CN106114675A - Robot is slided in driven wheeled deformation - Google Patents

Robot is slided in driven wheeled deformation Download PDF

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Publication number
CN106114675A
CN106114675A CN201610360614.XA CN201610360614A CN106114675A CN 106114675 A CN106114675 A CN 106114675A CN 201610360614 A CN201610360614 A CN 201610360614A CN 106114675 A CN106114675 A CN 106114675A
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CN
China
Prior art keywords
described
swing arm
robot
driven
pair
Prior art date
Application number
CN201610360614.XA
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Chinese (zh)
Inventor
徐子力
黄智洪
杨文俊
卢松
徐伟萍
Original Assignee
上海大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海大学 filed Critical 上海大学
Priority to CN201610360614.XA priority Critical patent/CN106114675A/en
Publication of CN106114675A publication Critical patent/CN106114675A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

Abstract

The present invention relates to a kind of driven wheeled deformation and slide robot.It includes ball wheel, car body, driving motor, shaft coupling a, swing arm, control motor, shaft coupling b, sloping shaft, sloping shaft axle bed, driven pulley wheel carrier and driven pulley;Described ball wheel is fixedly connected with the vehicle body;Described swing arm horizontal positioned, swing arm head is rotationally connected with car body, and its afterbody is rotationally connected with sloping shaft axle bed;Driven and state galvanic electricity machine and be fixedly connected with the vehicle body, and be connected by described shaft coupling a is fixing with swing arm;Described control motor is fixing with swing arm to be connected, and is connected by shaft coupling b is fixing with sloping shaft axle bed;Described driven pulley wheel carrier is rotationally connected with sloping shaft axle bed by sloping shaft;Described driven pulley is rotationally connected with driven pulley wheel carrier;The axial line of described sloping shaft becomes an inclination angle with sloping shaft axle bed vertical direction.The present invention has the simple feature of mechanism and the strongest interest, can be used for entertainment, it is also possible to as the verification platform of nonholonomic system correlation theory research.

Description

Robot is slided in driven wheeled deformation

Technical field

The invention belongs to robot field, be specifically related to a kind of driven wheeled deformation and slide robot.

Background technology

Most of leg-wheel robots mainly use actively wheeled construction, by motor direct-drive wheel, and coordinate lower limb The motion in portion realize robot advance, retreat, the action such as turning, this version can make robot leg structure multiple Miscellaneous, control freedom degree is more, is unfavorable for the realization of robot motion and control.

Driven wheeled robot leg of taking turns is by adjusting leg pose, it is achieved driven pulley Normal plane is longitudinally asymmetric with robot The regulation of face angle and obtain onward impulse, drive motor owing to need not install at the return idler of end, can be effectively simple Change the design of wheels of robot part-structure, it is only necessary to control a small amount of degree of freedom and realize the motion of robot.

At present, there is an imperial shape vehicle type wheel robot leg and the research of snake-shaped robot using driven pulley, but sports Formula is single, and the multi-motion form of simple in construction driven wheeled to take turns the research of robot leg the most few.

Summary of the invention

For driven wheeled robotics present situation existing in background technology, it is an object of the invention to provide a kind of driven pulley Robot is slided in formula deformation, belongs to the one of driven wheeled robot, has that forms of motion is various and the feature of simple in construction.

For reaching above-mentioned purpose, the present invention adopts the following technical scheme that

Robot is slided in a kind of driven wheeled deformation, including a pair ball wheel, car body, a pair driving motor, a pair shaft coupling a, one To swing arm, pair of control motor, a pair shaft coupling b, pair of angled axle, pair of angled axle axle bed, pair of driven wheel carrier and To driven pulley;It is characterized in that: described ball wheel is fixedly mounted on below car body;Described swing arm horizontal positioned, swing arm head and car Body is rotationally connected, and its afterbody is rotationally connected with sloping shaft axle bed;Described driving motor is fixedly mounted on above car body, its output shaft It is connected by described shaft coupling a is fixing with swing arm;Described control motor is fixedly mounted on above swing arm, and its output shaft passes through shaft coupling Device b is fixing with sloping shaft axle bed to be connected;Described driven pulley wheel carrier is rotationally connected with sloping shaft axle bed by sloping shaft;Described driven Wheel is rotationally connected with driven pulley wheel carrier;The axial line of described sloping shaft becomes an inclination angle with sloping shaft axle bed vertical direction;With driving Motor drives described swing arm to swing, and controls sloping shaft axle bed with controlling motor, thus realizes robot and realize Serpentis formula or the frog Formula is moved.

