CN107719504A - It is a kind of can Omni-mobile robot - Google Patents
It is a kind of can Omni-mobile robot Download PDFInfo
- Publication number
- CN107719504A CN107719504A CN201710943797.2A CN201710943797A CN107719504A CN 107719504 A CN107719504 A CN 107719504A CN 201710943797 A CN201710943797 A CN 201710943797A CN 107719504 A CN107719504 A CN 107719504A
- Authority
- CN
- China
- Prior art keywords
- module
- pedipulator
- omni
- robot
- steering wheel
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention propose it is a kind of can Omni-mobile robot, including the module of pedipulator one, the module of pedipulator two, body module, interactive module, manipulator, casing module, the module of pedipulator one and the module of pedipulator two are arranged on the both sides of the body module, the interactive module is arranged on the top nose of the body module, the manipulator is arranged on the top rear of the body module, the casing module is arranged on the middle part of the body module, the module of pedipulator one and the module of pedipulator two are respectively provided with the upper joints of individual motor driving, middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, steering wheel device is provided with the bottom joint, the traffic direction of the direct control machine people of steering wheel device.Four steering wheel devices are arranged in robot by the present invention, and robot can realize pivot turn and Omni-mobile by control flaps wheel apparatus.
Description
Technical field
The present invention relates to mobile robot technology field, and in particular to it is a kind of can Omni-mobile robot.
Background technology
Mobile robot increasingly increases in the application of all trades and professions in recent years, and the application scenarios that robot is faced also become
Become increasingly complex, the overwhelming majority is turned using two wheel guide robot when mobile robot is turned at present, but two wheel guide robot turning needs
Certain radius of turn is wanted, the situation two of turning insufficient space occurs when space is smaller influences the normally travel of robot.
The content of the invention
It is an object of the invention to provide it is a kind of can Omni-mobile robot.
The technical solution adopted in the present invention is：
1. it is a kind of can Omni-mobile robot, including the module of pedipulator one（1）, the module of pedipulator two（2）, body module（3）,
Interactive module（4）, manipulator（5）, casing module（6）, the module of pedipulator one（1）And the module of pedipulator two（2）Peace
Mounted in the body module（3）Both sides, the interactive module（4）Installed in the body module（3）Top nose, it is described
Manipulator（5）Installed in the body module（3）Top rear, the casing module（6）Installed in the body mould
Block（3）Middle part, the module of pedipulator one（1）And the module of pedipulator two（2）The upper joints of individual motor driving are respectively provided with,
Middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, and steering wheel device is provided with the bottom joint, it is described
The traffic direction that steering wheel device passes through the direct control machine people of DC speed-reducing two.
2. further, both differential turning directly can be carried out using wheel hub motor during the robot ride,
Steering wheel device can be used to realize pivot turn and Omni-mobile around robot four-wheel midpoint.
3. further, absolute type magnetic coder is housed, for obtaining bottom joint in the DC speed-reducing two
High precision velocity and position feedback, so as to realize high-precision direction controlling.
The beneficial effects of the invention are as follows：Mobile robot realizes Omni-mobile and pivot turn by steering wheel device, improves machine
Device people is in the handling capacity in narrow and small passageway, and it is anti-that high-precision turning velocity and steering position can be obtained by magnetic coder
Feedback, so as to realize high-precision direction controlling.
Brief description of the drawings
Fig. 1 manipulator shaft mappings；
Fig. 2 robots steering wheel device rotates the axonometric drawing after 45 °；
Embodiment.
In order to it is clearer, completely illustrate technical scheme, the present invention is made below in conjunction with the accompanying drawings further
Explanation.Wherein, being given for example only property of accompanying drawing illustrates, expression is only schematic diagram, rather than pictorial diagram, it is impossible to is interpreted as to this patent
Limitation；In order to be better described embodiments of the invention, some parts in accompanying drawing have omission, zoomed in or out, not
Represent the size of actual product；Same or analogous label corresponds to same or analogous part.
1. as shown in figure 1, it is a kind of can Omni-mobile robot, including the module of pedipulator one（1）, the module of pedipulator two
（2）, body module（3）, interactive module（4）, manipulator（5）, casing module（6）, the module of pedipulator one（1）And machine
The module of tool leg two（2）Installed in the body module（3）Both sides, the interactive module（4）Installed in the body module（3）
Top nose, the manipulator（5）Installed in the body module（3）Top rear, the casing module（6）Peace
Mounted in the body module（3）Middle part, the module of pedipulator one（1）And the module of pedipulator two（2）It is respectively provided with individual motor
The upper joints of driving, middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, set at the bottom joint
There are steering wheel device, the traffic direction that the steering wheel device passes through the direct control machine people of DC speed-reducing two.
2. during the robot ride both differential turning directly can be carried out using wheel hub motor, rudder can also be used
Wheel apparatus realizes the pivot turn and Omni-mobile around robot four-wheel midpoint.
3. absolute type magnetic coder is housed, for obtaining the high precision velocity of bottom joint in the DC speed-reducing two
And position feedback, so as to realize high-precision direction controlling.
