CN102951202B - Cordwood mobile robot and mechanical mobile device - Google Patents
Cordwood mobile robot and mechanical mobile device Download PDFInfo
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- CN102951202B CN102951202B CN201110236820.7A CN201110236820A CN102951202B CN 102951202 B CN102951202 B CN 102951202B CN 201110236820 A CN201110236820 A CN 201110236820A CN 102951202 B CN102951202 B CN 102951202B
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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, just have the idea of various mode making machine people, often see in actual life by skillful craftsman make can the machine of mimic human movements behavior.Along with the development of current technology, robot comes true the story occurred in mythical for past science fiction, creates a lot of miracle, produces good economic benefit and social benefit.Robot from birth since, to pass by the course of four more than ten years, it combines the newest research results of mechanics, electronics, computer science, automatic control engineering, artificial intelligence, the multiple subject of bionics, representing the most overachievement of electromechanical integration, is one of most active field of world today's scientific technological advance.The research of robot, manufacture and application, being just subject to the extensive attention of many countries, is the symbol of a national science and technology level and economic strength.
In recent years, along with the development of robotics and application thereof, the ability of robot improves constantly, and application and the scope of robot are also constantly expanded, and are applied in the environment of the various danger comprising mine.
In prior art, it is huge to there is profile in robot, and mechanical mobile device is dumb, can not adapt to the defect of various applied environment.
Summary of the invention
The object of the invention is to overcome defect of the prior art, a kind of cordwood system mobile robot and mechanical mobile device are provided, its manoevreability and ground comformability good, under realizing usual conditions, varying environment is to the requirement of robot architecture and play the effect of robot.
For realizing a kind of cordwood system mobile robot that the object of the invention provides, comprise mechanical mobile device, object disposing platform, and control the control part of mechanical mobile device movement;
Described mechanical mobile device; Described mechanical mobile device comprises movable decking and motor driven platform, and described movable decking comprises multiple mobile device; Described motor driven platform comprises the multiple motor drivers corresponding to multiple mobile device, also comprise the stage apparatus be connected between multiple mobile device and multiple motor driver, described stage apparatus at least comprises a driving link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver is connected with mobile device through described driving link block movably, and the mobile device described in driving moves and turns to;
Described stage apparatus also comprises at least one platform link block, connects described driving link block, and the motor driver that driving link block is connected and mobile device connect and compose an overall mechanical mobile device.
More preferably, described driving link block comprises two driving connectors and a driving connector; Described driving connector comprises head and Plug Division, and the turning cylinder of described motor driver, movably through the connecting bore in the head of described driving connector, is connected with mobile device; Described Plug Division is pluggable to described driving connector, and the connecting bore utilizing fastener to pass on Plug Division is connected fastening with the connecting bore driven on connector.
More preferably, described driving connector also comprises at least one interface of pluggable described platform link block.
More preferably, described platform link block, comprise two platform connectors and a platform connector, described connector comprises two Plug Divisions, and a Plug Division is plugged in platform connector; Another Plug Division is plugged in the interface of the driving connector of described driving link block, and the connecting bore utilizing fastener to pass on platform connector is connected with the connecting bore driven on connector.
More preferably, described two platform connectors be connected in two driving link blocks, a platform connector is for being flexibly connected, and another platform connector is for being fixedly connected with.
The mechanical mobile device of a kind of mobile robot being also provided for realizing the object of the invention, comprising movable decking and motor driven platform; Described movable decking comprises multiple mobile device; Described motor driven platform comprises the multiple motor drivers corresponding to multiple mobile device, also comprise the stage apparatus be connected between multiple mobile device and multiple motor driver, described stage apparatus at least comprises a driving link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver is connected with mobile device through described driving link block movably, and the mobile device described in driving moves and turns to; Described stage apparatus also comprises at least one platform link block, connects described driving link block, and the motor driver that driving link block is connected and mobile device connect and compose an overall mechanical mobile device.
Beneficial effect of the present invention is: cordwood system mobile robot of the present invention and mechanical mobile device, built by building block, its body is less, motion flexibly, structure is simple, firmly, reliable, possessing very strong obstacle climbing ability, is robotic's mobile device that whole robot provides a kind of manoevreability and ground comformability is good, obstacle climbing ability is strong, reliability is high.
