CN101428653A - Driving and steering mechanism of robot moving platform - Google Patents
Driving and steering mechanism of robot moving platform Download PDFInfo
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- CN101428653A CN101428653A CNA2008102039481A CN200810203948A CN101428653A CN 101428653 A CN101428653 A CN 101428653A CN A2008102039481 A CNA2008102039481 A CN A2008102039481A CN 200810203948 A CN200810203948 A CN 200810203948A CN 101428653 A CN101428653 A CN 101428653A
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Abstract
The invention relates to a driving and steering mechanism for a three-wheel robot mobile platform. The mechanism comprises a body, a driving wheel, two driven wheels integrating functions of following and steering, wherein, a first servomotor controls the movement of the driving wheel through a transmission device; a second servomotor drives a support shaft of the driven wheels to rotate; the shaft of the driven wheels drives the driven wheels connected with a four-bar linkage to follow and steer; and the support shaft of the driven wheels is hinged with a connecting rod of the four-bar linkage comprising four connecting rods hinged end to end. The invention further comprises a control system which synchronously controls the two servomotors, so as to synthesize the fore-and-aft movement and movement in each angle direction of the body. The mobile body designed by the invention has the characteristics of agile movement, high control precision and low cost, and can be universally applied to the fields of robot research as well as robot driving for services such as venue guide and domestic assistant, and the like.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to the driving and the direction reverser of a kind of three wheeled robot moving platforms, can be applicable to the fields such as driving of service robots such as robot research and venue guide, the assistant of family.
Background technology
Along with the mobile robot at industrial circle such as goods transport, and in the modern service industry field as venue guide, home entertaining, the widespread use such as help the disabled of helping the elderly, the mobile platform of flexibility and reliability more and more causes the attention in research and development field.
A perfect mobile unit system is made up of 3 parts usually: mobile system, sensory perceptual system and control system.Mobile system is a body, decision flat-bed motion space.It is several that portable mechanism mainly contains walking mechanism, wheeled mechanism, crawler type mechanism and mixed organization etc.Wheeled mechanism controls is simple, and is fast with respect to walking mechanism and crawler type mechanism less energy intensive, kinematic velocity, thereby uses more.
At present, wheeled mobile platform mainly contains three wheeled and four-wheel-type structures.Three wheeled structures are the most frequently used, and its representative type structure is to utilize two high-precision drive wheels and a flower wheel structure.Two drive wheels are driven through behind the retarder by two motors respectively, and flower wheel can place the front portion or the rear portion of body.The commutation of mobile platform is by the velocity contrast decision of two drive wheels, by two motors are applied the motion that different speed control amounts can realize any direction.The version that a kind of single wheel drive and commutation are also arranged, promptly front-wheel be drive wheel also be pilot wheel, it needs two independent motors to lead and drive controlling.Also have a kind of synchronously driven configuration mode, three wheel rectangular distributions link to each other with the difference controlling party wheel with gear or chain to the motor with driving, and the drive motor wheels is advanced, the commutation of guide motor control wheel.
The patent No. is driving and the direction reverser that the Chinese patent of ZL200610027197.3 discloses a kind of robot moving platform equally, but this mechanism has used eight servomotors, so cost is very high, simultaneously the program of control part is had relatively high expectations.In a word, present mobile robot platform structure respectively has merits and faults, also is difficult to take into account the simplicity of structure, the cheap property of cost and the alerting ability of control.
Summary of the invention
The purpose of this invention is to provide a kind of single wheel drive and two-wheel servo-actuated direction reverser that can be used for various wheeled mobile platforms, make that utilizing this driving and commutating structure design-calculated to move body reaches the purpose that motion is flexible, control accuracy is high, cost reduces.
In order to achieve the above object, the present invention has used for reference the bicycle driving mode, adopt a kind of three wheeled structures, the driving wheel of back for driving by a servomotor, the front is the flower wheel of two coordinated types, its unique distinction is on the basis by the whole commutation of two flower wheels of a driven by servomotor, kept two wheels follow-up characteristic flexibly separately again, and this mechanism comprises a body, a driving wheel and servo-actuated of two collection and the flower wheels that turn on one; Wherein, first servomotor is by the motion of driving device control driving wheel; Second servomotor drives the flower wheel pivot shaft and rotates, and this flower wheel pivot shaft drives flower wheel servo-actuated and the commutation that is connected on the four-bar linkage; A rod hinge connection in described driven shaft pivot shaft and the four-bar linkage, described four-bar linkage is made of four connecting rods that head and the tail are hinged.
