CN102951202A - Cordwood mobile robot and mechanical mobile device - Google Patents
Cordwood mobile robot and mechanical mobile device Download PDFInfo
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- CN102951202A CN102951202A CN2011102368207A CN201110236820A CN102951202A CN 102951202 A CN102951202 A CN 102951202A CN 2011102368207 A CN2011102368207 A CN 2011102368207A CN 201110236820 A CN201110236820 A CN 201110236820A CN 102951202 A CN102951202 A CN 102951202A
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Abstract
The invention discloses a cordwood mobile robot and a mechanical mobile device. The mechanical mobile device comprises a movable platform and a motor drive platform, the movable platform comprises a plurality of mobile device bodies, the motor drive platform comprises a plurality of motor drive devices and a platform device, the platform device comprises at least one drive connecting module, at least one end of each drive connecting module is connected with one mobile device body and one motor drive device, the motor drive devices movably penetrate through the drive connecting modules to be connected with the mobile device bodies and drive the same to move and turn, the platform device further comprises at least one platform connecting module, the platform connecting modules are connected with the drive connecting modules, and the motor drive devices and the mobile device bodies which are connected with the drive connecting modules are connected to form the integral mechanical mobile device. The cordwood mobile robot and the mechanical mobile device are fine in mobility and ground adaptability, requirements of different environments on robot structure are met under normal conditions, and the robot is functioned.
Description
Technical field
The present invention relates to robot manufacturing technology field, particularly relate to a kind of cordwood system mobile robot and mechanical mobile device.
Background technology
When people make article from the beginning, variety of way making machine people's idea is just arranged, often see in the actual life by skillful craftsman make can the mimic human movements behavior machine.Along with the development of current technology, robot comes true the story that occurs in the mythical science fiction of past, creates a lot of miracles, produces good economic benefit and social benefit.Robot is since be born, the passed by course of four more than ten years, it combines the newest research results of mechanics, electronics, computer science, automatic control engineering, artificial intelligence, a plurality of subjects of bionics, having represented the overachievement of electromechanical integration, is one of most active field of scientific technological advance, the world today.The research of robot, manufacturing and application just are being subject to the extensive attention of many countries, are the symbols of a national science and technology level and economic strength.
In recent years, along with the development of robotics and application thereof, the machine Man's Power improves constantly, and the application of robot and scope be constantly expansion also, is applied in the environment of the various danger that comprise mine.
In the prior art, robot exists profile huge, and mechanical mobile device is dumb, can not adapt to the defective of various applied environments.
Summary of the invention
The object of the invention is to overcome defective of the prior art, a kind of cordwood system mobile robot and mechanical mobile device are provided, its manoevreability and ground comformability are good, realize under the usual conditions, and varying environment is to robot architecture's requirement and the effect of performance robot.
A kind of cordwood system mobile robot for realizing that the object of the invention provides comprises mechanical mobile device, object disposing platform, and control the control part that mechanical mobile device moves;
Described mechanical mobile device; Described mechanical mobile device comprises movable decking and motor-driven platform, and described movable decking comprises a plurality of mobile devices; Described motor-driven platform comprises and the corresponding a plurality of motor drivers of a plurality of mobile devices, also comprise the stage apparatus that is connected between a plurality of mobile devices and a plurality of motor driver, described stage apparatus comprises that at least one drives link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver passes movably described driving link block and is connected with mobile device, and drives the motion of described mobile device and turn to;
Described stage apparatus also comprises at least one platform link block, connects described driving link block, makes to drive the mechanical mobile device that motor driver that link block connects and mobile device connect and compose an integral body.
More preferably, described driving link block comprises that two drive connector and a driving connector; Described driving connector comprises head and Plug Division, and the turning cylinder of described motor driver passes the connecting bore in the head of described driving connector movably, is connected with mobile device; Described Plug Division can be plugged into described driving connector, and the connecting bore that utilizes fastener to pass on the Plug Division is connected fastening with connecting bore on driving connector.
More preferably, described driving connector also comprises at least one interface of the described platform link block of can pegging graft.
More preferably, described platform link block comprises two platform connectors and a platform connector, and described connector comprises two Plug Divisions, and a Plug Division is plugged in the platform connector; Another Plug Division is plugged in the interface of driving connector of described driving link block, and the connecting bore that utilizes fastener to pass on the platform connector is connected with connecting bore on driving connector.
