CN107380293A - A kind of mobile robot - Google Patents
A kind of mobile robot Download PDFInfo
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- CN107380293A CN107380293A CN201710757737.1A CN201710757737A CN107380293A CN 107380293 A CN107380293 A CN 107380293A CN 201710757737 A CN201710757737 A CN 201710757737A CN 107380293 A CN107380293 A CN 107380293A
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- objective table
- telescoping mechanism
- connecting rod
- active
- driven
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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
- B62D57/028—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 having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the present invention provides a kind of mobile robot.The mobile robot, including：Objective table, active telescoping mechanism, sensor and controller；The quantity of the active telescoping mechanism is at least two, and is articulated with the objective table, to support the objective table；The sensor is arranged on the objective table, for detecting whether the objective table occurs inclination on adjusting method；The controller is connected with the sensor and at least two active telescoping mechanisms respectively, for when the sensor detects that the inclination on regulation direction occurs for the objective table, controlling the part or all of active telescoping mechanism at least two actives telescoping mechanism to elongate or shorten to adjust the objective table to level.The embodiment of the present invention can keep objective table horizontal, prevent the goods on objective table from coming off when robot is run in climb and fall or rugged landform.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of mobile robot.
Background technology
With the continuous development of scientific technology, mobile robot is widely used, such as：It is used to carry in warehouse
The transfer robot of goods.
Although existing mobile robot has from heavy and light, carrying is big, mechanism is simple, the speed of travel is fast and efficient work
The features such as, but because mobile robot structure is relatively fixed, when causing it by climb and fall or rugged landform, robot
The object and horizontal plane of upper carrying can have angle of inclination, it is easy to object occurs and comes off.
The content of the invention
The present invention provides a kind of mobile robot, it is therefore intended that when robot is run in climb and fall or rugged landform,
Keep objective table horizontal, prevent object from coming off.
Then, in one embodiment of the invention, there is provided a kind of mobile robot.The mobile robot includes：Carry
Thing platform, active telescoping mechanism, sensor and controller；The quantity of the active telescoping mechanism is at least two, and be hinged
In on the objective table, to support the objective table；The sensor is arranged on the objective table, for detecting the loading
Whether platform occurs to adjust the inclination on direction；The controller respectively with the sensor and at least two active telescopic machines
Structure connects, for when the sensor detects that the inclination on regulation direction occurs for the objective table, at least two described in control
Part or all of active telescoping mechanism in individual active telescoping mechanism is elongated or shortened to adjust the objective table to level.
Alternatively, the active telescoping mechanism includes：First parallel-crank mechanism and driving telescopic rod；Described first is flat
The extended end of first connecting rod is fixed in the objective table in row quadrangular mechanism；Described driving telescopic rod one end is articulated with the load
On thing platform, the other end is articulated with any connecting rod in first parallel-crank mechanism in addition to the first connecting rod.
Alternatively, the driving telescopic rod includes second connecting rod, third connecting rod and telescopic component；The telescopic component bag
Include：First motor, with the leading screw of first motor connection and the feed screw nut being connected with the threads of lead screw；Described second
One end of connecting rod is fixed in the feed screw nut, and its other end is articulated with the objective table；One end of the third connecting rod is set
First motor is equipped with, its other end is articulated with first parallel-crank mechanism appointing in addition to the first connecting rod
On one connecting rod.
Alternatively, the quantity of the active telescoping mechanism is two；Two active telescoping mechanisms are respectively positioned at described
The homonymy of objective table；Or the opposite sides positioned at the objective table.
Alternatively, the mobile robot, in addition to：Driven telescoping mechanism；The quantity of the driven telescoping mechanism is at least
One；The driven telescoping mechanism is articulated with the objective table, for supporting the objective table；The driven telescoping mechanism with
The active telescoping mechanism is connected, to drive the driven telescoping mechanism to extend when the active telescoping mechanism extends,
The driven telescoping mechanism is driven to shorten when the active telescoping mechanism shortens.
Alternatively, the driven telescoping mechanism is oppositely arranged on the both sides of the objective table with the active telescoping mechanism.
