CN104176145A - Asymmetric wheel leg type all-directional moving chassis - Google Patents
Asymmetric wheel leg type all-directional moving chassis Download PDFInfo
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- CN104176145A CN104176145A CN201410417628.1A CN201410417628A CN104176145A CN 104176145 A CN104176145 A CN 104176145A CN 201410417628 A CN201410417628 A CN 201410417628A CN 104176145 A CN104176145 A CN 104176145A
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Abstract
The invention discloses an asymmetric wheel leg type all-directional moving chassis. The asymmetric wheel leg type all-directional moving chassis comprises a chassis frame, a controller, mechanical legs, Mecanum wheels, drivers and sensors, wherein the mechanical legs are hinged to the chassis frame and arranged at four directions of the chassis frame, the Mecanum wheels are mounted at the tail ends of the mechanical legs respectively and are driven by the independent drivers, and the drivers and angle sensors are connected with the controller. The drivers and the angle sensors on the mechanical legs are connected with the controller arranged in the middle of the chassis frame, and the controller receives signals of the sensors, sends out control commands and controls the drivers in a closed loop manner by the drivers. The horizontal sensors are fixed on the chassis frame and connected with the controller and are used for measuring inclination of the chassis frame. On the basis of all-directional moving, posture of the asymmetric wheel leg type all-directional moving chassis is automatically controlled, and the Mecanum wheels can adaptively move in all directions on various road conditions.
Description
Technical field
The invention belongs to Vehicle Engineering, specifically, relate to a kind of asymmetric wheel leg type Omni-mobile chassis.
Background technology
Mecanum wheel (mecanum wheel) is a kind of all-around mobile wheel, within 1973, is invented by Swiss Bengt Lion.The feature of Mecanum wheel is on the basis of conventional wheel, and on wheel rim, with the some little rollers that can rotate freely of the angled installation of axis, in the time of wheel rolling, pony roll can produce sideway movement.By being used in combination and controlling of Mecanum wheel, any direction that can make car body produce in plane of movement moves and rotates.
1975, Lion obtained US Patent 3746112, patent Directionally Stable Self Propelled Vehicle (directly stablizing self-driving vehicle).After this patent in 1996 lost efficacy, numerous universities of the world, research institution and company carry out application and development and recreation to it, and application relates to the fork truck, transport trolley, wheelchair, ammunition truck, mobile robot of all-around mobile etc.Adopt after all-around mobile technology, can significantly improve handling efficiency and alerting ability, reduce goods storage space 20%～30%, especially for small space mobile object, there is the effect of not replacing.At present, successfully application example has the comprehensive carrying trailer of Sidewinder all-around mobile fork truck, COBRA omnidirectional mobile lift, MP2 of AirTrix company of the U.S., comprehensive ammunition elevating conveyor; The omni directional mobile robot of Carnegie Mellon University, the all-around mobile wheelchair of Ominx company of the U.S., jet engine all-around mobile bracket series of products.
The patent that relates at present Mecanum wheel omni-directional moving mechanism have US Patent " directly stablize self-driving vehicle " (U.S.Pat.No.3746112; " Directionally Stable SelfPropelled Vehicle "), first use Mecanum wheel.
US Patent " comprehensive Weapon loaded car " (U.S.Pat.No.6668950; " Omni-directional munitions handling vehicle "); US Patent " aircraft maintenance device and service procedure " (U.S.Pat.No.6477730; " Aircraft maintenance apparatus and method of maintaining aircraft "), be all that Mecanum wheel is applied in all kinds of mobile carrying equipments.
Korea S's patent of invention 201210016745.8 " is utilized the variable-width structure of the mobile conveyor of Mecanum wheel ", only has the wheelspan can symmetry change, and this device still adopts regular symmetric configuration simultaneously.
Chinese invention patent 201210180125.8 " a kind of scalable bio-robot of keeping away barrier ", although adopted the part of four-bar linkage as pedipulator structure, do not related to the wheel leg structure correlation technique that adopts parallel four connecting rods to make wheel rotate in horizontal surface simultaneously.
Mecanum wheel Omni-mobile car, its wheel is symmetrical expression and distributes.Cause Mecanum wheel Omni-mobile car to travel in accessible, flat road surface, for some condition of road surfaces that may run in driving process, comprise that road surface is concavo-convex, road surface tilts, centre-of gravity shift situation, cannot meet operating needs.
Summary of the invention
The deficiency existing for fear of prior art, the present invention proposes a kind of asymmetric wheel leg type Omni-mobile chassis.
