CN100491179C - Variable motion mode omni-bearing self-independent mobile robot running gear - Google Patents
Variable motion mode omni-bearing self-independent mobile robot running gear Download PDFInfo
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- CN100491179C CN100491179C CNB2007100710848A CN200710071084A CN100491179C CN 100491179 C CN100491179 C CN 100491179C CN B2007100710848 A CNB2007100710848 A CN B2007100710848A CN 200710071084 A CN200710071084 A CN 200710071084A CN 100491179 C CN100491179 C CN 100491179C
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Abstract
The invention discloses an omnibearing independent mobile robot walking mechanism capable of changing modes of motion consists of a quadricycle body, two sets of lead screw slide block mechanisms sharing the same structure, three sets of transmission gear trains and four sets of wheel steering linkages sharing the same structure, wherein the wheel steering linkage consists of a crank-rocker mechanism, the steering linkages of the two front wheels and the steering linkages of the two rear wheels are respectively share a crank, and two crank gyration centers are respectively positioned on the front and rear slide block central shafts of the lead screw slide block mechanism. The cranks of the steering linkages can rotate or the crank centers can move with the slide block through switching of gear engagement, thereby changing modes of motion of the mobile robot. Three modes of motion, namely normal walking with rear wheel guiding, motion of translation, rotation with zero radius, can be realized through different combinations, thereby enabling omnibearing motion capacity and reducing the quantity of motors used. The change of modes of motion through the switching mechanism can meet the motion requirements of farmland operation and also ensure reliable motion characteristics.
Description
Technical field
The present invention relates to the Robotics field, be specifically related to become the comprehensive autonomous mobile robot traveling gear of mode of motion.
Background technology
Wheeled mobile robot is simple, flexibly mobile with respect to legged mobile robot control, has been widely used in the various fields such as industry, agriculture and forestry, mineral prospecting, environmental protection and home services, military surveillance and space flight and aviation.Traveling gear and drive form have determined the mode of motion of wheeled mobile robot, extensively adopt the back-wheel drive differential steering to move at present.But there is defective in this mode of motion aspect zero Turning radius and the translation, the all directionally movable robot of the special directional wheel of employing of Ti Chuing thus, on two dimensional surface, has three degree of freedom, can finish along any direction and do translation and rotation simultaneously, keeping under the attitude unmodified situation, can finish moving of any direction, it is limited that it is fit to be operated in narrow space very much, in the high occasion of robot maneuverability requirement, have than two-wheel differential speed type exercise performance more flexibly just because of all directionally movable robot, be applied to special dimensions such as comprehensive mobile chair and robot soccer game.
All directionally movable robot is as an important research project, but a lot of study limitations is in using directional wheel to realize the omnibearing movable of robot.Because the special mechanism of directional wheel makes its cost higher; And, making the wheel can not normal rotation in order to avoid block after being involved in because the shape and the distribution of directional wheel can not be walked in mud ground or sandstone ground, its application has limitation.
Farmland operation mobile robot's motion is along the moving of crop row, and often needs to adjust the distance that mobile platform and plant go, i.e. the adjustment of transverse distance, and do not change the vehicle body direction, this just requires mobile platform to have the ability of absolute translation.When mobile platform is positioned at plant row end, need to adjust the vehicle body direction, because the restriction of plant row does not have enough Turning radiuss, at this moment need the Turning radius of mobile platform as far as possible little, promptly the no-radius of perfect condition definitely rotates.Adopt directional wheel to walk, therefore be necessary as the case may be and application requirements, adopt common wheel, realize mobile robot's omnibearing movable, promptly possess the locomitivity that translation and no-radius rotate by concrete motion switching mechanism in the farmland.
Summary of the invention
The object of the present invention is to provide a kind of comprehensive autonomous mobile robot traveling gear of variable motion mode, use the four-wheel moving body, design the motion switching mechanism, can change mobile robot's mode of motion as required, make it possess the locomotivity of translation and no-radius rotation, realize omnibearing movable.