More preferably, described two are connected to two platform connectors that drive in the link block, and a platform connector is for being flexibly connected, and another platform connector is captive joint.
For realizing that the object of the invention also provides a kind of mobile robot's mechanical mobile device, comprises movable decking and motor-driven platform; Described movable decking comprises a plurality of mobile devices; Described motor-driven platform comprises and the corresponding a plurality of motor drivers of a plurality of mobile devices, also comprise the stage apparatus that is connected between a plurality of mobile devices and a plurality of motor driver, described stage apparatus comprises that at least one drives link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver passes movably described driving link block and is connected with mobile device, and drives the motion of described mobile device and turn to; Described stage apparatus also comprises at least one platform link block, connects described driving link block, makes to drive the mechanical mobile device that motor driver that link block connects and mobile device connect and compose an integral body.
Beneficial effect of the present invention is: cordwood system mobile robot of the present invention and mechanical mobile device, make up by building block, its body is less, motion is flexible, simple in structure, firm, reliable, possesses very strong obstacle climbing ability, for whole robot provides a kind of manoevreability and the ground comformability is good, obstacle climbing ability is strong, reliability is high robot mechanical mobile device.
Description of drawings
Fig. 1 is the cordwood system mobile robot structural representation of one embodiment of the invention;
Fig. 2 is the cordwood system mobile robot structural representation of one embodiment of the invention;
Fig. 3 is the mechanical mobile device structural representation of the embodiment of the invention;
Fig. 4 drives the connector structural representation among Fig. 3;
Fig. 5 is platform connector structural representation among Fig. 3;
Fig. 6 is the glove modular construction scheme drawing of the embodiment of the invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, building-block robot platform of the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention rather than limitation of the present invention.
As shown in Figure 1 and Figure 2, as a kind of embodiment cordwood system mobile robot of the present invention, comprise mechanical mobile device 1, object disposing platform 2, and control the control part (not shown) that mechanical mobile device moves;
As shown in Figure 3, described mechanical mobile device 1 comprises movable decking 11 and motor-driven platform 12, and described movable decking 11 comprises a plurality of mobile devices 111; Described motor-driven platform 12 comprises and a plurality of mobile device 111 corresponding a plurality of motor drivers 121, building-block robot is by the power of the described motor-driven platform 12 of control, drive the motion of described movable decking 11 and turn to by described motor-driven platform 12, thus the motion of control building-block robot with turn to.
The building-block robot mechanical mobile device 1 of present embodiment, also comprise the stage apparatus 13 that is connected to 121 of a plurality of mobile devices 111 and a plurality of motor drivers, described stage apparatus 13 comprises that at least one drives link block 131, and at least one end of described driving link block 131 connects a mobile device 111 and a motor driver 121; Described motor driver 121 passes movably described driving link block 131 and is connected with mobile device 111, and drives 111 motions of described mobile device and turn to.
Described stage apparatus 13 also comprises at least one platform link block 132, connects described driving link block 131, makes to drive the mechanical mobile device 1 that motor driver 121 that link block 131 connects and mobile device 111 connect and compose an integral body.
As a kind of embodiment, as shown in Figure 4, described driving link block 131 comprises that two drive connector 1311 and a driving connector 1312; Described driving connector 1311 comprises head 13111 and Plug Division 13112, and the turning cylinder 1211 of described motor driver 121 passes the connecting bore in the head 13111 of described driving connector 1311 movably, is connected with mobile device 111; Described Plug Division 13112 can be plugged into described driving connector 1312, and the connecting bore that utilizes fastener to pass on the Plug Division 13112 is connected fastening with connecting bore on driving connector 1312.As a kind of embodiment, as shown in Figure 5, described platform link block 132 comprises two platform connectors 1321 and a platform connector 1322, and described connector 1321 comprises that 13211, one Plug Divisions, two Plug Divisions are plugged in the platform connector 1322; Another Plug Division is plugged in the interface of driving connector 1312 of described driving link block 131, and the connecting bore that utilizes fastener to pass on the platform connector 1321 is connected with connecting bore on driving connector 1312; And, described two are connected to two platform connectors 1321 that drive in the link block 131, a platform connector is for being flexibly connected, another platform connector is captive joint, like this, so that can be able to realize in the building-block robot motion process swinging, the robot left and right sides can remain on clear an obstacle under certain angle, improves obstacle climbing ability and the stability of motion of robot.
