CN101797936B - Wheel swinging-type compound drive device for miniature mobile robot - Google Patents

Wheel swinging-type compound drive device for miniature mobile robot Download PDF

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Publication number
CN101797936B
CN101797936B CN2010101335606A CN201010133560A CN101797936B CN 101797936 B CN101797936 B CN 101797936B CN 2010101335606 A CN2010101335606 A CN 2010101335606A CN 201010133560 A CN201010133560 A CN 201010133560A CN 101797936 B CN101797936 B CN 101797936B
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China
Prior art keywords
swing arm
gusset piece
motor
base plate
wheel
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Expired - Fee Related
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CN2010101335606A
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Chinese (zh)
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CN101797936A (en
Inventor
陈文华
李星军
刁常堃
刘娟
李立新
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN2010101335606A priority Critical patent/CN101797936B/en
Publication of CN101797936A publication Critical patent/CN101797936A/en
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Publication of CN101797936B publication Critical patent/CN101797936B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a wheel swinging-type compound drive device for a miniature mobile robot. Two motors are diagonally fixed at the two ends of a bottom plate for driving wheels through synchronous pulleys, wherein two pulleys on the same side are driven by a motor arranged on the side same; the two pulleys are connected with each other through a synchronous belt so that the four-wheel drive of a toy vehicle is realized and the spot-turn of the toy vehicle can be realized by controlling the rotating directions of the two motors; and therefore, turning radius and motion space are saved. The middle part of the toy vehicle is provided with swinging arms, wherein each swinging arm comprises an internal connecting plate, an external connecting plate, a bearing, the synchronous belt and a synchronous pulley; and the swinging arms are driven by the motor arranged on the middle part of the toy vehicle through gear drive to play a role of auxiliary legs and caterpillar bands when the toy vehicle crosses a larger obstacle so as to improve the obstacle-clearing capacity.

