CN202896722U - Travelling mechanism for robot - Google Patents
Travelling mechanism for robot Download PDFInfo
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- CN202896722U CN202896722U CN 201220642902 CN201220642902U CN202896722U CN 202896722 U CN202896722 U CN 202896722U CN 201220642902 CN201220642902 CN 201220642902 CN 201220642902 U CN201220642902 U CN 201220642902U CN 202896722 U CN202896722 U CN 202896722U
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Abstract
The utility model relates to a travelling mechanism for a robot. The travelling mechanism for the robot comprises a travelling driving motor and omnidirectional wheels. The travelling driving motor is in transmission connection with the omnidirectional wheels through a coupler. Each omnidirectional wheel comprises a wheel disc and at least one roller arranged on the wheel disc. The wheel disc is rotatably and slidably matched with the roller. The axis of the roller is vertical to that of the wheel disc. The travelling mechanism for the robot provided by the utility model can be used for a soft finger material moving robot whose movement is controlled by a three-degree-of-freedom moving system of the omnidirectional wheels, so that the robot can stably move to an appointed position according to demand. The travelling mechanism for the robot provided by the utility model has the advantages of simpleness in structure and convenience in control, is more flexible than human feet, and can better compensate the deficiency of unstable movements and poor steering capacity of the travelling mechanism of a copying machine.
Description
Technical field
The utility model relates to the technical field of robot, especially a kind of robot traveling gear.
Background technology
The research of mechanical running mechanism is the emphasis of robot research all the time, the mechanical running mechanism type is various, but modeling machine tool traveling gear is the main direction of robot mechanical running mechanism research always, mostly the research of mechanical running mechanism is to study by profiling, wishing can be the same with people's pin, reaches the purpose that stronger locomotor activity is arranged by multivariant joint motions design.But, leg exercise control difficulty height complicated because of the joint designs that relates in the profiling mechanism tread systems design, manufacturing cost is higher, and manufacture difficulty and requirement are also higher.
We wish and can simplify to design a simple and effective robot mechanical running mechanism by mechanical running mechanism, so that new action implementation constantly appears in robot research and application development, change the thinking of mechanical running mechanism method of designing.
Based on this, if can have a simple in structurely, control is convenient, can be more flexible than people pin, can well remedy unstable, the poor deficiency of steering capability of profiling mechanism traveling gear walking, and also be the abundant of mechanical running mechanism type.
Summary of the invention
Technical problem to be solved in the utility model is for the above-mentioned state of the art, and provide a kind of simple in structure, control is convenient, can be more flexible than people pin, can well remedy the robot traveling gear of the deficiency that the walking of profiling mechanism traveling gear is unstable, steering capability is poor.
The utility model solves the problems of the technologies described above the technical scheme that adopts:
A kind of robot traveling gear, wherein: include travel driving motor and omni-directional wheel, travel driving motor is in transmission connection by coupler and omni-directional wheel; Omni-directional wheel includes wheel disc and forms with at least one roller that is arranged on the wheel disc, and wheel disc cooperates with the roller rotational slide, and the axle center of roller is vertical with the axle center of wheel disc.
For optimizing technique scheme, the concrete measure of taking also comprises:
Above-mentioned coupler is connected with the chassis by omni-directional wheel motor retainer.
Above-mentioned omni-directional wheel has four, is criss-cross and is arranged on the below, chassis, and correspondingly, travel driving motor, coupler and omni-directional wheel motor retainer also have four.
Captive joint with the chassis in above-mentioned omni-directional wheel motor retainer top.
Above-mentioned omni-directional wheel motor retainer bottom is extended with two frame pin, is equipped with the frame pin ring suitable with the coupler external diameter on each frame pin, and coupler passes frame pin ring and is connected cooperation with the frame pin.
The above-mentioned arc distances such as roller are arranged on the wheel disc web.
Above-mentioned roller quantity is seven to ten.
Above-mentioned roller quantity is nine.