The technical solution adopted for the present invention to solve the technical problems is: comprise chassis frame, controller, pedipulator, Mecanum wheel, actuator, sensor,
Described Mecanum wheel is arranged on respectively mechanical shank end, and each Mecanum wheel is by independent driver drives, and angular transducer is installed, and actuator is connected with controller with angular transducer;
Described pedipulator is four-part form structure, be respectively leg root rotary joint, parallel four connecting rods, line slideway, rotation end, article four, mechanical leg structure is identical, leg root rotary joint and chassis frame are hinged, installation of driver and angular transducer on leg root rotary joint, parallel four connecting rod two ends are hinged with the leg root rotary joint other end and line slideway one end respectively, parallel four connecting rods are provided with hydraulic unit driver and displacement pickup along diagonal, installation of driver and displacement pickup on line slideway, rotation end and the line slideway other end are hinged, on rotation end, actuator and angular transducer are installed, article four, pedipulator is positioned at four orientation connections of chassis frame, actuator on pedipulator is connected with controller with sensor,
Described horizon sensor is fixed on chassis frame, and is connected with controller, and horizon sensor is used for measuring chassis frame lateral attitude;
Described controller is positioned at chassis frame middle part, controller receives each sensor signal, controller sends control command, by sensor, each actuator is carried out to closed loop control, by controlling leg root rotary joint actuator, realizing pedipulator horizontally rotates, by controlling parallel four connecting rod hydraulic unit drivers, realizing pedipulator perpendicular rotates, by controlling line slideway actuator, realize pedipulator fore and aft motion, rotate end actuator by control, realizing Mecanum wheel shaft horizontally rotates, by controlling Mecanum wheel-drive, realize Mecanum wheel rotation.
Beneficial effect
The asymmetric wheel leg type Omni-mobile of the one chassis that the present invention proposes, comprise chassis frame, controller, pedipulator, Mecanum wheel, actuator, sensor, pedipulator and chassis frame are hinged, be positioned at four orientation of chassis frame, article four, mechanical leg structure is identical, and Mecanum wheel is arranged on respectively mechanical shank end, and each Mecanum wheel is by independent driver drives, and angular transducer is installed, and actuator is connected with controller with angular transducer; Article four, the actuator on pedipulator is connected with controller with sensor; Controller is positioned at chassis frame middle part, and controller receives each sensor signal, and controller sends control command, by sensor, each actuator is carried out to closed loop control; Horizon sensor is fixed on chassis frame, and is connected with controller, and horizon sensor is used for measuring chassis frame lateral attitude; Asymmetric wheel leg type Omni-mobile chassis is on the basis of realizing Omni-mobile, and from master control chassis attitude, the structure of the free layout of Mecanum wheel, makes Mecanum wheel fall within any accessibility desired location; Adapt to the Omni-mobile of various road conditions.
Brief description of the drawings
Below in conjunction with drawings and embodiments, a kind of asymmetric wheel leg type Omni-mobile of the present invention chassis is described in further detail.
Fig. 1 is the asymmetric wheel leg type Omni-mobile of the present invention chassis structure schematic diagram.
Fig. 2 is the pedipulator structural representation on the asymmetric wheel leg type Omni-mobile of the present invention chassis.
Fig. 3 is the control system schematic diagram on the asymmetric wheel leg type Omni-mobile of the present invention chassis.
In figure:
1. left back leg 5. Mecanum wheels 6. of RAT 2. left front leg 3. right rear leg 4. rotate parallel four connecting rod 9. leg root rotary joint 10. chassis frame 11. controller parallel four connecting rod of parallel four connecting rod hydraulic unit driver 17. displacement pickups 18. of the 12. horizon sensor nearly heart quarter butt 16. of 13. leg root rotary joint actuator parallel four connecting rod of 14. leg root rotary joint angular transducer 15. of end 7. line slideways 8. heart quarter butt 19. line slideway displacement pickup 20. line slideway actuators 21. far away and rotate angle at the end sensor 22. and rotate end actuator 23. Mecanum wheel-drive 24. Mecanum wheel angular transducers
Detailed description of the invention
The present embodiment is a kind of asymmetric wheel leg type Omni-mobile chassis.