Building-block robot mechanical platform of the present invention, integral structure are simply compact, are convenient to install, and can by adjusting the dimensional parameters of aluminium section bar, change the size of mechanical mobile device, and then can improve the different kinematics and dynamics performance of robot.
Further, as a kind of embodiment, as shown in Figure 1, movable decking of the present invention is the wheel type structure, and described a plurality of mobile devices are four wheels; Correspondingly, described motor driver is four drive motor corresponding with corresponding wheel, and the motion of the rotating speed control building-block robot by controlling four drive motor turns to by the different rotating speeds control of controlling four drive motor simultaneously.
Should be noted that, as another kind of embodiment, the wheel type structure of movable decking of the present invention, described a plurality of mobile device also can be one, two, six wheels, eight wheels etc., and its wheel number depends on the needs of actual environment, and be not limited to specific number, mobile device is four wheels in the present embodiment, just in order to make those skilled in the art can know technical scheme of the present invention, rather than limitation of the present invention.
In addition, movable decking of the present invention both can be wheel type structure as shown in Figure 1, also can be track structure as shown in Figure 2.
As a kind of embodiment, the stage apparatus of present embodiment, the driving connector 1312 of described driving link block 131 and the platform connector 1322 of platform link block 132 are at least three crossbeams, and described wherein two crossbeams connect four wheels as driving connector 1312 by driving connector 1311; Another root crossbeam connects as two crossbeams that drive connector 1312 by platform connector 1321 as platform connector 1322.
Should be noted that the stage apparatus of present embodiment, also can be with the crossbeam more than three as driving link block 131 and platform link block 132, for example with four crossbeams as driving connector, two crossbeams are as the platform connector in addition; Four drive the connector crossbeam and connect eight wheels and eight drive motor, four drivings of two platform connector crossbeams connections connector crossbeams, integrant mechanical mobile device.Therefore, stage apparatus of the present invention is described with three crossbeams, just for the embodiment of the invention rather than limitation of the present invention are described better.
Insert respectively in the crossbeam two Plug Divisions of platform connector, then with screw crossbeam is fixed together; The Plug Division of described driving connector is plugged in the driving connector that drives link block, and the turning cylinder of drive motor passes the head that drives connector and is connected with wheel, and drives wheel movement and turn under the control of robot control center.
As a kind of embodiment, be provided with three connecting bores that can be passed by bolt on the platform connector of present embodiment, wherein, a side platform connector and a crossbeam use two bolts to be connected and fixed, and so just the platform connector can be captiveed joint with the driving connector; And opposite side platform connector and another crossbeam use a bolt to fix, so just platform connector and driving connector can be flexibly connected, make in robot motion's process and can realize two crossbeam swings, so that the car body left and right sides can remain on (about 15 degree) clear an obstacle under certain angle, improve obstacle climbing ability and the stability of motion of platform.
As a kind of embodiment, described crossbeam of the present invention, being a kind of square hollow aluminum section bar easy to process, is 200*40*25mm as the size of the crossbeam of the driving connector that drives link block, is 260*40*25mm as the size of the crossbeam of the platform connector of platform link block; Described crossbeam all is that square aluminium section bar cutting processing forms, and the cross section structure of three crossbeams is identical, and is identical as the length of the crossbeam that drives connector; Crossbeam as the platform connector is in as between the crossbeam that drives connector long 260mm.
Correspondingly, as a kind of embodiment, the Plug Division of described driving connector and platform connector is corresponding also to be square, and it adopts engineering plastics ABS to be made.
Preferably, as a kind of embodiment, the cordwood system mobile robot of present embodiment is shown in Fig. 1,2,6, described object disposing platform 2 is formed by stacking by the glove module 21 of a plurality of layers of stackable structure, is entrenched on the stage apparatus 13 of described mechanical mobile device 1; As shown in Figure 6, described glove module central has the depressed part 211 of a hollow, so that in the different purposes robot, the circuit working component placement such as control part, super sonic, laser ranging are set, control.