Alternatively, the driven telescoping mechanism includes：Second parallel-crank mechanism and driven expansion link；Described second is flat
The extended end of fourth link is fixed in the objective table in row quadrangular mechanism；Described driven expansion link one end is articulated with the load
Thing platform, the other end are articulated with any connecting rod in addition to the fourth link in second parallel-crank mechanism.
Alternatively, the driven telescoping mechanism is connected by the 5th connecting rod and the active telescoping mechanism.
Alternatively, the driven expansion link includes：12nd connecting rod and the 13rd connecting rod；One end of 13rd connecting rod is set
There is slot, its other end is hinged on any connecting rod in second parallel-crank mechanism in addition to the fourth link；
The slot is inserted to form prismatic pair in one end of 12nd connecting rod, and its other end is articulated with the objective table.
Alternatively, the bottom of the active telescoping mechanism is provided with movable pulley and the second motor；The power of second motor
Output end is connected with the power incoming end of the movable pulley.
In technical scheme provided in an embodiment of the present invention, objective table lower section set at least two active telescoping mechanisms with
Support objective table, and on objective table set sensor come detect objective table whether have occur regulation direction on inclination, one
Denier detects that controller then controls the part at least two active telescoping mechanisms actively to stretch according to the testing result of sensor
Contracting mechanism or whole active telescoping mechanisms elongate or shorten, to adjust objective table to horizontality.It can be seen that shifting provided by the invention
When mobile robot can be run on climb and fall or rugged landform, keep objective table horizontal, to prevent object from coming off.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the mobile robot that one embodiment of the invention provides；
Fig. 2 is the exploded perspective view for the active telescoping mechanism that one embodiment of the invention provides；
Fig. 3 is the exploded perspective view for the telescopic component that one embodiment of the invention provides；
Fig. 4 is the profile for the telescopic component that one embodiment of the invention provides；
Fig. 5 is the another structural representation for the mobile robot that one embodiment of the invention provides；
Fig. 6 is the exploded perspective view for the mobile robot that one embodiment of the invention provides；
Fig. 7 is the exploded perspective view for the driven telescoping mechanism that one embodiment of the invention provides；
Fig. 8 is the another structural representation for the mobile robot that one embodiment of the invention provides；
Fig. 9 is the another structural representation for the mobile robot that one embodiment of the invention provides；
Figure 10 is the another exploded perspective view for the mobile robot that one embodiment of the invention provides；
Figure 11 is the kinematic sketch of mechanism for the mobile robot that one embodiment of the invention provides.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is only merely for the purpose of description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclusion includes at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while A and B be present, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX being distinguished from each other out.For example, implementation of the present invention is not being departed from
In the case of example scope, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to monitoring ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit monitors (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when monitoring (statement
Condition or event) when " or " in response to monitor (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of elements not only include those key elements, but also including without clear and definite
The other element listed, or also include for this commodity or the intrinsic key element of system.In the feelings not limited more
Under condition, the key element that is limited by sentence "including a ...", it is not excluded that in the commodity including the key element or system also
Other identical element be present.
Fig. 1 is the structural representation for the mobile robot that one embodiment of the invention provides.As shown in figure 1, the movement machine
People, including：Objective table 1, active telescoping mechanism 3, sensor (not shown) and controller (not shown).Wherein, the active
The quantity of telescoping mechanism 3 is at least two, and is articulated with the objective table 1, to support the objective table 1；The sensing
Device is arranged on the objective table 1, for detecting whether the objective table 1 occurs to adjust the inclination on direction；The controller
It is connected respectively with the sensor and at least two active telescoping mechanisms 3, for detecting the load when the sensor
When inclination on regulation direction occurs for thing platform 1, partly or entirely actively stretching at least two actives telescoping mechanism 3 is controlled
Contracting mechanism is elongated or shortened to adjust the objective table 1 to level.
The incline direction of objective table 1 includes two dimensions：Tilt forward and back and tilt.By the different road of anterior and posterior height
Belong to the situation of tilting forward and back (during climb and fall) during face, tilted by belonging to during the highly different road surface in left and right side.Loading
Platform any direction inclination angle can be decomposed in the two dimensions, i.e., objective table any direction inclination angle can be by preceding
Rear-inclined and/or the angle that tilts describe.
