CN114802507B - Omnidirectional mobile robot based on Schatz mechanism - Google Patents
Omnidirectional mobile robot based on Schatz mechanism Download PDFInfo
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- CN114802507B CN114802507B CN202210409295.2A CN202210409295A CN114802507B CN 114802507 B CN114802507 B CN 114802507B CN 202210409295 A CN202210409295 A CN 202210409295A CN 114802507 B CN114802507 B CN 114802507B
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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
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Abstract
Omnidirectional mobile robot based on Schatz mechanism, its characterized in that: consists of four completely consistent driving units (A, B, C, D) and a carrying platform (E); taking the first drive unit as an example. Each driving unit comprises first to sixth connecting rods (A1, A3, A4, A9, A10 and A11) of the Schatz mechanism, first to fourth modules (A5, A6, A7 and A8) of the Oloid profile wheel, a motor (A2) and a driven revolute pair (A12). The carrying platform is an octagonal plate with four long sides and four short sides; the four long sides are respectively positioned at four corners of the carrying platform, and two sides of each long side are respectively provided with a through hole for fixedly connecting the first connecting rod with the carrying platform; the center of the carrying platform is provided with a through hole (E1) for powering on the power supply circuit. The forward direction of the robot is related to the steering of the four drive unit motors with the same rotational speed.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a mobile robot with omni-directional movement and obstacle surmounting capability based on a Schatz mechanism.
Background
In recent years, mobile robot technology has been remarkably developed, and robots have entered human life in many fields. Traditional mobile robots are more and more difficult to meet the requirements of tasks such as transportation, investigation, rescue and the like due to the incompleteness of movement. The omnidirectional mobile robot has the omnidirectional movement capability, so that the omnidirectional mobile robot has stronger environmental adaptability. Which can move in narrow, complex spaces. Different types of omni-mobile robots can be constructed based on different omni-directional mechanisms, such as 6-foot wheel leg compound omni-mobile robots proposed by the U.S. aerospace agency-ATHLETE and omni-mobile robots based on omni-wheels (mecanum wheels) or universal wheels. For a foot-type omni-directional mobile robot, an open chain mechanism is mostly used, and a plurality of motors are required to be equipped. This not only increases the bulk of the robot itself, but also increases the complexity of the control system. The omni-directional mobile robot based on omni-directional wheels (Mecanum wheels) or universal wheels is limited by the obstacle crossing capability and abrasion and other problems, and is mainly applied to indoor environments with good road conditions.
The Schatz mechanism is used as a space single-degree-of-freedom closed-chain link mechanism and has the characteristics of high rigidity and less degree of freedom. By utilizing the space reciprocating motion of the connecting rod of the mechanism, yao Yanan, yao Shun and the like propose a series of mobile robots based on a Schatz mechanism, such as a multi-foot deformation robot based on the Schatz mechanism published by Chinese patent application CN202010070407.7 and a special-shaped wheel robot based on the Schatz mechanism published by Chinese patent application CN 202010230165.3. They all use the Schatz mechanism as a drive unit and are contoured for their different links. The control model of the robot is simplified, and the robot is endowed with good terrain adaptability. But the robot does not have the omni-directional movement capability.
The Oloid surface is a developable surface. Proposed by the German scientist Paul Schatz. By utilizing the motion rule of the curved surface consistent with the Schatz mechanism, a driving unit formed by combining the curved surface and the Schatz mechanism has the potential of constructing the omnidirectional mobile robot.
Disclosure of Invention
The invention aims to solve the technical problems: 1. the problem that the current mobile robot based on the multi-module Schatz mechanism cannot realize omnidirectional movement is solved. 2. The profile of the Oloid curved surface is modified to form a special-shaped wheel, so that the special-shaped wheel is combined with a Schatz mechanism, and the robot with omnidirectional movement and obstacle surmounting capability is invented.
The technical scheme of the invention is as follows: an omnidirectional mobile robot based on a Schatz mechanism. The method is characterized in that: the robot comprises a first driving unit, a second driving unit, a third driving unit, a fourth driving unit and a carrying platform, wherein the driving unit is formed by combining a Schatz mechanism and an Oloid special-shaped wheel. The four driving units are completely consistent and distributed on four corners of the carrying platform. Each driving unit comprises a first connecting rod, a sixth connecting rod, a first block, a second block, a third block, a fourth block, a motor and a driven revolute pair.
