CN108238126A - A kind of Lun Zu omnidirectional movings robot - Google Patents
A kind of Lun Zu omnidirectional movings robot Download PDFInfo
- Publication number
- CN108238126A CN108238126A CN201711492554.8A CN201711492554A CN108238126A CN 108238126 A CN108238126 A CN 108238126A CN 201711492554 A CN201711492554 A CN 201711492554A CN 108238126 A CN108238126 A CN 108238126A
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- rack
- joint
- lun
- robot
- omnidirectional
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of Lun Zu omnidirectional movings robot, comprising：Rack, the wheeled traveling component being fixedly connected with rack, the leg formula traveling component being fixedly connected with rack, rack are integral type axially symmetric structure, wheeled traveling component and leg formula traveling component independently of each other, work alternatively and form Lun Zu omnidirectional movings robot.By setting wheeled traveling component that is mutual indepedent, working alternatively and leg formula traveling component in rack, a kind of strong Lun Zu omnidirectional movings robot of environment-adapting ability is formed further through the different stretching, extension contraction state of adjustment leg traveling component.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of Lun Zu omnidirectional movings robot.
Background technology
With the continuous development of robot technology, when in face of adverse circumstances and complicated landform, kinematic robot is utilized
To enhance, other landform adapt to deformation function and autokinetic movement ability is a kind of developed recently robot technology faster.Compared to
Wheeled, crawler type or general sufficient formula kinematic robot, wheel can deformation type robot have obstacle climbing ability is strong, movement velocity it is high with
And the characteristics of flexible Omni-mobile can be achieved under flat road surface.
But existing robot is mostly single form, compound such as monocycly robot, single legged type robot or for wheel leg
There are two types of the robots of athletic posture for tool, and because its is complicated, control difficulty is big, it is difficult to good practical application is obtained, and with
The development of engineering technology, it is increasing to the machine Man's Demands for adapting to complex situations, it is badly in need of a kind of adaptive capacity to environment
Strong structure simple and reliable robot solves the above problems.
Invention content
The technical problem to be solved by the present invention is to：A kind of strong environmental adaptability, wheel foot omnidirectional moving machine simple in structure
Device people.
The present invention is to solve a kind of technical solution that its technical problem provides to be：
A kind of Lun Zu omnidirectional movings robot, comprising：Rack, the wheeled traveling component being fixedly connected with the rack, with
The leg formula traveling component that the rack is fixedly connected, the rack be integral type axially symmetric structure, the wheeled traveling component with
The leg formula traveling component is mutual indepedent, alternation forms Lun Zu omnidirectional movings robot.
As the improvement of said program, the intermediate position of the rack is equipped with the reinforcing rib extended along rack length side.
As the improvement of said program, the wheeled traveling component and the raised installation position or the suspension that are located in the rack
Frame is affixed.
As being further improved for said program, the wheeled traveling component includes multigroup motor and Mike's method nurse wheel, institute
It states and spring damper is equipped between Mike's method nurse wheel and the rack.
As the improvement of said program, the leg formula traveling component is fixed in the edge of the rack, the leg formula row
Into component by servo driving.
It is further improved as said program, the leg formula traveling component includes the first joint, second joint, third joint
With the 4th joint, connected by steering engine between the joint.
As the improvement of said program, the steering engine is wrapped in it by first joint, second joint, third joint
It is internal.
As being further improved for said program, the 4th joint is shock-damping structure, and the end in the 4th joint is also
It is coated with rubber.
As the improvement of said program, the head of the rack is equipped with multi-joint mechanical arm, and the end of the mechanical arm is set
There is handgrip.
The method have the benefit that：By setting wheeled traveling group that is mutual indepedent, working alternatively in rack
It is strong to form a kind of environment-adapting ability further through the different stretching, extension working condition of adjustment leg traveling component for part and leg formula traveling component
Lun Zu omnidirectional movings robot.
Description of the drawings
For the clearer technical solution illustrated in the embodiment of the present invention, make required in being described below to embodiment
Attached drawing briefly describes.
Fig. 1 is a kind of schematic diagram of embodiment of Lun Zu omnidirectional movings robot of the present invention；
Fig. 2 is Lun Zu omnidirectional movings robot Testudinidae four-footed motor pattern structure diagram of the present invention；
Fig. 3 is Lun Zu omnidirectional movings robot Canidae four-footed motor pattern structure diagram of the present invention；
Fig. 4 is the wheeled omnidirectional moving mode configuration schematic diagram of Lun Zu omnidirectional movings robot of the present invention.
Specific embodiment
The technique effect of design, concrete structure and the generation of the present invention is carried out with attached drawing with reference to embodiments it is clear,
It is fully described by, to fully understand the purpose of the present invention, scheme and effect.It should be noted that in the absence of conflict originally
The feature in embodiment and embodiment in application can be combined with each other.In addition upper and lower, left and right used in the present invention etc.
It describes in only opposite figure for each component part mutual alignment relation of the present invention.
Fig. 1 is a kind of schematic diagram of embodiment of Lun Zu omnidirectional movings robot of the present invention, with reference to figure 1, Lun Zu omnidirectionals fortune
Mobile robot includes rack 100, the wheeled traveling component 200 being fixedly connected with rack 100, the leg being fixedly connected with rack 100
Formula traveling component 300；Rack 100 is an integral structure, and is made of aluminum alloy material, the generally axially symmetric structure of rack 100,
The positive and negative centre of rack 100 is equipped with the reinforcing rib 110 extended along 100 length direction of rack.