When the quantity of active telescoping mechanism 3 is two, two active telescoping mechanisms can be located at the loading respectively
The homonymy of platform；Or the opposite sides positioned at the objective table, to support the objective table 1.The mobile robot then can be achieved
The regulation at the angle of inclination on one dimension direction.Such as：If two active telescoping mechanisms 3 respectively positioned at the rear side of objective table 1 or
The right and left (as shown in Figure 1) of front side, then it can adjust and tilt to level, this robot is different by left and right side height
Road surface when objective table can be kept horizontal.If two active telescoping mechanisms 3 are located at the front and rear of on the left of objective table 1 or right side respectively
Side, then it can adjust and tilt forward and back to level, this robot can keep objective table horizontal in climb and fall.
When the quantity of active telescoping mechanism 3 is three, two of which active telescoping mechanism can be separately positioned on to left side
Front and back, another active telescoping mechanism is oppositely arranged on right side, and this robot can realize inclining on two dimension directions
The regulation of rake angle, it that is to say the angle of inclination in adjustable any direction.In other words, on any rugged complicated road surface
During motion, so that it may keep objective table horizontal.
When the quantity of active telescoping mechanism 3 is four, two of which active telescoping mechanism can be separately positioned on to left side
Front and back, another two active telescoping mechanism be oppositely arranged on right side front and back.This robot can realize two dimension sides
The regulation at upward angle of inclination, it that is to say the angle of inclination in adjustable any direction.In other words, in any rugged complexity
Road surface on when moving, so that it may keep objective table horizontal.
In technical scheme provided in an embodiment of the present invention, objective table lower section set at least two active telescoping mechanisms with
Support objective table, and on objective table set sensor come detect objective table whether have occur regulation direction on inclination, one
Denier detects that controller then controls the part at least two active telescoping mechanisms actively to stretch according to the testing result of sensor
Contracting mechanism or whole active telescoping mechanisms elongate or shorten, to adjust objective table to horizontality.It can be seen that shifting provided by the invention
When mobile robot can be run on climb and fall or rugged landform, keep objective table horizontal, to prevent object from coming off.
Specifically, the active telescoping mechanism 3 can be a simple driving telescopic rod form or parallelogram
The combining form of mechanism and driving telescopic rod.
If the active telescoping mechanism 3 is a simple driving telescopic rod form, by the upper of the driving telescopic rod
End is hinged on the objective table, and lower end is fixed in the supporting table of mobile robot.
If the active telescoping mechanism 3 is the combining form of parallel-crank mechanism and driving telescopic rod, the active
Telescoping mechanism 3 as shown in Figure 1, including：First parallel-crank mechanism 201 and driving telescopic rod 202.Described first is flat
Row quadrangular mechanism 201 includes first connecting rod 2011, six-bar linkage 38, the connecting rod 37 of seven-link assembly 36 and the 8th, wherein first
Connecting rod 2011 is parallel to each other with seven-link assembly 36, and six-bar linkage 38 is parallel to each other with the 8th connecting rod 37.First parallel four side
The extended end of first connecting rod 2011 is fixed on the objective table 1 in shape mechanism 201；Described one end of driving telescopic rod 202 is hinged
In on the objective table 1, the other end is articulated with first parallel-crank mechanism 201 in addition to the first connecting rod 2011
Any connecting rod on.It should be noted that the other end of the driving telescopic rod 202 can be articulated with the company of six-bar linkage the 38, the 7th
At any position of the connecting rod 37 of bar 36 and the 8th, except the connecting rod 37 of six-bar linkage 38 and the 8th and the hinged place of first connecting rod 2011.
Fig. 1 is illustrated that the other end of the driving telescopic rod 202 is articulated with the middle part of the six-bar linkage 38.Wherein, institute
It is vertical with the objective table 1 to state first connecting rod 2011.
