CN107599745A - The control method of robot castor, walking robot and walking robot - Google Patents
The control method of robot castor, walking robot and walking robot Download PDFInfo
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- CN107599745A CN107599745A CN201710908709.5A CN201710908709A CN107599745A CN 107599745 A CN107599745 A CN 107599745A CN 201710908709 A CN201710908709 A CN 201710908709A CN 107599745 A CN107599745 A CN 107599745A
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- castor
- robot
- walking robot
- pneumatic unit
- wheel hub
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention belongs to intelligent robot technology field, and in particular to the control method of a kind of robot castor, walking robot and walking robot.Robot castor of the present invention includes pneumatic unit, connecting seat, steering unit, hub bracket and wheel hub motor, pneumatic unit is used for the height for adjusting robot castor and located at the top of connecting seat, steering unit, hub bracket and wheel hub motor are sequentially arranged in the bottom of connecting seat, the upper end of hub bracket is through steering unit and is rotatably connected to the inside of connecting seat, and the lower end of hub bracket is connected with the output shaft of wheel hub motor.By using the control method of robot castor of the present invention, walking robot and walking robot, using the height of pneumatic unit control machine people's castor, can be that fuselage integrally provides good damping effect, and pneumatic unit is swift in response, stroke is grown, and improves the resistance to overturning and adaptability of walking robot.
Description
Technical field
The invention belongs to intelligent robot technology field, and in particular to a kind of robot castor, walking robot and row
The control method of robot walking.
Background technology
Omnibearing wheel type mobile robot has three degree of freedom in two dimensional surface, can be planar same along any direction
When make translation and rotation, possess realized in the case where not changing vehicle body attitude to any direction move ability, be especially suitable for
Applied to narrow space or the occasion high to robot maneuverability requirement, such as floor truck robot, comprehensive shifting in industry
Wheelchair, stream delivery intelligent vehicle etc..In order to effectively buffer because of ground irregularities the jerk caused by robot automobile body,
Robot traveling comfort is improved, current most mobile robot is to increase elasticity between vehicle body and directional wheel to subtract
Device is shaken, such as：Spring, or the damping device based on spring.
Patent No. CN106240673A invention proposes a kind of mobile transfer robot and its control method, the patent
In mobile transfer robot include vehicle body, atmospheric control, omni-directional drive wheel module and multiple load-carrying universal wheels, pneumatically
Control system and omni-directional drive wheel module are respectively arranged in vehicle body, pass through multiple load-carrying universal wheels, omni-directional drive wheel module
And atmospheric control cooperates and completes walking and the steering procedure of mobile transfer robot.
Although the patent application can be good at completing the walking for moving transfer robot and steering procedure, still suffer from
Lower shortcoming：
1st, it is merely able to complete the movement and rotation in plane, the motion of vertical direction can not be realized；
2nd, multiple load-carrying universal wheels and omni-directional drive wheel module is needed to coordinate completion mobile jointly and turn to, structure is multiple
It is miscellaneous.
The content of the invention
The invention aims to solve above-mentioned at least one problem, the purpose is by the following technical programs
Realize.
The present invention proposes a kind of robot castor, including pneumatic unit, connecting seat, steering unit, hub bracket
And wheel hub motor, the pneumatic unit are used for the height for adjusting the robot castor and located at the top of the connecting seat, institutes
The bottom that steering unit, the hub bracket and the wheel hub motor are sequentially arranged in the connecting seat is stated, the hub bracket
Upper end is through the steering unit and is rotatably connected to the inside of the connecting seat, under the hub bracket
End is connected with the output shaft of the wheel hub motor, by activating the wheel hub motor robot castor can be driven to be moved
It is dynamic, it can adjust the steering of the robot castor by activating the steering unit.
Further, the pneumatic unit is cylinder.
Further, the steering unit includes steering motor and the worm-gear speed reducer coordinated with the steering motor
Or worm speed reducer.
It is described the invention also provides a kind of walking robot, including robot castor described above, in addition to chassis
Multiple robot castors are evenly equipped with chassis, the pneumatic unit is fixed at the top on the chassis, described pneumatic single
The external part of member is connected through the chassis and with the connecting seat below the chassis.