Cordwood system mobile robot of the present invention and mechanical mobile device thereof, make up by building block, its body is less, motion is flexible, simple in structure, firm, reliable, possesses very strong obstacle climbing ability, for whole robot provides a kind of manoevreability and the ground comformability is good, obstacle climbing ability is strong, reliability is high mobile robot and mechanical mobile device.
Mobile robot of the present invention and mechanical mobile device, for robot provides a kind of mechanical mobile device that satisfies the basic physical construction of robot, this mechanical mobile device is made of " module " of the limited amount with definite shape; By the module combinations of minimum number, satisfied multiple different purposes robot in the requirement of making or designing basic physical construction.Like this, this robot and mechanical device just do not have concrete manufacturing to limit to manoevreability, ground comformability, in the robot building process, only need provide a kind of mechanical mobile device structure capable of being combined, just can for varying environment, by changing the module combinations mode, realize under the varying environment condition, obtain robot architecture under the varying environment by combination, manoevreability and the ground comformability is good, obstacle climbing ability is strong, reliability is high robot are provided.
Should be noted that at last that obviously those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these revise and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification.
Claims (10)
1. a cordwood system mobile robot comprises mechanical mobile device, object disposing platform, and control the control part that mechanical mobile device moves; It is characterized in that:
Described mechanical mobile device comprises movable decking and motor-driven platform;
Described movable decking comprises a plurality of mobile devices;
Described motor-driven platform comprises and the corresponding a plurality of motor drivers of a plurality of mobile devices, also comprise the stage apparatus that is connected between a plurality of mobile devices and a plurality of motor driver, described stage apparatus comprises that at least one drives link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver passes movably described driving link block and is connected with mobile device, and drives the motion of described mobile device and turn to; Described stage apparatus also comprises at least one platform link block, connects described driving link block, makes to drive the mechanical mobile device that motor driver that link block connects and mobile device connect and compose an integral body.
2. cordwood system mobile robot according to claim 1 is characterized in that, described driving link block comprises that two drive connector and a driving connector; Described driving connector comprises head and Plug Division, and the turning cylinder of described motor driver passes the connecting bore in the head of described driving connector movably, is connected with mobile device; Described Plug Division can be plugged into described driving connector, and the connecting bore that utilizes fastener to pass on the Plug Division is connected fastening with connecting bore on driving connector.
3. cordwood system mobile robot according to claim 2 is characterized in that, described platform link block comprises two platform connectors and a platform connector, and described connector comprises two Plug Divisions, and a Plug Division is plugged in the platform connector; Another Plug Division is plugged in the interface of driving connector of described driving link block, and the connecting bore that utilizes fastener to pass on the platform connector is connected with connecting bore on driving connector; Described two are connected to two platform connectors that drive in the link block, and a platform connector is for being flexibly connected, and another platform connector is captive joint.
4. cordwood system mobile robot according to claim 3 is characterized in that, described movable decking is wheel type structure or track structure;
Described mobile device is four wheels; Correspondingly, described motor driver is four drive motor corresponding with corresponding wheel, and the motion of the rotating speed control building-block robot by controlling four drive motor turns to by the different rotating speeds control of controlling four drive motor simultaneously;
The driving connector of described driving link block and the platform connector of platform link block are at least three crossbeams, and described wherein two crossbeams connect four wheels as driving connector by driving connector; Another root crossbeam connects as two crossbeams that drive connector by the platform connector as the platform connector;
Be provided with three connecting bores that can be passed by bolt on the described platform connector, wherein, a side platform connector is connected and fixed by two bolts with driving connector, and the platform connector is captiveed joint with the driving connector; And opposite side platform connector and another driving connector are fixed by a bolt, and platform connector and driving connector are flexibly connected.
5. according to claim 1 to 4 each described cordwood system mobile robots, it is characterized in that described object disposing platform is that the glove module of stackable a plurality of layers of structure is formed by stacking, and is entrenched on the stage apparatus of described mechanical mobile device; The depressed part that described object disposing platform central authorities have a hollow.