Accompanying drawing explanation
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 present invention;
Fig. 4 drives connector structural representation in Fig. 3;
Fig. 5 is platform connector structural representation in Fig. 3;
Fig. 6 is the glove modular construction schematic diagram of the embodiment of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, 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 only in order to explain the present invention instead of 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) of mechanical mobile device movement;
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 multiple mobile device 111; Described motor driven platform 12 comprises the multiple motor drivers 121 corresponding to multiple mobile device 111, building-block robot is by controlling the power of described motor driven platform 12, drive the motion of described movable decking 11 by described motor driven platform 12 and turn to, thus controlling building-block robot motion and turn to.
The building-block robot mechanical mobile device 1 of the present embodiment, also comprise the stage apparatus 13 be connected between multiple mobile device 111 and multiple motor driver 121, described stage apparatus 13 at least comprises a driving link block 131, and at least one end of described driving link block 131 connects mobile device 111 and a motor driver 121; Described motor driver 121 is connected with mobile device 111 through described driving link block 131 movably, and the mobile device 111 described in driving moves and turns to.
Described stage apparatus 13 also comprises at least one platform link block 132, connects described driving link block 131, and motor driver 121 and mobile device 111 that driving link block 131 is connected connect and compose an overall mechanical mobile device 1.
As a kind of embodiment, as shown in Figure 4, described driving link block 131 comprises two driving connectors 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, movably through the connecting bore in the head 13111 of described driving connector 1311, is connected with mobile device 111; Described Plug Division 13112 is pluggable to described driving connector 1312, and the connecting bore utilizing fastener to pass on Plug Division 13112 is connected fastening with the connecting bore driven on 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 Plug Division, two Plug Divisions 13211, and is plugged in platform connector 1322; Another Plug Division is plugged in the interface of the driving connector 1312 of described driving link block 131, and the connecting bore utilizing fastener to pass on platform connector 1321 is connected with the connecting bore driven on connector 1312; And, described two platform connectors 1321 be connected in two driving link blocks 131, a platform connector is for being flexibly connected, another platform connector is for being fixedly connected with, like this, to make in building-block robot motion process can be able to realize 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 is simply compact, is convenient to install, and by the dimensional parameters of adjustment aluminium section bar, can 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 wheel type structure, and described multiple mobile device is four wheels; Correspondingly, described motor driver is four drive motor corresponding with corresponding wheel, is controlled the motion of building-block robot, turned to simultaneously by the different rotating speeds control of control four drive motor by the rotating speed controlling four drive motor.
Should be noted that, as another kind of embodiment, the wheel type structure of movable decking of the present invention, described multiple mobile devices 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, in the present embodiment, mobile device is four wheels, just in order to enable those skilled in the art know technical scheme of the present invention, instead of 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 the 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 passes through platform connector 1321 connection as two crossbeams driving connector 1312 as platform connector 1322.
It should be noted that the stage apparatus of the present embodiment, also can using the crossbeam of more than three as driving link block 131 and platform link block 132, such as, using four crossbeams as driving connector, another two crossbeams are as platform connector; Four drive connector crossbeam to connect eight wheels and eight drive motor, and two platform connector crossbeams connect four and drive connector crossbeam, integrant mechanical mobile device.Therefore, stage apparatus of the present invention is described with three crossbeams, just in order to better the embodiment of the present invention is described, instead of limitation of the present invention.
Two Plug Divisions of platform connector are inserted in crossbeam respectively, are then fixed together by crossbeam with screw; The Plug Division of described driving connector is plugged in the driving connector driving link block, and the turning cylinder of drive motor is connected with wheel through driving the head of connector, and under the control at robot controlling center, drives wheel movement and turn to.
As a kind of embodiment, the platform connector of the present embodiment is provided with three connecting bores that can be passed by bolt, wherein, side platform connector and a crossbeam use two bolts to be connected and fixed, and so just platform connector can be fixedly connected with driving connector; And opposite side platform connector and another crossbeam use a bolt to fix, so just platform connector can be flexibly connected with driving connector, make to realize two crossbeam swings in robot kinematics, (about 15 degree) clear an obstacle under making the car body left and right sides can remain on certain angle, improves obstacle climbing ability and the stability of motion of platform.
