CN115384656B - Multi-degree-of-freedom robot running mechanism - Google Patents
Multi-degree-of-freedom robot running mechanism Download PDFInfo
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- CN115384656B CN115384656B CN202210993973.4A CN202210993973A CN115384656B CN 115384656 B CN115384656 B CN 115384656B CN 202210993973 A CN202210993973 A CN 202210993973A CN 115384656 B CN115384656 B CN 115384656B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000007769 metal material Substances 0.000 claims description 3
- 125000003003 spiro group Chemical group 0.000 abstract 2
- 238000005507 spraying Methods 0.000 description 4
- 241000607479 Yersinia pestis Species 0.000 description 3
- 240000000851 Vaccinium corymbosum Species 0.000 description 2
- 235000003095 Vaccinium corymbosum Nutrition 0.000 description 2
- 235000017537 Vaccinium myrtillus Nutrition 0.000 description 2
- 235000021014 blueberries Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000035143 Bacterial infection Diseases 0.000 description 1
- 206010009944 Colon cancer Diseases 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 208000031888 Mycoses Diseases 0.000 description 1
- 241000244206 Nematoda Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 208000029742 colonic neoplasm Diseases 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 235000015203 fruit juice Nutrition 0.000 description 1
- 230000036449 good health Effects 0.000 description 1
- 208000019622 heart disease Diseases 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The invention discloses a multi-degree-of-freedom robot walking mechanism, which comprises: the walking chassis, the drive wheel structure is installed to walking chassis inside one side, and the inside opposite side of walking chassis installs first steering wheel structure and second steering wheel structure respectively, and infrared sensor, obstacle avoidance sensor are installed to the front end spiro union respectively on walking chassis simultaneously to the fixing base is installed through the spiro union in the top of walking chassis, the surface and the picking robot fixed connection of fixing base. When the device runs, the trolley defaults to turn to the left when the obstacle avoidance sensor detects an obstacle, and turns to the other side without the obstacle when only one side of the infrared sensor detects the obstacle; when all sensors no longer detect the obstacle after turning, the trolley resumes straight movement, and the purpose of obstacle avoidance on the obstacle can be achieved.
Description
Technical Field
The invention relates to the field of picking robots, in particular to a multi-degree-of-freedom robot travelling mechanism.
Background
The blueberry has good health care effect, and can delay hypomnesis and prevent heart diseases; in addition, the fruit juice has the effects of improving eyesight, preventing colon cancer and the like, is regarded as super fruit by people, and has wide market prospect; blueberries are susceptible to diseases and insect pests, in particular fungal diseases, bacterial diseases, nematodes and the like; for pest control, the traditional manual spraying mode is basically adopted in China, so that the labor intensity is high, more labor is input, the operation efficiency is low, unsafe factors exist, and the spraying is uneven; in order to eliminate the disadvantages, the use of a pesticide spraying robot for pest control is a necessary trend; the medicine spraying robot mainly comprises a control part and a travelling mechanism; when the travelling mechanism moves, the obstacle cannot be avoided, and the travelling mechanism can be prevented from moving due to collision with the obstacle.
Disclosure of Invention
The invention provides a multi-degree-of-freedom robot walking mechanism for making up market blank.
The invention aims to provide a multi-degree-of-freedom robot running mechanism to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a multiple degree of freedom robotic walking mechanism comprising:
the device comprises a walking chassis, wherein a driving wheel structure is arranged on one side of the inside of the walking chassis, a first steering wheel structure and a second steering wheel structure are respectively arranged on the other side of the inside of the walking chassis, an infrared sensor and an obstacle avoidance sensor are respectively and spirally connected with the front end of the walking chassis, a fixing seat is arranged at the top of the walking chassis through the spiral connection, and the surface of the fixing seat is fixedly connected with a picking robot;
the rear wheel of the driving wheel structure is arranged on a rear shaft rod, two groups of driven chain wheels are arranged on the rear shaft rod, meanwhile, the mounting frame is arranged on the walking chassis in a threaded connection manner, a brushless motor is arranged in the mounting frame through a machine seat, and an output shaft of the brushless motor is fixedly connected with the driving chain wheel;
the front wheel and the front shaft on the first steering wheel structure are movably connected through a bearing, one end of the front shaft, far away from the front wheel, is welded and fixed with the adjusting gear, the adjusting gear is mounted on the mounting shaft, the mounting shaft is movably mounted in the walking chassis through the bearing, and the driving motor is mounted in the walking chassis through the base.