Description

Wheel swinging-type compound drive device for miniature mobile robot
Technical field
The invention belongs to Robotics and automatic field, relate in particular to a kind of wheel swinging-type compound drive device for miniature mobile robot.
Background technology
At present, in mobile robot's kinematic mechanism, generally adopted wheeled, crawler type and sufficient formula mechanism, that wheeled mobile robot has is simple in structure, moving velocity fast and be convenient to characteristics such as manipulation, but is not suitable for crossing over obstacles such as step, gully; Caterpillar type robot has higher ride-through capability and good compatible with environment in natural environments such as soft, uneven landform, but friction drag is big, energy consumption is higher; Leg type mobile robot has higher manoevreability, adapts to the ground environment of various complexity easily, but mechanism is comparatively complicated and cost an arm and a leg with control.In recent years, many scholars have carried out the research based on the mobile robot of composite structure, but it is a lot of just wheeled, leg formula or crawler type, leg formula mechanism is combined with each other, the Yao Yanan of Beijing Jiaotong University, the patent that people such as Shi Kan applied for a kind of step wheel combined mobile robot in 2007 (publication number: CN 101157372A), though wheeled, crawler type and leg formula mechanism are compound more together, but the centre has been adopted expansion link mechanism and has been carried out the transmission of power with rack-and-gear or hydraulic pressure, increase the complexity and the cost of mechanism greatly, and made control complicated more.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of wheel swinging-type compound drive device for miniature mobile robot is provided.The characteristics of wheeled mechanism and leg formula mechanism have been merged in the present invention, and have in light weightly, and volume is little, simple in structure and characteristics that can pivot turn.Utilize tire to realize remote at a high speed motion, two swing arms in the middle of utilizing improve its obstacle climbing ability and compatible with environment.
The present invention is achieved by the following technical solutions: a kind of wheel swinging-type compound drive device for miniature mobile robot, it comprises two outer gusset pieces, two interior gusset pieces, four little bearings of swing arm, four big bearings of swing arm, two small pulleys, two big belt wheels, four wheels, six bearing seats, four driving pulleys, base plate, two drive motor, four axle drive shafts, swing arm motor, three motor cabinets, miniature gears, big gear wheel, main shaft, two axle sleeves, two band and two swing arm bands synchronously.Described two drive motor are fixed on the two ends of base plate by two motor cabinet diagonal angles, the output shaft of drive motor connects with an end of driving pulley, the other end of driving pulley connects with an end of axle drive shaft, the other end of axle drive shaft connects with belt wheel, the centre of axle drive shaft is fixed on the base plate by bearing seat, and driving pulley connects by being with synchronously with the driving pulley of its homonymy simultaneously; The swing arm motor is fixed on the base plate by motor cabinet, its output shaft and miniature gears key connecting, miniature gears and big gear wheel engagement, big gear wheel is fixed on the main shaft, main shaft is fixed on the middle part of base plate by two bearing seats, the two ends of main shaft connect with outer gusset piece and interior gusset piece by axle sleeve, and the other end of gusset piece and interior gusset piece is connected with little bearing of swing arm and small pulley outside.The swing arm that described outer gusset piece and interior gusset piece are formed is installed in the middle part of base plate symmetrically, the two ends of main shaft connect with two shaft sleeve key respectively, two end faces of axle sleeve connect with an end of interior gusset piece and outer gusset piece respectively, the external diameter direction of axle sleeve is with big bearing of swing arm and big belt wheel successively, and the other end of interior gusset piece and outer gusset piece is connected with little bearing of swing arm and small pulley.
The beneficial effect that the present invention has is:
1, mobile robot of the present invention is carrier with the wheeled mobile robot, has merged wheeled, crawler belt and leg formula motion of mechanism advantage, has characteristics such as quick travel, obstacle climbing ability be strong.
2, mobile robot of the present invention is in light weight, and volume is little, and is simple in structure, controls simple and reliable.
3, mobile robot of the present invention can adopt different mode of motioies according to the varying environment characteristics, improves the compatible with environment of robot.
4, mobile robot of the present invention can realize pivot turn by the rotation direction of control both sides drive motor, reduces turn radius, realizes flipper turn and saves the turning space.
Description of drawings
Fig. 1 is a structural principle front view of the present invention.
Fig. 2 is the birds-eye view of Fig. 1.
Among the figure, 1, outer gusset piece, 2, the little bearing of swing arm, 3, small pulley, 4, interior gusset piece, 5, wheel, 6, bearing seat, 7, driving pulley, 8, base plate, 9, drive motor, 10, axle drive shaft, 11, the swing arm motor, 12, motor cabinet, 13, miniature gears, 14, big gear wheel, 15, synchronous band, 16, main shaft, 17, the big bearing of swing arm, 18, axle sleeve, 19, big belt wheel, 20, the swing arm band.
The specific embodiment