As a kind of embodiment, described crossbeam of the present invention, be a kind of square hollow aluminum section easy to process, the size as the crossbeam of the driving connector of driving link block is 200*40*25mm, and the size as the crossbeam of the platform connector of platform link block is 260*40*25mm; Described crossbeam is all square aluminium section bar cutting processing, and the cross section structure of three crossbeams is identical, and the length as the crossbeam driving connector is identical; Crossbeam as platform connector is between the crossbeam as driving connector, long 260mm.
Correspondingly, as a kind of embodiment, the Plug Division of described driving connector and platform connector is corresponding is also square, and it adopts engineering plastics ABS to be made.
Preferably, as a kind of embodiment, the cordwood system mobile robot of the present embodiment, as shown in Fig. 1,2,6, described object disposing platform 2 is formed by stacking by the glove module 21 of stackable multiple Rotating fields, 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 different purposes robot, arrange the circuit working component placement such as control part, super sonic, laser ranging, control.
Cordwood system mobile robot of the present invention and mechanical mobile device thereof, built by building block, its body is less, motion flexibly, structure is simple, firmly, reliable, possessing very strong obstacle climbing ability, is whole robot provides a kind of manoevreability and 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 meeting the basic physical construction of robot, this mechanical mobile device is made up of " module " with the limited amount determining shape; By the block combiner of minimum number, meet multiple different purposes robot and manufacturing or the requirement of design to basic physical construction.Like this, this robot and mechanical device just do not have concrete manufacture to limit to manoevreability, ground comformability, in robot building process, only need provide a kind of mechanical mobile device structure capable of being combined, just can for varying environment, by changing block combiner mode, under realizing varying environment condition, obtained the robot architecture under varying environment by combination, provide manoevreability and ground comformability is good, obstacle climbing ability is strong, reliability is high robot.
Finally it should be noted that obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a cordwood system mobile robot, comprises mechanical mobile device, object disposing platform, and controls the control part of mechanical mobile device movement; It is characterized in that:
Described mechanical mobile device, comprises movable decking and motor driven platform;
Described movable decking comprises multiple mobile device;
Described motor driven platform comprises the multiple motor drivers corresponding to multiple mobile device, also comprise the stage apparatus be connected between multiple mobile device and multiple motor driver, described stage apparatus at least comprises a driving link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver is connected with mobile device through described driving link block movably, and the mobile device described in driving moves and turns to;
Described stage apparatus also comprises at least one platform link block, connects described driving link block, and the motor driver that driving link block is connected and mobile device connect and compose an overall mechanical mobile device.
2. cordwood system mobile robot according to claim 1, is characterized in that, described driving link block comprises two and drives connector and a driving connector; Described driving connector comprises head and Plug Division, and the turning cylinder of described motor driver, movably through the connecting bore in the head of described driving connector, is connected with mobile device; Described Plug Division is pluggable to described driving connector, and the connecting bore utilizing fastener to pass on Plug Division is connected fastening with the connecting bore driven on connector.
3. cordwood system mobile robot according to claim 2, is characterized in that, described platform link block, and comprise two platform connectors and a platform connector, described connector comprises two Plug Divisions, and a Plug Division is plugged in platform connector; Another Plug Division is plugged in the interface of the driving connector of described driving link block, and the connecting bore utilizing fastener to pass on platform connector is connected with the connecting bore driven on connector; Described two platform connectors be connected in two driving link blocks, a platform connector is for being flexibly connected, and another platform connector is for being fixedly connected with.
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, is controlled the motion of building-block robot, turned to simultaneously by the different rotating speeds control of control four drive motor by the rotating speed controlling four drive motor;
The driving connector of described driving link block and the platform connector of platform link block are at least three crossbeams, and wherein two crossbeams connect four wheels as driving connector by driving connector; Another root crossbeam passes through the connection of platform connector as two crossbeams driving connector as platform connector;
Described platform connector is provided with three connecting bores that can be passed by bolt, wherein, side platform connector is connected and fixed by two bolts with driving connector, and platform connector is fixedly connected with driving connector; And opposite side platform connector and another drive connector to be fixed by a bolt, by platform connector with driving connector be flexibly connected.
5. the cordwood system mobile robot according to any one of Claims 1-4, is characterized in that, described object disposing platform is that the glove module of stackable multiple Rotating fields is formed by stacking, and is entrenched on the stage apparatus of described mechanical mobile device; Described object disposing platform central authorities have the depressed part of a hollow.
