CN101693367A - Deformable omni-directional moving mechanism - Google Patents
Deformable omni-directional moving mechanism Download PDFInfo
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- CN101693367A CN101693367A CN200910309388A CN200910309388A CN101693367A CN 101693367 A CN101693367 A CN 101693367A CN 200910309388 A CN200910309388 A CN 200910309388A CN 200910309388 A CN200910309388 A CN 200910309388A CN 101693367 A CN101693367 A CN 101693367A
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Abstract
A deformable omni-directional moving mechanism belongs to the technical field of robot, and comprises four motion units, an operation platform and a plurality of joint swaying motors, wherein the first joint swaying motor and the second joint swaying motor are respectively fixed at the left side and the right side of the operation platform, the output shafts of the first and the second joint swaying motors are respectively connected with the first motion unit and the second motion unit, the third joint swaying motor and the fourth joint swaying motor are respectively arranged on the first motion unit and the second motion unit, and the output shafts of the third and the fourth joint swaying motors are respectively connected with the third motion unit and the fourth motion unit. The deformable omni-directional moving mechanism can not only change positions and postures of each omni wheel within a long range but also realize self-deformation, is adaptive to various complex environments, and has a good characteristic of trafficability.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is a kind of deformable omni-directional moving mechanism.
Background technology
Disaster such as earthquake, mine disaster took place frequently in recent years, under various urgent and dangerous situations, injured trapped personnel needs treatment in time, but because circumstance complication, the rescue personnel is difficult in time deeply be subjected to the depths, disaster area, cause valuable " gold " rescue time to pass in vain, therefore many indicator of trapped personnel die.Disaster relief robot arises at the historic moment, and it can arrive the unapproachable area of intelligent, and for the rescue personnel verifies situation, for rescue work provides guidance, What is more, can directly rescue indicator of trapped personnel in the middle of ruins.Disaster relief robot is as important branch of robot, and domestic and international many research institutions have done a large amount of research, develop the robot of various structures.Such as: the snake-shaped robot of Osaka, Japan university research and development, the snake-shaped robot of China's national defense University of Science and Technology development, the Packbot series robot of U.S. iRobot company exploitation, the MicroVGTV robot of InuKtun company etc., all be on certain mobile platform, to carry one or more sensors, be implemented in the disaster ruins and walk, finish detection and wait disaster relief task.Studying all types of disaster relief robot can find, the performance of travel mechanism is the vital factor of decision robot performance.The special working environment of disaster relief robot requires its travel mechanism must have good passability, the flexibility of height, high stability.The travel mechanism of above-mentioned several disaster relief robot cuts both ways, and snake-shaped robot has good passability, but complex structure implements very difficulty, and Tong Guo the row of caterpillar robot then is not so good as snake-shaped robot with flexibility.
Find through literature search prior art, Chinese patent application numbers 200610024279.2 has been put down in writing a kind of " adjustably moving mechanism of all directionally movable robot ", this technology is made up of two linkage and two linkages that are used for the change of wheel attitude that are used for the wheel position change, the wheel attitude changes linkage and is made up of parallel four-bar linkage and centric slider-crank mechanism, in the centric slider-crank mechanism of being made up of connecting rod and leading screw slide block, rocking bar can be driven by the leading screw slide block.And when the leading screw slide block changes the position, can cause that the wheel fixed mount rotates, and then can control the attitude of wheel by changing the parallel four-bar linkage shape.Wheel position changes linkage to be made up of a centric slider-crank mechanism, makes rocking bar rotate by driving slide block, thereby can make the wheel fixed mount around the center rotation and its attitude is constant, reaches the purpose of independent control wheel position.This mechanism has only realized the adjusting to wheel part position and attitude, and mechanism itself can't change form, and is subjected to the restriction of mechanism supports frame, and adjustable scope is restricted.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of deformable omni-directional moving mechanism is provided, can not only in very large range changes the position and the attitude of each directional wheel, and can realize the distortion of mechanism itself, can adapt to various complex environments, have good trafficability characteristic.
The present invention is achieved by the following technical solutions, the present invention includes: four moving cells, a workbench and four joint swing motors, wherein: first joint swing motor and second joint swing motor are fixedly set in the left and right sides of workbench respectively, swing motor in first joint is connected with second moving cell with first moving cell respectively with the output shaft of second joint swing motor, be respectively equipped with the 3rd joint swing motor and the 4th joint swing motor on first moving cell and second moving cell, swing motor in the 3rd joint is connected with the 4th moving cell with the 3rd moving cell respectively with the output shaft of the 4th joint swing motor.