The present invention includes two outer gusset pieces, two interior gusset pieces, four little bearings of swing arm, four big bearings of swing arm, two small pulleys, two big belt wheels, four wheels, six bearing seats, four driving pulleys, base plate, two drive motor, four axle drive shafts, swing arm motor, three motor cabinets, miniature gears, big gear wheel, main shaft, two axle sleeves, two band and two swing arm bands synchronously; Two drive motor are fixed on the two ends of base plate by two motor cabinet diagonal angles, the output shaft of drive motor connects by holding screw with an end of driving pulley, the other end of driving pulley connects by holding screw with an end of axle drive shaft, the other end of axle drive shaft connects with belt wheel, the centre of axle drive shaft is fixed on the base plate by bearing seat, driving pulley connects by being with synchronously with the driving pulley of its homonymy simultaneously, just can realize the four wheel drive of robot like this by two drive motor; The swing arm motor is fixed on the base plate by motor cabinet, its output shaft and miniature gears key connecting, mesh with big gear wheel then, big gear wheel is fixed on the main shaft, main shaft is fixed on the middle part of base plate by two bearing seats, the two ends of main shaft connect with outer gusset piece and interior gusset piece by axle sleeve, and the other end of gusset piece and interior gusset piece connects little bearing of swing arm and small pulley outside.
Four two drive motor drivings that driving pulley is settled by the diagonal angle, wherein two of a side driving pulleys drive by the drive motor that is installed in homonymy, two driving pulleys connect by synchronous band, the drive motor that two driving pulleys of opposite side are placed by another diagonal angle that is installed in homonymy drives, drive the 4 wheel driven that four wheels are realized dolly by four driving pulleys like this, improve the locomitivity of dolly greatly and cross little obstacle, the ability in gully, the pivot turn of dolly be can realize simultaneously by the rotation direction of controlling two drive motor, turn radius and motion space saved.
The middle part that is installed in base plate of the swing arm symmetry that outer gusset piece and interior gusset piece are formed, swing arm motor output torque passes to big gear wheel by miniature gears, simultaneously moment of torsion is amplified, big gear wheel is connected in and is with its rotation on the main shaft, the two ends of main shaft connect with two shaft sleeve key respectively, two end faces of axle sleeve connect by the end of screw with interior gusset piece and outer gusset piece, the external diameter direction of axle sleeve is with big bearing of swing arm and big belt wheel successively, the other end of interior gusset piece and outer gusset piece is connected with little bearing of swing arm and small pulley, swing arm can be rotated by 360 degree under the driving of swing arm motor like this, and the band of swing arm simultaneously can freely rotate.
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1, 2, the present invention includes the big bearing of the little bearing of the interior gusset piece of two outer gusset pieces 1, two 4, four swing arms 2, four swing arms 17, two small pulleys 3, two big belt wheels 19, four wheels 5, six bearing seats 6, four driving pulleys 7, base plate 8, two drive motor 9, four axle drive shafts 10, swing arm motor 11, three motor cabinets 12, miniature gears 13, big gear wheel 14, main shaft 16, two axle sleeves 18, two be with 15 and two swing arm bands 20 synchronously; Two drive motor 9 are fixed on the two ends of base plate 8 by two motor cabinet 12 diagonal angles, the output shaft of drive motor 9 connects by holding screw with an end of driving pulley 7, the other end of driving pulley 7 connects by holding screw with an end of axle drive shaft 10, the other end of axle drive shaft 10 connects with belt wheel, the centre of axle drive shaft 10 is fixed on the base plate 8 by bearing seat 6, simultaneously driving pulley and the driving pulley of its homonymy just can be realized the four wheel drive of robot like this by being with 15 to connect synchronously by two drive motor 9; Swing arm motor 11 is fixed on the base plate 8 by motor cabinet 12, its output shaft and miniature gears 13 key connecting, then with big gear wheel 14 engagements, big gear wheel 14 is fixed on the main shaft 16, main shaft 14 is fixed on the middle part of base plate 8 by two bearing seats 6, the two ends of main shaft 14 connect with outer gusset piece 1 and interior gusset piece 4 by axle sleeve 18, and the other end of gusset piece 1 and interior gusset piece 4 is connected with little bearing 2 of swing arm and small pulley 3 outside.
Two drive motor 9 that described four driving pulleys 7 are settled by the diagonal angle drive, wherein two of a side driving pulleys 7 drive by the drive motor 9 that is installed in homonymy, two driving pulleys are by being with 15 to connect synchronously, the drive motor 9 that two driving pulleys 7 of opposite side are placed by another diagonal angle that is installed in homonymy drives, drive the 4 wheel driven that four wheels 5 are realized dolly by four driving pulleys 7 like this, improve the locomitivity of dolly greatly and cross little obstacle, the ability in gully, the pivot turn of dolly be can realize simultaneously by the rotation direction of controlling two drive motor 9, turn radius and motion space saved.
The middle part that is installed in base plate 8 of the swing arm symmetry that described outer gusset piece 1 and interior gusset piece 4 are formed, swing arm motor 11 output torques pass to big gear wheel 14 by miniature gears 13, simultaneously moment of torsion is amplified, big gear wheel 14 is connected in and is with its rotation on the main shaft 16, the two ends of main shaft 16 respectively with two axle sleeve 18 key connecting, two end faces of axle sleeve 18 connect by the end of screw with interior gusset piece 4 and outer gusset piece 1, the external diameter direction of axle sleeve 18 is with big bearing 17 of swing arm and big belt wheel 19 successively, the other end of interior gusset piece 4 and outer gusset piece 1 is connected with little bearing 2 of swing arm and small pulley 3, swing arm can be rotated by 360 degree under the driving of swing arm motor 11 like this, and the band of swing arm simultaneously 20 can freely rotate.
When two drive motor 9 rotate and operating speed when identical in the same way, moment of torsion is by axle drive shaft 10 and be with 15 to drive wheels 5 and rotate the dolly straight-line travelling synchronously; When two drive motor 9 operating speves not simultaneously, both sides wheel velocity difference, dolly is turned; Dolly is realized pivot turn when two drive motor 9 velocity reversals are opposite.Swing arm motor 11 output shafts drive miniature gears 13 and big gear wheel 14 are rotated, and drive the swing arms rotation thereby pass to main shaft 16, and swing arm can be served as the effect realization obstacle detouring of auxiliary leg and crawler belt when running into bigger obstacle.

