CN101423074B - Modular double-wheel driven mobile robot capable of changing wheel span and wheel direction - Google Patents

Modular double-wheel driven mobile robot capable of changing wheel span and wheel direction Download PDF

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Publication number
CN101423074B
CN101423074B CN2008102198223A CN200810219822A CN101423074B CN 101423074 B CN101423074 B CN 101423074B CN 2008102198223 A CN2008102198223 A CN 2008102198223A CN 200810219822 A CN200810219822 A CN 200810219822A CN 101423074 B CN101423074 B CN 101423074B
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China
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joint
wheel
shaft
type
module
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CN2008102198223A
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Chinese (zh)
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CN101423074A (en
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管贻生
张宪民
江励
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华南理工大学
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Publication of CN101423074B publication Critical patent/CN101423074B/en

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Abstract

The invention discloses a modular double-wheel-driven mobile robot with a variable wheel track and variable wheel direction. The robot consists of five joint modules, two wheels and a universal wheel. Each joint module has a rotating freedom degree and is driven by a DC servo motor. The joint module has two types, i.e., I type and T type; and joint rotating shafts thereof are respectively parallel and vertical to the axis of a joint connecting rod. All the modules are sequentially connected in series: the wheel-the I type joint-the T type joint-the T type joint-the T type joint-the I type joint-the wheel, and the universal wheel is arranged under the middle part of the robot. The rotating shafts of the three T type joints are parallel to each other, and vertical to the rotating shafts of the I type joints at the two ends. The I type joints drive the wheels to rotate, thus causing the whole robot to move. By changing intersection angles of the T type joints, the wheel track and the wheel direction can be adjusted. The robot is characterized by variable configuration, adjustable wheel track and wheel direction, simple structure, strong flexibility and mobility, good adaptability to the environment and the like. The robot can be used for operations such as carrying, detection, disaster relief and the like.

Description

A kind of modular wheelspan and wheel are to variable Mobile Robot Based on Two Driving Wheels
Technical field
The present invention relates to the Robotics field, drive three wheel mobile robots to all variable two-wheel in particular to a kind of body configuration, wheelspan and wheel that makes up with modular approach.
Background technology
The mobile robot be research both at home and abroad the earliest, a most widely used robotlike, be unfailing focus in the robot research.Mobile robot's manoevreability is expanded the action radius of robot and application greatly just.The robot of multiple mobile forms such as that the mobile robot comprises is wheeled, crawler type and sufficient formula.Caterpillar mobile robot is by track propulsion, and contact surface is bigger, is particularly suitable for destructuring or soft ground such as sandy soil are moved, and its obstacle detouring and cross-country traveling ability are good.Yet the required propulsive effort of this robot is big, energy consumption is high; Complex structure, volume and weight are all bigger.Comparatively speaking, the moving and turning to flexibly and light and handy of wheeled mobile robot, speed is also very fast, and is the most approaching with people's work and life.The wheeled mobile robot number of wheels does not wait, and have single wheel, two-wheel, three-wheel to six to take turns, even eight takes turns.Generally speaking, wheel is many more, and robot is stable more, and load can be bigger, but corresponding body is also just big more, and it is many more to consume energy, and it is dumb to move.Single wheel mobile robot (comprising ball shape robot) motion is light very flexibly, but the restriction that is driven with structure only is adapted at rolling on the more flat ground.And this robot often can only keep away the barrier and be difficult to obstacle detouring, its operational capability is very limited.The two-wheel mobile robot distributes before and after the two-wheeled unlike bicycle but the left and right sides is coaxial side by side, and such layout makes its turning radius be subjected to extensive concern in recent years for zero.Univ Minnesota-Twin Cities USA has developed a kind of miniature two-wheel robot, and is also littler than palm, can use separately, also can be used as handset earlier by bigger robot machine tool delivery, leaves machine tool behind the arrival destination and independently