Consult Fig. 1, Fig. 2, Fig. 3, the asymmetric wheel leg type Omni-mobile of the present embodiment chassis, comprise chassis frame, controller, pedipulator, Mecanum wheel, actuator, sensor, pedipulator and chassis frame are hinged, be arranged on four orientation of chassis frame, article four, mechanical leg structure is identical, and Mecanum wheel is arranged on respectively mechanical shank end.Taking RAT 1 as example, be connected to Mecanum wheel 5 from chassis frame 10, be respectively leg root rotary joint 9, parallel four connecting rods 8, line slideway 7, rotation end 6.Leg root rotary joint 9 is hinged with chassis frame 10, and leg root rotary joint actuator 13 and leg root rotary joint angular transducer 14 are installed, and is controlled at rotation in horizontal surface; The nearly heart quarter butt 15 of parallel four connecting rod is vertical portions of leg root rotary joint 9, with chassis frame 10 at right angle settings; Parallel four connecting rods 8 are provided with parallel four connecting rod hydraulic unit drivers 16 and displacement pickup 17 along diagonal, and four-bar linkage rotates in perpendicular; Line slideway 7 and vertical being connected of parallel four connecting rod heart quarter butt 18 far away, install line slideway actuator 20 and line slideway displacement pickup 19, along guide rail direction moving linearly on line slideway 7; Rotation end 6 is hinged with line slideway 7, and rotation end actuator 22 and rotation angle at the end sensor 21 are installed on rotation end 6, is controlled at rotation in horizontal surface; Mecanum wheel 5 is arranged on pedipulator rotation end 6, each Mecanum wheel 5 is driven by independent Mecanum wheel-drive 23, and Mecanum wheel angular transducer 24 is installed, Mecanum wheel-drive 23 is connected with controller 11 with Mecanum wheel angular transducer 24; Make Mecanum wheel 5 fall within any accessibility desired location.
Horizon sensor 12 is fixed on chassis frame 10, and is connected with controller 11, and horizon sensor 12 is for measuring chassis frame 10 lateral attitudes.Controller 11 installation chassis vehicle frame 10 middle parts, controller 11 receives each sensor signal, and controller 11 sends control command, by sensor, each actuator is carried out to closed loop control.By controlling leg root rotary joint actuator 13, realizing pedipulator horizontally rotates, by controlling parallel four connecting rod hydraulic unit drivers 16, realize pedipulator perpendicular and rotate, by controlling line slideway actuator 20, realize pedipulator fore and aft motion, rotate end actuator 22 by control, realize Mecanum wheel shaft and horizontally rotate, by controlling Mecanum wheel-drive 23, realize Mecanum wheel rotation.
Method of work of the present invention is according to the following steps:
(1) controller 11 receives each sensor signal, adjusts attitude and guarantees to have Omni-mobile ability, and can continue to accept movement instruction;
(2) loaded with articles or applied load, controller 11 is accepted horizon sensor 12 information, adjust the position of RAT 1, left front leg 2, right rear leg 3, left back leg 4, ensure chassis frame 10 levels, simultaneously according to pedipulator position, each pedipulator rotation end of autonomous adjustment, guarantees to have Omni-mobile ability, continues to accept movement instruction;
(3) in motion process, there is obstacle, control RAT 1, left front leg 2, right rear leg 3, left back leg 4 are hidden or clear an obstacle, after Mecanum wheel 5 lands, controller 11 now pedipulator positions of basis, each pedipulator rotation end 6 angles of autonomous adjustment, guarantee to have Omni-mobile ability, continue to accept movement instruction;
(4) in motion process, occur that chassis frame 10 tilts, controller 11 is accepted horizon sensor 12 information, adjust RAT 1, left front leg 2, right rear leg 3, left back leg 4 positions, ensure chassis frame 10 levels, adjust each pedipulator rotation end 6 angles simultaneously, guarantee to have Omni-mobile ability, continue to accept movement instruction.
After loaded with articles, chassis frame 10 there will be unbalance loading situation, adjusts pedipulator attitude, guarantees chassis frame 10 levels.Horizon sensor 12 detects chassis frame 10 direction of tilt, feeds back to controller 11, and controller 11 is controlled the tilt pedipulator of a side of chassis frame and opened, and inclination one side chassis frame 10 is propped up to recovery level.According to the position of RAT 1, left front leg 2, right rear leg 3, left back leg 4, independently adjust each pedipulator rotation end 6 simultaneously, guarantee to have Omni-mobile ability.
In the time that sense of motion has obstacle, controller 11 is controlled pedipulator drive operation, by the sensor localization on pedipulator, makes RAT 1, left front leg 2, right rear leg 3, left back leg 4 step successively obstacle, moves on.According to the steering command of input, controller 11 is controlled RAT 1 and was stepped obstacle, to the distance at car body center and the attitude of other three legs, adjusts rotation end 6 according to pick-up point, avoids Singularity; So move on, next Mecanum wheel is near obstacle, and control left front leg 2, right rear leg 3, left back leg 4 stepped obstacle, arrive the distance at car body center and the attitude of other three legs according to pick-up point simultaneously, adjust rotation end 6, avoid Singularity, until overall clear an obstacle.
