CN219392520U

CN219392520U - Visual navigation robot walking driving system

Info

Publication number: CN219392520U
Application number: CN202220421946.5U
Authority: CN
Inventors: 梁贵轩; 周可佳; 高士杰
Original assignee: Boxue Kuanhang Chengdu Technology Co ltd
Current assignee: Boxue Kuanhang Chengdu Technology Co ltd
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2023-07-21
Anticipated expiration: 2032-03-01

Abstract

The utility model discloses a visual navigation robot walking driving system, which belongs to the technical field of intelligent robots and solves the problem of poor adaptability of the robot driving system in the prior art to different running environments. The robot running driving system is suitable for various industrial and service robots, such as security inspection robots, express delivery robots, meal delivery robots, sweeping robots, floor washing robots, fire extinguishing robots, logistics robots, welcome robots, takeaway robots and the like.

Description

Visual navigation robot walking driving system

Technical Field

The utility model belongs to the technical field of intelligent robots, and particularly relates to a visual navigation robot running driving system.

Background

The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. The robot has the basic characteristics of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and enlarges or extends the activity and capacity range of the human beings.

At present, various industrial robots and service robots are widely applied to various aspects of social production and life, and great convenience is brought for living generation. Among them, the most widely used is the robot equipment used in various application scenes such as transportation, inspection, cleaning, etc. In the field of robot design and development, a robot automatic walking system is an important point of development of various robot products, and directly influences functions of robot walking route planning, automatic navigation, automatic cruising and the like.

In the existing visual navigation robot, the driving system cannot guarantee effective driving under various running environments, if the driving system generates larger deviation when encountering the ground with insufficient flatness, the driving system is blocked when encountering an obstacle, and the driving system needs to be manually adjusted by maintenance personnel, so that unnecessary time and labor are consumed.

Disclosure of Invention

The utility model aims at:

in order to solve the problem of poor adaptability of a robot driving system in the prior art to different running environments, the walking driving system of the visual navigation robot is provided.

The technical scheme adopted by the utility model is as follows:

the utility model provides a visual navigation robot walk line driving system, includes the chassis, the chassis is connected with the frame bottom, installs the running gear on the chassis, the running gear is connected with gear motor, gear motor installs on the chassis, is connected with the shaft coupling between gear motor and the running gear, gear motor and steering engine all are connected with the drive plate, be connected with singlechip, gyroscope sensor and motor drive module on the drive plate respectively.

Further, the walking part is the wheel, install the rubber tire on the wheel, the universal wheel is installed to the chassis bottom, the universal wheel is connected with steering engine, steering engine drive module is installed to the driving plate, the wheel is provided with 2 or 4, and gear motor is connected respectively to every wheel, and 4 wheels on the chassis form the four-wheel drive structure.

Further, the walking part comprises crawler wheels, the crawler wheels are symmetrically arranged on two sides of the chassis, crawler belts are respectively arranged on the crawler wheels on two sides of the chassis, universal wheels are arranged at the bottom of the chassis, the universal wheels are connected with steering engines, and steering engine driving modules are arranged on the driving plates.

Further, the walking component is a Mecanum wheel, 4 Mecanum wheels are arranged, and each Mecanum wheel is respectively connected with a speed reducing motor.

Further, the walking component comprises a plurality of wheels, and an ackerman steering mechanism is connected between the wheels.

In summary, due to the adoption of the technical scheme, the beneficial effects of the utility model are as follows:

1. according to the utility model, the motor is automatically driven by adopting the singlechip, the gyroscope and other automatic control components, so that the walking components are controlled to realize adaptive walking driving under different running environments, for example, the walking components are controlled to turn to drive to bypass pit positions when encountering a pit on the ground, or the power output of the motor driving module is increased when encountering a threshold, so that the motor driving module can cross the threshold more easily.

2. The utility model adopts a plurality of different running component structures, thereby realizing the highest degree of adaptation to different running environments by combining a plurality of chassis and running structures, simultaneously providing more alternative schemes for users, flexibly controlling the cost and realizing the running driving with more accurate path.

Drawings

FIG. 1 is a schematic view of a chassis and a walking member of the present utility model;

FIG. 2 is a schematic view of the Mecanum wheel structure of the walking member of the present utility model;

FIG. 3 is a schematic circuit diagram of a motor drive module of the present utility model;

FIG. 4 is a schematic diagram of a motor interface of the present utility model;

FIG. 5 is a schematic diagram of a potentiometer of the steering engine drive module of the present utility model;

fig. 6 is an interface schematic diagram of the steering engine drive module of the present utility model.