Shown as shown in Figure 2, Figure 3 and Figure 4, the driving telescopic rod 202 includes second connecting rod 31, third connecting rod 33 and stretched
Component 32；The telescopic component 32 includes：First motor 326, the leading screw 324 being connected with first motor 326 and with institute
State the feed screw nut 323 of the threaded connection of leading screw 324；One end of the second connecting rod 31 is fixed in the feed screw nut 323, and its is another
One end is articulated with the objective table 1；One end of the third connecting rod 33 is provided with first motor 326, its other end hinge
It is connected on any connecting rod in first parallel-crank mechanism 201 in addition to the first connecting rod 2011.Wherein, the first electricity
Machine 326 is connected with controller, and controller controls the rotation of the first motor driving leading screw to elongate or shorten the length of driving telescopic rod
Degree.
In an achievable scheme, as shown in Figure 3 and Figure 4, telescopic component 32 may include the first motor 326, leading screw
324th, bearing 325, feed screw nut 323, sleeve 321, telescopic head 322；The first end of the third connecting rod 33 is articulated with described
On any connecting rod in one parallel-crank mechanism 201 in addition to the first connecting rod 2011, its second end is fixed in the set
321 one end of cylinder, and its second end is provided with a groove, and first motor 326 is provided with groove；Outside the bearing 325
Circle is fixed in the sleeve 321；The leading screw 324 is fixed in the inner ring of the bearing 325；First motor 326 with
The first end connection of the leading screw 324, to drive the leading screw 324 to rotate；The feed screw nut 323 is arranged on the sleeve
In 321, and it is threadedly coupled with the leading screw 324；The first end setting of the telescopic head 322 is fluted, the telescopic head 322
First end is fixed on the feed screw nut 323, and the groove port is right against the second end of the leading screw 324；Described second
One end of connecting rod 31 is fixed in the second end of the telescopic head 322, and its other end is articulated with the objective table 1.Wherein, leading screw
Nut 323 and leading screw 324 engage, because the first end of telescopic head 322 is fixed on feed screw nut 323, when the first motor 326 drives
Dynamic leading screw 324 can drive the telescopic moving of telescopic head 322 when rotating, and form prismatic pair.Because telescopic head 322 is fixed on second
On connecting rod 31, sleeve 321 is fixed on third connecting rod 33, and the telescopic moving of telescopic head 322 realizes second connecting rod 31 relative the
Three connecting rods 33 move.Certainly, the telescopic component can also be hydraulic cylinder structure.
Further, as shown in figure 5, the mobile robot may also include：Driven telescoping mechanism 2；It is described driven flexible
The quantity of mechanism 2 is at least one；The driven telescoping mechanism 2 is articulated with the objective table 1, for supporting the objective table
1；The driven telescoping mechanism 2 is connected with the active telescoping mechanism 3, with the band when the active telescoping mechanism 3 extends
Move the driven telescoping mechanism 2 to extend, drive the driven telescoping mechanism 2 to shorten when the active telescoping mechanism 3 shortens.Connection
The driven telescoping mechanism 2 of dynamic connection is oppositely arranged on the both sides of the objective table 1 with the active telescoping mechanism 3, described
Driven telescoping mechanism 2 is affixed by the 5th connecting rod 4 and the active telescoping mechanism 3, is connected with realizing.
As shown in fig. 6, the driven telescoping mechanism 2 includes：Second parallel-crank mechanism 401 and driven expansion link 402；
The extended end of fourth link 4011 is fixed in the objective table 1 in second parallel-crank mechanism 401；It is described driven flexible
The one end of bar 402 is articulated with the objective table 1, and the other end, which is articulated with second parallel-crank mechanism 401, removes the described 4th
On any connecting rod beyond connecting rod 4011, except the 9th connecting rod 25, the 11st connecting rod 24 and the hinged place of fourth link 4011.Institute
Stating the second parallel-crank mechanism 401 includes fourth link 4011, the 9th connecting rod 25, the tenth connecting rod 23, the 11st connecting rod 24.The
Double leval jib 4011 is parallel with the tenth connecting rod 23, and the 9th connecting rod 25 is parallel with the 11st connecting rod 24.Wherein, the fourth link 4011
It is vertical with the objective table 1.