carries out reconnaissance mission.The Segway that the upright robot product of most typical two-wheel of conventional size is the U.S. has been used for manned pick-up service.The PMP that beautiful river university of Japan and industrial technology comprehensive research institute joint research and development go out also can be manned, and Stanford Univ USA has developed Segbot.Be subjected to Segway inspiration and be reference, Nanyang Technological University, the faculty of engineering of Swiss Confederation and Taiwan National Central University have also developed similar system, Chinese University of Science and Technology also develops model machine.This robotlike is except having bigger practical value, and its balance control is being studied the interesting and challenge in Shangrao as inverted pendulum.Wheel robot is simple more than the three wheel robots ratio, and has one-wheel robot and the incomparable stability of two-wheel robot, realizes comprehensive moving easily, thereby has obtained widespread use (especially indoor).The four-wheel mobile robot studies the earliest, technology is the most ripe, the Mecanum wheel is installed can be realized comprehensive moving, and model machine and product are too numerous to enumerate.Except using on the ground, many wheel mobile robots also extensively adopt on the celestial body probing surface, for example the mars exploration robot of Toshiba Corp and primary electron Institute for Research and Technology development has four wheels, and " Suo Jiena " of the NASA of NASA exploitation, " courage number " and " Opportunity Rover " mars exploration robot, the mars exploration robot that French Cybernetix company and CNES develop jointly then all has six wheels.Tokyo polytechnical university has developed multiple mobile robot.When its creative SMC Rover robot system is used parent, can be used as many wheel moving vehicles uses, because its each wheel unit (Uni-Rover) can freely unload and break away from parent, and each Uni-Rover is an independently small-sized single wheel mobile robot, its parts that are connected usefulness with parent then have three parallel rotational axes, thereby can be used as the motion arm of the three degree of freedom tape gripper of Uni-Rover! Several Uni-Rover can also be connected successively with clamper by this motion arm and form the many wheel mobile robots of tandem more piece.Because on the parent of SMC Rover solar cell is installed, this system is expected to be used for the celestial body probing surface.Though up to the present, have diversified wheeled mobile robot to be developed, it is satisfied that its maneuverability does not also make us.If distance between the wheels of robot and direction can change, must strengthen the maneuverability of robot and to various ground-surface comformabilitys.After recognizing this point, it is the change structure wheel-leg combined type four-wheel mobile robot of frame by parallelepiped mechanism that BJ University of Aeronautics ﹠ Astronautics's robot research has been developed a kind of, and (the patent No.: ZL 200310117170.X) that obtains Chinese patent.Increase the flexible wheel base function, the manoevreability and the alerting ability that improve the mobile robot are one of developing direction of mobile robot.
Summary of the invention
Shortcomings such as the body configuration that the objective of the invention is to overcome present wheeled mobile robot is fixed, wheelspan can not become are for manoevreability and alerting ability, the enhancing that improves the mobile robot provides one one kinds of modular wheelspans and wheel to variable Mobile Robot Based on Two Driving Wheels to the comformability of environment.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of modular wheelspan and wheel are to variable Mobile Robot Based on Two Driving Wheels, and its body construction is a robot with five degrees of freedom motion arm.Entire machine people is made up of five joint modules, two wheel modules, a coupling bush and a cardan wheel.Described five joint modules comprise two I type joint modules and three T type joint modules.All modules adopt series systems to connect successively by snap ring, and the order of connection passes through and is wheel module-I type joint module-T type joint module-T type joint module-T type joint module-I type joint module-wheel module.The rotating shaft of three T type joint modules is parallel to each other, and orthogonal with the rotating shaft of the I type joint module at two ends.Joint rotating shaft place of T type joint module in the middle of described cardan wheel is fixed on.Two I types close the energy-conservation complete cycle of doing and rotate, and are connected with two wheels respectively, drive two wheels the entire machine people is moved; Three middle T type joints are used to change configuration, the distance between two wheels of adjusting and the direction of two wheels of robot body.