The first connecting rod is a square tube, and the two ends of the front side of the first connecting rod are uniformly provided with a through hole for the output shaft of the power supply and the driven rotating shaft to pass through, and three mounting holes for the motor and the driven rotating shaft. The rear side face is provided with a hollow groove for installing a motor and a driven revolute pair. The motor and the driven revolute pair are linked with the first connecting rod by using bolts. And two through holes are respectively arranged at the two ends of the upper side and the lower side of the first connecting rod. Through the through hole, the first connecting rod is linked with the carrying platform in the form of bolts and nuts.
The second connecting rod is identical to the sixth connecting rod and is of a square block structure. The lower end face of the motor is provided with a D-shaped connecting hole which is respectively connected with the motor output shaft and the rotating shaft of the driven revolute pair. A through hole is arranged at the lower side of the front end surface of the motor and is matched with the through holes on the motor and the driven shaft. The second connecting rod and the sixth connecting rod are linked with the motor or the driven shaft through the through holes by using bolts and nuts. A through hole is arranged on the upper side of the front end surface of the circular groove, and a circular groove is respectively arranged at two ends of the through hole. The second connecting rod and the sixth connecting rod are respectively matched with the third connecting rod and the fifth connecting rod to form a rotary joint by using the bolt to be matched with the bearing through the through hole and adopting a nut fastening mode. The circular groove is used for positioning and mounting the bearing.
The third connecting rod is identical to the fifth connecting rod and is of a square block structure. A through hole is formed in the bottom of the front end face, and a notch is formed in the upper part of the front end face; the upper side of the left end face is provided with a through hole, and the lower side is provided with a notch. The larger through hole is matched with the through hole on the upper side of the front end face of the second or sixth connecting rod to form a revolute pair. The two end surfaces of the through hole at the other end are respectively provided with a slotted hole, and the third connecting rod, the fifth connecting rod and the fourth connecting rod are linked by the through hole in a mode of matching the bolt with the bearing and axially positioning by fastening the nut.
The fourth connecting rod is a hollow square tube, and two ends of the fourth connecting rod are provided with through holes which are mutually perpendicular and are respectively connected with the third connecting rod and the fifth connecting rod.
The Oloid special-shaped wheel is formed by modifying an Oloid curved surface. Two through holes are designed at the positions of two round centers of the Oloid curved surface, a revolute pair is formed by using a bolt and a bearing to be matched, and a nut is used for axial positioning. And the Oloid special-shaped wheels are connected with the third connecting rod, the fourth connecting rod and the fifth connecting rod at the positions of the two through holes. And the Oloid curved surface is symmetrically divided into four completely identical modules. The four modules are respectively named: the first module, the second module, the third module and the fourth module. Adjacent modules are connected through bolts and nuts.
The driven revolute pair is of a cylindrical block structure, a group of connecting holes are formed in the circular base and are used for fixedly connecting with the first connecting rod through bolts, and the small cylindrical shaft is a driven rotating shaft and is connected with the sixth connecting rod.
The carrying platform is an octagonal plate with four long sides and four short sides. The four long sides are respectively positioned at four corners of the carrying platform, and two sides of each long side are respectively provided with a through hole for fixedly connecting the first connecting rod with the carrying platform. The center of the carrying platform is provided with a through hole for communicating a power line of the motor.
An omnidirectional mobile robot based on a Schatz mechanism has the same motor rotation speed and opposite rotation directions of a first driving unit and a second driving unit; the motor rotation speeds of the third driving unit and the fourth driving unit are the same, and the directions are opposite; the motors of the first driving unit and the third driving unit are identical in steering, and the motors of the second driving unit and the fourth driving unit are identical in steering. The robot moves straight forward or backward, and the moving speed is positively correlated with the motor rotation speed.
An omnidirectional mobile robot based on a Schatz mechanism, when the motor speeds of the first to fourth drive units are the same as the steering direction. The robot can realize the transverse movement of the left side and the right side, and the movement speed is positively related to the rotation speed of the motor.
When the motor rotation speeds of the first driving unit and the fourth driving unit are the same, and the motor rotation directions of the first driving unit and the third driving unit are the same and opposite to the motor rotation directions of the second driving unit and the fourth driving unit, the omnidirectional mobile robot based on the Schatz mechanism can realize oblique movement, and the movement speed is positively correlated with the motor rotation speeds.