As shown in fig. 7, the driven expansion link 402 includes：12nd connecting rod 21 and the 13rd connecting rod 22.13rd connecting rod
22 one end is provided with slot, and its other end, which is hinged in second parallel-crank mechanism 401, removes the fourth link
On any connecting rod beyond 4011.The slot is inserted to form prismatic pair in one end of 12nd connecting rod 21, its other end
It is articulated with the objective table 1.
If it should be noted that active telescoping mechanism and the group that passive telescoping mechanism is parallel-crank mechanism and expansion link
Conjunction form, then the bottom of a telescoping mechanism in active telescoping mechanism and driven telescoping mechanism can be fixed on to the branch of robot
Support on platform, the bottom of remaining telescoping mechanism can be slided in the supporting table of robot, in this case, it is possible to achieve regulation side
The regulation at upward angle of inclination, and the regulation of the position of centre of gravity of object on objective table.
Or movable pulley and the second motor are set in the bottom of each active telescoping mechanism；Second motor moves
Power output end is connected with the power incoming end of the movable pulley.Specifically, movable pulley and the second motor are arranged on seven-link assembly
36 extended end, the extended end of seven-link assembly 36 and the extended end that the extended end of first connecting rod 2011 is in opposite direction, such as Fig. 1
Shown, the extended end of first connecting rod 2011 is the extended end in the x directions (upward) of Fig. 1 marks, and the extended end of seven-link assembly 36 is
The extended end in the y directions (downward) of Fig. 1 marks.Preferably, trailing wheel is arranged to driving wheel and (is connected with the slip of the second motor
Wheel), front-wheel is arranged to universal wheel (being driven without motor).In this case, the movable pulley of installation can be moved directly contact in face,
The regulation at angle of inclination and the regulation of the center of gravity of goods position on objective table on regulation direction can be not only realized, can also be because
The presence of parallel-crank mechanism, front and back wheel or left and right can be adjusted while the center of gravity of goods position on adjusting objective table
Spacing between wheel is to adjust chassis area.
As depicted in figs. 1 and 2, first connecting rod 2011 in the first parallel-crank mechanism 201 of active telescoping mechanism 3
Upper extended end (i.e. the extended end on x directions marked in Fig. 1) is fixed on objective table 1, and vertical with objective table 1.With first
First is provided with the lower extended end (i.e. the extended end on y directions marked in Fig. 1) of the parallel seven-link assembly 36 of connecting rod 2011
The (not shown in figure 1) of 34 and second motor of movable pulley 35.As shown in Figure 6 and Figure 7, the second of driven telescoping mechanism 2 the parallel four side
The upper extended end (i.e. the extended end on x directions marked in Fig. 6) of fourth link 4011 in shape mechanism 401 is fixed on objective table
On 1, and it is vertical with objective table 1.Lower extended end (the i.e. y side marked in Fig. 6 of tenth connecting rod 23 parallel with fourth link 4011
Upward extended end) on be provided with the second movable pulley 27 and the 3rd motor 26.
When the quantity of active telescoping mechanism is two, as shown in figure 1, the first active in two active telescoping mechanisms is stretched
Contracting mechanism A3 and the second active telescoping mechanism B3 is located at the homonymy of the objective table respectively.Preferably, two first are actively stretched
Mechanism A3 and the second active telescoping mechanism B3 can be in mirror image by symmetry axis of the main shaft of first connecting rod 2011, with branch
Support the objective table 1, i.e. first in first connecting rod and the second active telescoping mechanism B3 in the first active telescoping mechanism A3 connects
Bar is same connecting rod.
Alternatively, the first active telescoping mechanism A3 and the second active telescoping mechanism B3 bottoms be provided with the first movable pulley and
Second motor.In this case, mobile robot can realize on a dimension direction (such as：Tilt) tune at angle of inclination
It is whole, it can also realize the position of centre of gravity adjustment and the adjustment of chassis area of the goods on objective table.
