CN104859744A - Driven wheel type swing arm omnidirectional sliding robot - Google Patents
Driven wheel type swing arm omnidirectional sliding robot Download PDFInfo
- Publication number
- CN104859744A CN104859744A CN201510238356.3A CN201510238356A CN104859744A CN 104859744 A CN104859744 A CN 104859744A CN 201510238356 A CN201510238356 A CN 201510238356A CN 104859744 A CN104859744 A CN 104859744A
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- motor
- robot
- swing arm
- leg
- arm
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Abstract
The invention provides a driven wheel type swing arm omnidirectional sliding robot, comprising a base. M leg-arms are arranged below the base, wherein M is a positive integer being greater than or equal to 3. M motors are fixedly arranged on the base and used for driving the M leg-arms which are in one-to-one correspondence with the M motors. Each leg-arm comprises a rod portion, a wheel frame and a wheel which is pivoted with one end of the wheel frame; the other end of each wheel frame is connected with one end of the corresponding rod portion and can rotate by taking one end of the corresponding rod portion as the axis; the other end of each rod portion is in direct or indirect connection with the output shaft of the corresponding motor; and the axes of the rod portions are inclined relative to the ground. The M leg-arms are swung harmoniously through controlling the rotation mode of each motor, any two adjacent leg-arms are not collided with each other due to interference during swinging, and thus the driven wheel type swing arm omnidirectional sliding robot can walk in all directions. The driven wheel type swing arm omnidirectional sliding robot has the advantage that the movement way is simpler and more flexible.
Description
Technical field
The present invention relates to a kind of robot, relate to a kind of driven wheeled swing arm omnidirectional particularly and slide robot.
Background technology
Along with the progress of society, the development of Robotics is with rapid changepl. never-ending changes and improvements, for the still ground mobile robot investigated, explore and scientific research is more in current robot field, most widely usedly in ground mobile robot mainly contain leg-arm and wheeled two kinds, and wheeled robot can be divided into initiatively wheeled robot and driven wheeled robot by its wheel power source.
Driven wheeled robot, as a classification of wheeled robot, owing to having wheeled feature rapidly and efficiently and wheel shaft concurrently without the need to motor direct-drive, and becomes the study hotspot that domestic and international researchist pays close attention to gradually.
Existing typical driven wheeled robot is as Roller-Walk, four-wheel token ring algorithm and apery token ring algorithm etc., because the degree of freedom of robot controlling is more, when realizing wheeled sliding, motion control ratio is more complicated, is difficult to realize Omni-mobile with simple mechanism.
Summary of the invention
For the deficiency that prior art exists, the object of this invention is to provide a kind of driven wheeled swing arm omnidirectional and slide robot, only need control leg arm can realize gliding motility around anchor shaft reciprocally swinging, article four, in leg arm, any one motion can provide power, and any direction that can be realized robot by the hand of rotation changing four leg arms is moved.
For achieving the above object, the present invention adopts following technical scheme:
Robot slides in a kind of driven wheeled swing arm omnidirectional, comprise pedestal, M bar leg arm is provided with below described pedestal, the wherein positive integer of M >=3, described pedestal is fixedly installed M motor, in order to drive and described M motor M bar leg arm one to one, described in every bar, leg arm comprises bar portion, wheel carrier, and the wheel of one end pivot joint with wheel carrier, the other end of described wheel carrier is connected with the one end in described bar portion, can with the one end in bar portion for axle rotates, the described other end in bar portion is directly or indirectly connected with the output shaft of motor, the axis in described bar portion is relative to terrain slope, by controlling the rotating manner of each motor, make the suitable swing of described M bar leg arm, M bar leg arm can not collide because interfering when being arranged so that the two legs arm swing of arbitrary neighborhood mutually, to realize the walking that robot one way or another slides in driven wheeled swing arm omnidirectional.
The rotating manner of motor, refers to the parameters of electric machine rotation, as rotating forward (clickwise), reversion (left-hand revolution), the stall interval time of motor, and rotative speed, rotating cycle etc.