Further, the driving wheel structure comprises a rear wheel, a driven sprocket, a chain, a mounting frame, a brushless motor, a driving sprocket and a rear shaft rod, wherein two groups of brushless motors are arranged in the mounting frame and synchronously work, and the driven sprocket and the driving sprocket are in transmission through the chain.
Further, the first steering wheel structure comprises a guide rail, a driving motor, a driving gear, a front wheel, a front shaft, an adjusting gear, a mounting shaft, a connecting rod, a guide block and a hole, and the first steering wheel structure is consistent with the second steering wheel structure in structure.
Further, the adjusting gear is horizontally arranged with the driving gear, the size of the adjusting gear is matched with that of the driving gear, and the adjusting gear is meshed with the driving gear.
Further, the fixed welding of guided way is in the inside of walking chassis, and the right side tip of guided way is the arc setting, and the guide block is the size looks adaptation of guided way simultaneously to the guide block tip slides and sets up in the inside of guided way.
Further, the upper left side of the adjusting gear is fixedly welded with a connecting rod, the connecting rod is of an L-shaped structure made of metal materials, and meanwhile one end, away from the adjusting gear, of the connecting rod is fixedly connected with the guide block.
Furthermore, the two side walls of the bottom of the walking chassis are provided with holes, front shafts are inserted into the holes, the front shafts are arranged into two groups, and the front shafts are driven and transmitted through driving gears and adjusting gears.
Furthermore, the infrared sensors and the obstacle avoidance sensors adopt a mode of combining intersecting obstacle avoidance, infrared rays emitted by the two groups of infrared sensors are arranged in a crossing mode, and meanwhile, the two groups of infrared sensors are of symmetrical structures relative to the obstacle avoidance sensors.
Further, the infrared sensor, the obstacle avoidance sensor and the core control module arranged in the walking chassis form an obstacle avoidance system of the robot walking mechanism, the core control module is electrically connected with the driving motor, meanwhile, the core control module adopts an Arduino yun control chip, and the core of the chip is an ATmega32u4 single chip microcomputer and is provided with an embedded Linux machine.
Compared with the prior art, the invention has the beneficial effects that: when the device travels, the trolley turns to the left by default when the obstacle avoidance sensor detects an obstacle, and turns to the other side without the obstacle when only one side of the infrared sensor detects the obstacle; when all sensors no longer detect the obstacle after turning, the trolley resumes straight movement, and the purpose of obstacle avoidance on the obstacle can be achieved.
Drawings
FIG. 1 is a schematic elevational view of the structure of the present invention;
FIG. 2 is a schematic view of section A-A of FIG. 1 of the structure of the present invention;
FIG. 3 is a side view of the structure of FIG. 1 of the present invention;
FIG. 4 is a schematic diagram of the synchronous steering of a first steering wheel structure and a second steering wheel structure of the present invention;
FIG. 5 is a schematic view of a first steering wheel of the present invention;
FIG. 6 is a top view of the structure of FIG. 1 of the present invention;
FIG. 7 is a schematic view of the overall apparatus of the structure of the present invention;
FIG. 8 is a logic block diagram of an obstacle avoidance system of the present invention.