When the quantity of active telescoping mechanism is three (not shown), the first active telescoping mechanism A3 and the second active are stretched
Contracting mechanism B3 is arranged on the homonymy of objective table, and the 3rd active telescoping mechanism C3 is with respect to the first active telescoping mechanism A3 or second actively
Telescoping mechanism B3 is arranged on the opposite side of objective table.Preferably, the first active telescoping mechanism A3 and the second active telescoping mechanism B3
Can be in mirror image by symmetry axis of the main shaft of first connecting rod 2011, i.e. first in the first active telescoping mechanism A3 connects
First connecting rod in bar and the second active telescoping mechanism B3 is same connecting rod, and the 3rd active telescoping mechanism C3 and first is actively flexible
Mechanism A3 or the second active telescoping mechanism B3 Parallel Symmetrics are arranged on the opposite side of objective table, and the 3rd active telescoping mechanism C3
First connecting rod is also same connecting rod with the first connecting rod in the second active telescoping mechanism B3.
Alternatively, the first active telescoping mechanism A3, the second active telescoping mechanism B3 and the 3rd active telescoping mechanism C3 bottom
Portion is provided with the first movable pulley and the second motor.Preferably, it wherein can will be arranged to universal wheel by front-wheel, and be arranged on driving later
Wheel is (i.e. by motor-driven movable pulley).In this case, mobile robot can realize the tune at the angle of inclination on any direction
It is whole, it can also realize the position of centre of gravity adjustment and the adjustment of chassis area of the goods on objective table.
When the quantity of active telescoping mechanism is four, as shown in Figure 9 and Figure 10, by the first active telescoping mechanism A3 and the
Two active telescoping mechanism B3 are arranged on the homonymy of objective table, by the 3rd active telescoping mechanism C3 and the 4th active telescoping mechanism D3 phases
Opposite side to being arranged on objective table.Preferably, the first active telescoping mechanism A3 and the second active telescoping mechanism B3 can be with first
The main shaft of connecting rod 2011 is that symmetry axis is in mirror image.3rd active telescoping mechanism C3 and the 4th active telescoping mechanism
D3 is oppositely arranged on the opposite side of objective table with identical mirror image.This four active telescoping mechanisms can share same
One connecting rod.
Alternatively, the first active telescoping mechanism A3, the second active telescoping mechanism B3, the 3rd active telescoping mechanism C3 and
Four active telescoping mechanism D3 bottom is provided with the first movable pulley and the second motor.Preferably, front-wheel can be arranged to universal
Wheel, trailing wheel are arranged to driving wheel.It is the first active telescoping mechanism A3 and the 3rd active telescoping mechanism C3 bottom as shown in Figure 9
Driving wheel is provided with, that is, the first movable pulley and the second motor, the second active telescoping mechanism B3 and the 4th active telescoping mechanism are set
D3 bottom is provided with universal wheel, without the second motor.In this case, mobile robot can realize the inclination on any direction
The adjustment of angle, it can also realize the position of centre of gravity adjustment and the adjustment of chassis area of the goods on objective table.
It should be noted that when active telescoping mechanism is two, one or two driven telescoping mechanism 2 can be set and cause
Objective table is more stable.It is of course also possible to set more driven telescoping mechanisms below objective table, the present invention does not make to have to this
Body limits.When active telescoping mechanism is more than three, it can not have to set driven telescoping mechanism again, certainly, may also set up one
Or multiple driven telescoping mechanisms, the present invention are not especially limited to this.
As shown in figure 8, the mobile robot includes the first active telescoping mechanism A3, the second active telescoping mechanism B3 and the
One driven telescoping mechanism A2.First active telescoping mechanism A3 and the second active telescoping mechanism B3 are with the main shaft of first connecting rod 2011
The homonymy of objective table 1 is arranged in specular for symmetry axis.First driven telescoping mechanism A2 and the first active telescoping mechanism A3
Or second active telescoping mechanism B3 be oppositely arranged on the both sides of the objective table 1, the first driven telescoping mechanism A2 with corresponding thereto
The active telescoping mechanism for being arranged on the opposite side of the objective table 1 is connected.Fig. 8 is illustrated that the first driven telescoping mechanism A2
The both sides of the objective table 1 are oppositely arranged on the first active telescoping mechanism A3, the first driven telescoping mechanism A2 and first is actively
Telescoping mechanism A3 is connected by the 5th connecting rod 4.It should be noted that the active telescoping mechanism and driven telescoping mechanism that are connected
Interchanging positions.