When travelling on domatic, controller 11, by receiving horizon sensor 12 signals, is adjusted RAT 1, left front leg 2, right rear leg 3, left back leg 4 attitudes, ensures chassis frame 10 levels, and moves on.Horizon sensor 12 detects chassis frame 10 direction of tilt, and controller 11 received signals are controlled the tilt pedipulator of a side of chassis frame 10 and raised chassis frame 10, adjust each pedipulator rotation end 6 simultaneously, avoid Singularity.
In the time running into narrow landform, controller 11 is adjusted the wheelspan of the two pairs of wheels in front and back successively, can pass through narrow crossing.According to the steering command signal of input, controller 11 is controlled RAT 1, left front leg 2 wheelspans above and is reduced, make it can pass through narrow crossing, when two right rear leg 3, left back legs 4 move to narrow crossing place below, reduce again the wheelspan of right rear leg 3, left back leg 4, continue by crossing, prevent to greatest extent car body rollover.
Claims (1)
1. an asymmetric wheel leg type Omni-mobile chassis, is characterized in that: comprise chassis frame, controller, pedipulator, Mecanum wheel, actuator, sensor,
Described Mecanum wheel is arranged on respectively mechanical shank end, and each Mecanum wheel is by independent driver drives, and angular transducer is installed, and actuator is connected with controller with angular transducer;
Described pedipulator is four-part form structure, be respectively leg root rotary joint, parallel four connecting rods, line slideway, rotation end, article four, mechanical leg structure is identical, leg root rotary joint and chassis frame are hinged, installation of driver and angular transducer on leg root rotary joint, parallel four connecting rod two ends are hinged with the leg root rotary joint other end and line slideway one end respectively, parallel four connecting rods are provided with hydraulic unit driver and displacement pickup along diagonal, installation of driver and displacement pickup on line slideway, rotation end and the line slideway other end are hinged, on rotation end, actuator and angular transducer are installed, article four, pedipulator is positioned at four orientation connections of chassis frame, actuator on pedipulator is connected with controller with sensor,
Described horizon sensor is fixed on chassis frame, and is connected with controller, and horizon sensor is used for measuring chassis frame lateral attitude;
Described controller is positioned at chassis frame middle part, controller receives each sensor signal, controller sends control command, by sensor, each actuator is carried out to closed loop control, by controlling leg root rotary joint actuator, realizing pedipulator horizontally rotates, by controlling parallel four connecting rod hydraulic unit drivers, realizing pedipulator perpendicular rotates, by controlling line slideway actuator, realize pedipulator fore and aft motion, rotate end actuator by control, realizing Mecanum wheel shaft horizontally rotates, by controlling Mecanum wheel-drive, realize Mecanum wheel rotation.
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| CN201410417628.1A CN104176145B (en) | 2014-08-22 | 2014-08-22 | A kind of asymmetric wheel leg type Omni-mobile chassis |
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| CN201410417628.1A CN104176145B (en) | 2014-08-22 | 2014-08-22 | A kind of asymmetric wheel leg type Omni-mobile chassis |
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| CN104176145B CN104176145B (en) | 2016-08-24 |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477146A (en) * | 2014-12-11 | 2015-04-01 | 美通重工有限公司 | Spider type traveling chassis |
| CN105416433A (en) * | 2015-12-07 | 2016-03-23 | 吉林大学 | All-terrain vehicle wheel leg walking system |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN106493721A (en) * | 2016-11-30 | 2017-03-15 | 航天科工智能机器人有限责任公司 | Joint of robot Hydraulic servo drive mechanism |
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN108552782A (en) * | 2018-05-16 | 2018-09-21 | 孟静 | A kind of mobile data cabinet made the rounds of the wards for clinic |
| CN109878595A (en) * | 2019-03-01 | 2019-06-14 | 北京建筑大学 | A kind of walking mobile device |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109986528A (en) * | 2019-03-18 | 2019-07-09 | 合肥禾成信息科技有限公司 | A kind of rocking bar control robot |
| CN110271363A (en) * | 2019-06-24 | 2019-09-24 | 河北科技大学 | Military wall camouflage color air brushing robot |
| CN110834722A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Self-adaptive landing device for multi-rotor unmanned aerial vehicle |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| CN111391934A (en) * | 2020-04-07 | 2020-07-10 | 上海宇航系统工程研究所 | Wheel-leg composite robot moving device and wheel-leg composite robot |
| CN112078678A (en) * | 2020-09-09 | 2020-12-15 | 南华大学 | Deformable composite chassis of nuclear emergency robot and application method thereof |
| CN112874650A (en) * | 2021-01-23 | 2021-06-01 | 张海丽 | Battlefield transportation machine |
| CN113400280A (en) * | 2021-06-22 | 2021-09-17 | 上海应用技术大学 | Robot based on mecanum wheel |
| CN113909223A (en) * | 2021-09-30 | 2022-01-11 | 北京航空航天大学 | Large-range laser cleaning machine |
| CN114044067A (en) * | 2021-11-25 | 2022-02-15 | 成都飞机工业（集团）有限责任公司 | Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method |
| CN114291179A (en) * | 2022-01-06 | 2022-04-08 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
| CN114684291A (en) * | 2020-12-31 | 2022-07-01 | 美的集团(上海)有限公司 | Wheel leg type chassis and robot |
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Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104477146A (en) * | 2014-12-11 | 2015-04-01 | 美通重工有限公司 | Spider type traveling chassis |
| CN105416433A (en) * | 2015-12-07 | 2016-03-23 | 吉林大学 | All-terrain vehicle wheel leg walking system |
| CN105416433B (en) * | 2015-12-07 | 2017-11-07 | 吉林大学 | All-terrain vehicle wheel leg running gear |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN106493721A (en) * | 2016-11-30 | 2017-03-15 | 航天科工智能机器人有限责任公司 | Joint of robot Hydraulic servo drive mechanism |
| CN107187511B (en) * | 2017-04-25 | 2019-03-29 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN107117225B (en) * | 2017-05-07 | 2018-07-17 | 荆门市炬峰机械设备制造有限公司 | A kind of four-footed wheeled mobile robot |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN108552782A (en) * | 2018-05-16 | 2018-09-21 | 孟静 | A kind of mobile data cabinet made the rounds of the wards for clinic |
| CN110834722A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Self-adaptive landing device for multi-rotor unmanned aerial vehicle |
| CN109878595B (en) * | 2019-03-01 | 2021-01-29 | 北京建筑大学 | Walking moving device |
| CN109878595A (en) * | 2019-03-01 | 2019-06-14 | 北京建筑大学 | A kind of walking mobile device |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109986528A (en) * | 2019-03-18 | 2019-07-09 | 合肥禾成信息科技有限公司 | A kind of rocking bar control robot |
| CN109911052B (en) * | 2019-03-18 | 2024-04-30 | 华南理工大学 | Wheel leg type multi-mode inspection search and rescue robot |
| CN110271363A (en) * | 2019-06-24 | 2019-09-24 | 河北科技大学 | Military wall camouflage color air brushing robot |
| CN110271363B (en) * | 2019-06-24 | 2021-06-04 | 河北科技大学 | Military wall camouflage painting robot |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| CN111391934B (en) * | 2020-04-07 | 2021-11-05 | 上海宇航系统工程研究所 | Wheel-leg composite robot moving device and wheel-leg composite robot |
| CN111391934A (en) * | 2020-04-07 | 2020-07-10 | 上海宇航系统工程研究所 | Wheel-leg composite robot moving device and wheel-leg composite robot |
| CN112078678A (en) * | 2020-09-09 | 2020-12-15 | 南华大学 | Deformable composite chassis of nuclear emergency robot and application method thereof |
| CN114684291A (en) * | 2020-12-31 | 2022-07-01 | 美的集团(上海)有限公司 | Wheel leg type chassis and robot |
| CN112874650A (en) * | 2021-01-23 | 2021-06-01 | 张海丽 | Battlefield transportation machine |
| CN112874650B (en) * | 2021-01-23 | 2021-12-14 | 福建卓航特种设备有限公司 | Battlefield transportation machine |
| CN113400280A (en) * | 2021-06-22 | 2021-09-17 | 上海应用技术大学 | Robot based on mecanum wheel |
| CN113909223A (en) * | 2021-09-30 | 2022-01-11 | 北京航空航天大学 | Large-range laser cleaning machine |
| CN113909223B (en) * | 2021-09-30 | 2023-08-25 | 北京航空航天大学 | Large-scale laser cleaning machine for cleaning radioactive components of nuclear facilities |
| CN114044067A (en) * | 2021-11-25 | 2022-02-15 | 成都飞机工业（集团）有限责任公司 | Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method |
| CN114291179A (en) * | 2022-01-06 | 2022-04-08 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
| CN114291179B (en) * | 2022-01-06 | 2022-10-18 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
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