Further, above-mentioned second servomotor to the flower wheel pivot shaft, is provided with bearing between described inner gear and the body by miniature gears and internal gear drive.
Further, above-mentioned driving device is by with the coaxial sprocket wheel of first servomotor, form with coaxial sprocket wheel of driving wheel and the chain that is used for transmission between above-mentioned two sprocket wheels.
Preferably, above-mentioned miniature gears and inner gear are the helical teeth transmission, and above-mentioned bearing is a thrust baring.
Further, the driving of above-mentioned robot moving platform and direction reverser also comprise a control system, and this control system is carried out synchro control to above-mentioned first servomotor and second servomotor, synthetic body move forward and backward with all angles direction on motion; Described control system comprises a controller, an actuator and a photoelectric encoder, photoelectric encoder converts the mechanism's geometric displacement amount on the servomotor output shaft to pulse or digital quantity by opto-electronic conversion, and the speed of servomotor and the information of position sent to controller in real time, control the voltage that is added on the servomotor together by pulse modulation technology and microprocessor again, relevant information is flowed to actuator, finally drive servomotor speed and direction operation on request; Above-mentioned controller carries out real-time synchro control according to the three-wheel tuning algorithm to the type of drive of drive wheel and the reversing mode of reverse wheel, and the rapport of three wheels is relevant with the physical dimension of main body mechanism.
Preferably, above-mentioned driving wheel and flower wheel all adopt the soft rubber wheel, and above-mentioned driving wheel and flower wheel are eccentric wheel, to strengthen the alerting ability of total system commutation.
It is that master, Alternating Current Power Supply are the scheme of assisting that power unit of the present invention is taked the storage battery DC supply.Under the normal circumstances, mobile platform provides power by direct supply.When DC power supply is not enough, can change Alternating Current Power Supply into, simultaneously direct-flow storage battery is charged.
The present invention is owing to adopted above-mentioned technical scheme, make it compared with prior art, have following advantage and good effect: the use of four-bar linkage structure makes that the present invention is simple in structure and motion is flexible, because only used two servomotors, control is got up convenient flexible, and cost also greatly reduces.
Description of drawings
To embodiments of the invention and in conjunction with the description of its accompanying drawing, can further understand purpose of the present invention, specific structural features and advantage by following.Wherein, accompanying drawing is:
Fig. 1 the present invention three wheeled coordinated movement of various economic factors scheme drawings.
Fig. 2 a preferred embodiment of the present invention driving wheel transmission principle figure.
Fig. 3 a preferred embodiment of the present invention flower wheel transmission principle front view.
Fig. 4 is the birds-eye view of Fig. 3.
Fig. 5 control principle figure of the present invention.
Number in the figure: 1 is flower wheel, and 2 is the chassis, and 3 is driving wheel, 4 is first servomotor, and 5 is sprocket wheel, and 6 is the first servomotor bracing frame, 7 is chain, and 8 is the driving wheel bracing frame, and 9 is sprocket wheel, 11 is pin, and 12 is connecting rod, and 13 is flower wheel pivot shaft tightening screw, 14 is the flower wheel pivot shaft, and 16 is the flower wheel tightening screw, and 17 is the flower wheel adapter shaft, 19 is second servomotor, and 20 is miniature gears, and 21 is inner gear, 22 is thrust baring, 23 is the CAN interface card, and 24 is master control board, and 25 is the motor closed loop control, 26 is DC servo motor, 27 is coder, and 28 is actuator, and 29 is controller.
The specific embodiment
Structure of the present invention is a kind of mobile platform of three-wheel cooperative type, sees Fig. 1, and a side of 2 is equipped with a driving wheel 3 on the chassis, the flower wheel 1 of a dicycly of opposite side assembling.Driving wheel 3 is realized through retarder and chain sprocket drive mode by DC servo motor, and is finished the position control of degree of precision.Two flower wheels 1 link together by the structure (not shown) of a four link type, and whole four-bar linkage is realized the commutation of mobile platform by the driving of another DC servo motor.
Fig. 2, Fig. 3, Fig. 4 are the transmission principle scheme drawing of a preferred embodiment of the present invention.
As shown in Figure 2, first servomotor 4 adopts planetary gear speed reducing mechanism as first order transmission, realizes second stage transmission through sprocket wheel 5, chain 7 and sprocket wheel 9 again, finally drives the rolling that driving wheel 3 is realized fore-and-aft direction.Wherein, first servomotor 4 is fixed on the first servomotor bracing frame 6, and driving wheel 3 is fixed on the driving wheel bracing frame 8, and the first servomotor bracing frame 6 and driving wheel bracing frame 8 are fixed on the both sides on chassis 2 respectively.