Above-mentioned modular wheelspan and wheel are in variable Mobile Robot Based on Two Driving Wheels, and described I type joint module is meant to have only a rotational freedom and joint rotating shaft and connecting rod dead in line or parallel joint module.The joint is driven by DC servo motor, and the rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and cireular frequency, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Harmonic speed reducer outputs to a central straight gear by an axle, and the transition wheel of central straight gear by two symmetrical distributions drives the further deceleration force amplifier of internal tooth straight-tooth crop rotation and keeps transmission direction, another part that inner gear drives joint module relatively rotates, and drives the output in joint at last.Concrete structure comprises servomotor and photoelectric encoder component 1-1, joint sleeve 1-2, motor shaft sleeve 1-3, motor cabinet 1-4, joint pedestal 1-5, roller bearing end cap 1-6, bearing seat 1-7, angular contact ball bearing and outer shaft 1-8, roller bearing end cap 1-9, inner gear 1-10, joint mouth attaching parts 1-11, transition gear axle 1-12, transition gear 1-13, harmonic speed reducer output shaft 1-14, sun gear 1-15, little roller bearing end cap 1-16, axle sleeve 1-17, angular contact ball bearing 1-18, harmonic speed reducer output transition disc 1-19, disc type harmonic speed reducer assembly 1-20.The connection mode of each parts is: servomotor and photoelectric encoder component 1-1 and motor cabinet 1-4 are fastening by axial bolt; Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly 1-20 indirectly by motor shaft sleeve 1-3; The input and output of disc type harmonic speed reducer assembly 1-20 just wheel are fastenedly connected with motor cabinet 1-4 and harmonic speed reducer output transition disk 1-19 respectively by axial bolt, and the latter (1-19) is fastenedly connected with axial bolt and harmonic speed reducer output shaft 1-14 again; Joint sleeve 1-2 is enclosed within motor cabinet 1-4 and upward also along the circumferential direction uses radial screw fastening; Motor cabinet 1-4 is fastenedly connected by axial bolt and joint pedestal 1-5; Bearing seat 1-7 is supported on the pedestal 1-5 of joint by angular contact ball bearing and outer shaft 1-8; Angular contact ball bearing and outer shaft 1-8 are by roller bearing end cap 1-6 location and apply predetermincd tension; Harmonic speed reducer output shaft 1-14 is connected with sun gear 1-15 by two keys, and sun gear 1-15 and two transition gear 1-13 engagements that are symmetrically distributed; Two transition gear axle 1-12 are fastenedly connected by screw thread on it and joint pedestal 1-5, and are connected with transition gear 1-13 by bearing; Two transition gear 1-13 and inner gear 1-10 engagement; Inner gear 1-10, joint mouth attaching parts 1-11 and bearing seat 1-7 three are fastenedly connected by axial bolt.
Above-mentioned modular wheelspan and wheel are in variable Mobile Robot Based on Two Driving Wheels, and described T type joint module is meant the joint module that has only a rotational freedom and joint rotating shaft and connecting rod axis normal.The joint is driven by DC servo motor, and the rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and cireular frequency, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Harmonic speed reducer is exported by an axle, makes further deceleration and reinforcement and changes transmission direction by bevel-gear sett again.Bevel gear wheel relatively rotates by another part that a joint shaft drives joint module, carries out the output of speed and power.Concrete structure comprises servomotor and photoelectric encoder component 2-1, joint sleeve 2-2, motor cabinet 2-3, joint pedestal 2-4, angular contact ball bearing 2-5, bearing collar 2-6, internal axle sleeve 2-7, bevel pinion 2-8, gear end cap 2-9, joint shaft end cap 2-10, joint shaft 2-11, joint lid 2-12, bevel gear wheel 2-13, joint output attaching parts 2-14, joint shaft angular contact ball bearing 2-15, joint shaft end cap 2-16, roller bearing end cap 2-17, roller bearing end cap 2-18, harmonic speed reducer output shaft 2-19, harmonic speed reducer output transition disc 2-20, disc type harmonic speed reducer assembly 2-21, motor shaft sleeve 2-22.The connection mode of each parts is: servomotor and photoelectric encoder component 2-1 and motor cabinet 2-3 are fastening by axial bolt; Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly 2-21 indirectly by motor shaft sleeve 2-22; The input and output of disc type harmonic speed reducer assembly 2-21 just wheel are fastenedly connected with motor cabinet 2-3 and harmonic speed reducer output transition disc 2-20 respectively by axial bolt, and the latter (2-20) is fastenedly connected with axial bolt and harmonic speed reducer output shaft 2-19 again; Joint sleeve 2-2 is enclosed within motor cabinet 2-3 and upward also along the circumferential direction uses radial screw fastening; Motor cabinet 2-3 is fastenedly connected by axial bolt and joint pedestal 2-4; Harmonic speed reducer output shaft 2-19 is supported in the joint bearing block 2-4 by angular contact ball bearing and bearing collar 2-5 and 2-6, and mouth is connected with bevel pinion 2-8, and 2-9 is fastening with the gear end cap; Make axially spaced-apart by internal axle sleeve 2-7 between bevel pinion 2-8 and the angular contact ball bearing 2-5; Bevel pinion 2-8 and bevel gear wheel 2-13 engagement, and the latter is installed on the joint shaft 2-11; Joint shaft 2-11 is supported on the pedestal 2-4 of joint with angular contact ball bearing 2-15, and two ends are connected by joint shaft end cap 2-10 and joint attaching parts 2-14.