In order to achieve the above object, the technical solution used in the present invention is: comprise four-wheel car body, ball-screw slide block mechanism that front and back two nested structures are identical, three groups of driving gear set and four groups of wheel steering linkworks that structure is identical; Wherein
1) described four-wheel car body: comprise two front vehicle wheels, two rear wheels and in the casing of control part is housed, two front-wheels are equipped with drive element respectively, the rotating shaft of four wheels is all stretched out outside the casing upper surface;
2) the identical ball-screw slide block mechanism of described front and back two nested structures: comprise lead screw shaft, ball-screw slide block and ball-screw guide rail, before the upper surface of casing, be separately installed with first end plate between the rear wheel rotating shaft, before, back two electromagnet casees are respectively with preceding, back first end plate is made one, before, the two blocks of electromagnet in back are installed in respectively in the electromagnet case, and preceding, the position detecting device of shifting axle also is installed in the two electromagnet casees of back, be separately installed with second end plate in the inboard of first end plate, the two ends of two ball-screw guide rails are installed on first end plate, the two ends that are positioned at two lead screw shaft between the ball-screw guide rail are installed on second end plate, before, the ball-screw slide block of rear end is installed in two ball-screw guide rails and the lead screw shaft, respectively preceding, back two ball-screw slide blocks are near two cover locking relays are installed on the side of second end plate;
3) described three groups of driving gear set: first group: the shifting axle rear wheel partly is equipped with first cylindrical wheel and second cylindrical wheel, the tween drive shaft rear wheel partly is equipped with the three cylindrical gear and first conical gear, and second conical gear is equipped with in the rotating shaft of trailing wheel ball-screw slide block; Second group: shifting axle front wheele part branch is equipped with first cylindrical wheel, the tween drive shaft front wheele part packing three cylindrical gear and first conical gear, and second conical gear is equipped with in the rotating shaft of front-wheel ball-screw slide block; The 3rd group: centre portion is equipped with on the 4th cylindrical wheel and wide worm gear, the tween drive shaft that centre portion is equipped with the 5th cylindrical wheel and the lead screw shaft centre portion is equipped with the 6th cylindrical wheel on the shifting axle; The worm screw on the steer motor axle and the engagement of wide worm gear;
4) the identical wheel steering linkwork of described four groups of structures: comprise the crank rocker four-bar mechanism, the connecting rod of two front vehicle wheels and two rear wheels and wheel bull stick be shared former and later two crank dwangs respectively, and the center of gyration of two crank dwangs lays respectively on the center shaft of former and later two ball-screw slide blocks in the ball-screw slide block mechanism, and an end of four wheel bull sticks connects rotation shaft of wheel respectively.
The standardized component that the drive element of described two front-wheels is made up of coder, servomotor, planetary gear reduction box and synchronous belt transmission device.
The beneficial effect that the present invention has is: according to farmland operation mobile robot's particular case and designing requirement, use three motors can finish the switching of the driving of double front wheel differential speed type and three kinds of mode of motion, use common four-wheel moving body to realize mobile robot's comprehensive mobile purpose.Not only reduced the usage quantity of motor, the variation by concrete mechanism realizes mode of motion reduces the requirement to software programming; And when having satisfied designing requirement, also guarantee to have the failure-free motion characteristics.
Description of drawings
Fig. 1 is the whole three dimensional design figure of all directionally movable robot traveling gear.
Fig. 2 is the partial enlarged drawing of A among Fig. 1.
Fig. 3 is the partial enlarged drawing of the B of Fig. 1.
Fig. 4 is the part sectional view of A-A locking relay 28 among Fig. 3.
Fig. 5 is the gear mesh relation under normal walking and the trailing wheel guiding movement mode and the location diagram of associated components.
Fig. 6 is the gear mesh relation under the no-radius rotational motion mode and the location diagram of associated components.
Fig. 7 is the gear mesh relation under the translational motion mode and the location diagram of associated components.
Fig. 8 is normal walking and trailing wheel guiding movement mode scheme drawing.
Fig. 9 is a no-radius rotational motion mode scheme drawing.
Figure 10 is a translational motion mode scheme drawing.
Figure 11 adopts all directionally movable robot mode of motion of the present invention to change scheme drawing.
Annotate: Fig. 5, Fig. 6, Fig. 7 have reflected between different motion situation lower gear position and meshing relation with front elevation a, birds-eye view b, three kinds of forms of block diagram c.
Among the figure: 1, cylindrical wheel, 2, cylindrical wheel, 3, cylindrical wheel, 4, conical gear, 5, conical gear, 6, lead screw shaft, 7, tween drive shaft, 8, shifting axle, 9, cylindrical wheel, 10, cylindrical wheel, 11, cylindrical wheel, 12, wide worm gear, 13, worm screw, 14, the crank dwang, 15, steer motor, 16, slide block, 17 rotating shafts, 18, the ball-screw guide rail, 19, connecting rod, 20, the wheel bull stick, 21, coder, 22, drive motor, 23, planetary gear reduction box, 24, synchronous belt transmission device, 25, wheel, 26, electromagnet, 27, electromagnet, 28, the locking relay, 29, end plate, 30, end plate.