Compared with prior art, a kind of robot traveling gear of the present utility model, wherein: include travel driving motor and omni-directional wheel, travel driving motor is in transmission connection by coupler and omni-directional wheel; Omni-directional wheel includes wheel disc and forms with at least one roller that is arranged on the wheel disc, and wheel disc cooperates with the roller rotational slide, and the axle center of roller is vertical with the axle center of wheel disc.A kind of robot of the present utility model can be used in soft finger with traveling gear and move on the thing robot, soft finger moves the thing robot and mainly realizes the crawl of Special-Shaped Surface object, lifting and movement, utilize omni-directional wheel three degree of freedom mobile system to realize activity control to robot, make robot on request pulsation-free move to assigned address.
The power general design
Soft finger moves the thing robot and mainly realizes formulating robot at definite position crawl object, main action is embodied in the displacement of robot integral body and the crawl of object, its action has comprised two pairs of straight-line motions of four omni-directional wheels and the rotatablely moving around center chassis of four omni-directional wheels, the up-and-down movement of mechanical arm, the compressional movement during the crawl object and the extraction of rubber finger sleeve inner vacuum etc.Because action all is dereferenceds, so taked the individual motor distribution in power distribution.
Four omni-directional wheels are respectively by four electric machine control, and large forearm is stressed and motion feature employing individual drive according to self.During soft finger crawl object, soft finger is controlled with cylinder the extruding action of object.
Control design alternative:
1. the control of car load comprises: the startup of wheel electrical machine, stop, forward, counter-rotating; Robot arm control comprises: the forward of motor, counter-rotating.
2. the electric machine control mode is selected: because the mode of line traffic control is easy to control and good stability is arranged, it is few to have the external interference of being subjected to, low cost and other advantages.
3. the selection of the mode of remote controller: at first, what we considered is the selection of switch, and we considered three kinds of switches: point driving switch, micro-switch and tumbler switch.From the comfort level of button, some dynamic formula switch is more comfortable by getting up, also more flexible, so we have selected point driving switch.
The electric machine control design:
Omni-directional wheel electric machine control: controlled by motor drive module Y-2389, module is comprised of two BTN7970B and LS244 chip, driving is by Transistor-Transistor Logic level, enables en output Vcc and GND by five port powers+5VGND forward IN1 counter-rotating IN2, and out1 and out2 form.
Principle of work: utilize omni-directional wheel three degree of freedom mobile system control planar mobile, make robot stabilized arrival assigned address, grasp and mobile article.Omni-directional wheel has four, is criss-cross and is arranged on the below, chassis, and correspondingly, travel driving motor, coupler and omni-directional wheel motor retainer also have four.Wheel disc cooperates with the roller rotational slide, and the axle center of roller is vertical with the axle center of wheel disc.Omni-directional wheel of each travel driving motor control, an omni-directional wheel has again two kinds of walking manners: by seesawing and side-to-side movement by roller of wheel disc.Therefore, under the control of control setup, omni-directional wheel can be arbitrarily mobile to any direction, solved complicated, the high problem of leg exercise control difficulty of joint designs in the profiling mechanism tread systems design.Mobile system adopts omni-directional wheel three degree of freedom structure, guarantees the stability of robot in moving process, also can guarantee when grasping body, and robot keeps balance being subject to being grabbed under the state of object antagonistic force.
Soft finger move the thing robot can use with daily life in, such as the crawl of toy arrangement and collection, instrument and movement and as the standby auxiliary device of other family wears.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment;
Fig. 2 is the birds-eye view of Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail.
Fig. 1 is to Figure 2 shows that structural representation of the present utility model.
Reference numeral wherein is: travel driving motor 1, omni-directional wheel 2, wheel disc 21, roller 22, coupler 3, omni-directional wheel motor retainer 4, frame pin 41, frame pin ring 42, chassis 5.
It is extremely shown in Figure 2 such as Fig. 1,
A kind of robot traveling gear of the present utility model, wherein: include travel driving motor 1 and omni-directional wheel 2, travel driving motor 1 is in transmission connection by coupler 3 and omni-directional wheel 2; Omni-directional wheel 2 includes wheel disc 21 and forms with at least one roller 22 that is arranged on the wheel disc 21, and wheel disc 21 cooperates with roller 22 rotational slides, and the axle center of roller 22 is vertical with the axle center of wheel disc 21.