In the figure: 1. a walking chassis; 2. a driving wheel structure; 21. a rear wheel; 22. a driven sprocket; 23. a chain; 24. a mounting frame; 25. a brushless motor; 26. a drive sprocket; 27. a rear shaft lever; 3. a first steering wheel structure; 30. a guide rail; 31. a driving motor; 32. a drive gear; 33. a front wheel; 34. a front axle; 35. an adjusting gear; 36. a mounting shaft; 37. a connecting rod; 38. a guide block; 39. opening holes; 4. a second steering wheel structure; 5. a picking robot; 6. a fixing seat; 7. an infrared sensor; 8. obstacle avoidance sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The first embodiment is as follows: referring to fig. 1-8, the present invention provides a technical solution: a multiple degree of freedom robotic walking mechanism comprising: a walking chassis 1, a driving wheel structure 2 and a first steering wheel structure 3;
a driving wheel structure 2 is arranged on one side of the inside of the walking chassis 1, a first steering wheel structure 3 and a second steering wheel structure 4 are respectively arranged on the other side of the inside of the walking chassis 1, an infrared sensor 7 and an obstacle avoidance sensor 8 are respectively and spirally connected with the front end of the walking chassis 1, a fixing seat 6 is arranged at the top of the walking chassis 1 through spirally connection, and the surface of the fixing seat 6 is fixedly connected with a picking robot 5;
the rear wheel 21 of the driving wheel structure 2 is arranged on a rear shaft lever 27, two groups of driven chain wheels 22 are arranged on the rear shaft lever 27, meanwhile, a mounting frame 24 is arranged on the walking chassis 1 in a threaded connection manner, a brushless motor 25 is arranged in the mounting frame 24 through a machine seat, and an output shaft of the brushless motor 25 is fixedly connected with a driving chain wheel 26;
the front wheel 33 and the front shaft 34 on the first steering wheel structure 3 are movably connected through a bearing, one end, far away from the front wheel 33, of the front shaft 34 is welded and fixed with the adjusting gear 35, meanwhile, the adjusting gear 35 is mounted on the mounting shaft 36, the mounting shaft 36 is movably mounted inside the walking chassis 1 through the bearing, and the driving motor 31 is mounted inside the walking chassis 1 through the base.
Working principle: when the picking robot is used, the picking robot 5 can be moved and transported through the travelling mechanism, the switch of the brushless motor 25 is started, the output shaft of the brushless motor 25 drives the driving sprocket 26 to rotate, the driving sprocket 26 drives the driven sprocket 22 to rotate through the chain 23, the device is driven to move, and the moving device is turned through the first turning wheel structure 3 and the second turning wheel structure 4.
The second embodiment is as follows: the present embodiment is further limited to the first embodiment, and the driving wheel structure 2 includes a rear wheel 21, a driven sprocket 22, a chain 23, a mounting frame 24, a brushless motor 25, a driving sprocket 26, and a rear shaft 27, wherein two groups of brushless motors 25 are provided inside the mounting frame 24, and the two groups of brushless motors 25 operate synchronously, and the driven sprocket 22 and the driving sprocket 26 are driven by the chain 23.
As shown in fig. 1: the two groups of brushless motors 25 work synchronously, and the rear shaft lever 27 can be driven to rotate by the two groups of driving chain wheels 26, the chains 23 and the driven chain wheels 22, so that the rotation work of the rear wheels 21 is realized, and the running gear is driven and moved;
the power source of the running gear is a permanent magnet brushless DC motor 25, which has the following characteristics: the electronic reversing device has the advantages of simple structure, good heat dissipation, difficult occurrence of the phenomena of step-out, oscillation and the like, convenience in speed regulation and control and capability of well meeting the design requirements of the travelling mechanism.
And a third specific embodiment: the present embodiment is further defined as the first embodiment, and the first steering wheel structure 3 includes the guide rail 30, the driving motor 31, the driving gear 32, the front wheel 33, the front axle 34, the adjusting gear 35, the mounting axle 36, the connecting rod 37, the guide block 38, and the opening 39, and the first steering wheel structure 3 is identical to the composition structure of the second steering wheel structure 4.
As shown in fig. 1-4: the first steering wheel structure 3 works on the principle that: the switch of the driving motor 31 is started, the output shaft of the driving motor 31 drives the driving gear 32 to rotate, the driving gear 32 drives the adjusting gear 35 to rotate, and the adjusting gear 35 drives the front wheel 33 to incline through the front shaft 34, so that the steering work of the running gear is realized.
The specific embodiment IV is as follows: this embodiment is further defined as the third embodiment, in which the adjusting gear 35 is horizontally disposed with the driving gear 32, and the adjusting gear 35 is adapted to the size of the driving gear 32, and the adjusting gear 35 is engaged with the driving gear 32.
The adjusting gear 35 is engaged with the driving gear 32, and the driving rotation operation of the adjusting gear 35 can be realized by driving the driving motor 31.