Described wheel module is made up of wheel 3-1 and wheel shaft 3-2.Wheel shaft 3-2 passes the centre hole of wheel 3-1, and is fastening with pad and nut at axle head; The other end by snap ring 0-4 (also being 3-3 among Fig. 3) realize with joint module be connected and fastening.
Robot of the present invention has following characteristics:
1) the vehicle type mobile robot with traditional is different, three wheel robots that the artificial two-wheel of this machine drives, and its body construction comes down to a robot with five degrees of freedom motion arm, has five joints, comprises two I type joints and three T type joints.The joint adopts series system to connect successively, and order is: I type joint-T type joint-T type joint-T type joint-I type joint, and promptly middle is three T type joints, two ends respectively are an I type joint.The rotating shaft in three T type joints is parallel to each other, and orthogonal with the rotating shaft in the I type joint at two ends.Each is fastenedly connected the I type joint at two ends with a wheel, plays a part the drive machines people and moves.
2) can adjust the configuration of body, distance and two-wheel direction between the two-wheeled by the corner in three T type joints in the middle of changing.During the robot straight-line travelling, two-wheeled is parallel, direction is identical; When robot was turned, wheel direction changed by the T type joint of closing on.Robot can be realized advancing, retreating and turn to like this, has very strong locomotive function and good manoevreability.Because robot body is a five degree of freedom motion arm, this robot also has potential operating function.
3) mainly form, comprise two I type joint modules, three T type joint modules and two wheel modules by seven modules.Connection between the module and fastening by realizing with snap ring at its two ends.The joint shaft place of T type joint module in the middle of the Fu cardan wheel is fixed on.The structure of robot is simple, convenient and quick.
The present invention compared with prior art has following advantage and effect:
(1) configuration of robot, wheelspan and wheel be to can changing and regulate, thereby have good alerting ability and manoevreability;
(2) the present invention adopts modular approach to make up robot system, and main body only is made up of two kinds of joint modules, makes up easily, design, makes and safeguards that simply cost is lower;
(3) mobile robot's good stability of the present invention's establishment, and be not afraid of overturning and (can recover by adjustment configuration after the overturning, also symmetry is installed two cardan wheels up and down, still is the identical mobile robot of configuration after the overturning), thereby have very strong compatible with environment;
(4) robot body that the present invention created is actually the mechanical arm of a five degree of freedom, and the fixing back of the end other end can be realized various poses in its working space, thereby has certain operating function.
Description of drawings
Fig. 1 is a robot External view of the present invention;
Fig. 2 is a robot mechanism scheme drawing of the present invention;
Fig. 3 is wheel module of the present invention and bonded assembly External view thereof;
Fig. 4 is the External view of I type joint module of the present invention;
Fig. 5 is the section-drawing of I type joint module of the present invention;
Fig. 6 is the External view of T type joint module of the present invention;
Fig. 7 is the section-drawing of T type joint module of the present invention.
The specific embodiment
In order to understand the present invention better, below in conjunction with accompanying drawing the present invention is done to describe further, but embodiments of the present invention are not limited thereto.
Robot of the present invention adopts five joints, comprises two I type joints and three T type joints, and two ends are two wheels.Each several part adopts series system to connect successively, and order is: wheel-I type joint-T type joint-T type joint-T type joint-I type joint-wheel, and promptly middle is three T type joints, two ends respectively are an I type joint.The rotating shaft in three T type joints is parallel to each other, and orthogonal with the rotating shaft in I type joint, two ends.The concrete composition of robot comprises: two I type joint modules, three T type joint modules, two wheel modules, a coupling bush and a cardan wheel.Cardan wheel is fixed on the coupling bush at robot middle part by attaching parts.Two I types close the energy-conservation complete cycle of doing and rotate, and are connected with two wheels respectively, drive them the entire machine people is moved.Three middle T type joints are used to change configuration, the distance between two wheels of adjusting and their direction of robot body.
