CN105015638A - Vehicle type robot capable of walking in S curve based on crank regulating swinging arm - Google Patents
Vehicle type robot capable of walking in S curve based on crank regulating swinging arm Download PDFInfo
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- CN105015638A CN105015638A CN201510395970.0A CN201510395970A CN105015638A CN 105015638 A CN105015638 A CN 105015638A CN 201510395970 A CN201510395970 A CN 201510395970A CN 105015638 A CN105015638 A CN 105015638A
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- swing arm
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Abstract
The invention relates to a vehicle type robot capable of walking in an S curve based on a crank regulating swinging arm. The vehicle type robot comprises a pair of rear wheels, a front wheel, a vehicle body, a transmission mechanism, a driving motor and an A-shaped swinging arm, wherein the front wheel is connected with the vehicle body through a front wheel frame in a rotating manner; the A-shaped swinging arm is horizontally arranged and the head of the A-shaped swinging arm is connected with the vehicle body in the rotating manner, a straight beam at the tail part of the A-shaped swinging arm is connected with the transmission mechanism, and the transmission mechanism is connected with the driving motor; the rear wheels are connected with two swinging arms of the A-shaped swinging arm through a pair of rear wheel frames in the rotating manner; one sloped angle is formed between an axle center line of a rotating shaft of each of the rear wheel frames and the corresponding swinging arm and a vertical direction; the transmission mechanism is driven by the driving motor to drive the A-shaped swinging arm to swing left and right, and then the vehicle type robot capable of walking in an S curve is driven to go ahead. The vehicle type robot disclosed by the invention belongs to driven wheeled robots, and has the characteristics of being small in control degree of freedom and simple in mechanisms; the vehicle type robot disclosed by the invention has great interest, can be used for entertainment, and can also be used as a verification platform of relevant theoretical research of a nonholonomic system.
Description
Technical field
The invention belongs to robot field, be specifically related to a kind of imperial running vehicle type robot regulating swing arm based on crank.
Background technology
Most of leg-wheel robot mainly adopts initiatively wheeled construction, by motor direct-drive wheel, and coordinate the motion of leg to realize the action such as advance, retrogressing, turning of robot, this version can make robot leg complex structure, control freedom degree is more, is unfavorable for the realization of robot motion and control.
Driven wheeled robot leg of taking turns is by adjustment leg pose, realize the adjustment of flower wheel Normal plane and the longitudinal plane of symmetry angle of robot and obtain onward impulse, owing to not needing to install drive motor at the return idler of end, effectively can simplify the design of wheels of robot part-structure, only need to control the motion that a small amount of degree of freedom realizes robot.
At present, about the research adopting the imperial shape car formula of flower wheel to take turns robot leg, existing by using the change of the mechanism analog gravity center of human body such as inverted pendulum to make robot obtain onward impulse, however, this type of is only needed to control a small amount of degree of freedom, and the simple driven wheeled research taking turns robot leg of structure is also few.
Summary of the invention
For driven wheeled Robotics present situation existing in background technology, the object of this invention is to provide a kind of imperial running vehicle type robot regulating swing arm based on crank, belong to the one of driven wheeled robot, there is feature that control freedom degree is few equally.
For achieving the above object, the present invention adopts following technical scheme:
Regulate an imperial running vehicle type robot for swing arm based on crank, comprise pair of rear wheels, front-wheel, car body, transmission device, drive motor and the swing arm of A shape; Described front-wheel is rotaryed connection with car body by front wheel carrier; The swing arm of described A shape is horizontally disposed with, and A shape swing arm head is rotaryed connection with car body, and a word crossbeam of its afterbody is connected with transmission device, and described transmission device is connected with drive motor; Described pair of rear wheels is rotaryed connection with two swing arms of A shape swing arm by pair of rear wheels frame; The axial line of the S. A. of described rear wheel frame and swing arm is in vertical direction with an inclination angle; Drive described transmission device to drive the swing arm of described A shape to swing with drive motor, thus drive imperial running vehicle type robot to advance.
Further, also comprise steer motor, described steer motor connects front wheel carrier, in order to control the direct of travel of described front-wheel.
Further, the subtended angle of two swing arms of described A shape swing arm is α degree, and the amplitude of fluctuation of A shape swing arm is within ± α/2, and α angular region is 40 ~ 90 degree.
Further, described front-wheel is rear biased wheel, when described trailing wheel cannot provide power, provides power by front-wheel.
Further, described transmission device is quadric linkage, and described quadric linkage comprises connecting rod, crank, crank shaft; The head of described A shape swing arm is rotaryed connection with car body, and a word crossbeam of its afterbody is connected with connecting rod link, and described connecting rod and crank chain connection, described crank is fixedly connected with crank shaft by car body.