The specific embodiment
The invention will be further described with enforcement below in conjunction with accompanying drawing.
Shown in Fig. 1,2,3,4, the present invention includes four-wheel car body, ball-screw slide block mechanism that front and back two nested structures are identical, three groups of driving gear set and four groups of wheel steering linkworks that structure is identical; Wherein:
1) described four-wheel car body: comprise two front vehicle wheels 25, two rear wheels 25 and in the casing of control part is housed, two front-wheels are equipped with drive element respectively, the rotating shaft of four wheels is all stretched out outside the casing upper surface;
2) the identical ball-screw slide block mechanism of described front and back two nested structures: comprise lead screw shaft 6, ball-screw slide block 16 and ball-screw guide rail 18, before the upper surface of casing, be separately installed with first end plate 30 between the rear wheel rotating shaft, before, back two electromagnet casees are respectively with preceding, back first end plate 30 is made one, before, the two blocks of electromagnet 27 in back, 26 are installed in respectively in the electromagnet case, and preceding, the position detecting device of shifting axle 8 also is installed in the two electromagnet casees of back, be separately installed with second end plate 29 in the inboard of first end plate 30, the two ends of two ball-screw guide rails 18 are installed on first end plate 30, the two ends that are positioned at the lead screw shaft 6 of 18 on two ball-screw guide rails are installed on second end plate 29, before, the ball-screw of rear end sliding 16 is installed in two ball-screw guide rails 18 and the lead screw shaft 6, respectively preceding, back two ball-screw slide blocks 16 are near two cover locking relays 28 are installed on the side of second end plate;
3) described three groups of driving gear set: first group: shifting axle 8 rear wheels partly are equipped with first cylindrical wheel 1 and second cylindrical wheel 2, tween drive shaft 7 rear wheels partly are equipped with the three cylindrical gear 3 and first conical gear 4, and second conical gear 5 is equipped with in the rotating shaft 17 of trailing wheel ball-screw slide block 16; Second group: shifting axle 8 front wheele part branches are equipped with first cylindrical wheel 1, the tween drive shaft 7 front wheele part packing three cylindrical gears 3 and first conical gear 4, and second conical gear 5 is equipped with in the rotating shaft 17 of front-wheel ball-screw slide block 16; The 3rd group: centre portion is equipped with on the 4th cylindrical wheel 11 and wide worm gear 12, the tween drive shaft 7 that centre portion is equipped with the 5th cylindrical wheel 9 and lead screw shaft 6 centre portions are equipped with the 6th cylindrical wheel 10 on the shifting axle 8; The worm screw 13 on 15 of the steer motor and the engagement of wide worm gear 12;
4) the identical wheel steering linkwork of described four groups of structures: comprise the crank rocker four-bar mechanism, the connecting rod 19 of two front vehicle wheels and two rear wheels and wheel bull stick 20 be shared former and later two crank dwangs 14 respectively, and the center of gyration of two crank dwangs 14 lays respectively on the center shaft of former and later two ball-screw slide blocks 16 in ball-screw slide block 16 mechanisms, and an end of four wheel bull sticks 20 connects rotation shaft of wheel respectively.
The standardized component that the drive element of described two front-wheels is made up of coder 21, servomotor 22, planetary gear reduction box 23 and synchronous belt transmission device 24.
The specific implementation formal description that three kinds of mode of motion of mobile robot switch is as follows:
A) normally the walking and the trailing wheel guidance mode:
The gear mesh relation under this mode of motion and the position relation of associated components are seen shown in the accompanying drawing 5.
At this moment, shifting axle 8 is preceding, the electromagnet 27 of rear wheel part, 26 mediate when cutting off the power supply simultaneously on, this moment the cylindrical wheel 2 on the shifting axle 8 be installed in tween drive shaft 7 on gear cluster in cylindrical wheel 3 be meshed, because gear cluster is that sky is enclosed within on the tween drive shaft 7, so, be meshed with conical gear 5 on being installed in rotating shaft 17 by the conical gear in the gear cluster 4, under the situation of no relative motion on ball-screw slide block 16 and the ball-screw guide rail 18, crank dwang 14 is rotated with rotating shaft 17, realize the deflection of two rear wheels 25 by the rotation of crank dwang 14, thereby promptly realize the purpose of trailing wheel guiding.Notice that under this mode of motion, two drive motor 22 can stall.This mode of motion as shown in Figure 8.
B) no-radius rotating manner:
The gear mesh relation under this mode of motion and the position relation of associated components are seen shown in the accompanying drawing 6.