Claims (3)
1. it is a kind of can Omni-mobile robot, including the module of pedipulator one（1）, the module of pedipulator two（2）, body module（3）,
Interactive module（4）, manipulator（5）, casing module（6）, the module of pedipulator one（1）And the module of pedipulator two（2）Peace
Mounted in the body module（3）Both sides, the interactive module（4）Installed in the body module（3）Top nose, it is described
Manipulator（5）Installed in the body module（3）Top rear, the casing module（6）Installed in the body mould
Block（3）Middle part, the module of pedipulator one（1）And the module of pedipulator two（2）The upper joints of individual motor driving are respectively provided with,
Middle part joint, three rotary joints of bottom joint, and wheel hub motor is housed, and steering wheel device is provided with the bottom joint, it is described
The traffic direction that steering wheel device passes through the direct control machine people of DC speed-reducing two.
2. it is as claimed in claim 1 it is a kind of can Omni-mobile robot, further characterized in that：The robot ride
During both can directly using wheel hub motor carry out differential turning, can also use steering wheel device realize in robot four-wheel
The pivot turn of point and Omni-mobile.
3. it is as claimed in claim 1 it is a kind of can Omni-mobile robot, further characterized in that：The direct current slows down electric
Absolute type magnetic coder is housed on machine two, it is high-precision so as to realize for obtaining the high precision velocity and position feedback of bottom joint
The direction controlling of degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710943797.2A CN107719504A (en) | 2017-10-11 | 2017-10-11 | It is a kind of can Omni-mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710943797.2A CN107719504A (en) | 2017-10-11 | 2017-10-11 | It is a kind of can Omni-mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107719504A true CN107719504A (en) | 2018-02-23 |
Family
ID=61210926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710943797.2A Pending CN107719504A (en) | 2017-10-11 | 2017-10-11 | It is a kind of can Omni-mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107719504A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN104340291A (en) * | 2013-07-27 | 2015-02-11 | 彭寅沐 | Wheel leg type dual-purpose robot |
| CN104773042A (en) * | 2015-04-03 | 2015-07-15 | 西北工业大学 | Amphibious robot with transformable structure |
| CN204701690U (en) * | 2015-05-02 | 2015-10-14 | 重庆三峡学院 | Foot combines with wheel the mobile robot designed |
| CN207241836U (en) * | 2017-10-11 | 2018-04-17 | 深圳市普渡科技有限公司 | It is a kind of can Omni-mobile robot |
-
2017
- 2017-10-11 CN CN201710943797.2A patent/CN107719504A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN104340291A (en) * | 2013-07-27 | 2015-02-11 | 彭寅沐 | Wheel leg type dual-purpose robot |
| CN104773042A (en) * | 2015-04-03 | 2015-07-15 | 西北工业大学 | Amphibious robot with transformable structure |
| CN204701690U (en) * | 2015-05-02 | 2015-10-14 | 重庆三峡学院 | Foot combines with wheel the mobile robot designed |
| CN207241836U (en) * | 2017-10-11 | 2018-04-17 | 深圳市普渡科技有限公司 | It is a kind of can Omni-mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9174338B2 (en) | Robotic movement system | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| Zhang et al. | A novel steering system for a space-saving 4WS4WD electric vehicle: design, modeling, and road tests | |
| CN103383570A (en) | Automatic guided vehicle capable of moving in all directions | |
| CN107783540A (en) | The control method and device that a kind of four-wheel drive turns to | |
| CN106828077A (en) | A kind of omnidirectional driving wheel | |
| Andersen et al. | Geometric path tracking algorithm for autonomous driving in pedestrian environment | |
| CN207241836U (en) | It is a kind of can Omni-mobile robot | |
| CN107284516A (en) | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile | |
| CN110525517A (en) | The motion control method of omnidirectional's heavy duty mobile robot | |
| CN107499378A (en) | Four-wheel independent steering electric vehicle four-wheel steering front/rear wheel turns to dynamic switching method | |
| CN108563227A (en) | A kind of motion control method of the 2D wheeled robots based on movable castor | |
| Soni et al. | Experimental Analysis of Mecanum wheel and Omni wheel | |
| CN106625553A (en) | Intelligent movement platform with multi-degree-of-freedom mechanical arm | |
| CN110509991B (en) | Method and device for adjusting rotating speed | |
| CN108263381B (en) | Vehicle and its lane centering control method and system of application | |
| JP5859093B1 (en) | Trajectory tracking control device | |
| CN103495968A (en) | Chassis mechanism for mobile welding robot | |
| CN107719504A (en) | It is a kind of can Omni-mobile robot | |
| Loh et al. | Mechatronics design and kinematic modelling of a singularityless omni-directional wheeled mobile robot | |
| CN206719311U (en) | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile | |
| CN106078671A (en) | A kind of intelligent robot omnidirectional driving means | |
| Ribeiro et al. | Kinematics models of mobile robots | |
| CN109532830A (en) | Vehicle and its crosswise joint method, system, electronic equipment and storage medium | |
| Shujie et al. | Design and test of flexible chassis automatic tracking steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |