CN109263749A - A kind of mobile robot that chassis is variable - Google Patents
A kind of mobile robot that chassis is variable Download PDFInfo
- Publication number
- CN109263749A CN109263749A CN201811382582.9A CN201811382582A CN109263749A CN 109263749 A CN109263749 A CN 109263749A CN 201811382582 A CN201811382582 A CN 201811382582A CN 109263749 A CN109263749 A CN 109263749A
- Authority
- CN
- China
- Prior art keywords
- robot
- chassis
- structure changes
- omni
- axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B37/00—Wheel-axle combinations, e.g. wheel sets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
Abstract
The object of the present invention is to provide the transfer robots that a kind of chassis can be changed, and belong to robot field.When the robot loading, by obtaining object size, autonomous " X " type structure for changing chassis, and the size of car body is changed to adapt to the size of carry an object by axial stretching.It, can be by changing self structure to pass through narrow working space when the robot zero load.Structure changes transfer robot of the present invention handles ambient condition information by multi-sensor information fusion technology, and embedded system adoption status plane mechanism is realized.Its motion control decision can gradually be improved by way of intensified learning.Structure changes transfer robot of the present invention is structurally characterized in that: chassis uses " X " type structure, not only may be implemented around car body center rotating, but also can be realized axle axial movement.It can be convenient the avoidance efficiently realized under narrow environment, and can identify and carry various sizes of cargo.The design structure novel, adaptable, traveling is convenient.
Description
Technical field
The present invention relates to a kind of varistructure transfer robots, belong to field in intelligent robotics.
Background technique
In recent years, transfer robot oneself be widely used various fields.Although form is different in structure design for they,
But the transfer robot of current few varistructures.It is relatively fewer about the research of structure changes robot.But in face of disliking
The working environment of bad complexity, will put forward higher requirements the structure of robot, and therefore, structure changes just become one to be had very much
The topic of researching value.The size that traditional backpack robot removes goods consigned can only be fixed, such as: Amazon exists
Purchased within 2012 the robot warehousing of automatic material flow provider Kiva with 7.75 hundred million dollars of price, and by its
Kiva robot, using in the warehouse of its company, carries out the carrying of cargo, can be effectively reduced logistics cost after transformation,
It improves cargo and sorts efficiency.The transfer robot size of Amazon is set, it is intended to which structure changes are introduced conveying robot
It is undoubtedly a bold trial in people's design.It can realize the size by capturing cargo, to change automatically the structure of car body
To adapt to the totally different cargo of size, thus by the advantages characteristic of transfer robot play incisively and vividly.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of transfer robot of structure novel, the load branch of the robot
Support platform collaboration chassis can synchronize structure changes.Its chassis structure is in " X " type, it can be achieved that the axial rotation around axle center of wheel,
The telescopic moving of axle axial direction may be implemented.This structure can be distributed in five point symmetry types, be consigned to load cargo.The bottom
Disk passes through this novel structure design, it can realizes the variation of size and shape.It is designed by this structure, it both can be in sky
When load, the case where according to working space, real-time structure changes avoidance；, according to the size of cargo, it can change in load again
Self structure achievees the effect that teach students in accordance with their aptitude.
In order to achieve the above object of the invention, the present invention provides a kind of mobile robot of chassis variable dimension, features
Be: the chassis of the mobile robot is in " X " type, and axle may be implemented around car body center rotating, and axle axial direction also may be implemented
Telescopic moving.The chassis is loaded with driving device, information collecting device, controller.
Driving device includes advance motor, telescope motor, steering motor.Advance motor passes through 90 degree of omni-directional wheel controls of driving
The advance of mobile robot；Telescope motor is by driving ball-screw to realize the movement of axle in the axial direction；Steering motor is logical
It crosses reduction gearbox and drives gear drive, make axle around car body center rotating.
Information collecting device include laser radar scanner, ultrasonic distance-measuring sensor, infrared distance measuring sensor and
Encoder and gyroscope.This system is by carrying out processing in real time simultaneously to the environmental information around vehicle body for multi-sensor information fusion
Make corresponding response.Structure changes robot of the present invention can add gyroscope by code-disc, and the modes such as laser radar, terrestrial reference are realized certainly
Master positioning.
The control panel (or industrial personal computer) of STM32F407 can be used as master control borad in controller, is used to collecting sensor information
And all kinds of motors of driving.Meanwhile the controller can realize the prison with host computer PC end by wireless module (bluetooth, WiFi)
Control system real-time communication.The state machine mechanism based on quantum platform can be used in building for its software systems, passes through intensified learning
Aptitude manner carries out the control decision of the mobile robot.
The variable mobile robot in the chassis, later period can realize that it captures cargo size information and realizes structure transformation, and
Can according to environmental information realize self-variable structure avoidance, by two dimensional code positioning, laser radar, the first-class realization of binocular camera shooting its
Autonomous in entire working space.
The characteristics of mobile robot that chassis of the present invention can be changed, is: by the design of " X " type chassis structure, can be convenient fast
The carrying of prompt realization cargo, and can adapt to more complicated working space.The design structure novel, control mode intelligence
Can, environmental suitability is strong.
Detailed description of the invention
Fig. 1 is the overall structure figure of structure changes robot of the present invention.
Fig. 2 is the overall structure top view of structure changes robot of the present invention.
Fig. 3 is the main body side view of structure changes robot of the present invention.
Fig. 4 is that the axle of structure changes robot of the present invention is vertical and indentation state figure.
Fig. 5 is that the axle of structure changes robot of the present invention is vertical and extended state figure.
Fig. 6 is the axle of structure changes robot of the present invention in common angle state diagram.
Symbol description
6 optical axises, 11 motors, 13 ball-screws, 16 absolute value encoders, 26 gear turntables, 27 crossed roller bearings, 37 compile
Code device pressing device, 38 worm reduction boxes, 55 acrylic board, 57 laser radar scanner, 65 omni-directional wheel
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawings and examples to the present invention
It is described in further detail.
The overall structure composition of structure changes robot of the present invention is introduced referring to FIG. 1 to FIG. 3: the structure changes machine is artificially realized
Its chassis structure is variable, and principal organ includes steering mechanism, telescoping mechanism, advancement mechanism, illustrates it separately below:
Steering mechanism includes that upper and lower two gear turntables are fixed on car body main frame by crossed roller bearing, by fixing
Driving motor and worm reduction box on frame drive gear turntable to rotate certain angle, to realize axle around vehicle
The rotation at body center, wherein on the one hand worm reduction box is used to improve output torque, and gear on the other hand may be implemented and turn
The self-locking function of disk, the uncontrollable rotation of turntable caused by avoiding motor power down or driving torque insufficient.Telescoping mechanism includes
Ball-screw and optical axis, telescope motor is by driving ball-screw to realize the axial stretching movement of wheel body, and optical axis is to assist
It is to prevent turning on one's side.Advancement mechanism includes 90 degree of omni-directional wheel and driving device, for convenience of efficiently realize its roll and
It is axially moved, herein using 90 degree of omni-directional wheels, is realized by controlling the angular speed of each motor to wheel forward speed
Real-time control.
Referring to Fig. 1, which includes the information collecting device of structure changes robot.Comprising laser radar, ultrasonic distance measurement, absolutely
To value encoder, relative encoder and gyroscope.Respectively to obtain range information, location information and angle information.It is logical
Multi-sensor information fusion technology is crossed, these information are handled.
Structure changes part-structure figure referring to fig. 2, steering mechanism are fixed on turntable using two wheel bodies, by turning
Its rotation around axle center is driven to motor.Telescoping mechanism is using telescope motor by driving ball-screw to turn after The gear deceleration
It is dynamic, to realize the axial stretching movement of wheel body.Advancement mechanism both can satisfy its axis using motor driven omni-directional wheel
To rolling, and its advance can be driven.
Referring to fig. 4, Fig. 5 and Fig. 6 is compared by three kinds of state diagrams of structure changes robot, we are it is seen that it can be real
Now become the expected of shape and size to require, carries various sizes of cargo to not only can be convenient, but also can adapt in zero load
Different working environments.
It is worth noting that, the foregoing is merely presently preferred embodiments of the present invention, patent of the invention is not thereby limited
Protection scope, the present invention can also carry out equivalent improvement to the structure of above-mentioned various components.Therefore it all is said with of the invention
The variation of equivalent structure made by bright book and diagramatic content, directly or indirectly applies to other correlative technology fields and similarly all wraps
It is contained in the range of of the invention cover.
