CN217195313U

CN217195313U - All-directional mobile robot

Info

Publication number: CN217195313U
Application number: CN202220106631.1U
Authority: CN
Inventors: 李一明; 刘永康; 李红双; 李明辉; 苏靖博; 臧福堃
Original assignee: Shenyang Aerospace University
Current assignee: Shenyang Aerospace University
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-08-16
Anticipated expiration: 2032-01-14

Abstract

An omnibearing mobile robot comprises a frame, a controller, a motor, an omnidirectional wheel and a walking ball; the controller is fixedly arranged in the rack, a gyroscope and an acceleration sensor are embedded in the controller, and the controller is powered by a built-in battery; the motor is electrically connected with the controller; the number of the motors is three, the three motors are uniformly distributed at the bottom of the rack, phase angles among the three motors are 120 degrees, included angles between the three motors and a horizontal plane are 45 degrees, motor shafts of the three motors are all arranged in a downward and outward inclined mode, and a motor shaft of each motor is provided with an omnidirectional wheel; the walking ball is positioned under the frame and is simultaneously in rolling contact fit with the three omnidirectional wheels; the motor is fixedly connected with the rack through the motor rack and the switching rack. The utility model discloses compare with traditional crawler-type and leg type mobile robot, have higher turn degree of freedom and fluency, compare with traditional wheeled robot that adopts mecanum wheel, have less turn resistance, require lowerly to power.

Description

All-directional mobile robot

Technical Field

The utility model belongs to the technical field of mobile robot, especially, relate to an all direction movement robot.

Background

With the development of artificial intelligence and sensor technology, robots have entered into the daily life environment of people from the operational environment of factories, and have been widely applied to various aspects of people's lives.

The mobile robot is an important research direction in the robot, and the most important characteristic of the mobile robot is that the mobile robot can move autonomously, and the mobile mode mainly comprises a crawler type, a leg type and a wheel type.

However, the existing moving methods adopted by the mobile robot still have some problems more or less, which are as follows:

compared with the traditional crawler-type mobile robot, the crawler-type mobile robot has poor turning freedom degree and smoothness when the traveling direction is changed.

Secondly, aiming at the traditional legged mobile robot, the turning efficiency of the multi-legged structure is too low, the efficiency of the double-legged structure during the advancing and turning is still in a lower level although being improved to a certain extent compared with the multi-legged structure, and the balance control difficulty is larger during the double-legged stepping.

And thirdly, aiming at the traditional wheel type mobile robot, taking the wheel type mobile robot adopting Mecanum wheels as an example, although the turning freedom degree and the fluency can be improved when the Mecanum wheels are adopted, the turning resistance is larger, and the requirement on power is higher.

SUMMERY OF THE UTILITY MODEL

Problem to prior art exists, the utility model provides an all direction movement robot compares with traditional crawler-type mobile robot and legged mobile robot, the utility model discloses an all direction movement robot has higher turn degree of freedom and smoothness, compares with traditional wheeled robot that adopts mecanum wheel, has less turn resistance, and is lower to the power requirement.

In order to achieve the above purpose, the utility model adopts the following technical scheme: an omnibearing mobile robot comprises a frame, a controller, a motor, an omnidirectional wheel and a walking ball; the controller is fixedly arranged in the rack, a gyroscope and an acceleration sensor are embedded in the controller, and the controller adopts a built-in battery power supply structure; the motor is electrically connected with the controller; the number of the motors is three, the three motors are uniformly distributed at the bottom of the rack, phase angles among the three motors are all 120 degrees, included angles between the three motors and a horizontal plane are all 45 degrees, motor shafts of the three motors are all arranged in a manner of inclining downwards and outwards, and a motor shaft of each motor is provided with an omnidirectional wheel; the walking ball is positioned under the rack and is in rolling contact fit with the three omnidirectional wheels; the motor frame is fixed on the outer side of the motor, the switching frame is fixedly arranged at the bottom of the frame, and the motor is fixedly connected to the switching frame through the motor frame.

The frame adopts aluminium system frame rack construction, including top protection shield, intermediate strut board and bottom protection shield, all links to each other through crashproof support between top protection shield and the intermediate strut board, between intermediate strut board and the bottom protection shield.

The utility model has the advantages that:

the utility model discloses an all direction movement robot compares with traditional crawler-type mobile robot and legged mobile robot, the utility model discloses an all direction movement robot has higher turn degree of freedom and smoothness, compares with traditional wheeled robot that adopts mecanum wheel, has less turn resistance, and is lower to the power requirement.