As shown in Figure 3, Figure 4, flower wheel 1 is fixed on the connecting rod 12 of a cover four-bar linkage by flower wheel adapter shaft 17 and flower wheel tightening screw 16.This connecting rod mechanism is made up of four connecting rods 12, is hinged together by four pins 11 between each connecting rod.One of them connecting rod 12 is fixed on the flower wheel pivot shaft 14 by flower wheel pivot shaft tightening screw 13, and flower wheel pivot shaft 14 is realized and being connected of gear reduction by thrust baring 22, this gear reduction is made up of miniature gears 20 and inner gear 21, and both are the helical teeth transmission.Whole flower wheel mechanism is driven by DC servo motor 19, through the transmission of miniature gears 20 and inner gear 21, drives the four-bar linkage commutation.And two flower wheels both can have been followed the connecting rod mechanism commutation, can carry out servo-actuated neatly again under push and pull system.Whole direction reverser is supported on the chassis 2 by bearing 22, and motor 19 also all is fixed together with stay bearing plate 2.
Fig. 5 is the control principle figure of servomotor.Control system realizes being connected with the communication of PC master control board 24 by CAN interface card 23, and the motion of two servomotors of synchro control.Independently PID closed loop control is all adopted in two servomotor controls, at the front end of servomotor 26, photoelectric encoder 27 is housed, and it is a kind of sensor that the geometry of machinery displacement on the motor output shaft is converted to pulse or digital quantity by opto-electronic conversion.Just can reflect current rotating speed of motor by the number of calculating per second photoelectric encoder output pulse.Coder 27 sends to controller 29 in real time with the speed or the location information of motor; control the voltage that is added on the motor together by pulse duration modulation (PWM) technology and microprocessor; relevant information is flowed to actuator 28 with overcurrent protection function; the final speed and convenient together operation of servomotor 26 to require that drives is to reach desirable position.
Control system requires to be decomposed into control command to two servomotors to the motion of mobile platform according to the three-wheel tuning algorithm, controls moving or rotating to finish the motion of body of each wheel.Wherein, synchro control is carried out in a driving and two commutation flower wheels, the rapport of three wheels is relevant with the incorporating parametric of body.In this preferred embodiment, driving wheel 3 and flower wheel 1 all adopt the soft rubber wheel, and driving wheel 3 and flower wheel 1 are eccentric structure.
Though the present invention is illustrated hereinbefore according to preferred embodiment, this does not represent that scope of the present invention is confined to above-mentioned structure, if by structure that claim of the present invention covered all within protection domain.Those skilled in the art can be developed the equivalent substitution structure that at an easy rate after reading above-mentioned explanation, in following equalization variation and the modification of being done of spirit that does not break away from the present invention and scope, all should be covered by within the claim of the present invention.
Claims (9)
1. the driving of a robot moving platform and direction reverser, this mechanism adopts three-wheel cooperative type structure, it is characterized in that comprising a body, a driving wheel and servo-actuated of two collection and the flower wheels that turn on one; Wherein, first servomotor is by the motion of driving device control driving wheel; Second servomotor drives the flower wheel pivot shaft and rotates, and this flower wheel pivot shaft drives flower wheel servo-actuated and the commutation that is connected on the four-bar linkage; A rod hinge connection in described flower wheel pivot shaft and the four-bar linkage, described four-bar linkage is made of four connecting rods that head and the tail are hinged.
2. the driving of robot moving platform as claimed in claim 1 and direction reverser, it is characterized in that: described second servomotor by miniature gears and internal gear drive to the flower wheel pivot shaft, described inner gear and flower wheel pivot shaft are fixed on one, between flower wheel pivot shaft and the body by bearings be connected.
3. the driving of robot moving platform as claimed in claim 1 or 2 and direction reverser is characterized in that: described driving device is by with the coaxial sprocket wheel of first servomotor, form with coaxial sprocket wheel of driving wheel and the chain that is used for transmission between above-mentioned two sprocket wheels.
4. the driving of robot moving platform as claimed in claim 2 and direction reverser, it is characterized in that: described miniature gears and inner gear are the helical teeth transmission.
5. the driving of robot moving platform as claimed in claim 2 and direction reverser, it is characterized in that: described bearing is a thrust baring.