Claims (3)
1. a kind of complete structure changes robot, can also, it can be achieved that carry out integrally-built variation according to cargo form and dimension
It is a kind of intelligent carrying implement of novel varistructure to change the structure of car body in real time according to ambient condition information in zero load
Device people, whole mainly includes mechanical structure, information collecting device, control unit；Mechanical structure includes telescoping mechanism, turning machine
Structure, advancement mechanism, structure feature are:
Car body is centrosymmetric distribution using four omni-directional wheels, and four axles are in that " X " type is vertical with respective omni-directional wheel respectively；Two
A turntable is symmetrically distributed in main frame two sides up and down, and axle is affixed by lead screw and turntable；Telescoping mechanism drives rolling using motor
Ballscrew realizes that four driving wheel cell cubes are axially translatable；Steering mechanism drives turntable to turn using motor and worm reduction box
It is dynamic to realize that axle is rotated around car body central point；The driving wheel of advancement mechanism uses omni-directional wheel, and four omni-directional wheels are distributed in " X " type
Chassis, and omni-directional wheel is arranged vertically with axle, the axial movement convenient for wheel and rolling of advancing, the advantage is that:
The chassis design of the structure changes robot can easily realize that the shape and size of body structure change, it can be achieved that axle
Axial stretching and axle around car body center rotation；Its chassis design can cooperate the support platform of separate type, using five point branch
Support mode lifts cargo, and the structure change of adaptability can be carried out according to the dimension information of cargo, is reached because material is applied
Effect is taught, while structure changes avoidance can also be carried out according to obstacle information in zero load, improves its flexible property.
2. structure changes robot according to claim 1, body installation includes driving mechanism, steering mechanism, telescoping mechanism
Deng；
Driving mechanism uses four active omni-directional wheels, and steering mechanism uses gear turntable and worm type of reduction gearing, wherein slowing down
Device also has self-locking function, and telescoping mechanism is realized using ball-screw；
Information collecting device is laser radar, ultrasonic distance measurement or binocular camera to can be used to carry out multi-sensor information to melt
It closes；
Controller design can improve the independent learning ability of robot based on the mode of intensified learning, to the structure changes machine
The control decision of device people.
3. structure changes robot according to claim 1, wherein (optional code-disc adds gyro to the freedom positioning system
Instrument, laser radar, magnetic terrestrial reference or two dimensional code terrestrial reference, magnetic stripe etc.) to track the position of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811382582.9A CN109263749A (en) | 2018-11-19 | 2018-11-19 | A kind of mobile robot that chassis is variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811382582.9A CN109263749A (en) | 2018-11-19 | 2018-11-19 | A kind of mobile robot that chassis is variable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109263749A true CN109263749A (en) | 2019-01-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811382582.9A Pending CN109263749A (en) | 2018-11-19 | 2018-11-19 | A kind of mobile robot that chassis is variable |
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| CN (1) | CN109263749A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110311955A (en) * | 2019-06-10 | 2019-10-08 | 黑龙江大学 | Office Area Intelligent transfer robot send article system and method for carrying |
| CN111347442A (en) * | 2020-03-31 | 2020-06-30 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
| CN111851290A (en) * | 2020-07-27 | 2020-10-30 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
| CN113212135A (en) * | 2021-05-19 | 2021-08-06 | 哈尔滨工业大学 | Omnidirectional mobile robot modularization chassis with self-align function |
| CN114089771A (en) * | 2021-11-24 | 2022-02-25 | 安庆帆盛机电科技有限公司 | Self-adjusting walking robot and adjusting method thereof |
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| CN206953017U (en) * | 2017-05-02 | 2018-02-02 | 郑州大学 | The full-automatic robot that distributes leaflets |
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| US5927423A (en) * | 1997-03-05 | 1999-07-27 | Massachusetts Institute Of Technology | Reconfigurable footprint mechanism for omnidirectional vehicles |
| US20080073138A1 (en) * | 2006-09-22 | 2008-03-27 | Nissan Motor Co., Ltd. | Variable wheel positioning vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110311955A (en) * | 2019-06-10 | 2019-10-08 | 黑龙江大学 | Office Area Intelligent transfer robot send article system and method for carrying |
| CN111347442A (en) * | 2020-03-31 | 2020-06-30 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
| CN111851290A (en) * | 2020-07-27 | 2020-10-30 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
| CN111851290B (en) * | 2020-07-27 | 2021-10-15 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
| CN113212135A (en) * | 2021-05-19 | 2021-08-06 | 哈尔滨工业大学 | Omnidirectional mobile robot modularization chassis with self-align function |
| CN114089771A (en) * | 2021-11-24 | 2022-02-25 | 安庆帆盛机电科技有限公司 | Self-adjusting walking robot and adjusting method thereof |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20190125 |