CN207241836U - It is a kind of can Omni-mobile robot - Google Patents
It is a kind of can Omni-mobile robot Download PDFInfo
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- CN207241836U CN207241836U CN201721307735.4U CN201721307735U CN207241836U CN 207241836 U CN207241836 U CN 207241836U CN 201721307735 U CN201721307735 U CN 201721307735U CN 207241836 U CN207241836 U CN 207241836U
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- pedipulator
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- omni
- steering wheel
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Abstract
The utility model proposes it is a kind of can Omni-mobile robot, including one module of pedipulator, two module of pedipulator, body module, interactive module, manipulator, babinet module, one module of pedipulator and two module of pedipulator are installed on the both sides of the body module, the interactive module is installed on the top nose of the body module, the manipulator is installed on the top rear of the body module, the babinet module is installed on the middle part of the body module, one module of pedipulator and two module of pedipulator are respectively provided with the upper joints of individual motor driving, middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, steering wheel device is equipped with the bottom joint, the steering wheel device directly controls the traffic direction of robot.Four steering wheel devices are arranged in robot by the utility model, and robot can realize pivot turn and Omni-mobile by control flaps wheel apparatus.
Description
Technical field
The present invention relates to mobile robot technology field, and in particular to it is a kind of can Omni-mobile robot.
Background technology
Mobile robot increasingly increases in the application of all trades and professions in recent years, and the application scenarios that robot is faced also become
Become increasingly complex, the overwhelming majority is turned using two wheel guide robot when mobile robot is turned at present, but two wheel guide robot turning needs
Certain radius of turn is wanted, the situation two of turning insufficient space occurs when space is smaller influences the normally travel of robot.
The content of the invention
The object of the present invention is to provide it is a kind of can Omni-mobile robot.
The technical solution adopted in the present invention is：
1. it is a kind of can Omni-mobile robot, including one module of pedipulator（1）, two module of pedipulator（2）, body module
（3）, interactive module（4）, manipulator（5）, babinet module（6）, one module of pedipulator（1）And two module of pedipulator
（2）Installed in the body module（3）Both sides, the interactive module（4）Installed in the body module（3）Top before
End, the manipulator（5）Installed in the body module（3）Top rear, the babinet module（6）Installed in described
Body module（3）Middle part, one module of pedipulator（1）And two module of pedipulator（2）It is respectively provided with the upper of individual motor driving
Portion joint, middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, steering wheel is equipped with the bottom joint and is filled
Put, the steering wheel device directly controls the traffic direction of robot by DC speed-reducing two.
2. further, both differential turning directly can be carried out using wheel hub motor during the robot ride,
Steering wheel device can be used to realize pivot turn and Omni-mobile around robot four-wheel midpoint.
3. further, absolute type magnetic coder is housed, for obtaining bottom joint in the DC speed-reducing two
High precision velocity and position feedback, so as to fulfill high-precision direction controlling.
The beneficial effects of the invention are as follows：Mobile robot realizes Omni-mobile and pivot turn by steering wheel device, carries
High robot and can obtain high-precision turning velocity and steering position in the handling capacity in narrow and small passageway by magnetic coder
Feedback, so as to fulfill high-precision direction controlling.
Brief description of the drawings
Fig. 1 manipulator shaft mappings；
Fig. 2 robots steering wheel device rotates the axonometric drawing after 45 °；
Embodiment
In order to it is clearer, completely illustrate technical scheme, the present invention is made below in conjunction with the accompanying drawings further
Explanation.Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, it is impossible to is interpreted as to this patent
Limitation；In order to be better described the embodiment of the present invention, some components in attached drawing have omission, zoom in or out, not
Represent the size of actual product；The same or similar label correspond to the same or similar components.
1. as shown in Figure 1, it is a kind of can Omni-mobile robot, including one module of pedipulator（1）, two module of pedipulator
（2）, body module（3）, interactive module（4）, manipulator（5）, babinet module（6）, one module of pedipulator（1）And machine
Two module of tool leg（2）Installed in the body module（3）Both sides, the interactive module（4）Installed in the body module（3）
Top nose, the manipulator（5）Installed in the body module（3）Top rear, the babinet module（6）Peace
Mounted in the body module（3）Middle part, one module of pedipulator（1）And two module of pedipulator（2）It is respectively provided with individual motor
The upper joints of driving, middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, set at the bottom joint
There is steering wheel device, the steering wheel device directly controls the traffic direction of robot by DC speed-reducing two.
2. during the robot ride both differential turning directly can be carried out using wheel hub motor, rudder can also be used
Wheel apparatus realizes the pivot turn and Omni-mobile around robot four-wheel midpoint.
3. absolute type magnetic coder is housed, for obtaining the high precision velocity of bottom joint in the DC speed-reducing two
And position feedback, so as to fulfill high-precision direction controlling.
Claims (3)
1. it is a kind of can Omni-mobile robot, including one module of pedipulator（1）, two module of pedipulator（2）, body module（3）,
Interactive module（4）, manipulator（5）, babinet module（6）, one module of pedipulator（1）And two module of pedipulator（2）Peace
Mounted in the body module（3）Both sides, the interactive module（4）Installed in the body module（3）Top nose, it is described
Manipulator（5）Installed in the body module（3）Top rear, the babinet module（6）Installed in the body mould
Block（3）Middle part, one module of pedipulator（1）And two module of pedipulator（2）The upper joints of individual motor driving are respectively provided with,
Middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, and steering wheel device is equipped with the bottom joint, it is described
Steering wheel device directly controls the traffic direction of robot by DC speed-reducing two.
2. it is as claimed in claim 1 it is a kind of can Omni-mobile robot, further characterized in that：The robot ride
During both can directly using wheel hub motor carry out differential turning, can also use steering wheel device realize in robot four-wheel
The pivot turn of point and Omni-mobile.
3. it is as claimed in claim 1 it is a kind of can Omni-mobile robot, further characterized in that：The direct current slows down electric
Absolute type magnetic coder is housed, for obtaining the high precision velocity and position feedback of bottom joint, so as to fulfill high-precision on machine two
The direction controlling of degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307735.4U CN207241836U (en) | 2017-10-11 | 2017-10-11 | It is a kind of can Omni-mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307735.4U CN207241836U (en) | 2017-10-11 | 2017-10-11 | It is a kind of can Omni-mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207241836U true CN207241836U (en) | 2018-04-17 |
Family
ID=61889954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721307735.4U Active CN207241836U (en) | 2017-10-11 | 2017-10-11 | It is a kind of can Omni-mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207241836U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719504A (en) * | 2017-10-11 | 2018-02-23 | 深圳市普渡科技有限公司 | It is a kind of can Omni-mobile robot |
| CN109733496A (en) * | 2018-11-30 | 2019-05-10 | 西安电子科技大学 | The sufficient wheel leg transform autonomous robot of one kind six |
-
2017
- 2017-10-11 CN CN201721307735.4U patent/CN207241836U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719504A (en) * | 2017-10-11 | 2018-02-23 | 深圳市普渡科技有限公司 | It is a kind of can Omni-mobile robot |
| CN109733496A (en) * | 2018-11-30 | 2019-05-10 | 西安电子科技大学 | The sufficient wheel leg transform autonomous robot of one kind six |
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