CN106114675B

CN106114675B - Driven wheel type deformation sliding robot

Info

Publication number: CN106114675B
Application number: CN201610360614.XA
Authority: CN
Inventors: 徐子力; 黄智洪; 杨文俊; 卢松; 徐伟萍
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2016-05-28
Filing date: 2016-05-28
Publication date: 2021-05-07
Anticipated expiration: 2036-05-28
Also published as: CN106114675A

Abstract

The invention relates to a driven wheel type deformation sliding robot. The device comprises a ball wheel, a vehicle body, a driving motor, a coupling a, a swing arm, a control motor, a coupling b, an inclined shaft seat, a driven wheel frame and a driven wheel; the ball wheel is fixedly connected with the vehicle body; the swing arm is horizontally arranged, the head of the swing arm is rotationally connected with the vehicle body, and the tail of the swing arm is rotationally connected with the inclined shaft seat; the driving motor is fixedly connected with the vehicle body and is fixedly connected with the swing arm through the coupler a; the control motor is fixedly connected with the swing arm and is fixedly connected with the inclined shaft seat through a coupling b; the driven wheel carrier is rotationally connected with the inclined shaft seat through the inclined shaft; the driven wheel is rotationally connected with the driven wheel frame; the axis of the inclined shaft and the vertical direction of the shaft seat of the inclined shaft form an inclination angle. The invention has the characteristics of simple mechanism and strong interest, can be used for entertainment and can also be used as a verification platform for the relevant theoretical research of an incomplete system.

Description

Driven wheel type deformation sliding robot

Technical Field

The invention belongs to the field of robots, and particularly relates to a driven wheel type deformation sliding robot.

Background

Most of wheel-legged robots mainly adopt a driving wheel type structure, wheels are directly driven through a motor, and the motions of advancing, retreating, turning and the like of the robot are realized by matching with the motions of legs.

The driven wheel type wheel leg robot can adjust the included angle between the normal plane of the driven wheel and the longitudinal symmetrical plane of the robot to obtain the advancing power by adjusting the pose of the leg, and a driving motor is not required to be installed on a driven roller at the tail end, so that the structural design of the wheel part of the robot can be effectively simplified, and the motion of the robot can be realized by controlling a small amount of freedom.

At present, there have been studies on a dragon-type wheel-leg robot and a snake-type robot using a driven wheel, but there have been few studies on driven wheel-leg robots having a single motion form and a plurality of motion forms with a simple structure.

Disclosure of Invention

The invention aims to provide a driven wheel type deformation sliding robot, which belongs to one driven wheel type robot and has the characteristics of various motion forms and simple structure.

In order to achieve the purpose, the invention adopts the following technical scheme:

a driven wheel type deformation sliding robot comprises a pair of ball wheels, a vehicle body, a pair of driving motors, a pair of couplings a, a pair of swing arms, a pair of control motors, a pair of couplings b, a pair of inclined shafts, a pair of inclined shaft seats, a pair of driven wheel frames and a pair of driven wheels; the method is characterized in that: the ball wheel is fixedly arranged below the vehicle body; the swing arm is horizontally arranged, the head of the swing arm is rotationally connected with the vehicle body, and the tail of the swing arm is rotationally connected with the inclined shaft seat; the driving motor is fixedly arranged on the vehicle body, and an output shaft of the driving motor is fixedly connected with the swing arm through the coupler a; the control motor is fixedly arranged on the swing arm, and an output shaft of the control motor is fixedly connected with the inclined shaft seat through a coupling b; the driven wheel carrier is rotationally connected with the inclined shaft seat through the inclined shaft; the driven wheel is rotationally connected with the driven wheel frame; the axis of the inclined shaft and the vertical direction of the shaft seat of the inclined shaft form an inclination angle; the swing arm is driven by the driving motor to swing left and right, and the shaft seat of the inclined shaft is controlled by the control motor, so that the robot can realize snake-type or frog-type motion.

Furthermore, the swing angle of the swing arm is alpha degrees, alpha is less than or equal to 180 degrees, and when the alpha is less than theta degrees, the robot moves in a frog manner; when theta is more than or equal to alpha and less than or equal to 180, the robot moves in a snake shape.

Preferably, θ is 120.

Further, the robot should maintain stability when moving in a snake-like manner.

Preferably, two ball wheels are symmetrically arranged in the middle of the vehicle body.

Furthermore, the driven wheel is a rear offset wheel, and when the driving motor cannot drive the robot to move, the control motor can change the direction of the driven wheel or provide power, so that the movement track is more flexible and diversified.

The working principle of the invention is as follows:

the invention drives the swing arm to swing through the motor, when the swing arm swings, the driven wheel deviates from the balance position and deflects a certain angle around the axis, and the wheel tends to return to the balance state due to the inclination angle between the axis on the inclined shaft seat of the wheel frame and the vertical direction, and the static friction force required by the advancing of the wheel is generated by the action of the axis and the vertical direction. The direction of the inclined shaft on the inclined shaft seat provided with the driven wheel carrier is adjusted by controlling the motors on the two inclined shaft seats so as to adapt to frog-type motion or snake-type motion of the robot. The motion direction and speed of the robot are controlled by adjusting the swing angle and the angular speed of the swing arm.