Further, the walking robot also includes air accumulator and the air pump for being supplied to the pneumatic unit, its
In, the pneumatic unit is cylinder, and the gas-storing capacity of the air accumulator is 4-8 times of the tolerance of the cylinder.
Further, the air pump is driven using DC brushless motor.
Further, the walking robot also includes guider, and the guider includes guide rod and guide holder,
The guide holder is fixed at the top on the chassis, and one end of the guide rod through the guide holder and the chassis and leads to
Cross guiding joint element for bar to be fixedly connected with the external part of the cylinder, the cylinder passes through the guiding joint element for bar and the company
Joint chair is connected.
The invention also provides a kind of control method of walking robot, turned according to walking robot described above
Circle, comprises the following steps：
The walking robot is shut down, the wheel hub motor is remained static and multiple wheel hub motors
Direction it is consistent；
Control multiple hub brackets to rotate respectively, the direction of multiple wheel hub motors is in same circumference side
To tangential direction on, the walking robot can be made to complete the circumference side when multiple wheel hub motor common rotations
Upward rotation；
Multiple wheel hub motors are activated respectively and complete rotation on the circumferencial direction jointly, make presently described vehicle with walking machine
Device people turns to predetermined angle.
The invention also provides a kind of control method of walking robot, is carried out according to walking robot described above
Slope and descending, comprise the following steps：
When the walking robot is gone up a slope, the pneumatic unit of the driving located at the front of the walking robot
Shrink and/or the pneumatic unit located at the rear of the walking robot stretches out；
When the walking robot carries out descending, the pneumatic unit of the driving located at the front of the walking robot
Stretch out and/or the pneumatic unit located at the rear of the walking robot shrinks.
The invention also provides a kind of control method of walking robot, climbed according to walking robot described above
Step is climbed, is comprised the following steps：
By the walking robot at a certain angle close to the step, multiple robot castors are respectively the first pin
Wheel, the second castor, the 3rd castor and the 4th castor, wherein, the facade of first castor and the step is fitted；
First castor is lifted, while court is provided to second castor, the 3rd castor and the 4th castor
The driving force moved to the direction of the step, when the bottom of first castor exceedes the step surface height of the step,
Second castor, the 3rd castor and the 4th castor are in the presence of the driving force towards the direction of the step
Mobile, now, first castor is on the step surface of the step, is consolidated first castor by the pneumatic unit
Due on the step surface of the step；
The walking robot is rotated to an angle, the facade of second castor and the step is fitted；
Second castor is lifted, while court is provided to first castor, the 3rd castor and the 4th castor
The driving force moved to the direction of the step, when the bottom of second castor exceedes the step surface height of the step,
First castor, the 3rd castor and the 4th castor are in the presence of the driving force towards the direction of the step
Mobile, now, first castor and second castor are on the step surface of the step, pass through the pneumatic unit
First castor and second castor are fixed on the step surface of the step；
The walking robot is rotated to an angle again, is affixed the facade of the 3rd castor and the step
Close；
The 3rd castor is lifted, while court is provided to first castor, second castor and the 4th castor
The driving force moved to the direction of the step, when the bottom of the 3rd castor exceedes the step surface height of the step,
First castor, second castor and the 4th castor are in the presence of the driving force towards the direction of the step
Mobile, now, first castor, second castor and the 3rd castor are on the step surface of the step, are led to
Cross the step surface that first castor, second castor and the 3rd castor are fixed on the step by the pneumatic unit
On；
The walking robot is rotated to an angle again, is affixed the facade of the 4th castor and the step
Close；
The 4th castor is lifted, while court is provided to first castor, second castor and the 3rd castor
The driving force moved to the direction of the step, when the bottom of the 4th castor exceedes the step surface height of the step,
First castor, second castor and the 3rd castor are in the presence of the driving force towards the direction of the step
Mobile, now, first castor, second castor, the 3rd castor and the 4th castor are in the step
Step surface on, by the pneumatic unit by first castor, second castor, the 3rd castor and the described 4th
Castor is fixed on the step surface of the step.
By using the control method of robot castor of the present invention, walking robot and walking robot, adopt
Can be that fuselage integrally provides good damping effect, and pneumatic unit is anti-with the height of pneumatic unit control machine people's castor
Should be rapid, stroke is grown, the height of regulation fuselage that can be promptly and accurately, improves resistance to overturning and the adaptation of walking robot
Property.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is the overall structure diagram of walking robot of the embodiment of the present invention；
Fig. 2 is the overall structure diagram of Tu1Zhong robots castor；
Fig. 3 is the decomposition texture schematic diagram of Tu2Zhong robots castor；
Fig. 4 is the cross-sectional view of Tu2Zhong robots castor.
Each mark represents as follows in accompanying drawing：
10：Pneumatic unit, 20：Connecting seat, 30：Steering unit, 40：Hub bracket, 50：Wheel hub motor, 60：Chassis, 71：
Guide rod, 72：Guide holder, 73：It is oriented to joint element for bar, 81 guide rod fixed seats, 82：Cylinder fixed seat, 91：Drag chain, 92：Threading
Cylinder, 101：First castor, 102：Second castor, 103：3rd castor, 104：4th castor.
Embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although this public affairs is shown in accompanying drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.Conversely, there is provided these embodiments are to be able to be best understood from the disclosure, and can be by this public affairs
The scope opened completely is communicated to those skilled in the art.
Fig. 1 is the overall structure diagram of walking robot of the embodiment of the present invention.Fig. 2 is the whole of Tu1Zhong robots castor
Body structural representation.Fig. 3 is the decomposition texture schematic diagram of Tu2Zhong robots castor.Fig. 4 is the section of Tu2Zhong robots castor
Structural representation.As shown in Figure 2, Figure 3, Figure 4, the robot castor include pneumatic unit 10, connecting seat 20, steering unit 30,
Hub bracket 40 and wheel hub motor 50, pneumatic unit 10 are used for the height for adjusting robot castor and located at the tops of connecting seat 20
Portion, steering unit 30, hub bracket 40 and wheel hub motor 50 are sequentially arranged in the bottom of connecting seat 20, and the upper end of hub bracket 40 is worn
Cross steering unit 30 and be rotatably connected to the inside of connecting seat 20, the lower end of hub bracket 40 and wheel hub motor
50 output shaft is connected, and by activating wheel hub motor 50 robot castor can be driven to move, by activating steering unit
30 can adjust the steering of robot castor.
Wherein, pneumatic unit 10 is cylinder.Steering unit 30 includes steering motor and the worm gear snail coordinated with steering motor
Bar reductor or worm speed reducer.
In the present embodiment, good damping effect can be provided for robot foot wheel by using the height of cylinder control castor,
Meanwhile the stroke length of cylinder, it is swift in response, the adjustment for the overall posture of walking robot can be very timely.For example climb
During abrupt slope, pavement behavior is detected by the sensor on fuselage, so as to input different gas to different robot castors
Amount, makes vehicle body entirety keep level.In potted road surface, integral elevator body so that fine by property；At smooth-riding surface,
It is overall to reduce fuselage so that stability is fine.The revolution of motor or motor is decelerated to by using Worm reduction motor
Required revolution, while larger torque is obtained, and drive hub bracket 40 and wheel hub motor 50 to realize and turn to.
Further, potentiometer is additionally provided with inside the connecting seat 20 in the present embodiment, potentiometer is used for accurate measurement wheel
The steering of hub holder 40 simultaneously feeds back to electric-control system.The potentiometer possesses the features such as durable, accurate, perceived direction, is turning to
When motor is operated, the potentiometer carries out the accurate measurement of rotational angle and feeds back to electric-control system, enters one by electric-control system
Step controls steering motor to ensure to allow the rotation of each robot castor to reach accurate.In bumpy road, if robot foot
The change of direction occurs for the effect taken turns in external force, and the situation of rotation timely can also be informed electric-control system by potentiometer, by electricity
Control system sends corrective instruction to steering motor, and the result of correction is further perceived by potentiometer, to keep individual machine people
The accurate control of the direction of castor.