Fifth embodiment: this embodiment is further limited by the third embodiment, and the guide rail 30 is fixedly welded inside the chassis 1, and the right end of the guide rail 30 is arc-shaped, while the guide block 38 is matched with the guide rail 30 in size, and the end of the guide block 38 is slidably disposed inside the guide rail 30.
As shown in fig. 1-2: the guide block 38 is matched with the guide rail 30 in size, the end part of the guide block 38 is slidably arranged in the guide rail 30, and when the adjusting gear 35 drives the front wheel 33 to incline through the front shaft 34, the end part of the guide block 38 is slidably arranged in the guide rail 30, so that the adjusting gear 35 in rotation can be limited and guided, and the adjusting gear 35 is prevented from inclining.
Specific embodiment six: in this embodiment, as further defined in the fourth embodiment, the connecting rod 37 is welded and fixed to the upper left side of the adjusting gear 35, and the connecting rod 37 is of an L-shaped structure made of metal, and at the same time, one end of the connecting rod 37 away from the adjusting gear 35 is fixedly connected with the guide block 38.
As shown in fig. 1-2: the connecting rod 37 is an L-shaped structure made of metal materials, and when the adjusting gear 35 rotates, the guide block 38 on the adjusting gear 35 is slidably arranged in the guide rail 30, so that the stability of the rotating structure during steering is ensured.
Seventh embodiment: in this embodiment, as a further limitation of the first embodiment, openings 39 are formed in both side walls of the bottom of the walking chassis 1, and a front axle 34 is inserted into the openings 39, the front axles 34 are arranged in two groups, and the front axle 34 is driven and driven by the driving gear 32 and the adjusting gear 35.
As shown in fig. 1-3: the walking driving mode of the device adopts a chain transmission mode; compared with gears, chain transmission cannot maintain a constant instantaneous transmission ratio, but has low requirements on manufacturing and installation precision and low cost, and particularly for long-distance transmission, the structure is much lighter than that of gear transmission, and the formula for calculating the gear ratio of a main chain wheel and a driven chain wheel is as follows:
wherein v-running gear movement speed (km/h);
r-hub radius (m);
n-DC brushless motor speed (r/min);
z 1 ，z 2 -the number of teeth of the master-slave sprocket.
The gear ratio of the driving chain wheel and the driven chain wheel can be obtained by measuring the speed of the running mechanism, the radius of the hub and the rotating speed of the brushless motor.
Eighth embodiment: the first embodiment is further limited by the first embodiment, the infrared sensors 7 and the obstacle avoidance sensor 8 adopt a mode of combining intersecting obstacle avoidance, infrared light emitted by the two groups of infrared sensors 7 are arranged in an intersecting manner, and the two groups of infrared sensors 7 are in a symmetrical structure with respect to the obstacle avoidance sensor 8.
When the device travels, the trolley defaults to turn to the left when the obstacle avoidance sensor 8 detects an obstacle, and turns to the other side without the obstacle when only one side of the infrared sensor 7 detects the obstacle; and after the steering, when all the sensors no longer detect the obstacle, the trolley resumes straight running.
Detailed description nine: the first embodiment is further limited by the first embodiment, the infrared sensor 7, the obstacle avoidance sensor 8 and the core control module installed inside the walking chassis 1 form an obstacle avoidance system of the walking mechanism of the robot, the core control module is electrically connected with the driving motor 31, meanwhile, the core control module adopts an Arduino yun control chip, and the core of the chip is an ATmega32u4 singlechip and is provided with an embedded Linux machine.