Drawings

Fig. 1 is a schematic structural view (view angle one) of an omnidirectional mobile robot according to the present invention;

fig. 2 is a schematic structural view (view angle two) of an omnidirectional mobile robot according to the present invention;

in the figure, 1-frame, 2-controller, 3-motor, 4-omni wheel, 5-walking ball, 6-motor frame, 7-switching frame.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 and 2, an omnidirectional mobile robot comprises a frame 1, a controller 2, a motor 3, an omnidirectional wheel 4 and a walking ball 5; the controller 2 is fixedly arranged in the rack 1, a gyroscope and an acceleration sensor are embedded in the controller 2, and the controller 2 adopts a built-in battery power supply structure; the motor 3 is electrically connected with the controller 2; the number of the motors 3 is three, the three motors 3 are uniformly distributed at the bottom of the rack 1, phase angles among the three motors 3 are all 120 degrees, included angles between the three motors 3 and a horizontal plane are all 45 degrees, motor shafts of the three motors 3 are all arranged in a downward and outward inclined mode, and a motor shaft of each motor 3 is provided with an omnidirectional wheel 4; the walking ball 5 is positioned under the frame 1, and the walking ball 5 is simultaneously in rolling contact with the three omnidirectional wheels 4; the motor 3 outside is fixed with motor frame 6 the fixed adapter rack 7 that is provided with in frame 1 bottom, motor 3 passes through motor frame 6 fixed connection on adapter rack 7.

The frame 1 adopts an aluminum frame structure and comprises a top protection plate, a middle support plate and a bottom protection plate, wherein the top protection plate is connected with the middle support plate, and the middle support plate is connected with the bottom protection plate through anti-collision supports. If the part of the robot on the ball falls, the internal controller 2 can be effectively protected from being damaged through the rack 1, and the falling resistance of the part of the robot on the ball is improved.

In this embodiment, the size of the omni-directional wheel 4 is phi 56mm, the three motors 3 all adopt stepping motors with the same model, the walking ball 5 adopts an inflatable rubber ball, and the size of the walking ball 5 is phi 246 mm.

Before using, need guarantee that frame 1 is vertical to stand in walking ball 5 tops, need the vertical state of artificial supplementary frame 1 of maintaining this moment, later circular telegram start-up, controller 2 acquires robot attitude information with the help of its inside gyroscope and the acceleration sensor of inlaying to control command takes place to motor 3 according to attitude information, just can independently maintain balanced state later, just no longer need artificial supplementary this moment.

When the robot needs to move towards a certain direction, the controller 2 sends a preset instruction to the three motors 3, the omnidirectional wheel 4 is driven to rotate according to a preset rotating speed and a preset rotating direction, the rotating motion of the omnidirectional wheel 4 is transmitted to the walking balls 5 below by means of friction force, then the walking balls 5 are driven to perform rolling motion, and finally the robot can move freely in an omnidirectional manner in a horizontal plane through the rolling motion of the walking balls 5.

When the top space of the rack 1 is expanded in structural function, the method can be used for adding other functional modules, thereby expanding the application field of the mobile robot and executing different tasks.

The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. An all direction mobile robot, characterized in that: comprises a frame, a controller, a motor, an omnidirectional wheel and a walking ball; the controller is fixedly arranged in the rack, a gyroscope and an acceleration sensor are embedded in the controller, and the controller adopts a built-in battery power supply structure; the motor is electrically connected with the controller; the number of the motors is three, the three motors are uniformly distributed at the bottom of the rack, phase angles among the three motors are all 120 degrees, included angles between the three motors and a horizontal plane are all 45 degrees, motor shafts of the three motors are all arranged in a manner of inclining downwards and outwards, and a motor shaft of each motor is provided with an omnidirectional wheel; the walking ball is positioned under the rack and is in rolling contact fit with the three omnidirectional wheels; the motor frame is fixed on the outer side of the motor, the switching frame is fixedly arranged at the bottom of the frame, and the motor is fixedly connected to the switching frame through the motor frame.

2. The omni directional mobile robot according to claim 1, wherein: the frame adopts aluminium system frame rack construction, including top protection shield, intermediate strut board and bottom protection shield, all links to each other through crashproof support between top protection shield and the intermediate strut board, between intermediate strut board and the bottom protection shield.