Drawings
Fig. 1 is an overall three-dimensional view of an omnidirectional mobile robot based on Schatz mechanism
FIG. 2 is an overall three-dimensional view of the first drive unit
FIG. 3 is a three-dimensional view of a first link
FIG. 4 is a three-dimensional view of a second link
FIG. 5 is a three-dimensional view of a third link
FIG. 6 is a four-bar three-dimensional view
FIG. 7Oloid profile wheel overall three-dimensional map
FIG. 8Oloid shaped wheel first module three-dimensional view
FIG. 9 is a diagram of the first and second modules and the third and fourth links of the profile wheel
FIG. 10 is a three-dimensional view of a driven revolute pair
FIG. 11 is a three-dimensional view of a load carrying platform
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
An omnidirectional robot based on a Schatz mechanism, as shown in fig. 1, consists of a first, a fourth and a fourth completely identical driving units (A, B, C, D) and an object carrying platform (E).
Embodiments of the invention:
as shown in fig. 2, the first driving unit (a) is exemplified. Each driving unit comprises a first connecting rod (A1), a third connecting rod (A3), a fourth connecting rod (A4), A9, a10 and a 11), an Oloid profile wheel first module, a fourth module (A5, A6, A7 and A8), a motor (A2) and a driven revolute pair (A12) of the Schatz mechanism.
The first connecting rod (A1) is a square tube, as shown in fig. 3. The two ends of the front side of the motor are uniformly provided with three mounting holes (A1-1, A1-2) for the output shaft of the motor and the driven rotating shaft to pass through, and the motor and the driven rotating shaft. The rear side face is provided with a hollow groove for installing a motor and a driven revolute pair. The motor and the driven revolute pair are linked with the first connecting rod by using bolts. And two ends of the upper side and the lower side of the first connecting rod are respectively provided with a through hole (A1-3 and A1-4). Through these through holes, the first link is linked with the loading platform in the form of bolts and nuts.
The second connecting rod (A3) is identical to the sixth connecting rod (a 11) and has a square block structure, as shown in fig. 4. Taking the second connecting rod (A3) as an example, a D-shaped connecting hole (A3-1) is formed on the lower end surface of the second connecting rod and is connected with the motor output shaft. A through hole (A3-2) is arranged on the lower side of the front end surface of the motor and is matched with the through holes on the motor and the driven shaft. The second connecting rod and the sixth connecting rod are linked with the motor or the driven shaft through the through holes by using bolts and nuts. A through hole (A3-3) is arranged on the upper side of the front end surface of the circular groove, and a circular groove (A3-4) is respectively arranged at two ends of the through hole. The second and sixth links (A3, A11) are engaged with the third and fifth links (A4, A10) respectively by means of bolts and nuts through the through holes to form a rotary joint. The circular groove is used for positioning and mounting the bearing.
The third connecting rod (A4) is identical to the fifth connecting rod (a 10) and has a square block structure, as shown in fig. 5. Taking a third connecting rod (A4) as an example, a smaller through hole (A4-1) is formed in the bottom of the front end surface of the third connecting rod, and a notch is formed in the upper part of the front end surface of the third connecting rod; the upper side of the left end face is provided with a larger through hole (A4-2), and the lower side is provided with a notch. Wherein the larger through hole (A4-2) is matched with the through hole on the upper side of the front end surface of the second or sixth connecting rod to form a revolute pair. Two end surfaces of the through hole (A4-1) with the smaller other end are respectively provided with a slotted hole, and the third connecting rod (A4) and the fifth connecting rod (A10) are linked with the fourth connecting rod (A9) by the way that the through holes are matched with the bearings through bolts and are axially positioned by fastening nuts.
The fourth connecting rod (A9) is a hollow square tube, as shown in fig. 6. Two ends of the connecting rod are provided with mutually perpendicular through holes (A9-1 and A9-2) which are respectively connected with the third connecting rod and the fifth connecting rod.