Fig. 1 and Fig. 2 show the constructed mobile robot's of the present invention External view and structural scheme of mechanism respectively.As shown in the figure, robot has five degree of freedom, has seven modules.Body is made up of five joint module 0-2 and 0-3, and two ends respectively meet a wheel module 0-1.Each module connects with series system successively, and order is: wheel-I type joint-T type joint-T type joint-T type joint-I type joint-wheel.The centre is three T type joint module 0-3, and wherein transition sleeve 0-5 of two usefulness adjusts and connects distance.Connect with snap ring 0-4 (the part 3-3 among Fig. 3) between each joint module.The interior ring vertical section of snap ring is recessed dovetail groove, and snap ring has individual opening, and opening portion passes bolt, tightens two parts that screw bolt and nut on the snap ring can will link to each other and is fastenedly connected.The joint rotating shaft of three T type joint module 0-3 is parallel to each other, and vertical with the joint shaft of the I type joint module 0-2 at two ends.As depicted in figs. 1 and 2, the configuration of robot resembles the V word of a V word or handstand.Rotate the T0 joint when promptly changing its angular transposition, the openings of sizes of V word also changes (opening pulls into a straight line when maximum) thereupon, and the distance between joint T1 and the T2 changes, and then two-wheel width between centers and wheel are to also just changing.Rotary joint T1 is or/and during T2, the direction of respective wheel change (distance between the two-wheeled center also changes thereupon).Rotate simultaneously three T type joints just can realize the wheelspan expected and wheel to.Can adjust the configuration of robot, distance between two drive wheels and their direction by the angular transposition that changes three T type joints like this.
Be illustrated in figure 3 as the External view of wheel module and connecting bridge thereof.Wheel module comprises wheel 3-1 and wheel shaft 3-2.Wheel shaft 3-2 passes the centre hole of wheel 3-1 wheel hub, and is fastening with pad and nut at axle head; The other end is connected with snap ring 3-3 with other module.The wheel of in fact available perambulator is as the wheel of this robot.
Be respectively the External view and the section-drawing of I type joint module as shown in Figure 4 and Figure 5.Parts comprise: servomotor and photoelectric encoder component 1-1, joint sleeve 1-2, motor shaft sleeve 1-3, motor cabinet 1-4, joint pedestal 1-5, roller bearing end cap 1-6, bearing seat 1-7, angular contact ball bearing and outer shaft 1-8, roller bearing end cap 1-9, inner gear 1-10, joint mouth attaching parts 1-11, transition gear axle 1-12, transition gear 1-13, harmonic speed reducer output shaft 1-14, sun gear 1-15, little roller bearing end cap 1-16, axle sleeve 1-17, angular contact ball bearing 1-18, harmonic speed reducer output transition disc 1-19 and disc type harmonic speed reducer assembly 1-20.Drive motor is a DC servo motor, and motor is integrated with the photoelectric encoder that is used for angular transposition and angular velocity detection, and promptly direct connection photoelectric encoder in motor shaft rear end becomes servomotor and photoelectric encoder component 1-1.The front end face of motor is connected with screw (vertically) with motor cabinet 1-4.The end of the joint sleeve 1-2 of motor outside is enclosed within on the motor cabinet 1-4, and along the circumferential direction is connected with screw (radially) with motor cabinet 1-4.Motor cabinet 1-4 and joint pedestal 1-5 are also fastening vertically with screw.The output shaft of motor is connected with motor shaft sleeve 1-3, and is fastening with two radial direction top threads.Motor shaft sleeve 1-3 is connected with the wave producer of harmonic speed reducer 1-20, by a straight key transmitting movement and power.In order to obtain less joint module length, one-level is slowed down and is adopted the harmonic speed reducer three-major-items 1-2 of flat disk, input wherein just wheel is fastening vertically with screw with motor cabinet 1-4, output just wheel is fastenedly connected with harmonic speed reducer transition disk 1-19 vertically with screw, and transition disk 1-19 uses by screw again and is connected with harmonic speed reducer output shaft 1-14.Ripple reducer output shaft 1-14 is supported among the pedestal 1-5 of joint by a pair of angular contact bearing 1-18, and inner ring sleeve 1-17 is arranged between two bearings, and an end is located and pretension with bearing carrier ring 1-16.A straight gear is installed as sun gear 1-15 on the mouth of ripple reducer output shaft 1-14, by two the straight key transmitting movements and the power of symmetry.The transition straight gear 1-13 engagement of sun gear 1-15 and two symmetrical distributions.Each transition straight gear 1-13 is bearing on its gear wheel shaft 1-12 by the bearing in the endoporus, and the latter (1-12) is fixedly mounted on the pedestal 1-5 of joint by the screw thread on it.Transition straight gear 1-13 and inner gear 1-10 engagement.It is fastening that inner gear 1-10, bearing seat 1-7 and joint mouth attaching parts 1-11 three are connected by axial bolt, becomes the last output block of joint module.This output output block is bearing on the pedestal 1-5 of joint by a pair of angular contact ball bearing and outer shaft 1-8.Roller bearing end cap 1-6 carries out axial location and pretension to this diagonal angle contact ball bearing.The working process and the motion principle of this joint module are as follows: the output shaft of motor orders about motor shaft sleeve 1-3 and rotates, and motor shaft sleeve 1-3 drives the wave producer of harmonic speed reducer 1-20.Harmonic speed reducer 1-20 deceleration force amplifier, by output shaft 1-14 will move and transmission of power to sun gear 1-15.Sun gear 1-15 drives two transition gear 1-13, and then drives inner gear 1-10.Inner gear 1-10 and bearing seat 1-7 and joint mouth attaching parts 1-11 are fastening, finish the motion of whole joint module and the output of power.
