least two support legs 212, and all the support legs 212 of the same hub 211 are disposed at equiangular intervals in the circumferential direction of the hub 211.
Alternatively, in some embodiments of the present disclosure, as shown in fig. 1-2, the included angle between any two adjacent support legs 212 of the same chassis 2 is equal. Based on this, the included angle between any two adjacent rollers 213 of the same traveling mechanism 2 is equal, and when the rotational speeds output by the power output ends of the two driving devices 22 are the same, the rollers 213 of the traveling mechanism 2 alternately contact with the ground, so as to realize the rapid translation of the robot moving platform.
Alternatively, in some embodiments of the present application, as shown in fig. 6 to 7, the rollers 213 of the two road wheels 21 of the same traveling mechanism 2 are disposed close to each other in a pair of two. Based on this, compared with the case that the traveling mechanism 2 is driven to move by only one driving device 22, the traveling mechanism 2 of the embodiment of the present application is in contact with the ground through two rollers 213 which are arranged in a pair in pairs, and the driving force for driving the traveling mechanism 2 to travel is provided by two driving devices 22, so that the ground capturing force of the traveling mechanism 2 is increased, and the obstacle crossing capability of the robot moving platform is further improved; in addition, when the robot moving platform is in an obstacle crossing state, the rotating speeds output by the power output ends of the two driving devices 22 are equal, so that the stability of the robot moving platform is better;
In addition, when the robot moving platform is in an obstacle crossing state, the included angle between the axes of the two supporting legs 212 which are arranged in a pair of pairs is 0-60 degrees.
Alternatively, in some embodiments of the present application, as shown in fig. 5, the robot moving platform has a dynamic adjustment state, and for the same travelling mechanism 2, the travelling wheels 21 contacting with the ground are defined as supporting wheels, the other travelling wheels 21 are swinging wheels, and one of the rollers 213 of the supporting wheels lands; when the robot moving platform moves forwards slowly, the swinging wheels swing clockwise towards the supporting wheels, the included angle between the grounded roller 213 and the roller 213 positioned in front of the swinging wheels is reduced until one of the rollers 213 of the swinging wheels lands, the swinging wheels become new supporting wheels, then the original supporting wheels rotate clockwise, the original supporting wheels become new swinging wheels, and the alternating process of the supporting wheels and the swinging wheels is circulated, so that the robot moving platform can move forwards slowly;
when the robot moving platform slowly moves backwards, the swinging wheel rotates anticlockwise towards the supporting wheel, an included angle between the grounded roller 213 and the roller 213 positioned behind the grounded roller becomes smaller until one of the rollers 213 of the swinging wheel lands, the swinging wheel becomes a new supporting wheel, then the original supporting wheel rotates anticlockwise, the original supporting wheel becomes a new swinging wheel, and the alternating process of the supporting wheel and the swinging wheel is circulated, so that the robot moving platform slowly moves backwards.
Optionally, in some embodiments of the present application, as shown in fig. 1-7, in order to enable the road wheel 21 to better contact with the ground, the hub 211 has three support legs 212, and the three support legs 212 are arranged in a Y shape; of course, in other embodiments, the hub 211 may have two support legs 212 or four support legs 212, and the number of the support legs 212 is not limited in the embodiments of the present application.
Alternatively, in some embodiments of the present application, as shown in fig. 1 to 7, the axial direction of the roller 213 and the transverse axis direction of the hub 211 form an oblique angle, so that the traveling wheels 21 are arranged in the form of mecanum wheels, thereby enabling the robot moving platform to move omnidirectionally; in addition, all the travelling wheels 21 of the same travelling mechanism 2 are arranged in the form of dynamically adjusted mecanum wheels, so that the travelling mechanism 2 not only has the advantage of high travelling speed, but also has the advantage of being capable of passing through complex terrains such as road edges, stairs and the like;
in addition, the degree of the oblique included angle can be determined according to the actual design requirement, the range of the oblique included angle is 20-70 degrees, and the common oblique included angle is 45 degrees.
In some embodiments of the present application, the robot moving platform of the present invention further includes an obstacle avoidance sensor, the obstacle avoidance sensor is disposed on the frame 1, the obstacle avoidance sensor is electrically connected to the control mechanism, the obstacle avoidance sensor can sense road conditions around the robot moving platform and send the road condition information to the control mechanism, when an obstacle appears at the front side, the control mechanism controls the operating state of the driving device 22, so that the robot moving platform avoids the obstacle; in addition, keep away barrier sensor and be ultrasonic sensor.
To sum up, according to the robot moving platform of the embodiment of the present invention, since the traveling mechanism 2 includes at least two traveling wheels 21, and each traveling wheel 21 is independently driven by the corresponding driving device 22, the power of the traveling mechanism 2 is stronger, and the deformation of the traveling mechanism 2 is completed by adjusting the included angle of two adjacent traveling wheels 21 of the same traveling mechanism, so that the traveling mechanism 2 can pass through complex terrains such as road edges, stairs, etc.;
in addition, as the travelling wheels 21 are of a wheel type structure, compared with a crawler type structure, the wheel type structure has the advantages of light weight, high travelling speed and small jolt.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robotic mobile platform, comprising:
A frame;
the travelling mechanisms are at least three and are arranged on the outer side of the frame in a surrounding manner, each travelling mechanism comprises at least two travelling wheels and driving devices, the travelling wheels are coaxially arranged, the number of the driving devices is equal to that of the travelling wheels, the driving devices correspond to the travelling wheels one by one, and each driving device is used for driving the travelling wheel corresponding to the driving device to rotate;
and the control mechanism is electrically connected with each driving device.