At this moment, electromagnet 26 energisings of rear wheel part, electromagnet 27 outages of front vehicle wheel part, shifting axle 8 is moved to the left side, and the position detecting device on the shifting axle 8 has detected the signal from limit switch, illustrate and be confirmed to be the no-radius mode of motion, convert this detection signal to control signal, be used to control the adhesive of the two cover locking relays of installing on the slide block 16 28, (owing to be that worm screw 13 is meshed with wide worm gear 12, thereby guaranteed, no matter move to left or move to right, power on the steer motor 15 is being reached on the shifting axle 8 smoothly) under the continual condition, at this moment, the cylindrical wheel 11 of shifting axle 8 is meshed with the cylindrical wheel 9 of tween drive spindle 7 overhead covers, and cylindrical wheel 9 again with lead screw shaft 6 on cylindrical wheel 10 be meshing with each other, power reaches on the lead screw shaft 6, the rotation of lead screw shaft 6 is changed into the straight-line motion of slide block 16 on the lead screw shaft 6 of second half section at rear portion, because crank dwang 14 is under the locking of two cover locking relays 28 on the ball-screw slide block 16, make it together on lead screw shaft 6, remain its level attitude (not being on the conplane same vertical line) during moving linearly because of any disturbance in the external world makes no-radius rotate the uncertain centre of form of center of gyration and car body that maybe can't make with ball-screw slide block 16, the parallelogram lindage that drive links to each other with it is done corresponding, and the design-calculated track moves in advance, thereby after can realizing that four wheels turn an angle by designing requirement, make car body do the rotating motion of no-radius.Note, under this mode of motion, two drive motor 22 of front-wheel must be stalls, start steer motor 15 work then, when ball-screw slide block 16 when lead screw shaft 6 reaches the position of designing requirement, be after each wheel has turned over pre-designed angle, at this moment, steer motor 15 stalls, start 22 work of two drive motor simultaneously, make car body forward the position of hope to, make 22 stalls of two drive motor once more, start steer motor 15 counter-rotatings simultaneously, at first make ball-screw slide block 16 return to original position, the attitude when wheel is got back to normal the walking is in stall steer motor 15, start drive motor 22, whole locomotive body has just realized the rotation of a no-radius like this.This mode of motion as shown in Figure 9.
C) translation mode:
The gear mesh relation under this mode of motion and the position relation of associated components are seen shown in the accompanying drawing 7.
At this moment, electromagnet 27 energisings of front vehicle wheel part, electromagnet 26 outages of left back wheel part, (prerequisite is that the requirement initial attitude is when normally walking when translation, be that shifting axle 8 is in interposition), shifting axle 8 is moved right, before on the shifting axle 8, latter two cylindrical wheel 1 is respectively with preceding, after gear cluster in cylindrical wheel 3 be meshing with each other, because being sky, gear cluster is enclosed within on the axle, so tween drive spindle 7 does not rotate with the rotation of gear cluster, the power of this moment is by preceding, the conical gear 4 of backgear group reaches on the conical gear 5 of rotating shaft 17, before, the crank dwang of installing on 2 the ball-screw slide blocks 16 in back 14 turn to unanimity, make it drive follow-up parallelogram lindage, realize the deflecting direction unanimity of four wheels, promptly realized the translation of car body.Under this mode of motion, requiring drive motor 22 is stalls, has only after the motion of having finished translation is finished, and stall steer motor 15, starts drive motor 22 once more, promptly realizes a translation.This mode of motion as shown in figure 10.
Figure 11 is for adopting the variation scheme drawing of all directionally movable robot wheel pose of the present invention.As very clearly finding out the variation order of mode of motion among the figure.
Claims (2)
1, the comprehensive autonomous mobile robot traveling gear of variable motion mode is characterized in that comprising four-wheel car body, ball-screw slide block mechanism that front and back two nested structures are identical, three groups of driving gear set and four groups of wheel steering linkworks that structure is identical; Wherein
1) described four-wheel car body: comprise two front vehicle wheels (25), two rear wheels (25) and in the casing of control part is housed, two front-wheels are equipped with drive element respectively, the rotating shaft of four wheels is all stretched out outside the casing upper surface;
2) the identical ball-screw slide block mechanism of described front and back two nested structures: comprise lead screw shaft (6), ball-screw slide block (16) and ball-screw guide rail (18), before the upper surface of casing, be separately installed with first end plate (30) between the rear wheel rotating shaft, before, back two electromagnet casees are respectively with preceding, back first end plate (30) is made one, before, the two blocks of electromagnet (27 in back, 26) be installed in respectively in the electromagnet case, and preceding, the position detecting device of shifting axle (8) also is installed in the two electromagnet casees of back, be separately installed with second end plate (29) in the inboard of first end plate (30), the two ends of two ball-screw guide rails (18) are installed on first end plate (30), the two ends that are positioned at the lead screw shaft (6) between two ball-screw guide rails (18) are installed on second end plate (29), before, the ball-screw slide block (16) of rear end is installed in two ball-screw guide rails (18) and the lead screw shaft (6), respectively preceding, back two ball-screw slide blocks (16) are near two cover locking relays (28) are installed on the side of second end plate;
3) described three groups of driving gear set: first group: shifting axle (8) rear wheel partly is equipped with first cylindrical wheel (1) and second cylindrical wheel (2), tween drive shaft (7) rear wheel partly is equipped with three cylindrical gear (3) and first conical gear (4), and second conical gear (5) is equipped with in the rotating shaft (17) of trailing wheel ball-screw slide block (16); Second group: shifting axle (8) front wheele part branch is equipped with first cylindrical wheel (1), tween drive shaft (7) front wheele part packing three cylindrical gears (3) and first conical gear (4), and second conical gear (5) is equipped with in the rotating shaft (17) of front-wheel ball-screw slide block (16); The 3rd group: the last centre portion of shifting axle (8) is equipped with the 4th cylindrical wheel (11) and wide worm gear (12), the 5th cylindrical wheel (9) is housed the last centre portion of tween drive shaft (7) and lead screw shaft (6) centre portion is equipped with the 6th cylindrical wheel (10); Worm screw (13) on steer motor (15) axle and wide worm gear (12) engagement;
4) the identical wheel steering linkwork of described four groups of structures: comprise the crank rocker four-bar mechanism, connecting rod of two front vehicle wheels and two rear wheels (19) and wheel bull stick (20) be shared former and later two crank dwangs (14) respectively, and the center of gyration of two crank dwangs (14) lays respectively on the center shaft of former and later two ball-screw slide blocks (16) in ball-screw slide block (16) mechanism, and an end of four wheel bull sticks (20) connects rotation shaft of wheel respectively.
2, the comprehensive autonomous mobile robot traveling gear of variable motion mode according to claim 1 is characterized in that: the standardized component that the drive element of described two front-wheels is made up of coder (21), servomotor (22), planetary gear reduction box (23) and synchronous belt transmission device (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100710848A CN100491179C (en) | 2007-09-04 | 2007-09-04 | Variable motion mode omni-bearing self-independent mobile robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100710848A CN100491179C (en) | 2007-09-04 | 2007-09-04 | Variable motion mode omni-bearing self-independent mobile robot running gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101117131A CN101117131A (en) | 2008-02-06 |
| CN100491179C true CN100491179C (en) | 2009-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100710848A Expired - Fee Related CN100491179C (en) | 2007-09-04 | 2007-09-04 | Variable motion mode omni-bearing self-independent mobile robot running gear |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823503A (en) * | 2010-05-24 | 2010-09-08 | 哈尔滨工程大学 | Parallelogramic four-wheel steering mechanism |
| CN102743236B (en) * | 2012-07-30 | 2014-09-17 | 中国科学院自动化研究所 | Rabbit spine curving device for experiment |
| CN104709196B (en) * | 2013-12-16 | 2017-01-11 | 中国农业机械化科学研究院 | Electric lifting chassis for field operation robot |
| CN104330193A (en) * | 2014-08-22 | 2015-02-04 | 大连嘉特科技有限公司 | Temperature measurement and control device for stored and stacked materials |
| CN107960190B (en) * | 2018-01-12 | 2023-09-22 | 山东农业大学 | Intelligent self-propelled sweet potato vine breaker |
| CN108639149B (en) * | 2018-04-23 | 2020-06-12 | 西南交通大学 | Full steering mechanism of pipe rack inspection trolley |
| CN110254562A (en) * | 2019-06-25 | 2019-09-20 | 河南工业大学 | A kind of automated guided vehicle with independent steering gear |
| CN111301087B (en) * | 2020-02-25 | 2021-06-22 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis |
| CN112407037A (en) * | 2020-11-20 | 2021-02-26 | 东北农业大学 | Double-linkage four-wheel steering chassis |
| CN114852216B (en) * | 2022-04-24 | 2023-05-12 | 北京理工大学 | Indoor robot walking structure with stable structure |
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2007
- 2007-09-04 CN CNB2007100710848A patent/CN100491179C/en not_active Expired - Fee Related
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Granted publication date: 20090527 Termination date: 20110904 |