6. a mobile robot's mechanical mobile device, is characterized in that, comprises movable decking and motor driven platform;
Described movable decking comprises multiple mobile device;
Described motor driven platform comprises the multiple motor drivers corresponding to multiple mobile device, also comprise the stage apparatus be connected between multiple mobile device and multiple motor driver, described stage apparatus at least comprises a driving link block, and at least one end of described driving link block connects a mobile device and a motor driver; Described motor driver is connected with mobile device through described driving link block movably, and the mobile device described in driving moves and turns to;
Described stage apparatus also comprises at least one platform link block, connects described driving link block, and the motor driver that driving link block is connected and mobile device connect and compose an overall mechanical mobile device.
7. the mechanical mobile device of mobile robot according to claim 6, is characterized in that, described driving link block comprises two and drives connector and a driving connector; Described driving connector comprises head and Plug Division, and the turning cylinder of described motor driver, movably through the connecting bore in the head of described driving connector, is connected with mobile device; Described Plug Division is pluggable to described driving connector, and the connecting bore utilizing fastener to pass on Plug Division is connected fastening with the connecting bore driven on connector; Described driving connector also comprises at least one interface of pluggable described platform link block.
8. the mechanical mobile device of mobile robot according to claim 7, it is characterized in that, described platform link block, comprise two platform connectors and a platform connector, described connector comprises two Plug Divisions, and a Plug Division is plugged in platform connector; Another Plug Division is plugged in the interface of the driving connector of described driving link block, and the connecting bore utilizing fastener to pass on platform connector is connected with the connecting bore driven on connector; Described two platform connectors be connected in two driving link blocks, a platform connector is for being flexibly connected, and another platform connector is for being fixedly connected with.
9. the mechanical mobile device of the mobile robot according to any one of claim 6 to 8, 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, is controlled the motion of building-block robot, turned to simultaneously by the different rotating speeds control of control four drive motor by the rotating speed controlling four drive motor;
The driving connector of described driving link block and the platform connector of platform link block are at least three crossbeams, and wherein two crossbeams connect four wheels as driving connector by driving connector; Another root crossbeam passes through the connection of platform connector as two crossbeams driving connector as platform connector;
Described platform connector is provided with three connecting bores that can be passed by bolt, wherein, side platform connector is connected and fixed by two bolts with driving connector, and platform connector is fixedly connected with driving connector; And opposite side platform connector and another drive connector to be fixed by a bolt, by platform connector with driving connector be flexibly connected.
10. the mechanical mobile device of mobile robot according to claim 9, is characterized in that, described platform connector and driving connector are square hollow aluminum section; The Plug Division of described driving connector and platform connector is corresponding is also 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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| Publication Number | Publication Date |
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| CN102951202A CN102951202A (en) | 2013-03-06 |
| CN102951202B true 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104162280B (en) * | 2014-08-25 | 2016-08-24 | 广东邦宝益智玩具股份有限公司 | Building blocks 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 |
| CN106056298B (en) * | 2016-06-08 | 2020-09-25 | 宁波赛夫科技有限公司 | Intelligent factory workshop real-time scheduling system |
| CN111717043B (en) * | 2020-06-30 | 2022-01-25 | 南京工程学院 | Flexible shock attenuation intelligent vehicle wheel module |
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| US20030070856A1 (en) * | 2001-10-17 | 2003-04-17 | Mchugh Gerard | Articulated forklift truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07172124A (en) * | 1993-12-22 | 1995-07-11 | Komatsu Esuto:Kk | Traveling vehicle |
| US20100320023A1 (en) * | 2009-06-23 | 2010-12-23 | Michael Rhodig | Four wheel vehicle having a rotatable body section and method therefor |
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| US20030070856A1 (en) * | 2001-10-17 | 2003-04-17 | Mchugh Gerard | Articulated forklift truck |
| CN1394768A (en) * | 2002-08-26 | 2003-02-05 | 于耀庆 | Multimotor four-wheel drive mode for electric car |
| CN201092256Y (en) * | 2007-10-15 | 2008-07-30 | 陕西科技大学 | Four-wheel driven electric vehicle |
| CN101648517A (en) * | 2009-08-30 | 2010-02-17 | 肖国锋 | Brushless hub motor four-drive device for electric car |
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| CN201833870U (en) * | 2010-09-07 | 2011-05-18 | 浙江信阳实业有限公司 | Four-wheel independent driving device of all-terrain vehicle |
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| CN102951202A (en) | 2013-03-06 |
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