2. The robotic mobile platform of claim 1, wherein the road wheels include hubs connected to the power take-offs of the drive devices and rollers having support legs extending away from the centers of the hubs, the rollers being disposed at ends of the support legs away from the centers of the hubs.
3. The robotic mobile platform of claim 2, wherein the walking mechanism comprises two of the walking wheels, and the support legs of the two walking wheels are arranged alternately.
4. A robotic mobile platform according to claim 3, wherein the frame is provided with at least three openings for mounting the travelling mechanisms, two of the drive means being mounted on opposite sides of the openings and two of the travelling wheels being mounted in the openings.
5. A robotic mobile platform according to claim 2, wherein the hub has at least two of the support legs and all of the support legs of the same hub are spaced circumferentially of the hub.
6. The robotic mobile platform of claim 2, wherein any two adjacent support legs of the same walking mechanism have an equal included angle.
7. The robotic mobile platform of claim 2, wherein the rollers of the two road wheels of the same walking mechanism are disposed in close proximity in pairs of two.
8. A robotic mobile platform according to claim 2, wherein the hub has three said support legs, and wherein the three said support legs are Y-shaped.
9. A robotic mobile platform according to claim 2, wherein the axes of the rollers are at an oblique angle to the transverse axis of the hub.
10. The robot moving platform according to claim 2, further comprising an obstacle avoidance sensor, wherein the obstacle avoidance sensor is disposed on the frame, and the obstacle avoidance sensor is electrically connected to the control mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010683448.3A CN111845998A (en) | 2020-07-15 | 2020-07-15 | Robot moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010683448.3A CN111845998A (en) | 2020-07-15 | 2020-07-15 | Robot moving platform |
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| Publication Number | Publication Date |
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| CN111845998A true CN111845998A (en) | 2020-10-30 |
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| CN202010683448.3A Pending CN111845998A (en) | 2020-07-15 | 2020-07-15 | Robot moving platform |
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Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110233991A1 (en) * | 2010-03-29 | 2011-09-29 | Robosynthesis Limited | Wheel and Wheel Assembly |
| CN102275457A (en) * | 2011-05-23 | 2011-12-14 | 西南大学 | Switched multi-blade obstacle-crossing wheel |
| CN102935787A (en) * | 2012-10-15 | 2013-02-20 | 西南大学 | Multi-vane wheel obstacle crossing mechanism |
| CN103072429A (en) * | 2013-01-24 | 2013-05-01 | 东华大学 | Wheel capable of climbing stairs and running on flat land |
| CN203332259U (en) * | 2013-07-17 | 2013-12-11 | 山东科技大学 | Obstacle crossing robotic explorer |
| CN106394715A (en) * | 2016-12-02 | 2017-02-15 | 河海大学常州校区 | Omnidirectional moving wheel type robot platform and control method |
| CN208085844U (en) * | 2018-03-30 | 2018-11-13 | 广州大学 | A kind of avoidance robot suitable for a variety of landform |
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| CN209290554U (en) * | 2018-11-28 | 2019-08-23 | 中科创源(天津)科技有限公司 | A kind of robot running gear |
| KR20200083296A (en) * | 2018-12-31 | 2020-07-08 | 서울대학교산학협력단 | Mobile robot |
| CN212529860U (en) * | 2020-07-15 | 2021-02-12 | 中原动力智能机器人有限公司 | Robot moving platform |
-
2020
- 2020-07-15 CN CN202010683448.3A patent/CN111845998A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110233991A1 (en) * | 2010-03-29 | 2011-09-29 | Robosynthesis Limited | Wheel and Wheel Assembly |
| CN102275457A (en) * | 2011-05-23 | 2011-12-14 | 西南大学 | Switched multi-blade obstacle-crossing wheel |
| CN102935787A (en) * | 2012-10-15 | 2013-02-20 | 西南大学 | Multi-vane wheel obstacle crossing mechanism |
| CN103072429A (en) * | 2013-01-24 | 2013-05-01 | 东华大学 | Wheel capable of climbing stairs and running on flat land |
| CN203332259U (en) * | 2013-07-17 | 2013-12-11 | 山东科技大学 | Obstacle crossing robotic explorer |
| CN106394715A (en) * | 2016-12-02 | 2017-02-15 | 河海大学常州校区 | Omnidirectional moving wheel type robot platform and control method |
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| CN208085844U (en) * | 2018-03-30 | 2018-11-13 | 广州大学 | A kind of avoidance robot suitable for a variety of landform |
| CN209290554U (en) * | 2018-11-28 | 2019-08-23 | 中科创源(天津)科技有限公司 | A kind of robot running gear |
| KR20200083296A (en) * | 2018-12-31 | 2020-07-08 | 서울대학교산학협력단 | Mobile robot |
| CN212529860U (en) * | 2020-07-15 | 2021-02-12 | 中原动力智能机器人有限公司 | Robot moving platform |
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