The Oloid special-shaped wheel is shown in fig. 7. Is assembled from first to fourth modules (A5, A6, A7, A8), which are identical. Taking the first module as an example, the structure is shown in fig. 8. The left through hole (A5-1) of the first module corresponds to the left through hole (A7-1) of the third module, and the left through hole are linked through bolts and nuts. The right through hole (A5-2) of the first module corresponds to the right through hole (A7-2) of the fourth module and is linked through bolts and nuts. As shown in fig. 9, the first and second modules (A5, A6) are linked to the third and fourth links (A4, A9) by forming a revolute pair by using a bolt and bearing fit and axially positioning them with nuts and shims.
The driven revolute pair (A12) is of a cylindrical block structure, as shown in FIG. 10. A group of connecting holes are formed in the round base (A12-1) and are used for being fixedly connected with the first connecting rod (A1) through bolts, and the small cylindrical shaft (A12-2) is a driven rotating shaft and is connected with the sixth connecting rod (A11).
The carrying platform (E) is an octagonal plate with four long sides and four short sides, as shown in fig. 11. The four long sides are respectively positioned at four corners of the carrying platform, and two sides of each long side are respectively provided with a through hole for fixedly connecting the first connecting rod (A1) with the carrying platform (E). The center of the carrying platform is provided with a through hole (E1) for powering on the power supply circuit.
Claims (2)
1. Omnidirectional mobile robot based on Schatz mechanism, its characterized in that: consists of a first to a fourth drive units (A, B, C, D) and an object carrying platform (E), wherein the four drive units are completely consistent; taking a first driving unit (A) as an example, each driving unit comprises first to sixth connecting rods (A1, A3, A4, A9, A10 and A11) of a Schatz mechanism, first to fourth modules (A5, A6, A7 and A8) of an Oloid special-shaped wheel, a motor (A2) and a driven revolute pair (A12);
the first connecting rod (A1) is a square tube, through holes (A1-1 and A1-2) for the output shaft of the power supply and the driven rotating shaft to pass through are uniformly distributed at the two ends of the front side of the first connecting rod, three mounting holes for the motor and the driven rotating shaft are formed in the rear side of the first connecting rod, a hollow groove is formed in the rear side of the first connecting rod so as to mount the motor and the driven rotating pair, the motor and the driven rotating pair are connected with the first connecting rod through bolts, and through holes (A1-3 and A1-4) are formed at the two ends of the upper side and the lower side of the first connecting rod respectively, and the first connecting rod is connected with the carrying platform through the through holes in the form of bolts and nuts;
the second connecting rod (A3) and the sixth connecting rod (A11) are completely the same, take a square block structure, take the second connecting rod (A3) as an example, a D-shaped connecting hole (A3-1) is formed in the lower end face of the second connecting rod and is connected with an output shaft of the motor, a through hole (A3-2) is formed in the lower side of the front end face of the second connecting rod and is matched with the through holes on the motor and the driven shaft, the second connecting rod and the sixth connecting rod are connected with the motor or the driven shaft in a bolt-nut mode through the through holes, a through hole (A3-3) is formed in the upper side of the front end face of the second connecting rod and the sixth connecting rod, circular grooves (A3-4) are formed in the two ends of the through holes, the second connecting rod and the sixth connecting rod (A3-11) are matched with the third connecting rod and the fifth connecting rod (A4 and A10) in a nut fastening mode through bolts and are used for forming a rotary joint, and the circular grooves are used for positioning and installing the bearing;
the third connecting rod (A4) is identical to the fifth connecting rod (A10) and is of a square block structure, a smaller through hole (A4-1) is formed in the bottom of the front end face of the third connecting rod (A4), a notch is formed in the upper portion of the front end face, a larger through hole (A4-2) is formed in the upper side of the left end face, a notch is formed in the lower side of the left end face, the larger through hole (A4-2) is matched with the through hole in the upper side of the front end face of the second or sixth connecting rod to form a revolute pair, a slotted hole is formed in each of two end faces of the smaller through hole (A4-1) at the other end, and the third connecting rod (A4) and the fifth connecting rod (A10) are connected with the fourth connecting rod (A9) in a mode of axially positioning through bolts and bearings in a nut fastening mode through the slotted holes;
the fourth connecting rod (A9) is a hollow square tube, two ends of the fourth connecting rod are provided with mutually perpendicular through holes (A9-1 and A9-2) and are respectively connected with the third connecting rod and the fifth connecting rod;
the Oloid special-shaped wheel is formed by assembling first to fourth modules (A5, A6, A7 and A8), the four modules are identical, taking the first module as an example, a left through hole (A5-1) of the first module corresponds to a left through hole (A7-1) of a third module, the left through hole and the right through hole (A5-2) of the first module correspond to a right through hole (A7-2) of the fourth module through bolt and nut connection, a revolute pair is formed in a mode of matching a bolt with a bearing through the bolt and nut connection, and the first module (A5) and the second module (A6) are connected with third connecting rods (A4) and fourth connecting rods (A9) through a method of axially positioning the nut and a gasket;
the driven revolute pair (A12) is of a cylindrical block structure, a group of connecting holes are formed in the circular base (A12-1) and are used for fixedly connecting with the first connecting rod (A1) through bolts, and the small cylindrical shaft (A12-2) is a driven rotating shaft and is connected with the sixth connecting rod (A11);
the carrying platform (E) is an octagonal plate with four long sides and four short sides, the four long sides are respectively located at four corners of the carrying platform, two sides of each long side are respectively provided with a through hole for fixedly connecting the first connecting rod (A1) with the carrying platform (E), and the center of the carrying platform is provided with a through hole (E1) for powering on an electric power line.
2. An omnidirectional mobile robot based on the Schatz mechanism of claim 1, wherein: the motor rotation speeds of the first driving unit and the second driving unit are the same, and the directions are opposite; the motor rotation speeds of the third driving unit and the fourth driving unit are the same, and the directions are opposite; the motors of the first driving unit and the third driving unit are identical in steering, and when the motors of the second driving unit and the fourth driving unit are identical in steering, the robot directly moves forward or backward, and the moving speed is positively correlated with the rotating speed of the motors; when the motor rotation speeds of the first driving unit and the fourth driving unit are the same as the rotation speed, the robot can realize transverse movement of the left side and the right side, and the movement speed is positively related to the motor rotation speeds; when the motor rotation speeds of the first driving unit and the fourth driving unit are the same, and the motor rotation directions of the first driving unit and the third driving unit are the same and opposite to the motor rotation directions of the second driving unit and the fourth driving unit, the robot can realize oblique movement, and the movement speed is positively related to the motor rotation speeds.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210409295.2A CN114802507B (en) | 2022-04-19 | 2022-04-19 | Omnidirectional mobile robot based on Schatz mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210409295.2A CN114802507B (en) | 2022-04-19 | 2022-04-19 | Omnidirectional mobile robot based on Schatz mechanism |
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| CN114802507A CN114802507A (en) | 2022-07-29 |
| CN114802507B true CN114802507B (en) | 2023-04-25 |
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Citations (4)
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|---|---|---|---|---|
| US5466124A (en) * | 1993-03-05 | 1995-11-14 | Dettwiler; Hermann | Device for generating an inversion-kinematic movement |
| CN208325452U (en) * | 2018-05-23 | 2019-01-04 | 西南大学 | More wheel foots are ipsilateral to synchronize different Earth Phase robots |
| CN111409719A (en) * | 2020-03-27 | 2020-07-14 | 北京交通大学 | Special-shaped wheeled robot based on Schatz mechanism |
| CN111976855A (en) * | 2020-07-10 | 2020-11-24 | 北京交通大学 | Single-drive six-rod mechanism deformable wheel obstacle crossing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8361588B2 (en) * | 2010-12-17 | 2013-01-29 | D Amario Nina | Rotating device |
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2022
- 2022-04-19 CN CN202210409295.2A patent/CN114802507B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5466124A (en) * | 1993-03-05 | 1995-11-14 | Dettwiler; Hermann | Device for generating an inversion-kinematic movement |
| CN208325452U (en) * | 2018-05-23 | 2019-01-04 | 西南大学 | More wheel foots are ipsilateral to synchronize different Earth Phase robots |
| CN111409719A (en) * | 2020-03-27 | 2020-07-14 | 北京交通大学 | Special-shaped wheeled robot based on Schatz mechanism |
| CN111976855A (en) * | 2020-07-10 | 2020-11-24 | 北京交通大学 | Single-drive six-rod mechanism deformable wheel obstacle crossing robot |
Non-Patent Citations (1)
| Title |
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| 姚舜等.单动力可转向爬行Schatz机构.机械工程学报.2016,第52卷(第13期),第31-34页. * |
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