Described moving cell comprises: directional wheel, comprehensive wheel carrier, comprehensive wheel shaft, drive motors and joint balance staff, wherein: drive motors and joint balance staff are fixedly set in the two ends of comprehensive wheel carrier respectively, comprehensive wheel shaft rotates and is arranged on the comprehensive wheel carrier, the coaxial connection of one end of the output shaft of drive motors and comprehensive wheel shaft, directional wheel rotates and to be arranged on the comprehensive wheel shaft, the coaxial connection of output shaft that motor is swung in joint balance staff and joint.
Described directional wheel comprises: wheel disc and several are fixed on the roller that is interspersed on the wheel disc periphery, wherein: the axle center of wheel disc is vertical mutually with the axle center of roller, wheel disc is driven by drive motors through comprehensive wheel shaft and rotates, two row rollers contact with ground successively, and can freely rotate around self axle center;
Described comprehensive wheel carrier is provided with bearing with the position that comprehensive wheel shaft is connected;
Described joint balance staff is provided with key with directional wheel frame position contacting and fixedlys connected with screw;
The output axle head of described swing motor is connected with adjacent moving cell or workbench by bearing, is connected by key with joint swing motor output shaft.
The present invention can go out shape arbitrarily according to the change conversion of four joint swing angle, can adapt to different spaces.Wheel adopts directional wheel, and each directional wheel can obtain the axial velocity of an appointment by independent Electric Machine Control, cooperates the servo-actuated steamboat on the directional wheel can realize moving of any direction.Simple in structure, realize easily.
Description of drawings
Fig. 1 forward sight structure chart of the present invention.
Fig. 2 partial schematic diagram of the present invention.
Fig. 3 the present invention first directional wheel axle construction figure.
Fig. 4 the present invention first joint balance staff structure chart.
Fig. 5 embodiment motion morphology 1 schematic diagram.
Fig. 6 embodiment motion morphology 2 schematic diagrames.
Fig. 7 embodiment motion morphology 3 schematic diagrames.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present invention includes: four moving cells, a workbench 1 and four joint swing motors, wherein: first joint swing motor 2 and second joint swing motor 3 are fixedly set in the left and right sides of workbench 1 respectively, swing motor 2 in first joint is connected with second moving cell 5 with first moving cell 4 respectively with the output shaft of second joint swing motor 3, the output shaft that is respectively equipped with the 3rd joint swing motor 6 and the 4th joint swing motor 7, the three joints swing motor 6 and the 4th joint swing motor 7 on first moving cell 4 and second moving cell 5 is connected with the 4th moving cell 9 with the 3rd moving cell 8 respectively.
As described in Fig. 2 and Fig. 3, described first moving cell 4 comprises: directional wheel 10, comprehensive wheel carrier 11, comprehensive wheel shaft 12, drive motors 13 and joint balance staff 14, wherein: drive motors 13 and joint balance staff 14 are fixedly set in the two ends of comprehensive wheel carrier 11 respectively, comprehensive wheel shaft 12 rotates and is arranged on the comprehensive wheel carrier 11, the coaxial connection of one end of the output shaft of drive motors 13 and comprehensive wheel shaft 12, directional wheel 10 rotates and is arranged on the comprehensive wheel shaft 12, the coaxial connection of output shaft that motor 2 is swung in joint balance staff 14 and joint.
The structure of described second moving cell 5, the 3rd moving cell 8 and the 4th moving cell 9 is identical with first moving cell 4.
As shown in Figure 3 and Figure 4, described directional wheel 10 comprises: wheel disc 15 and 2 are fixed on the roller that is interspersed on wheel disc 15 peripheries, wherein: the axle center of wheel disc 15 is vertical mutually with the axle center of roller, wheel disc 15 is driven by drive motors 13 through comprehensive wheel shaft 12 and rotates, two row rollers contact with ground successively, and can freely rotate around self axle center; Described comprehensive wheel carrier 11 is provided with bearing 17 with the position that comprehensive wheel shaft 12 is connected; Described joint balance staff 14 is provided with key 18 with comprehensive wheel carrier 11 position contacting fixedlys connected with screw 19, and described comprehensive wheel shaft 12 is provided with retainer nut 20 with comprehensive wheel carrier 11 position contacting and fixedlys connected.