Further, described transmission device is oscillating guidebar mechanism, and described oscillating guidebar mechanism comprises crank, guide rod, slide block; Described crank one end is fixedly connected with drive motor by car body, the other end and slide block chain connection, described slide block and guide rod sliding block joint, and described guide rod is arranged in the swing arm of A shape, and the head of described A shape swing arm is rotaryed connection with car body.
Principle of work of the present invention is as follows:
The present invention drives swinging of A shape swing arm indirectly by motor, trailing wheel is made to depart from balance position when swing arm swings, make it around axis tilt certain angle, wheel can be made to have the trend of getting back to state of equilibrium because installation wheel axis and endways direction exist inclination angle, the effect both this creates static friction force required when wheel advances.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and significant advantage:
The present invention drives swinging of A shape swing arm indirectly by motor, realizes a kind of mode of motion of driven wheeled robot newly.The present invention is as a kind of new robot motion's form, and belong to driven wheeled robot, it is few that it has control freedom degree, the simple feature of mechanism; In addition, the present invention passes through the change of swing arm to regulate flower wheel to swing thus to obtain onward impulse.Robot of the present invention has very strong interest, can be used for entertainment, also can as the verification platform of nonholonomic system correlation theory research.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of a kind of imperial running vehicle type robot based on quadric linkage of embodiments of the invention 1.
Fig. 2 be Fig. 1 tiltedly look up schematic perspective view.
Fig. 3 is the schematic perspective view of a kind of imperial running vehicle type robot based on quadric linkage of embodiments of the invention 2.
Detailed description of the invention
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
embodiment 1
As shown in Figure 1 and Figure 2, a kind of imperial running vehicle type robot regulating swing arm based on crank, comprises pair of rear wheels 3, A shape swing arm 4, front-wheel 7, drive motor 14, car body 15 and transmission device; Described front-wheel 7 is rotaryed connection with car body 15 by front wheel carrier 8; Described A shape swing arm 4 is horizontally disposed with, and A shape swing arm 4 head is rotaryed connection with car body 15, and a word crossbeam of its afterbody is connected with transmission device, and described transmission device is connected with drive motor 14; Described pair of rear wheels 3 is rotaryed connection with two swing arms of A shape swing arm 4 by pair of rear wheels frame 2; The axial line of the S. A. 1 of described rear wheel frame 2 and swing arm is in vertical direction with an inclination angle; Drive described transmission device to drive described A shape swing arm 4 to swing with drive motor 14, thus drive imperial running vehicle type robot to advance.
Further also comprise steer motor 11, described steer motor 11 connects front wheel carrier 8, in order to control the direct of travel of described front-wheel 7.
The subtended angle of two swing arms of described A shape swing arm 4 is α degree, and the amplitude of fluctuation of A shape swing arm 4 is within ± α/2, and α angular region is 40 ~ 90 degree.In the present embodiment, α is 80 degree.
Described front-wheel 7 is rear biased wheel, when described trailing wheel 3 cannot provide power, provides power by front-wheel 7.
Described transmission device is quadric linkage, and described quadric linkage comprises connecting rod 5, crank 6, crank shaft 12; The head of described A shape swing arm 4 is rotaryed connection with car body 15, a word crossbeam of its afterbody and connecting rod 5 chain connection, and described connecting rod 5 and crank 6 chain connection, described crank 6 is fixedly connected with crank shaft 12 by car body 15.
embodiment 2
As shown in Figure 3, the present embodiment is substantially the same manner as Example 1, and difference is, described transmission device is oscillating guidebar mechanism, and described oscillating guidebar mechanism comprises crank 6, slide block 16, guide rod 17; Described crank 6 one end is fixedly connected with drive motor 14 by car body 15, the other end and slide block 16 chain connection, and described slide block 16 and guide rod 17 sliding block joint, described guide rod 17 is arranged in A shape swing arm 4, and the head of described A shape swing arm 4 is rotaryed connection with car body 15.
Claims (6)
1. regulate an imperial running vehicle type robot for swing arm based on crank, it is characterized in that, comprise pair of rear wheels, front-wheel, car body, transmission device, drive motor and the swing arm of A shape; Described front-wheel is rotaryed connection with car body by front wheel carrier; The swing arm of described A shape is horizontally disposed with, and A shape swing arm head is rotaryed connection with car body, and a word crossbeam of its afterbody is connected with transmission device, and described transmission device is connected with drive motor; Described pair of rear wheels is rotaryed connection with two swing arms of A shape swing arm by pair of rear wheels frame; The axial line of the S. A. of described rear wheel frame and swing arm is in vertical direction with an inclination angle; Drive described transmission device to drive the swing arm of described A shape to swing with drive motor, thus drive imperial running vehicle type robot to advance.
2. the imperial running vehicle type robot regulating swing arm based on crank according to claim 1, is characterized in that, also comprise steer motor, and described steer motor connects front wheel carrier, in order to control the direct of travel of described front-wheel.
3. according to claim 1ly regulate the imperial running vehicle type robot of swing arm based on crank, it is characterized in that, the subtended angle of two swing arms of described A shape swing arm is α degree, and the amplitude of fluctuation of A shape swing arm is within ± α/2, and α angular region is 40 ~ 90 degree.
4. the imperial running vehicle type robot regulating swing arm based on crank according to claim 1, it is characterized in that, described front-wheel is rear biased wheel, when described trailing wheel cannot provide power, provides power by front-wheel.
5. the imperial running vehicle type robot regulating swing arm based on crank according to claim 1, it is characterized in that, described transmission device is quadric linkage, and described quadric linkage comprises connecting rod, crank, crank shaft; The head of described A shape swing arm is rotaryed connection with car body, and a word crossbeam of its afterbody is connected with connecting rod link, and described connecting rod and crank chain connection, described crank is fixedly connected with crank shaft by car body.
6. the imperial running vehicle type robot regulating swing arm based on crank according to claim 1, it is characterized in that, described transmission device is oscillating guidebar mechanism, and described oscillating guidebar mechanism comprises crank, guide rod, slide block; Described crank one end is fixedly connected with drive motor by car body, the other end and slide block chain connection, described slide block and guide rod sliding block joint, and described guide rod is arranged in the swing arm of A shape, and the head of described A shape swing arm is rotaryed connection with car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510395970.0A CN105015638A (en) | 2015-07-08 | 2015-07-08 | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510395970.0A CN105015638A (en) | 2015-07-08 | 2015-07-08 | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105015638A true CN105015638A (en) | 2015-11-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510395970.0A Pending CN105015638A (en) | 2015-07-08 | 2015-07-08 | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm |
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| CN (1) | CN105015638A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114675A (en) * | 2016-05-28 | 2016-11-16 | 上海大学 | Robot is slided in driven wheeled deformation |
| CN107515614A (en) * | 2017-08-24 | 2017-12-26 | 北京京东尚科信息技术有限公司 | Automated guided vehicle and its control method |
| CN109625136A (en) * | 2018-12-13 | 2019-04-16 | 好孩子儿童用品有限公司 | Children toy car |
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|---|---|---|---|---|
| DE202004012454U1 (en) * | 2004-08-09 | 2005-01-05 | Becker, Friedhelm | Boat trailer has axles attached to frame cranked downwards in middle so as to achieve lower height above ground for boat to be transported; this applies to both single-axle and two-axle vehicles |
| CN201023598Y (en) * | 2007-03-08 | 2008-02-20 | 张和军 | Double-crank drive scooter |
| CN202071916U (en) * | 2011-05-27 | 2011-12-14 | 北京英传奇科技有限公司 | Wheel type robot base mechanism |
| CN104354783A (en) * | 2014-11-05 | 2015-02-18 | 上海大学 | Frog kick scooter sliding robot capable of adjusting gravity center based on ball screw |
| CN104443114A (en) * | 2014-11-05 | 2015-03-25 | 上海大学 | Dragon scooter type sliding robot with gravity adjusted based on inverted pendulum |
-
2015
- 2015-07-08 CN CN201510395970.0A patent/CN105015638A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202004012454U1 (en) * | 2004-08-09 | 2005-01-05 | Becker, Friedhelm | Boat trailer has axles attached to frame cranked downwards in middle so as to achieve lower height above ground for boat to be transported; this applies to both single-axle and two-axle vehicles |
| CN201023598Y (en) * | 2007-03-08 | 2008-02-20 | 张和军 | Double-crank drive scooter |
| CN202071916U (en) * | 2011-05-27 | 2011-12-14 | 北京英传奇科技有限公司 | Wheel type robot base mechanism |
| CN104354783A (en) * | 2014-11-05 | 2015-02-18 | 上海大学 | Frog kick scooter sliding robot capable of adjusting gravity center based on ball screw |
| CN104443114A (en) * | 2014-11-05 | 2015-03-25 | 上海大学 | Dragon scooter type sliding robot with gravity adjusted based on inverted pendulum |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114675A (en) * | 2016-05-28 | 2016-11-16 | 上海大学 | Robot is slided in driven wheeled deformation |
| CN106114675B (en) * | 2016-05-28 | 2021-05-07 | 上海大学 | Driven wheel type deformation sliding robot |
| CN107515614A (en) * | 2017-08-24 | 2017-12-26 | 北京京东尚科信息技术有限公司 | Automated guided vehicle and its control method |
| CN107515614B (en) * | 2017-08-24 | 2024-01-19 | 北京京东乾石科技有限公司 | Automatic guiding transport vehicle and control method thereof |
| CN109625136A (en) * | 2018-12-13 | 2019-04-16 | 好孩子儿童用品有限公司 | Children toy car |
| CN109625136B (en) * | 2018-12-13 | 2023-12-29 | 好孩子儿童用品有限公司 | Toy car for children |
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Application publication date: 20151104 |