Among the embodiment, coupler 3 is connected with chassis 5 by omni-directional wheel motor retainer 4.
Among the embodiment, omni-directional wheel 2 has four, is criss-cross and is arranged on 5 belows, chassis, and correspondingly, travel driving motor 1, coupler 3 and omni-directional wheel motor retainer 4 also have four.
Among the embodiment, captive joint with chassis 5 in omni-directional wheel motor retainer 4 tops.
Among the embodiment, omni-directional wheel motor retainer 4 bottoms are extended with two frame pin 41, are equipped with the frame pin ring 42 suitable with coupler 3 external diameters on each frame pin 41, and coupler 3 passes frame pin ring 42 and is connected cooperation with frame pin 41.
Among the embodiment, roller 22 arc distances such as grade are arranged on wheel disc 21 webs.
Among the embodiment, roller 22 quantity are seven to ten.
Among the embodiment, roller 22 quantity are nine.
A kind of robot of the present utility model can be used in soft finger with traveling gear and move on the thing robot, soft finger moves the thing robot and mainly realizes the crawl of Special-Shaped Surface object, lifting and movement, utilize omni-directional wheel three degree of freedom mobile system to realize activity control to robot, make robot on request pulsation-free move to assigned address.
The power general design
Soft finger moves the thing robot and mainly realizes formulating robot at definite position crawl object, main action is embodied in the displacement of robot integral body and the crawl of object, its action has comprised two pairs of straight-line motions of four omni-directional wheels and the rotatablely moving around center chassis of four omni-directional wheels, the up-and-down movement of mechanical arm, the compressional movement during the crawl object and the extraction of rubber finger sleeve inner vacuum etc.Because action all is dereferenceds, so taked the individual motor distribution in power distribution.
Four omni-directional wheels are respectively by four electric machine control, and large forearm is stressed and motion feature employing individual drive according to self.During soft finger crawl object, soft finger is controlled with cylinder the extruding action of object.
Control design alternative:
1. the control of car load comprises: the startup of wheel electrical machine, stop, forward, counter-rotating; Robot arm control comprises: the forward of motor, counter-rotating.
2. the electric machine control mode is selected: because the mode of line traffic control is easy to control and good stability is arranged, it is few to have the external interference of being subjected to, low cost and other advantages.
3. the selection of the mode of remote controller: at first, what we considered is the selection of switch, and we considered three kinds of switches: point driving switch, micro-switch and tumbler switch.From the comfort level of button, some dynamic formula switch is more comfortable by getting up, also more flexible, so we have selected point driving switch.
The electric machine control design:
Omni-directional wheel electric machine control: controlled by motor drive module Y-2389, module is comprised of two BTN7970B and LS244 chip, driving is by Transistor-Transistor Logic level, enables en output Vcc and GND by five port powers+5VGND forward IN1 counter-rotating IN2, and out1 and out2 form.
Principle of work: utilize omni-directional wheel three degree of freedom mobile system control planar mobile, make robot stabilized arrival assigned address, grasp and mobile article.Omni-directional wheel 2 has four, is criss-cross and is arranged on 5 belows, chassis, and correspondingly, travel driving motor 1, coupler 3 and omni-directional wheel motor retainer 4 also have four.Wheel disc 21 cooperates with roller 22 rotational slides, and the axle center of roller 22 is vertical with the axle center of wheel disc 21.2, one omni-directional wheels 2 of each travel driving motor 1 omni-directional wheel of control have again two kinds of walking manners: by the side-to-side movement that seesaws and pass through roller 22 of wheel disc 21.Therefore, under the control of control setup, omni-directional wheel 2 can be arbitrarily mobile to any direction, solved complicated, the high problem of leg exercise control difficulty of joint designs in the profiling mechanism tread systems design.Mobile system adopts omni-directional wheel three degree of freedom structure, guarantees the stability of robot in moving process, also can guarantee when grasping body, and robot keeps balance being subject to being grabbed under the state of object antagonistic force.