In wheel hub motor 50, system is reserved with hall device, and by rotation of the Hall circuit to wheel hub motor 50 or
Static, rotation direction, rotating speed are fed back, and further optimize electric-control system to wheel hub motor 50 by the signal of feedback
Control.
As shown in figure 1, the walking robot includes robot castor described above and chassis 60, being evenly equipped with chassis 60
Multiple robot castors, pneumatic unit 10 are fixed at the top on chassis 60, and the external part of pneumatic unit 10 passes through chassis 60 simultaneously
It is connected with the connecting seat 20 located at the lower section of chassis 60.
Further, walking robot also includes air accumulator and the air pump for being supplied to cylinder, wherein, the storage of air accumulator
Tolerance is 4-8 times of the tolerance of cylinder, and specific gas storage numerical quantity can also be adjusted as the case may be.Air pump uses direct current
Brushless electric machine is driven, and ensures Jing Yin and enough gas pressure with this.Because air pump is driven using direct current generator,
Therefore need to protect starting current.The combination of pressure valve, relief valve and relief tube, check valve is employed in the present embodiment
To reduce the startup load of direct current generator.Meanwhile DC brushless motor is controlled by controller, automation control is added
The possibility of system.
The height of the solenoid valve control cylinder of 3 position-5 way is used in the present embodiment, is controlled by program to the upper of cylinder
End or lower end are inflated, and so as to change the extension elongation of cylinder, realize the height change of robot castor.When need increase gas
During the extension elongation of cylinder, the upper end of cylinder is inflated, when needing to reduce the extension elongation of cylinder, the lower end of cylinder entered
Row inflation, when need steady cylinder extension elongation it is constant when, stop inflation.
Meanwhile increase measurement of the barometer as carrying in baric systerm, tune of the increase range-viewfinder as posture balancing
Whole foundation.
The stroke of cylinder can customize completely, therefore can complete quick, strong linearly operating, and contrast uses straight-line electric
Machine driving robot castor is stronger, more rapidly, also more easy care.
It is of course also possible to use electric cylinders replace cylinder to complete driving to robot castor, but the cushioning effect of electric cylinders
Not as cylinder, corresponding vibration absorption unit, such as spring accessory need to be increased when using electric cylinders.
By setting sonac or photoelectric sensor to measure cylinder overhang on fuselage, so as to control gas
The length of the stretching of cylinder, so as to control the fuselage of walking robot height.By pressure sensor to body pressing in each castor
On pressure measure, so that it is guaranteed that at level land, by adjusting the posture of vehicle body, keep the heavy burden of each robot castor
Homogenization (in order to cater to counterweight in that is travelling, fuselage is integrally likely to be at heeling condition).Multiple robot castors
The control of three dimensions is controlled with feedback by model computation, allows each robot castor in speed, heavy burden, direction
Etc. harmoniously.
Further, to ensure that the external part of cylinder will not drive hub bracket 40 to rotate in telescopic process, this
Walking robot in embodiment also includes guider, and guider is used for the traffic direction for ensureing the external part of cylinder, led
Include guide rod 71 and guide holder 72 to device, guide holder 72 is fixed at the top on chassis 60, and one end of guide rod 71 passes through
Guide holder 72 and chassis 60 are simultaneously fixedly connected by being oriented to joint element for bar 73 with the stretching of cylinder, and cylinder is by being oriented to joint element for bar
73 are connected with connecting seat 20.
Guide holder 72 is fixed on chassis 60, is internally provided with the operation passage of guide rod 71, be ensure that guide rod 71
Linear motion.The lower end of guide rod 71 and the external part of cylinder, which are each attached to, to be oriented on joint element for bar 73, is effectively prevented
Cylinder drives hub bracket 40 to rotate during stretching motion, so as to ensure that the rotation of hub bracket 40 can only occur in
Under the driving force of steering unit 30, it is ensured that the reliability of steering.