Further, the pivot angle of described swing arm is α degree, α≤180, and when α spends less than θ, robot is frog kick movement;Work as θ During≤α≤180, robot is the motion of Serpentis formula.

It is preferred that θ is 120.

Further, when described robot is the motion of Serpentis formula, stability should be kept.

At car body intermediate symmetry, two ball wheels are installed it is preferred that use.

Further, described driven pulley be rear biasing wheel, when described driving motor cannot driven machine people move time, described Control motor to change the direction of driven pulley or power is provided, make movement locus more versatile and flexible.

The operation principle of the present invention is as follows:

The present invention drives the swing of swing arm by motor, makes driven pulley deviate equilbrium position when swing arm swings so that it is around axis Deflection certain angle, can make wheel return to owing to the axis on the sloping shaft axle bed of installation wheel carrier exists inclination angle with endways direction The trend of poised state, the effect both this creates stiction required when wheel advances.By controlling two inclinations The sloping shaft direction that motor on axle axle bed adjusts on the sloping shaft axle bed installing driven pulley wheel carrier is breast-stroke to adapt to robot Motion or the motion of Serpentis formula.The direction of motion and the speed of robot is controlled by the regulation pivot angle of swing arm, angular velocity.

Compared with prior art, the present invention has following prominent substantive distinguishing features and a significant advantage:

The present invention drives swinging of swing arm by motor, is adjusted by the motor on two sloping shaft axle beds of control simultaneously and inclines Sloping shaft direction on inclined shaft axle bed, it is possible to achieve different forms of motion.The present invention is as a kind of new aggregate motion form Robot, belongs to driven wheeled robot, has the simple feature of mechanism.Additionally, the present invention passes through the change of swing arm with regulation Driven pulley swings thus obtains onward impulse.There is the strongest interest in the robot of the present invention, can be used for entertainment, it is also possible to Verification platform as the research of nonholonomic system correlation theory.

Accompanying drawing explanation

Fig. 1 is the frog kick movement state schematic perspective view that robot is slided in the driven wheeled deformation of the present invention.

Fig. 2 is the Serpentis formula kinestate schematic perspective view that robot is slided in the driven wheeled deformation of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, the technical scheme in the preferred embodiment of the present invention is fully described by.

As shown in Figure 1 and Figure 2, robot is slided in driven wheeled deformation, including a pair ball wheel 1, car body 2, a pair driving motor 3, a pair shaft coupling a4, a pair swing arm 5, pair of control motor 6, a pair shaft coupling b7, pair of angled axle 8, pair of angled axle axle Seat 9, pair of driven wheel carrier 10 and pair of driven 11;Described ball wheel 1 is fixing with car body 2 to be connected;Described swing arm 5 level is put Putting, swing arm 5 head is rotationally connected with car body 2, and its afterbody is rotationally connected with sloping shaft axle bed 9;Driven and stated galvanic electricity machine 3 and car body 2 Fixing connection, and be connected by described shaft coupling a4 is fixing with swing arm 5;Described control motor 6 is fixing with swing arm 5 to be connected, and leads to Cross that shaft coupling b7 and sloping shaft axle bed 9 is fixing to be connected;Described driven pulley wheel carrier 10 is rotated with sloping shaft axle bed 9 by sloping shaft 8 Connect;Described driven pulley 11 is rotationally connected with driven pulley wheel carrier 10;The axial line of described sloping shaft 8 is vertical with sloping shaft axle bed 9 Direction becomes an inclination angle;With driving motor 3 to drive described swing arm 5 to swing, control sloping shaft axle bed with controlling motor 6, thus Realize robot and realize Serpentis formula or frog kick movement.

The pivot angle of described swing arm 5 is α degree (α≤180), and when α is less than θ, robot is frog kick movement;When θ≤α≤180 Time, robot is the motion of Serpentis formula.In the present embodiment, θ is 120 degree.

When described robot is the motion of Serpentis formula, stability should be kept.The present embodiment uses and installs at car body 2 intermediate symmetry Two ball wheels 1.

Described driven pulley 11 be rear biasing wheel, when described driving motor 3 cannot driven machine people move time, described control electricity Machine 6 can change the direction of driven pulley 11 or provide power, makes movement locus more versatile and flexible.