Further, pedestal is provided with control system and induction installation, in order to the rotating manner by program controlled motor.
Preferably, the other end in bar portion is connected with the output shaft of motor indirectly by retarder or other transmission devices.
Preferably, wheel also can replace with skates.By such setting, robot can slide on smooth ice face.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and significant advantage:
The present invention can realize advancing or retreating and turning action by the swing of electric machine control leg arm, and mechanism is simple; Every bar leg arm is separate, and any one reciprocally swinging all can provide power, and kinematic dexterity is stronger; Robot can be allowed to realize the gliding motility of any direction by the rotation direction controlling leg arm.The present invention, as the driven wheeled robot of one, has the comparatively simple and advantage flexibly of mode of motion.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view that robot slides in the driven wheeled swing arm omnidirectional of one embodiment of the present of invention;
Fig. 2 is the schematic front view that robot slides in the driven wheeled swing arm omnidirectional of one embodiment of the present of invention;
Fig. 3 is the schematic top plan view that robot slides in the driven wheeled swing arm omnidirectional of one embodiment of the present of invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.
As Fig. 1, shown in Fig. 2 and Fig. 3, robot slides in a kind of driven wheeled swing arm omnidirectional, comprise pedestal 1, four leg arms are provided with below pedestal 1, pedestal 1 is fixedly installed respectively four motors 3, in order to drive and four motors 3, four leg arms 2 one to one, wherein every bar leg arm 3 comprises bar portion 21, wheel carrier 22, and the wheel 23 of one end pivot joint with wheel carrier 22, the other end of wheel carrier 22 is connected with the one end in bar portion 21 and with the one end in bar portion 21 for axle rotates, the other end in bar portion 21 is directly or indirectly connected with the output shaft of motor 3, the axis in bar portion 21 is relative to terrain slope, by controlling the rotating manner of each motor 3, make the suitable swing of described four leg arms, article four, mutually can not collide because interfering when leg arm is arranged so that the two legs arm swing of arbitrary neighborhood, to realize the walking that robot one way or another slides in driven wheeled swing arm omnidirectional.
The rotating manner of motor, refers to the parameters of electric machine rotation, as rotating forward (clickwise), reversion (left-hand revolution), the stall interval time of motor, and rotative speed, rotating cycle etc.
Pedestal 1 is provided with control system and induction installation, in order to the rotating manner by program controlled motor 3.
Particularly, in the present embodiment, as shown in Figure 1, the contact point on wheel 23 and ground is to leg arm 2 and the extension line of axis of motor 3 and the distance of the intersection point on ground, namely the length of leg arm 2 pendulum radius is on the ground less than the half of the length of side of square base 1, in make robot center of gravity under various athletic posture be in all the time like this quadrangle that four wheels and ground contact points formed, and ensure the stability of motion of robot.
Wheel 23 is arranged on wheel carrier 22 by pin pair, in order to increase the rolling alerting ability of wheel 23, adds antifriction-bearing box in both junctions; Wheel carrier 22 is connected with bar portion 21 by deep groove ball bearing, and the structure in bar portion 21 is bending hollow circular-tubes, drives wheel carrier 22 to deflect around its adapter shaft when leg arm 2 swings simultaneously; Article four, leg arm symmetrical four angles place being arranged on pedestal 1 respectively; Four motors 3 are fixedly mounted on by screw on the upper surface of pedestal 1, and as shown in Figure 3, the turning cylinder of motor 3 is fixedly connected with leg arm 2 by elastic coupling 4, or the turning cylinder of motor 3 is connected with leg arm 2 indirectly by retarder and other drivings device.
Wheel 23 of the present invention also can replace with skates.By such setting, robot can slide on smooth ice face.