Further, drag chain 91 and threading cylinder 92 are also included in the present embodiment, threading cylinder 92 is used to protect cable
And guiding, drag chain 91 are used to play traction and protective effect to the cable in threading cylinder 92.The upper end of guide rod 71, which is provided with, to be oriented to
Bar fixed seat 81, the lower end of threading cylinder 92, which is fixed on, to be oriented on joint element for bar 73, and the upper end of threading cylinder 92 is fixed on guide rod and consolidated
In reservation 81, further strengthen guide rod 71 by guide rod fixed seat 81 and thread the fixing intensity of cylinder 92.The top of cylinder
Cylinder fixed seat 82 is additionally provided with, one end of drag chain 91 is fixed on threading cylinder 92, the other end of drag chain 91 and the gas of cylinder head
Cylinder fixed seat 82 is fixedly connected, so as to ensure drag chain 91 can with the stretching motion of cylinder associated movement.
In actual applications, walking robot can use 1-2 robot castor in the present embodiment, remaining castor
It can be replaced by everything wheel, i.e., pneumatic part still retains, and wheel hub motor is optional, can also use Unpowered wheel, steering unit
Universal head is changed to, so as to simplify the scheme in the present embodiment, reduces the cost of product.
This programme employs Arduino Due and carries out execution control, and Due possesses 54 road IO, turns wherein single wheel uses
1, velocity modulation section, rotating 1, velocity measuring 3；Wheel is turned to using turning velocity control 1, rotating 1, enabled control
System 1；Pneumatic system uses lifting control 1, decline control 1；Range sensor 2.Therefore, single set wheel uses 12 tunnels
IO, if car uses four wheels, it can be carried out controlling by Due 48 road IO.
In to the specific control logic of fuselage, the Arduino Due for control machine people's castor are from top level control
The heart (is controlled using Raspberry Pi in this programme and is carried out data exchange with high in the clouds, to realize positioning, navigation, driving, avoidance
Deng action) action command (for example advance, turn-take, traversing etc.) is collected, Due is issued to each wheel collaborate instruction again simultaneously.
So that the walking robot in using the present embodiment is turn-taked as an example, Due receives top level control center and turned to the left
90 degree of instruction, vehicle vehicle body can do following action：First stop, keep four wheel hub motors 50 to be in static, determine four wheels
Hub motor 50 when front direction is positive forward direction；Each low damage of four hub brackets 40 is controlled respectively so that four wheel hub motors
50 direction forms one " circle " (shape that the anglec of rotation of wheel and direction are made up of wheel specific each determines)；Driving
Wheel hub motor 50 rotates, and wheel hub motor 50 is advanced a quarter girth of " circle " so that fuselage is completed and initial position 90
The steering of degree；Stop the operating of wheel hub motor 50, and ajust hub bracket 40, wheel hub motor 50 is arrived positive forward location, complete
Walking robot is turn-taked 90 degree of instruction.
When walking robot prepares to cross or prepare climbing, first, the intelligence system of fuselage can pass through map POI
Or vehicle body vision system finds deceleration strip or climb and fall；Then, according to POI data, system by vehicle body be set as leaning forward or after
Certain angle is faced upward, leans forward and is advantageous to the horizontality that vehicle body is presented when grabbing ground and climbing of climbing, layback is then under reply
Slope, keep the horizontality of vehicle body.Arduino Due are responsible for performing This move, by the robot castor of fore-body
Cylinder top or bottom inflation reach the stretching or contraction of castor, so as to adjust body gesture, the amount specifically adjusted is by passing
Sensor is responsible for feedback, and the time (millisecond number) for being responsible for developing air inlet switch by Due realizes inflation；Completion or climbing are crossed in vehicle body
After the completion of vehicle body recovered into reset condition.
Road serrated edge is climbed for realization or climbs the scheme of step, and single wheel can lift 250mm in this programme, therefore can
To climb about 200mm vertical riser, concrete mode is as follows：By walking robot at a certain angle, such as 45° angle is close to platform
Rank, wherein, the facade of the first castor 101 and step is fitted.
The first castor 101 is lifted, while is provided to the second castor 102, the 3rd castor 103 and the 4th castor 104 towards platform
The driving force of the direction movement of rank, when the bottom of the first castor 101 exceedes the step surface height of step, the second castor 102, the
Three castors 103 and the 4th castor 104 are moved in the presence of driving force towards the direction of step, and now, the first castor 101 is in
On the step surface of step, the first castor 101 is fixed on step surface by cylinder.