Claims (4)

1. a robot is slided in driven wheeled deformation, including a pair ball wheel (1), car body (2), drive for a pair motor (3), a pair Shaft coupling a(4), a pair swing arm (5), pair of control motor (6), a pair shaft coupling b(7), pair of angled axle (8), pair of angled Axle axle bed (9), pair of driven wheel carrier (10) and pair of driven (11);It is characterized in that: described ball wheel (1) is fixedly mounted on Car body (2) is below;Described swing arm (5) horizontal positioned, swing arm (5) head is rotationally connected with car body (2), its afterbody and sloping shaft axle Seat (9) is rotationally connected;Described driving motor (3) is fixedly mounted on car body (2) above, and its output shaft passes through described shaft coupling a(4) Fix with swing arm (5) and be connected;Described control motor (6) is fixedly mounted on swing arm (5) above, and its output shaft passes through shaft coupling b(7) Fix with sloping shaft axle bed (9) and be connected;Described driven pulley wheel carrier (10) is rotated even with sloping shaft axle bed (9) by sloping shaft (8) Connect;Described driven pulley (11) is rotationally connected with driven pulley wheel carrier (10);The axial line of described sloping shaft (8) and sloping shaft axle bed (9) vertical direction becomes an inclination angle;With driving motor (3) to drive described swing arm (5) to swing, control to incline with controlling motor (6) Inclined shaft axle bed (9), thus realize robot and realize Serpentis formula or frog kick movement.
Robot is slided in driven wheeled deformation the most according to claim 1, it is characterised in that: the pivot angle of described swing arm (5) For α degree, α≤180, when α is less than θ, robot is frog kick movement;When θ≤α≤180, robot is the motion of Serpentis formula;θ is 110 ~ 130 degree.
Robot is slided in driven wheeled deformation the most according to claim 1, it is characterised in that described robot is Serpentis formula fortune Time dynamic, stability should be kept, can use, at car body (2) intermediate symmetry, two ball wheels are installed.
Robot is slided in driven wheeled deformation the most according to claim 1, it is characterised in that: after described driven pulley (11) is Biasing wheel, when described driving motor (3) cannot driven machine people move time, described control motor (6) can change driven pulley (11) Direction or provide power, make movement locus more versatile and flexible.
CN201610360614.XA 2016-05-28 2016-05-28 Robot is slided in driven wheeled deformation CN106114675A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610360614.XA CN106114675A (en) 2016-05-28 2016-05-28 Robot is slided in driven wheeled deformation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610360614.XA CN106114675A (en) 2016-05-28 2016-05-28 Robot is slided in driven wheeled deformation

Publications (1)

Publication Number Publication Date
CN106114675A true CN106114675A (en) 2016-11-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610360614.XA CN106114675A (en) 2016-05-28 2016-05-28 Robot is slided in driven wheeled deformation

Country Status (1)

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CN (1) CN106114675A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100076601A1 (en) * 2006-11-09 2010-03-25 Kengo Matsuo Frog-leg-arm robot and control method thereof
CN104443092A (en) * 2014-11-05 2015-03-25 上海大学 Person-sliding-simulated frog board robot
CN104828168A (en) * 2015-05-15 2015-08-12 北京理工大学 Double-swinging-arm movement mechanism of amphibious frog plate robot
CN105015638A (en) * 2015-07-08 2015-11-04 上海大学 Vehicle type robot capable of walking in S curve based on crank regulating swinging arm
CN105015668A (en) * 2015-07-08 2015-11-04 上海大学 Dragon scooter type robot based on slider-rocker mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100076601A1 (en) * 2006-11-09 2010-03-25 Kengo Matsuo Frog-leg-arm robot and control method thereof
CN104443092A (en) * 2014-11-05 2015-03-25 上海大学 Person-sliding-simulated frog board robot
CN104828168A (en) * 2015-05-15 2015-08-12 北京理工大学 Double-swinging-arm movement mechanism of amphibious frog plate robot
CN105015638A (en) * 2015-07-08 2015-11-04 上海大学 Vehicle type robot capable of walking in S curve based on crank regulating swinging arm
CN105015668A (en) * 2015-07-08 2015-11-04 上海大学 Dragon scooter type robot based on slider-rocker mechanism

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