Claims (4)
1. robot slides in a driven wheeled swing arm omnidirectional, it is characterized in that, comprise pedestal, M bar leg arm is provided with below described pedestal, the wherein positive integer of M >=3, described pedestal is fixedly installed M motor, in order to drive and described M motor M bar leg arm one to one, described in every bar, leg arm comprises bar portion, wheel carrier, and the wheel of one end pivot joint with wheel carrier, the other end of described wheel carrier is connected with the one end in described bar portion, can with the one end in bar portion for axle rotates, the described other end in bar portion is directly or indirectly connected with the output shaft of motor, the axis in described bar portion is relative to terrain slope, by controlling the rotating manner of each motor, make the suitable swing of described M bar leg arm, M bar leg arm can not collide because interfering when being arranged so that the two legs arm swing of arbitrary neighborhood mutually, to realize the walking that robot one way or another slides in driven wheeled swing arm omnidirectional.
2. robot slides in driven wheeled swing arm omnidirectional according to claim 1, it is characterized in that, described pedestal is provided with control system and induction installation, in order to the rotating manner by motor described in programming control.
3. robot slides in driven wheeled swing arm omnidirectional according to claim 1, it is characterized in that, the other end in described bar portion is directly connected with motor output shaft or is indirectly connected with the output shaft of motor by retarder.
4. robot slides in driven wheeled swing arm omnidirectional according to claim 1, and it is characterized in that, described wheel replaces with skates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510238356.3A CN104859744B (en) | 2015-05-12 | 2015-05-12 | Robot slides in driven wheeled swing arm omnidirectional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510238356.3A CN104859744B (en) | 2015-05-12 | 2015-05-12 | Robot slides in driven wheeled swing arm omnidirectional |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104859744A true CN104859744A (en) | 2015-08-26 |
| CN104859744B CN104859744B (en) | 2018-05-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510238356.3A Expired - Fee Related CN104859744B (en) | 2015-05-12 | 2015-05-12 | Robot slides in driven wheeled swing arm omnidirectional |
Country Status (1)
| Country | Link |
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| CN (1) | CN104859744B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310963A (en) * | 2022-01-18 | 2022-04-12 | 上海交通大学 | Multi-foot skiing robot |
| CN114435507A (en) * | 2022-03-11 | 2022-05-06 | 上海交通大学 | Skating multi-foot robot |
| CN114590338A (en) * | 2022-03-11 | 2022-06-07 | 上海交通大学 | Skating hexapod robot structure |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3820497A (en) * | 1972-05-31 | 1974-06-28 | Konijn Machinebouw Nv | Transport vehicle |
| CN202593676U (en) * | 2012-03-31 | 2012-12-12 | 浙江工业大学 | Three-wheel-foot type serial-parallel combined robot |
| CN104443092A (en) * | 2014-11-05 | 2015-03-25 | 上海大学 | Person-sliding-simulated frog board robot |
-
2015
- 2015-05-12 CN CN201510238356.3A patent/CN104859744B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3820497A (en) * | 1972-05-31 | 1974-06-28 | Konijn Machinebouw Nv | Transport vehicle |
| CN202593676U (en) * | 2012-03-31 | 2012-12-12 | 浙江工业大学 | Three-wheel-foot type serial-parallel combined robot |
| CN104443092A (en) * | 2014-11-05 | 2015-03-25 | 上海大学 | Person-sliding-simulated frog board robot |
Non-Patent Citations (1)
| Title |
|---|
| 林风云，迟琨，吕恬生: "一种从动轮式机器人直线滑行运动特性的研究", 《机械设计》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310963A (en) * | 2022-01-18 | 2022-04-12 | 上海交通大学 | Multi-foot skiing robot |
| CN114310963B (en) * | 2022-01-18 | 2024-02-13 | 上海交通大学 | Skiing multi-legged robot |
| CN114435507A (en) * | 2022-03-11 | 2022-05-06 | 上海交通大学 | Skating multi-foot robot |
| CN114590338A (en) * | 2022-03-11 | 2022-06-07 | 上海交通大学 | Skating hexapod robot structure |
| CN114435507B (en) * | 2022-03-11 | 2022-12-27 | 上海交通大学 | Skating multi-foot robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104859744B (en) | 2018-05-01 |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20210512 |