6. the driving of robot moving platform as claimed in claim 1 or 2 and direction reverser, it is characterized in that also comprising a control system, this control system is carried out synchro control to described first servomotor and second servomotor, synthetic body move forward and backward with all angles direction on motion.
7. the driving of the robot moving platform described in claim 6 and direction reverser, it is characterized in that: described control system comprises a controller, an actuator and a photoelectric encoder, photoelectric encoder converts the mechanism's geometric displacement amount on the servomotor output shaft to pulse or digital quantity by opto-electronic conversion, and the speed of servomotor and the information of position sent to controller in real time, control the voltage that is added on the servomotor together by pulse modulation technology and microprocessor again, relevant information is flowed to actuator, finally drive servomotor speed and direction operation on request.
8. the driving of robot moving platform as claimed in claim 1 or 2 and direction reverser is characterized in that: described driving wheel and flower wheel all adopt the soft rubber wheel.
9. the driving of robot moving platform as claimed in claim 1 or 2 and direction reverser, it is characterized in that: described driving wheel and flower wheel are eccentric wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008102039481A CN101428653A (en) | 2008-12-04 | 2008-12-04 | Driving and steering mechanism of robot moving platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008102039481A CN101428653A (en) | 2008-12-04 | 2008-12-04 | Driving and steering mechanism of robot moving platform |
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| CN101428653A true CN101428653A (en) | 2009-05-13 |
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| CNA2008102039481A Pending CN101428653A (en) | 2008-12-04 | 2008-12-04 | Driving and steering mechanism of robot moving platform |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2588065A1 (en) * | 2015-04-28 | 2016-10-28 | Eduardo CASTELLÓ FERRER | Mobile platform highly customizable for mobile sensor networks (Machine-translation by Google Translate, not legally binding) |
| CN106080036A (en) * | 2016-07-20 | 2016-11-09 | 广东大仓机器人科技有限公司 | The robot architecture that a kind of band steering wheel controls |
| CN106515889A (en) * | 2016-10-19 | 2017-03-22 | 东莞理工学院 | Unmanned feeding trolley capable of turning conveniently and fast |
| CN106741295A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of ground auto―adaptive test drives floating gear train |
| CN107310643A (en) * | 2017-07-03 | 2017-11-03 | 农业部南京农业机械化研究所 | Paddy field creeper truck crawler track speeds detection means |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
| CN109606497A (en) * | 2018-12-21 | 2019-04-12 | 河海大学常州校区 | A kind of wheel leg type all-terrain vehicle |
| CN109808789A (en) * | 2017-11-21 | 2019-05-28 | 富泰华工业（深圳）有限公司 | Wheeled mobile robot it is anti-walk deflection device |
| CN109968312A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Base mechanism and its rotating direction control method, robot moving platform |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
-
2008
- 2008-12-04 CN CNA2008102039481A patent/CN101428653A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2588065A1 (en) * | 2015-04-28 | 2016-10-28 | Eduardo CASTELLÓ FERRER | Mobile platform highly customizable for mobile sensor networks (Machine-translation by Google Translate, not legally binding) |
| CN106080036A (en) * | 2016-07-20 | 2016-11-09 | 广东大仓机器人科技有限公司 | The robot architecture that a kind of band steering wheel controls |
| CN106080036B (en) * | 2016-07-20 | 2019-01-15 | 广东大仓机器人科技有限公司 | A kind of robot architecture with steering wheel control |
| CN106515889A (en) * | 2016-10-19 | 2017-03-22 | 东莞理工学院 | Unmanned feeding trolley capable of turning conveniently and fast |
| CN106741295A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of ground auto―adaptive test drives floating gear train |
| CN107310643A (en) * | 2017-07-03 | 2017-11-03 | 农业部南京农业机械化研究所 | Paddy field creeper truck crawler track speeds detection means |
| CN109808789A (en) * | 2017-11-21 | 2019-05-28 | 富泰华工业（深圳）有限公司 | Wheeled mobile robot it is anti-walk deflection device |
| CN109968312A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Base mechanism and its rotating direction control method, robot moving platform |
| CN109968312B (en) * | 2017-12-28 | 2022-02-01 | 沈阳新松机器人自动化股份有限公司 | Base mechanism, steering control method thereof and robot moving platform |
| CN109606497A (en) * | 2018-12-21 | 2019-04-12 | 河海大学常州校区 | A kind of wheel leg type all-terrain vehicle |
| CN109606497B (en) * | 2018-12-21 | 2021-04-16 | 河海大学常州校区 | Wheel leg type all-terrain vehicle |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
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Open date: 20090513 |