Soft finger move the thing robot can use with daily life in, such as the crawl of toy arrangement and collection, instrument and movement and as the standby auxiliary device of other family wears.
Most preferred embodiment of the present utility model is illustrated, and various variations or the remodeling made by those of ordinary skills can not break away from scope of the present utility model.
Claims (8)
1. robot traveling gear is characterized in that: include travel driving motor (1) and omni-directional wheel (2), described travel driving motor (1) is in transmission connection by coupler (3) and omni-directional wheel (2); Described omni-directional wheel (2) includes wheel disc (21) and at least one roller (22) of being arranged on the wheel disc (21) forms, described wheel disc (21) cooperates with roller (22) rotational slide, and the axle center of described roller (22) is vertical with the axle center of wheel disc (21).
2. a kind of robot traveling gear according to claim 1 is characterized in that: described coupler (3) is connected with chassis (5) by omni-directional wheel motor retainer (4).
3. a kind of robot traveling gear according to claim 2, it is characterized in that: described omni-directional wheel (2) has four, be criss-cross and be arranged on below, chassis (5), correspondingly, described travel driving motor (1), coupler (3) and omni-directional wheel motor retainer (4) also have four.
4. a kind of robot traveling gear according to claim 3, it is characterized in that: captive joint with described chassis (5) in described omni-directional wheel motor retainer (4) top.
5. a kind of robot traveling gear according to claim 4, it is characterized in that: described omni-directional wheel motor retainer (4) bottom is extended with two frame pin (41), be equipped with the frame pin ring (42) suitable with coupler (3) external diameter on described each frame pin (41), described coupler (3) passes frame pin ring (42) and is connected cooperation with described pin (41).
6. a kind of robot traveling gear according to claim 5, it is characterized in that: the arc distances such as described roller (22) are arranged on wheel disc (21) web.
7. a kind of robot traveling gear according to claim 6, it is characterized in that: described roller (22) quantity is seven to ten.
8. a kind of robot traveling gear according to claim 7, it is characterized in that: described roller (22) quantity is nine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220642902 CN202896722U (en) | 2012-11-29 | 2012-11-29 | Travelling mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220642902 CN202896722U (en) | 2012-11-29 | 2012-11-29 | Travelling mechanism for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202896722U true CN202896722U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220642902 Expired - Fee Related CN202896722U (en) | 2012-11-29 | 2012-11-29 | Travelling mechanism for robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN202896722U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103318286A (en) * | 2013-07-10 | 2013-09-25 | 中国科学院电工研究所 | Conveying device for superconducting magnets |
| CN105999571A (en) * | 2016-07-18 | 2016-10-12 | 厦门精图信息技术有限公司 | Full-automatic fire fighting lifesaving air cushion |
| CN107089128A (en) * | 2017-05-19 | 2017-08-25 | 深圳市优必选科技有限公司 | Robot walking device and wheeled robot |
| CN108327814A (en) * | 2018-03-28 | 2018-07-27 | 深圳市工匠社科技有限公司 | A kind of robot Omni-mobile chassis structure |
-
2012
- 2012-11-29 CN CN 201220642902 patent/CN202896722U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103318286A (en) * | 2013-07-10 | 2013-09-25 | 中国科学院电工研究所 | Conveying device for superconducting magnets |
| CN103318286B (en) * | 2013-07-10 | 2016-02-24 | 中国科学院电工研究所 | A kind of superconducting magnet conveying arrangement |
| CN105999571A (en) * | 2016-07-18 | 2016-10-12 | 厦门精图信息技术有限公司 | Full-automatic fire fighting lifesaving air cushion |
| CN107089128A (en) * | 2017-05-19 | 2017-08-25 | 深圳市优必选科技有限公司 | Robot walking device and wheeled robot |
| CN108327814A (en) * | 2018-03-28 | 2018-07-27 | 深圳市工匠社科技有限公司 | A kind of robot Omni-mobile chassis structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20141129 |
|
| EXPY | Termination of patent right or utility model |