Be respectively the External view and the section-drawing of T type joint module as shown in Figure 6 and Figure 7.Parts comprise: servomotor and photoelectric encoder component 2-1, joint sleeve 2-2, motor cabinet 2-3, joint pedestal 2-4, angular contact ball bearing 2-5, bearing collar 2-6, internal axle sleeve 2-7, bevel pinion 2-8, gear end cap 2-9, joint shaft end cap 2-10, joint shaft 2-11, joint lid 2-12, bevel gear wheel 2-13, joint attaching parts 2-14, joint shaft angular contact ball bearing 2-15, joint shaft end cap 2-16, roller bearing end cap 2-17, roller bearing end cap 2-18, harmonic speed reducer output shaft 2-19, harmonic speed reducer output transition disc 2-20, disc type harmonic speed reducer assembly 2-21 and motor shaft sleeve 2-22.Drive motor is a DC servo motor, and motor is integrated with the photoelectric encoder that is used for angular transposition and angular velocity detection, and promptly direct connection photoelectric encoder in motor shaft rear end becomes servomotor and photoelectric encoder component 2-1.The front end face of motor is connected with screw (vertically) with motor cabinet 2-3.The end of the joint sleeve 2-2 of motor outside is enclosed within on the motor cabinet 2-3, and along the circumferential direction is connected with screw (radially) with motor cabinet 2-3.Motor cabinet 2-3 and joint pedestal 2-4 are also fastening vertically with screw.The output shaft of motor is connected with motor shaft sleeve 2-22, and is fastening with two radial direction top threads.Motor shaft sleeve 2-22 is connected with the wave producer of harmonic speed reducer 2-21, by a straight key transmitting movement and power.In order to obtain less joint module length, one-level is slowed down and is adopted the harmonic speed reducer three big 2-21 of flat disk, input wherein just wheel is fastening vertically with screw with motor cabinet 2-3, output just wheel is fastenedly connected with harmonic speed reducer transition disk 2-20 vertically with screw, and transition disk 2-20 uses by screw again and is connected with harmonic speed reducer output shaft 2-19.Ripple reducer output shaft 2-19 is supported among the pedestal 2-4 of joint by a pair of angular contact bearing 2-5, between two bearings bearing carrier ring 2-6 is arranged, and an end carries out axial location and pretension with bearing carrier ring 2-18.A bevel pinion 2-8 is installed on the mouth of ripple reducer output shaft 2-19, and by two the straight key transmitting movements and the power of symmetry, 2-9 makes axial locking with the gear end cap.Make axially spaced-apart with internal axle sleeve 2-7 between bevel pinion 2-8 and the angular contact bearing 2-5.Bevel pinion 2-8 and bevel gear wheel 2-13 engagement, and the latter is installed on the joint shaft 2-11, by pair of straight key transmitting movement and power.Joint shaft 2-11 is supported on the pedestal 2-4 of joint with a pair of angular contact ball bearing 2-15, and two roller bearing end cap 2-17 diagonal angle contact ball bearing 2-15 carry out axial location and pretension.Joint shaft 2-11 two ends are connected by two end cap 2-10 and joint attaching parts 2-14, and carry out axial location and locking with end cap 2-16.The working process and the motion principle of this joint module are as follows: the output shaft of motor orders about motor shaft sleeve 2-22 and rotates, and motor shaft sleeve 2-22 drives the wave producer of harmonic speed reducer 2-21.Harmonic speed reducer 2-21 deceleration force amplifier, by output shaft 2-19 will move and transmission of power to bevel pinion 2-8.Bevel pinion 2-8 drives bevel gear wheel 2-13, has realized that 90 degree of sense of motion change.Bevel gear wheel 2-13 will move and transmission of power to joint shaft 2-11, and the latter and joint shaft end cap 2-10 are affixed, will move with transmission of power to joint attaching parts 2-14.The motion of whole joint module and power are by joint attaching parts 2-14 output.