Walking robot is rotated to an angle, such as 30 ° of angles, the facade of the second castor 102 and step is fitted.
The second castor 102 is lifted, while is provided to the first castor 101, the 3rd castor 103 and the 4th castor 104 towards platform
The driving force of the direction movement of rank, when the bottom of the second castor 102 exceedes the step surface height of step, the first castor 101, the
Three castors 103 and the 4th castor 104 move in the presence of driving force towards the direction of step, now, the first castor 101 and the
Two castors 102 are on the step surface of step, and the first castor 101 and the second castor 102 are fixed on into step surface by cylinder
On.
Walking robot is rotated to an angle again, such as 30 ° of angles, the facade of the 3rd castor 103 and step is fitted.
The 3rd castor 103 is lifted, while is provided to the first castor 101, the second castor 102 and the 4th castor 104 towards platform
The driving force of the direction movement of rank, when the bottom of the 3rd castor 103 exceedes the step surface height of step, the first castor 101, the
Two castors 102 and the 4th castor 104 move in the presence of driving force towards the direction of step, now, the first castor 101, the
Two castors 102 and the 3rd castor 103 are on the step surface of step, by cylinder by the first castor 101 and the second castor
102nd, the 3rd castor 103 is fixed on step surface.
Walking robot is rotated to an angle again, such as 30 °, the facade of the 4th castor 104 and step is fitted.
The 4th castor 104 is lifted, while is provided to the first castor 101, the second castor 102 and the 3rd castor 103 towards platform
The driving force of the direction movement of rank, when the bottom of the 4th castor 104 exceedes the step surface height of step, the first castor 101, the
Two castors 102 and the 3rd castor 103 move in the presence of driving force towards the direction of step, now, the first castor 101, the
Two castors 102, the 3rd castor 103 and the 4th castor 104 are on the step surface of step, by cylinder by the first castor 101,
Second castor 102, the 3rd castor 103 and the 4th castor 104 are fixed on step surface.
By using the control method of robot castor of the present invention, walking robot and walking robot, adopt
Can be that fuselage integrally provides good damping effect, and pneumatic unit is anti-with the height of pneumatic unit control machine people's castor
Should be rapid, stroke is grown, the height of regulation fuselage that can be promptly and accurately, improves resistance to overturning and the adaptation of walking robot
Property.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Enclose and be defined.
Claims (10)
1. a kind of robot castor, it is characterised in that including pneumatic unit, connecting seat, steering unit, hub bracket and wheel hub electricity
Machine, the pneumatic unit is used for the height for adjusting the robot castor and located at the top of the connecting seat, described to turn to list
First, described hub bracket and the wheel hub motor are sequentially arranged in the bottom of the connecting seat, and the upper end of the hub bracket passes through
The steering unit and the inside for being rotatably connected to the connecting seat, the lower end of the hub bracket with it is described
The output shaft of wheel hub motor is connected, and by activating the wheel hub motor robot castor can be driven to move, passed through
The steering of the robot castor can be adjusted by activating the steering unit.
2. robot castor according to claim 1, it is characterised in that the pneumatic unit is cylinder.
3. robot castor according to claim 1, it is characterised in that the steering unit include steering motor and with institute
State the worm-gear speed reducer or worm speed reducer of steering motor cooperation.
4. a kind of walking robot, including the robot castor any one of the claims 1-3, it is characterised in that
Also include chassis, multiple robot castors are evenly equipped with the chassis, the pneumatic unit is fixed at the chassis
Top, the external part of the pneumatic unit are connected through the chassis and with the connecting seat below the chassis.
5. walking robot according to claim 4, it is characterised in that the walking robot also includes air accumulator and use
In the air pump supplied to the pneumatic unit, wherein, the pneumatic unit is cylinder, and the gas-storing capacity of the air accumulator is the gas
4-8 times of the tolerance of cylinder.
6. walking robot according to claim 5, it is characterised in that the air pump is driven using DC brushless motor
It is dynamic.
7. walking robot according to claim 5, it is characterised in that the walking robot also includes guider,
The guider includes guide rod and guide holder, and the guide holder is fixed at the top on the chassis, the guide rod
One end with the external part of the cylinder is fixedly connected through the guide holder and the chassis and by being oriented to joint element for bar, described
Cylinder is connected by the guiding joint element for bar with the connecting seat.