When two sensors detect an obstacle, the trolley turns to a direction in which the obstacle is not detected; when the 3 sensors all detect the obstacle, namely the trolley encounters a corner or a large obstacle in front, the trolley is switched to a sharp turning mode, the trolley defaults to turn left in situ, if the sensors all do not detect the obstacle in the sharp turning, the obstacle is indicated to turn to the right side of the trolley, the trolley is switched to a forward mode, and the straight running is restored.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A multiple degree of freedom robot walking mechanism comprising:
the device comprises a walking chassis (1), wherein a driving wheel structure (2) is arranged on one side of the inside of the walking chassis (1), a first steering wheel structure (3) and a second steering wheel structure (4) are respectively arranged on the other side of the inside of the walking chassis (1), an infrared sensor (7) and an obstacle avoidance sensor (8) are respectively and spirally connected with the front end of the walking chassis (1), a fixing seat (6) is arranged at the top of the walking chassis (1) through the spiral connection, and the surface of the fixing seat (6) is fixedly connected with a picking robot (5);
the driving wheel structure (2), a rear wheel (21) of the driving wheel structure (2) is arranged on a rear shaft lever (27), two groups of driven chain wheels (22) are arranged on the rear shaft lever (27), meanwhile, a mounting frame (24) is arranged on the walking chassis (1) in a threaded connection mode, a brushless motor (25) is arranged in the mounting frame (24) through a machine base, and an output shaft of the brushless motor (25) is fixedly connected with a driving chain wheel (26);
the front wheel (33) and the front shaft (34) on the first steering wheel structure (3) are movably connected through a bearing, one end, far away from the front wheel (33), of the front shaft (34) is welded and fixed with the adjusting gear (35), meanwhile, the adjusting gear (35) is mounted on the mounting shaft (36), the mounting shaft (36) is movably mounted in the walking chassis (1) through the bearing, and the driving motor (31) is mounted in the walking chassis (1) through the base;
the first steering wheel structure (3) comprises a guide rail (30), a driving motor (31), a driving gear (32), a front wheel (33), a front shaft (34), an adjusting gear (35), a mounting shaft (36), a connecting rod (37), a guide block (38) and an opening (39), and the first steering wheel structure (3) and the second steering wheel structure (4) are consistent in composition structure; the adjusting gear (35) is horizontally arranged with the driving gear (32), the size of the adjusting gear (35) is matched with that of the driving gear (32), and the adjusting gear (35) is meshed with the driving gear (32); the guide rail (30) is fixedly welded in the walking chassis (1), the right end part of the guide rail (30) is in arc-shaped arrangement, meanwhile, the guide block (38) is matched with the guide rail (30) in size, and the end part of the guide block (38) is arranged in the guide rail (30) in a sliding manner; the left upper side of the adjusting gear (35) is welded and fixed with a connecting rod (37), the connecting rod (37) is of an L-shaped structure made of metal materials, and one end of the connecting rod (37) far away from the adjusting gear (35) is fixedly connected with a guide block (38); the two side walls of the bottom of the walking chassis (1) are provided with openings (39), front shafts (34) are inserted into the openings (39), the front shafts (34) are arranged in two groups, and the front shafts (34) are driven and transmitted through driving gears (32) and adjusting gears (35).
2. A multiple degree of freedom robot walking mechanism according to claim 1, wherein: the driving wheel structure (2) comprises a rear wheel (21), a driven sprocket (22), a chain (23), a mounting frame (24), a brushless motor (25), a driving sprocket (26) and a rear shaft rod (27), wherein two groups of brushless motors (25) are arranged in the mounting frame (24), the two groups of brushless motors (25) work synchronously, and the driven sprocket (22) and the driving sprocket (26) are in transmission through the chain (23).
3. A multiple degree of freedom robot walking mechanism according to claim 1, wherein: the infrared sensors (7) and the obstacle avoidance sensors (8) adopt a mode of combining intersecting obstacle avoidance, infrared light emitted by the two groups of infrared sensors (7) is arranged in an intersecting mode, and meanwhile, the two groups of infrared sensors (7) are of symmetrical structures relative to the obstacle avoidance sensors (8).
4. A multiple degree of freedom robot walking mechanism according to claim 1, wherein: the infrared sensor (7), the obstacle avoidance sensor (8) and the core control module installed inside the walking chassis (1) form an obstacle avoidance system of the robot walking mechanism, the core control module is electrically connected with the driving motor (31), meanwhile, the core control module adopts an Arduino yun control chip, and the core of the chip is an ATmega32u4 singlechip and is provided with an embedded Linux machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210993973.4A CN115384656B (en) | 2022-08-18 | 2022-08-18 | Multi-degree-of-freedom robot running mechanism |
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| CN202210993973.4A CN115384656B (en) | 2022-08-18 | 2022-08-18 | Multi-degree-of-freedom robot running mechanism |
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| CN115384656A CN115384656A (en) | 2022-11-25 |
| CN115384656B true CN115384656B (en) | 2023-08-01 |
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