Claims (1)

1. wheel swinging-type compound drive device for miniature mobile robot, it is characterized in that it comprises two outer gusset pieces (1), two interior gusset pieces (4), four little bearings of swing arm (2), four big bearings of swing arm (17), two small pulleys (3), two big belt wheels (19), four wheels (5), six bearing seats (6), four driving pulleys (7), base plate (8), two drive motor (9), four axle drive shafts (10), swing arm motor (11), three motor cabinets (12), miniature gears (13), big gear wheel (14), main shaft (16), two axle sleeves (18), article two, be with (15) and two swing arm bands (20) synchronously; Described two drive motor (9) are fixed on the two ends of base plate (8) by two motor cabinets (12) diagonal angle, the output shaft of drive motor (9) connects with an end of driving pulley (7), the other end of driving pulley (7) connects with an end of axle drive shaft (10), the other end of axle drive shaft (10) connects with wheel (5), the centre of axle drive shaft (10) is fixed on the base plate (8) by bearing seat (6), and driving pulley connects by being with (15) synchronously with the driving pulley of its homonymy simultaneously; Swing arm motor (11) is fixed on the base plate (8) by motor cabinet (12), its output shaft and miniature gears (13) key connecting, miniature gears (13) and big gear wheel (14) engagement, big gear wheel (14) is fixed on the main shaft (16), main shaft (16) is fixed on the middle part of base plate (8) by two bearing seats (6), the two ends of main shaft (16) connect with outer gusset piece (1) and interior gusset piece (4) by axle sleeve (18), and the other end of gusset piece (1) and interior gusset piece (4) is connected with little bearing of swing arm (2) and small pulley (3) outside; The swing arm that described outer gusset piece (1) and interior gusset piece (4) are formed is installed in the middle part of base plate (8) symmetrically, the two ends of main shaft (16) respectively with two axle sleeves (18) key connecting, two end faces of axle sleeve (18) connect with an end of interior gusset piece (4) and outer gusset piece (1) respectively, the external diameter direction of axle sleeve (18) is with big bearing of swing arm (17) and big belt wheel (19) successively, the other end of the other end of interior gusset piece (4) and outer gusset piece (1) links to each other by the little bearing of swing arm (2), and small pulley (3) is socketed in outside the little bearing of swing arm (2).
CN2010101335606A 2010-03-26 2010-03-26 Wheel swinging-type compound drive device for miniature mobile robot Expired - Fee Related CN101797936B (en)

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CN2010101335606A CN101797936B (en) 2010-03-26 2010-03-26 Wheel swinging-type compound drive device for miniature mobile robot

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Application Number Priority Date Filing Date Title
CN2010101335606A CN101797936B (en) 2010-03-26 2010-03-26 Wheel swinging-type compound drive device for miniature mobile robot

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CN101797936B true CN101797936B (en) 2011-11-30

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Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673304B (en) * 2012-06-12 2017-09-12 尚久駜 Automobile with composite wheel structure
CN103029766A (en) * 2013-01-15 2013-04-10 中南林业科技大学 Crawler wheel-type four-wheel drive chassis device adaptive to woodland and other complex terrains
CN106379440A (en) * 2016-08-31 2017-02-08 张玉华 Intelligent potted plant transfer robot
CN106904225B (en) * 2017-03-31 2019-03-29 东南大学 A kind of complicated ground mobile robot of novel wheel leg type
CN106986048B (en) * 2017-04-19 2019-09-24 宁波金汤科技服务有限公司 A kind of mars exploration vehicle with obstacle crossing function
CN109131632A (en) * 2017-06-14 2019-01-04 鸿富锦精密工业(深圳)有限公司 automatic guided vehicle
CN107933730A (en) * 2017-11-22 2018-04-20 航天科工智能机器人有限责任公司 A kind of mobile robot of the auxiliary arm of band

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2186639Y (en) * 1993-06-18 1995-01-04 中国科学院沈阳自动化研究所 Robot motion carrier suitable for complicated topography
CN1715121A (en) * 2004-06-30 2006-01-04 中国科学院沈阳自动化研究所 Dangerous school assignment robot with wheel-leg-crawler composite moving mechanism
CN1775608A (en) * 2005-12-05 2006-05-24 中国科学技术大学 Multiple obstacle environment-adaptive combined mechanism robot device
CN101143604A (en) * 2007-10-31 2008-03-19 东华大学 Joint track type walking mechanism
CN101157372A (en) * 2007-11-19 2008-04-09 北京交通大学 A step wheel combined mobile robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2186639Y (en) * 1993-06-18 1995-01-04 中国科学院沈阳自动化研究所 Robot motion carrier suitable for complicated topography
CN1715121A (en) * 2004-06-30 2006-01-04 中国科学院沈阳自动化研究所 Dangerous school assignment robot with wheel-leg-crawler composite moving mechanism
CN1775608A (en) * 2005-12-05 2006-05-24 中国科学技术大学 Multiple obstacle environment-adaptive combined mechanism robot device
CN101143604A (en) * 2007-10-31 2008-03-19 东华大学 Joint track type walking mechanism
CN101157372A (en) * 2007-11-19 2008-04-09 北京交通大学 A step wheel combined mobile robot

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Granted publication date: 20111130

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