Claims (4)

1. modular wheelspan and wheel are to changeable Mobile Robot Based on Two Driving Wheels, its body is a robot with five degrees of freedom motion arm, it is characterized in that this robot comprises five initiatively single degree of freedom joint module, two wheel structure module, a coupling bush and cardan wheels; Described five active single degree of freedom joint modules comprise two I type joint modules and three T type joint modules, they adopt series system to connect successively by snap ring, order passes through and is I type joint module-T type joint module-T type joint module-T type joint module-I type joint module, wherein regulate the connection distance with coupling bush between two T type joint modules, the rotating shaft of three T type joint modules is parallel to each other, and it is orthogonal with the rotating shaft of the I type joint module at two ends, two wheel structure module are positioned at the two ends of robot, the joint shaft place of the T type joint module in the middle of described cardan wheel is fixed on, two I type joint modules can be made complete cycle and rotate, be connected with two wheel structure module respectively, the entire machine people is moved, and three middle T type joint modules are used to change the configuration of robot body, regulate the distance between two wheel structure module and the direction of two wheel structure module; Described I type joint module is meant to have only a rotational freedom and joint rotating shaft and connecting rod dead in line or parallel joint module, and described T type joint module is meant the joint module that has only a rotational freedom and joint rotating shaft and connecting rod axis normal.
2. modular wheelspan according to claim 1 and wheel are to variable Mobile Robot Based on Two Driving Wheels, it is characterized in that described I type joint module comprises servomotor and photoelectric encoder component (1-1), joint sleeve (1-2), motor shaft sleeve (1-3), motor cabinet (1-4), joint pedestal (1-5), clutch shaft bearing end cap (1-6), bearing seat (1-7), first angular contact ball bearing and outer shaft (1-8), second roller bearing end cap (1-9), inner gear (1-10), joint mouth attaching parts (1-11), transition gear axle (1-12), transition gear (1-13), harmonic speed reducer output shaft (1-14), sun gear (1-15), little roller bearing end cap (1-16), axle sleeve (1-17), second angular contact ball bearing (1-18), harmonic speed reducer output transition disc (1-19) and disc type harmonic speed reducer assembly (1-20), the connection mode of each parts is: servomotor and photoelectric encoder component (1-1) are fastening by axial bolt with motor cabinet (1-4); Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly (1-20) indirectly by motor shaft sleeve (1-3); The input and output of disc type harmonic speed reducer assembly (1-20) just wheel are fastenedly connected with motor cabinet (1-4) and harmonic speed reducer output transition disc (1-19) respectively by axial bolt, and harmonic speed reducer output transition disc (1-19) uses axial bolt and harmonic speed reducer output shaft (1-14) to be fastenedly connected again; Joint sleeve (1-2) is enclosed within motor cabinet (1-4) and upward also along the circumferential direction uses radial screw fastening; Motor cabinet (1-4) is fastenedly connected by axial bolt and joint pedestal (1-5); Bearing seat (1-7) is supported on the joint pedestal (1-5) by first angular contact ball bearing and outer shaft (1-8); Predetermincd tension is located and applied to first angular contact ball bearing and outer shaft (1-8) by clutch shaft bearing end cap (1-6); Harmonic speed reducer output shaft (1-14) is connected with sun gear (1-15) by two keys, and sun gear (1-15) and two transition gears (1-13) engagement that is symmetrically distributed; Two transition gear axles (1-12) are fastenedly connected by screw thread on it and joint pedestal (1-5), and are connected with transition gear (1-13) by bearing; Two transition gears (1-13) and inner gear (1-10) engagement; Inner gear (1-10), joint mouth attaching parts (1-11) and bearing seat (1-7) three are fastenedly connected by axial bolt.