As Fig. 5, Fig. 6 and shown in Figure 7, when the axis of present embodiment first moving cell, second moving cell, the 3rd moving cell, the 4th moving cell on same straight line, the axial velocity unanimity of four directional wheels of control can realize that the entire mechanism straight line moves ahead, setback;
When the axis of the directional wheel of first moving cell, second moving cell, the 3rd moving cell, the 4th moving cell on same straight line, control the first and the 4th directional wheel, second is identical with the axial velocity size of the 3rd directional wheel, direction is opposite, realizes that the original place of entire mechanism rotatablely moves;
When the certain angle of the joint of first moving cell, second moving cell, the 3rd moving cell, the 4th moving cell swing, entire mechanism is deformed into " W " shape, but the size of reducing mechanism length direction is conveniently passed through small space.
Claims (6)
1. deformable omni-directional moving mechanism, it is characterized in that, comprise: four moving cells, a workbench and four joint swing motors, wherein: first joint swing motor and second joint swing motor are fixedly set in the left and right sides of workbench respectively, swing motor in first joint is connected with second moving cell with first moving cell respectively with the output shaft of second joint swing motor, be respectively equipped with the 3rd joint swing motor and the 4th joint swing motor on first moving cell and second moving cell, swing motor in the 3rd joint is connected with the 4th moving cell with the 3rd moving cell respectively with the output shaft of the 4th joint swing motor.
2. deformable omni-directional moving mechanism according to claim 1, it is characterized in that, described moving cell comprises: directional wheel, comprehensive wheel carrier, comprehensive wheel shaft, drive motors and joint balance staff, wherein: drive motors and joint balance staff are fixedly set in the two ends of comprehensive wheel carrier respectively, comprehensive wheel shaft rotates and is arranged on the comprehensive wheel carrier, the coaxial connection of one end of the output shaft of drive motors and comprehensive wheel shaft, directional wheel rotates and to be arranged on the comprehensive wheel shaft, the coaxial connection of output shaft that motor is swung in joint balance staff and joint.
3. deformable omni-directional moving mechanism according to claim 2, it is characterized in that, described directional wheel comprises: wheel disc and several are fixed on the roller that is interspersed on the wheel disc periphery, wherein: the axle center of wheel disc is vertical mutually with the axle center of roller, wheel disc is driven by drive motors through comprehensive wheel shaft and rotates, two row rollers contact with ground successively, and freely rotate around self axle center.
4. deformable omni-directional moving mechanism according to claim 3 is characterized in that, described comprehensive wheel carrier is provided with bearing with the position that comprehensive wheel shaft is connected.
5. deformable omni-directional moving mechanism according to claim 3 is characterized in that, described joint balance staff is provided with key with directional wheel frame position contacting and fixedlys connected with screw.
6. deformable omni-directional moving mechanism according to claim 3 is characterized in that, the output axle head of described swing motor is connected with adjacent moving cell or workbench by bearing, is connected by key with joint swing motor output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103093882A CN101693367B (en) | 2009-11-06 | 2009-11-06 | Deformable omni-directional moving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103093882A CN101693367B (en) | 2009-11-06 | 2009-11-06 | Deformable omni-directional moving mechanism |
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| Publication Number | Publication Date |
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| CN101693367A true CN101693367A (en) | 2010-04-14 |
| CN101693367B CN101693367B (en) | 2011-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009103093882A Expired - Fee Related CN101693367B (en) | 2009-11-06 | 2009-11-06 | Deformable omni-directional moving mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN106272542A (en) * | 2016-09-22 | 2017-01-04 | 北京化工大学 | Imitative Serpentis search and rescue robot articulation mechanism |
-
2009
- 2009-11-06 CN CN2009103093882A patent/CN101693367B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN105620572B (en) * | 2016-04-01 | 2019-02-26 | 安徽理工大学 | Service robot omni-directional moving mechanism |
| CN106272542A (en) * | 2016-09-22 | 2017-01-04 | 北京化工大学 | Imitative Serpentis search and rescue robot articulation mechanism |
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| Publication number | Publication date |
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| CN101693367B (en) | 2011-05-04 |
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Effective date of registration: 20151111 Address after: Xiuzhou District of Jiaxing City, Zhejiang Province, a 314031 Road No. 321, Shanghai Jiaotong University (Jiaxing) science and Technology Park Building No. 4 layer Patentee after: ZHEJIANG RUIPENG ROBOTS TECHNOLOGY CO., LTD. Address before: 200030 Huashan Road, Shanghai, No. 1954, No. Patentee before: Zhao Yanzheng |
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