The marks in the figure: 1-chassis, 2-walking parts.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

The utility model relates to a visual navigation robot walking driving system which comprises a chassis, wherein the chassis is connected with the bottom of a frame, a walking part is arranged on the chassis, the walking part is connected with a gear motor, the gear motor is arranged on the chassis, a coupling is connected between the gear motor and the walking part, the gear motor and a steering engine are both connected with driving boards, and the driving boards are respectively connected with a singlechip, a gyroscope sensor and a motor driving module.

Through adopting automatic control parts such as singlechip and gyroscope, carry out automatic drive to the motor to control running part under different operational environment and realize adaptive running drive, if control running part turns to and goes around the hole position when meetting ground has the hole, or increase the power output to motor drive module when meetting the threshold, make it stride the threshold more easily, compare in the robot running drive system among the prior art, have that environmental adaptation ability is stronger, maintenance frequency is lower, life is longer advantage.

Example 1

As a preferred implementation mode, the walking part is a wheel, a rubber tire is arranged on the wheel, a universal wheel is arranged at the bottom of the chassis, the universal wheel is connected with a steering engine, a steering engine driving module is arranged on the driving plate, 2 or 4 wheels are arranged, each wheel is respectively connected with a gear motor, and 4 wheels on the chassis form a four-wheel drive structure.

Example two

As a preferred implementation mode, the walking component comprises crawler wheels, the crawler wheels are symmetrically arranged on two sides of the chassis, crawler belts are respectively arranged on the crawler wheels on two sides of the chassis, universal wheels are arranged at the bottom of the chassis, the universal wheels are connected with steering engines, and steering engine driving modules are arranged on the driving plates.

Preferably, the embodiment can also directly adopt the structure of the universal wheel of the crawler belt, and combine the crawler belt and the universal wheel together, so that the structure is more compact.

Example III

As a preferred embodiment, the walking component is a Mecanum wheel, the Mecanum wheels are provided with 4, and each Mecanum wheel is respectively connected with a speed reduction motor.

The final combination of these forces creates a resultant force vector in any desired direction depending on the direction and speed of the respective wheels, thereby ensuring that the robot is free to move in the direction of the final resultant force vector without changing the direction of the wheels themselves.

A plurality of small rollers are obliquely distributed on the rim of the Mecanum wheel, so that the wheel can transversely slide. The generatrix of the small rollers is special, and when the wheel rotates around the fixed wheel center axis, the envelope of each small roller is a cylindrical surface, so the wheel can roll forwards continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnibearing wheel. The embodiment has 4 novel wheels for combination, and can realize the omnibearing moving function more flexibly and conveniently.

Example IV

As a preferred embodiment, the walking member includes a plurality of wheels, and an ackerman steering mechanism is connected between the wheels. According to the traveling component designed according to the Ackerman steering geometry, when the vehicle turns along a curve, the equal crank of the four connecting rods is utilized to enable the steering angle of the inner side wheel to be about 2-4 degrees larger than that of the outer side wheel, so that the circle centers of the four wheel paths are approximately intersected with the instantaneous steering center on the extension line of the rear axle, and the vehicle can smoothly turn.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims

1. The utility model provides a visual navigation robot walk line driving system, its characterized in that, includes the chassis, the chassis is connected with the frame bottom, installs the running part on the chassis, the running part is connected with gear motor, gear motor installs on the chassis, is connected with the shaft coupling between gear motor and the running part, gear motor and steering engine all are connected with the drive plate, be connected with singlechip, gyroscope sensor and motor drive module on the drive plate respectively.

2. The walking driving system of a visual navigation robot according to claim 1, wherein the walking component is wheels, rubber tires are mounted on the wheels, universal wheels are mounted at the bottom of the chassis, the universal wheels are connected with steering engines, the driving plate is provided with steering engine driving modules, the number of the wheels is 2 or 4, each wheel is connected with a gear motor, and the 4 wheels on the chassis form a four-wheel driving structure.

3. The walking driving system of the visual navigation robot according to claim 1, wherein the walking component comprises crawler wheels, the crawler wheels are symmetrically arranged on two sides of the chassis, crawler tracks are respectively arranged on the crawler wheels on two sides of the chassis, universal wheels are arranged at the bottom of the chassis, the universal wheels are connected with steering engines, and the driving plate is provided with a steering engine driving module.

4. The walking driving system of a visual navigation robot according to claim 1, wherein the walking component is Mecanum wheels, 4 Mecanum wheels are provided, and each Mecanum wheel is respectively connected with a gear motor.

5. A visual navigation robot walking drive system as claimed in claim 1, wherein the walking member comprises a plurality of wheels, and an ackerman steering mechanism is connected between the wheels.