As shown in figure 5, the mobile robot includes the first active telescoping mechanism A3, the second active telescoping mechanism B3 and the
One driven telescoping mechanism A2, the second driven telescoping mechanism B2.First active telescoping mechanism A3 and the second active telescoping mechanism B3 with
The main shaft of first connecting rod 2011 is the homonymy that symmetry axis is arranged on objective table 1 in specular.First driven telescoping mechanism A2
With the first active telescoping mechanism A3 by being oppositely arranged on the both sides of the objective table, the masters of the second driven telescoping mechanism B2 and second
Dynamic telescoping mechanism B3 is oppositely arranged on the both sides of the objective table.First driven telescoping mechanism A2 and the first active telescoping mechanism A3
It is affixed to realize both linkages by the 5th connecting rod 4；Second driven telescoping mechanism B2 and the second active telescoping mechanism B3 passes through
Ten double leval jibs 5 are affixed with both linkages of realization.And first the driven driven telescoping mechanism B2 of telescoping mechanism A2 and second with the 4th connect
The main shaft of bar 4011 is the homonymy that symmetry axis is arranged on objective table in mirror image.Preferably, fourth link 4011 with
First connecting rod 2011 is same connecting rod.It should be noted that the active telescoping mechanism and driven telescoping mechanism that are connected can be mutual
Change place.
Figure 11 is robot mechanism kinematic sketch.With reference to Fig. 1, it is known that AB corresponds to objective table 1, and GH corresponds to first connecting rod
2011, BF correspond to driving telescopic rod 202, and HE corresponds to six-bar linkage 38, and DE corresponds to seven-link assembly 36, and DG corresponds to the 8th
Connecting rod 37, wherein, AI, JG, JK, KH correspond the connecting rod in the second active telescopic component B3.
As seen from the figure, wherein movable part number n=10, low secondary number Pl=14, higher pair number Ph=0, further according to free degree meter
Calculate formula F=3n- (2Pl+Ph) to be calculated, F=2 can be obtained.Because there is driving link (i.e. Figure 11 of two telescopic components in robot
In AI between driving telescopic rod and BF between driving telescopic rod in telescopic component), therefore, mechanism have determine transport
It is dynamic.
Below by with the mobile robot (as shown in Figure 5) including two active telescoping mechanisms and two driven telescoping mechanisms
Operation principle do brief introduction.The operation principle of the mobile robot of other structures is similar, will not be repeated here.
Telescopic component in two driving telescopic rods can realize wheel relative to objective table position by motor control therein
Put movement.When robot climb and fall, when sensor detects that the inclination of fore-and-aft direction occurs for objective table, controller then root
The angle of inclination detected according to sensor is flexible in the part or all of driving telescopic rod in two driving telescopic rods to drive
Component is elongated or shortened to adjust objective table to level.Such as：It is higher than rear in front of objective table, then can shortens in front of objective table
Expansion link, or the expansion link at elongation objective table rear, make objective table keep level (such as：Gyroscope is set on objective table, i.e.,
Detectable relative level deflection angle), make the object righting on objective table, prevent goods from coming off.
In addition to it can make objective table keep level, the also controllable front and back wheel spacing of motor increases in two telescopic components
Greatly, chassis area is increased, motion is more stable.When robot turns, motor can make two wheels in two telescopic components
Spacing is reduced, and reduces its radius of turn, lower the center of gravity position, is more suitable for turning.Such as：It is extending to stretch when robot keeps straight on
Contracting bar, to increase front and back wheel spacing, increase chassis area, when detecting that robot will turn, then can shorten expansion link
Front and back wheel spacing is reduced, reduces its radius of turn, lower the center of gravity position.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
- A kind of 1. mobile robot, it is characterised in that including：Objective table, active telescoping mechanism, sensor and controller；The quantity of the active telescoping mechanism is at least two, and is articulated with the objective table, to support the objective table；The sensor is arranged on the objective table, for detecting whether the objective table occurs to adjust the inclination on direction；The controller is connected with the sensor and at least two active telescoping mechanisms respectively, for when the sensor When detecting that the inclination on regulation direction occurs for the objective table, control part at least two actives telescoping mechanism or Whole active telescoping mechanisms are elongated or shortened to adjust the objective table to level.