3. modular wheelspan according to claim 1 and wheel is characterized in that to variable Mobile Robot Based on Two Driving Wheels described T type joint module comprises servomotor and photoelectric encoder component (2-1), joint sleeve (2-2), motor cabinet (2-3), joint pedestal (2-4), angular contact ball bearing (2-5), the bearing collar (2-6), internal axle sleeve (2-7), bevel pinion (2-8), gear end cap (2-9), joint shaft end cap (2-10), joint shaft (2-11), joint lid (2-12), bevel gear wheel (2-13), joint attaching parts (2-14), joint shaft angular contact ball bearing (2-15), joint shaft end cap (2-16), clutch shaft bearing end cap (2-17), second roller bearing end cap (2-18), harmonic speed reducer output shaft (2-19), harmonic speed reducer output transition disc (2-20), disc type harmonic speed reducer assembly (1-21) and motor shaft sleeve (2-22); The connection mode of each parts is: servomotor and photoelectric encoder component (2-1) are fastening by axial bolt with motor cabinet (2-3); Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly (2-21) indirectly by motor shaft sleeve (2-22); The input and output of disc type harmonic speed reducer assembly (2-21) just wheel are fastenedly connected with motor cabinet (2-3) and harmonic speed reducer output transition disc (2-20) respectively by axial bolt, and harmonic speed reducer output transition disc (2-20) uses axial bolt and harmonic speed reducer output shaft (2-19) to be fastenedly connected again; Joint sleeve (2-2) is enclosed within motor cabinet (2-3) and upward also along the circumferential direction uses radial screw fastening; Motor cabinet (2-3) is fastenedly connected by axial bolt and joint pedestal (2-4); Harmonic speed reducer output shaft (2-19) is supported in the joint pedestal (2-4) by the angular contact ball bearing (2-5) and the bearing collar (2-6), and mouth is connected with bevel pinion (2-8), and is fastening with gear end cap (2-9); Make axially spaced-apart by internal axle sleeve (2-7) between bevel pinion (2-8) and the angular contact ball bearing (2-5); Bevel pinion (2-8) and bevel gear wheel (2-13) engagement, and the latter is installed on the joint shaft (2-11); Joint shaft (2-11) is supported on the joint pedestal (2-4) with joint shaft angular contact ball bearing (2-15), and two ends are connected by joint shaft end cap (2-10) and joint attaching parts (2-14).
4. modular wheelspan according to claim 1 and wheel are to variable Mobile Robot Based on Two Driving Wheels, it is characterized in that described wheel structure module is made up of wheel (3-1) and wheel shaft (3-2), wheel shaft (3-2) passes the centre hole of wheel (3-1), fastening with pad and nut at axle head, the other end is realized being connected by snap ring (3-3) with I type joint module and is fastening.
CN2008102198223A 2008-12-09 2008-12-09 Modular double-wheel driven mobile robot capable of changing wheel span and wheel direction CN101423074B (en)

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CN102101290B (en) * 2009-12-18 2012-09-26 中国科学院沈阳自动化研究所 Modular reconfigurable robot
CN101804636B (en) * 2010-03-09 2011-10-26 上海大学 Five degree-of-freedom reconfigurable modular service robot arm
CN101898357B (en) * 2010-07-02 2012-05-23 华南理工大学 Modularized bionic wall climbing robot
CN103273983B (en) * 2013-05-29 2015-09-16 华南理工大学 Module that a kind of plane is advanced and the circuit robot of advancing moves in turn
CN103395064B (en) * 2013-07-30 2015-09-30 武汉大学 A kind of Rack pipe detection robot based on supersonic guide-wave technology
CN103398297B (en) * 2013-07-30 2015-11-04 武汉大学 A kind of Rack pipe detection robot
CN104908058A (en) * 2015-07-06 2015-09-16 周健华 Joint transmission mechanism
CN105459129A (en) * 2016-01-14 2016-04-06 中国矿业大学 Coal mine lifter patrol robot mechanism based on electromagnetic suckers
CN108309389B (en) * 2018-02-05 2021-03-23 青岛市妇女儿童医院 Hemostatic clamp with support frame and capable of recording hemostatic steps

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