8. a kind of control method of walking robot, the walking robot according to any one of claim 4-7 are turned
Circle, it is characterised in that comprise the following steps：
The walking robot is shut down, the wheel hub motor is remained static and the court of multiple wheel hub motors
To consistent；
Control multiple hub brackets to rotate respectively, the direction of multiple wheel hub motors is in same circumferencial direction
In tangential direction, when multiple wheel hub motor common rotations the walking robot can complete on the circumferencial direction
Rotation；
Multiple wheel hub motors are activated respectively and complete rotation on the circumferencial direction jointly, make presently described walking robot
Turn to predetermined angle.
9. a kind of control method of walking robot, the walking robot according to any one of claim 4-7 is carried out
Slope and descending, it is characterised in that comprise the following steps：
When the walking robot is gone up a slope, the pneumatic unit of the driving located at the front of the walking robot shrinks
And/or the pneumatic unit located at the rear of the walking robot stretches out；
When the walking robot carries out descending, the pneumatic unit of the driving located at the front of the walking robot stretches out
And/or the pneumatic unit located at the rear of the walking robot shrinks.
10. a kind of control method of walking robot, the walking robot according to any one of claim 4-7 are climbed
Climb step, it is characterised in that comprise the following steps：
By the walking robot at a certain angle close to the step, multiple robot castors be respectively the first castor,
Second castor, the 3rd castor and the 4th castor, wherein, the facade of first castor and the step is fitted；
First castor is lifted, while is provided to second castor, the 3rd castor and the 4th castor towards institute
The driving force of the direction movement of step is stated, it is described when the bottom of first castor exceedes the step surface height of the step
Second castor, the 3rd castor and the 4th castor move in the presence of the driving force towards the direction of the step
Dynamic, now, first castor is on the step surface of the step, is fixed first castor by the pneumatic unit
In on the step surface of the step；
The walking robot is rotated to an angle, the facade of second castor and the step is fitted；
Second castor is lifted, while is provided to first castor, the 3rd castor and the 4th castor towards institute
The driving force of the direction movement of step is stated, it is described when the bottom of second castor exceedes the step surface height of the step
First castor, the 3rd castor and the 4th castor move in the presence of the driving force towards the direction of the step
Dynamic, now, first castor and second castor are on the step surface of the step, will by the pneumatic unit
First castor and second castor are fixed on the step surface of the step；
The walking robot is rotated to an angle again, the facade of the 3rd castor and the step is fitted；
The 3rd castor is lifted, while is provided to first castor, second castor and the 4th castor towards institute
The driving force of the direction movement of step is stated, it is described when the bottom of the 3rd castor exceedes the step surface height of the step
First castor, second castor and the 4th castor move in the presence of the driving force towards the direction of the step
Dynamic, now, first castor, second castor and the 3rd castor are on the step surface of the step, are passed through
First castor, second castor and the 3rd castor are fixed on the step surface of the step by the pneumatic unit
On；
The walking robot is rotated to an angle again, the facade of the 4th castor and the step is fitted；
The 4th castor is lifted, while is provided to first castor, second castor and the 3rd castor towards institute
The driving force of the direction movement of step is stated, it is described when the bottom of the 4th castor exceedes the step surface height of the step
First castor, second castor and the 3rd castor move in the presence of the driving force towards the direction of the step
Dynamic, now, first castor, second castor, the 3rd castor and the 4th castor are in the step
On step surface, by the pneumatic unit by first castor, second castor, the 3rd castor and the 4th pin
Wheel is fixed on the step surface of the step.
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| CN108684172A (en) * | 2018-05-29 | 2018-10-19 | 徐盼盼 | A kind of electrical cabinet easy to use |
| CN109349965A (en) * | 2018-11-13 | 2019-02-19 | 牟欣阳 | It is a kind of to facilitate the sweeping robot for collecting rubbish |
| CN109893380A (en) * | 2019-04-02 | 2019-06-18 | 南京天奥医疗仪器制造有限公司 | A kind of electronic vehicle for medical use |
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