- 2. mobile robot according to claim 1, it is characterised in that the active telescoping mechanism includes：First is parallel Quadrangular mechanism and driving telescopic rod；The extended end of first connecting rod is fixed on the objective table in first parallel-crank mechanism；Described driving telescopic rod one end is articulated with the objective table, and the other end is articulated with first parallel-crank mechanism On any connecting rod in addition to the first connecting rod.
- 3. mobile robot according to claim 2, it is characterised in that the driving telescopic rod includes second connecting rod, the Three connecting rods and telescopic component；The telescopic component includes：First motor, it is connected with the leading screw of first motor connection and with the threads of lead screw Feed screw nut；One end of the second connecting rod is fixed in the feed screw nut, and its other end is articulated with the objective table；One end of the third connecting rod is provided with first motor, and its other end is articulated with first parallel-crank mechanism In on any connecting rod in addition to the first connecting rod.
- 4. mobile robot according to any one of claims 1 to 3, it is characterised in that the quantity of the active telescoping mechanism For two；Two active telescoping mechanisms are located at the homonymy of the objective table respectively；Or the opposite sides positioned at the objective table.
- 5. mobile robot according to any one of claims 1 to 3, it is characterised in that also include：Driven telescoping mechanism；The quantity of the driven telescoping mechanism is at least one；The driven telescoping mechanism is articulated with the objective table, for supporting the objective table；The driven telescoping mechanism is connected with the active telescoping mechanism, to be driven when the active telescoping mechanism extends The driven telescoping mechanism elongation, drives the driven telescoping mechanism to shorten when the active telescoping mechanism shortens.
- 6. mobile robot according to claim 5, it is characterised in that the driven telescoping mechanism being connected and institute State the both sides that active telescoping mechanism is oppositely arranged on the objective table.
- 7. mobile robot according to claim 5, it is characterised in that the driven telescoping mechanism includes：Second is parallel Quadrangular mechanism and driven expansion link；The extended end of fourth link is fixed in the objective table in second parallel-crank mechanism；Described driven expansion link one end is articulated with the objective table, and the other end is articulated with second parallel-crank mechanism and removed Any connecting rod beyond the fourth link.
- 8. mobile robot according to claim 5, it is characterised in that the driven telescoping mechanism by the 5th connecting rod with The active telescoping mechanism is connected.
- 9. mobile robot according to claim 5, it is characterised in that the driven expansion link includes：12nd connecting rod With the 13rd connecting rod；One end of 13rd connecting rod is provided with slot, and its other end is hinged in second parallel-crank mechanism except described the On any connecting rod beyond double leval jib；The slot is inserted to form prismatic pair in one end of 12nd connecting rod, and its other end is articulated with the objective table.
- 10. according to the mobile robot described in any one of claims 1 to 3, it is characterised in that the bottom of the active telescoping mechanism Portion is provided with movable pulley and the second motor；The clutch end of second motor is connected with the power incoming end of the movable pulley.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757737.1A CN107380293B (en) | 2017-08-29 | 2017-08-29 | Mobile robot |
| PCT/CN2017/108672 WO2019041513A1 (en) | 2017-08-29 | 2017-10-31 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757737.1A CN107380293B (en) | 2017-08-29 | 2017-08-29 | Mobile robot |
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| CN107380293A true CN107380293A (en) | 2017-11-24 |
| CN107380293B CN107380293B (en) | 2020-05-19 |
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| CN201710757737.1A Active CN107380293B (en) | 2017-08-29 | 2017-08-29 | Mobile robot |
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| Country | Link |
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| CN (1) | CN107380293B (en) |
| WO (1) | WO2019041513A1 (en) |
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| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN113086047A (en) * | 2021-04-06 | 2021-07-09 | 哈尔滨工业大学 | Multi-terrain detection vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019041513A1 (en) | 2019-03-07 |
| WO2019041513A8 (en) | 2019-06-06 |
| CN107380293B (en) | 2020-05-19 |
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