6. a mobile robot mechanical mobile device is characterized in that, comprises movable decking and motor-driven platform;
Described movable decking comprises a plurality of mobile devices;
Described motor-driven platform comprises and the corresponding a plurality of motor drivers of a plurality of mobile devices, also comprise the stage apparatus that is connected between a plurality of mobile devices and a plurality of motor driver, described stage apparatus comprises that at least one drives link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver passes movably described driving link block and is connected with mobile device, and drives the motion of described mobile device and turn to;
Described stage apparatus also comprises at least one platform link block, connects described driving link block, makes to drive the mechanical mobile device that motor driver that link block connects and mobile device connect and compose an integral body.
7. mobile robot's according to claim 6 mechanical mobile device is characterized in that, described driving link block comprises that two drive connector and a driving connector; Described driving connector comprises head and Plug Division, and the turning cylinder of described motor driver passes the connecting bore in the head of described driving connector movably, is connected with mobile device; Described Plug Division can be plugged into described driving connector, and the connecting bore that utilizes fastener to pass on the Plug Division is connected fastening with connecting bore on driving connector; Described driving connector also comprises at least one interface of the described platform link block of can pegging graft.
8. mobile robot's according to claim 7 mechanical mobile device, it is characterized in that described platform link block comprises two platform connectors and a platform connector, described connector comprises two Plug Divisions, and a Plug Division is plugged in the platform connector; Another Plug Division is plugged in the interface of driving connector of described driving link block, and the connecting bore that utilizes fastener to pass on the platform connector is connected with connecting bore on driving connector; Described two are connected to two platform connectors that drive in the link block, and a platform connector is for being flexibly connected, and another platform connector is captive joint.
9. according to claim 6 to 8 each described cordwood system mobile robots, it is characterized in that described movable decking is wheel type structure or track structure:
Described mobile device is four wheels; Correspondingly, described motor driver is four drive motor corresponding with corresponding wheel, and the motion of the rotating speed control building-block robot by controlling four drive motor turns to by the different rotating speeds control of controlling four drive motor simultaneously;
The driving connector of described driving link block and the platform connector of platform link block are at least three crossbeams, and described wherein two crossbeams connect four wheels as driving connector by driving connector; Another root crossbeam connects as two crossbeams that drive connector by the platform connector as the platform connector;
Be provided with three connecting bores that can be passed by bolt on the described platform connector, wherein, a side platform connector is connected and fixed by two bolts with driving connector, and the platform connector is captiveed joint with the driving connector; And opposite side platform connector and another driving connector are fixed by a bolt, and platform connector and driving connector are flexibly connected.
10. cordwood system mobile robot according to claim 9 is characterized in that, described platform connector and driving connector are square hollow aluminum section bar; The Plug Division of described driving connector and platform connector is corresponding also to be square, and it adopts engineering plastics ABS to be made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110236820.7A CN102951202B (en) | 2011-08-18 | 2011-08-18 | Cordwood mobile robot and mechanical mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110236820.7A CN102951202B (en) | 2011-08-18 | 2011-08-18 | Cordwood mobile robot and mechanical mobile device |
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| CN102951202A true CN102951202A (en) | 2013-03-06 |
| CN102951202B CN102951202B (en) | 2015-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110236820.7A Expired - Fee Related CN102951202B (en) | 2011-08-18 | 2011-08-18 | Cordwood mobile robot and mechanical mobile device |
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Cited By (5)
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| CN104162280A (en) * | 2014-08-25 | 2014-11-26 | 广东邦宝益智玩具股份有限公司 | Building block robot game system and method |
| CN105644627A (en) * | 2014-12-08 | 2016-06-08 | 广州汽车集团股份有限公司 | Platform lower automobile body for automobile |
| CN106056298A (en) * | 2016-06-08 | 2016-10-26 | 宁波赛夫科技有限公司 | Factory intelligent workshop real-time scheduling system |
| CN111717043A (en) * | 2020-06-30 | 2020-09-29 | 南京工程学院 | Flexible shock attenuation intelligent vehicle wheel module |
| CN114599486A (en) * | 2019-11-06 | 2022-06-07 | 大陆汽车有限公司 | Modular robot |
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| CN111717043A (en) * | 2020-06-30 | 2020-09-29 | 南京工程学院 | Flexible shock attenuation intelligent vehicle wheel module |
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