Compared with the prior art, the invention has the following prominent substantive characteristics and obvious advantages:

the swing arm is driven by the motor to swing left and right, and the directions of the inclined shafts on the inclined shaft seats are adjusted by controlling the motors on the two inclined shaft seats, so that different motion forms can be realized. The invention relates to a novel combined motion form robot, belonging to a driven wheel type robot, and having the characteristic of simple mechanism. In addition, the invention adjusts the swing of the driven wheel through the change of the swing arm so as to obtain the forward power. The robot has strong interestingness, can be used for entertainment and can also be used as a verification platform for the relevant theoretical research of an incomplete system.

Drawings

Fig. 1 is a perspective view showing a frog type motion state of the driven wheel type deforming sliding robot of the present invention.

Fig. 2 is a perspective view showing a state of snake-like motion of the driven wheel type deforming sliding robot of the present invention.

Detailed Description

The technical solutions in the preferred embodiments of the present invention are fully described below with reference to the accompanying drawings.

As shown in fig. 1 and 2, the driven wheel type deforming sliding robot includes a pair of ball wheels 1, a vehicle body 2, a pair of driving motors 3, a pair of couplings a4, a pair of swing arms 5, a pair of control motors 6, a pair of couplings b7, a pair of inclined shafts 8, a pair of inclined shaft seats 9, a pair of driven wheel carriers 10, and a pair of driven wheels 11; the ball wheel 1 is fixedly connected with the vehicle body 2; the swing arm 5 is horizontally placed, the head of the swing arm 5 is rotationally connected with the vehicle body 2, and the tail of the swing arm is rotationally connected with the inclined shaft seat 9; the driven motor 3 is fixedly connected with the vehicle body 2 and is fixedly connected with the swing arm 5 through the coupler a 4; the control motor 6 is fixedly connected with the swing arm 5 and fixedly connected with the inclined shaft seat 9 through a coupler b 7; the driven wheel carrier 10 is rotationally connected with the inclined shaft seat 9 through the inclined shaft 8; the driven wheel 11 is rotationally connected with the driven wheel frame 10; the axis line of the inclined shaft 8 and the vertical direction of the inclined shaft seat 9 form an inclination angle; the swing arm 5 is driven by the driving motor 3 to swing left and right, and the inclined shaft seat is controlled by the control motor 6, so that the robot can realize snake-type or frog-type motion.

The swing angle of the swing arm 5 is alpha degrees (alpha is less than or equal to 180), and when the alpha is less than theta, the robot moves in a frog manner; when theta is more than or equal to alpha and less than or equal to 180, the robot moves in a snake shape. In this embodiment, θ is 120 degrees.

The robot should maintain stability when it is in snake motion. In the embodiment, two ball wheels 1 are symmetrically arranged in the middle of the vehicle body 2.

Driven wheel 11 is the rear deviation wheel, and when driving motor 3 can't drive the motion of robot, control motor 6 can change the direction of following wheel 11 or provide power, makes the motion trail more nimble various.

Claims

1. A driven wheel type deformation sliding robot comprises a pair of ball wheels (1), a vehicle body (2), a pair of driving motors (3), a pair of couplings a (4), a pair of swing arms (5), a pair of control motors (6), a pair of couplings b (7), a pair of inclined shafts (8), a pair of inclined shaft seats (9), a pair of driven wheel frames (10) and a pair of driven wheels (11); the method is characterized in that: the ball wheel (1) is fixedly arranged below the vehicle body (2); the swing arm (5) is horizontally arranged, the head part of the swing arm (5) is rotationally connected with the vehicle body (2), and the tail part of the swing arm is rotationally connected with the inclined shaft seat (9); the driving motor (3) is fixedly arranged on the vehicle body (2), and an output shaft of the driving motor is fixedly connected with the swing arm (5) through the coupler a (4); the control motor (6) is fixedly arranged on the swing arm (5), and an output shaft of the control motor is fixedly connected with the inclined shaft seat (9) through a coupling b (7); the driven wheel carrier (10) is rotationally connected with the inclined shaft seat (9) through the inclined shaft (8); the driven wheel (11) is rotationally connected with a driven wheel frame (10); the axis line of the inclined shaft (8) forms an inclination angle with the vertical direction of the inclined shaft seat (9); a driving motor (3) is respectively used for directly driving one swing arm (5) to swing left and right, and a control motor (6) is used for controlling a tilting shaft seat (9), so that the robot can realize snake-type or frog-type motion; the swing angle of the swing arm (5) is alpha degrees, alpha is less than or equal to 180, and when alpha is less than theta, the robot moves in a frog manner; when theta is more than or equal to alpha and less than or equal to 180, the robot moves in a snake shape; theta is 110-130 degrees; when the robot moves in a snake shape, the stability is kept; two ball wheels are symmetrically arranged in the middle of the vehicle body (2).

2. The driven wheel morphing skidding robot of claim 1 wherein: the driven wheel (11) is a rear offset wheel, and when the driving motor (3) cannot drive the robot to move, the control motor (6) can change the direction of the driven wheel (11) or provide power, so that the movement track is more flexible and diversified.