Wheeled traveling component 200 is tightly connected with the raised connecting portion 120 in rack 100 or hanger bracket 130；
Running on wheels component 200 includes motor rack 210, movable motor 220 and is fixedly connected with the output shaft of movable motor 220
Mecanum wheel, preferred movable motor 220 are straight brush without galvanic electricity machine.It can be seen that the wheeled row positioned at 100 forepart of rack
Affixed by motor rack and hanger bracket 130 into component 200, hanger bracket 130 can be rotated around its installation axle in the range of certain angle,
Spring damper 230 is additionally provided between hanger bracket 130 and rack 100, for alleviate Mecanum wheel during traveling with
Impact force between ground and barrier ensures reliability, the durability of running on wheels component 200.Positioned at 100 rear portion of rack
Running on wheels component 200 be directly fixed by screw by motor rack 210 with the raised connecting portion 120 in rack 100
Connection, motor rack 210 are the whole laminated structure in T fonts, are arranged with reinforcing rib in the mounting portion of motor rack 210, enhance
The intensity of 210 root of motor rack ensures the reliability in Mecanum wheel traveling process.It is to be appreciated that the unlimited ratch of the present invention
The connection mode that formula is walked between component 200 and rack 100, in concrete application scene, can be selected as needed, be used
Double suspensions or the mode that directly affixed or front suspension connects, rear portion is affixed, so that wheeled traveling component 200 is in most preferably
Working condition.
4 mutually independent wheeled traveling components 200 are equipped in rack 100 as seen from the figure, in the driving of controller
Lower 4 movable motors 220 mutually cooperate with, and omnidirectional movement is realized by the effect of Mecanum wheel, simple and compact for structure.
Leg formula traveling component 300 is fixed in the edge of rack 100, and leg formula traveling component 300 is articulated structure, is passed through
The movement of servo driving multi-joint.Leg formula traveling component 300 include the first joint 310, second joint 320, third joint 330 with
And the 4th joint 340；First joint 310 and the first joint motor 311 are affixed by screw, the output of the first joint steering engine 311
Axis and the first joint and rack 100 are affixed；First joint steering engine 311 and second joint steering engine 321 are affixed, the first joint 311
For output shaft perpendicular to the output shaft of second joint steering engine 321, the output shaft and second joint 320 of second joint steering engine 321 be affixed；
The other end of second joint 320 and third joint steering engine 331 are affixed by screw, the output shaft of second joint steering engine 321 and
It is vertical after the output of three joint steering engines 341；Third joint 330 and the 4th joint steering engine 341 are affixed, the 4th joint steering engine 341
Output shaft and the 4th joint 340 are affixed；Steering engine is wrapped in it by the first joint 310, second joint 320 and third joint 330
It is respectively internal, it on the one hand plays a protective role to steering engine, on the other hand so that the structure of leg traveling component 300 is more stepped up
It gathers, mitigates the weight of legged walking component 300.
The 4th joint 340 on leg formula traveling component 300 is up big and down small, and centre is formed for connection structure staggeredly, is made
It obtains the 4th joint and is that ground can generate a certain amount of deformation when impact, absorb impact force, ensure member in robot
The safety of part.
Preferably, be coated with rubber in the end in the 4th joint 340, further reduce the 4th joint 340 with ground
Impact force when face contacts.
Preferably, the top of rack 100 is also fixedly connected with mechanical arm 400, and mechanical arm 400 passes through rudder for articulated structure
Machine drives, and handgrip 410 is equipped in the end of mechanical arm 400, for capturing material.
Fig. 2 is the sufficient omnidirectional moving function robot Testudinidae four-footed motor pattern structure diagram of present invention wheel, with reference to figure 2,
Robot deformation process by robot to the Testudinidae motion state of wheeled state is as follows, and the rotation of second joint steering engine 321 makes leg
Portion is turned to the side of rack 100 by the top of rack 100, and the 4th joint 340 is made to land, and rotates third joint steering engine later
331 and the 4th joint steering engine 341 legged walking component 300 be unfolded support robot, adjust first in steering engine rotation process
The position of joint steering engine 311 adapts to the state of robot, finally by the first joint rotated on each legged walking component 300
Steering engine 311 and second joint steering engine 321 gradually adjust posture to Testudinidae reptile form.Wherein Testudinidae reptile form is fitted
Road surface that should be more rugged, and it is suitable for the road surface that barrier is higher or touchdown point requirement is wider.
Fig. 3 is Lun Zu omnidirectional movings robot Canidae four-footed motor pattern structure diagram of the present invention, with reference to figure 3, by tortoise
Section creep state robot to Canidae creep state robot deformation process it is as follows, by adjusting second joint steering engine 321
With third joint steering engine 331 so that being received in leg formula traveling component 300, the second joint 320 of leg formula traveling component 300 is elevated,
Form Canidae four-footed motion state, under the form due to center of gravity is higher and the 4th joint 340 (sufficient end) relative to rack up and down
Motion range is larger, is suitable for the higher landform of barrier, while can also realize that obstacle detouring faster advances in general road.
Fig. 4 is the wheeled omnidirectional moving mode configuration schematic diagram of Lun Zu omnidirectional movings robot of the present invention, with reference to figure 4, machine
People is closed in wheel type movement by the first joint steering engine 311, second joint steering engine 321, third joint steering engine 331 and the 4th
Under the action of saving steering engine 341, leg formula traveling component 300 is contracted to the top of rack 100, and four Mecanum wheels are in movable motor
Under 220 driving, oblique 45 ° of friction counterforce is provided, four Mecanum wheels coordinate rotation wheeled to adjust robot simultaneously
Direction of motion during movement realizes the omnidirectional movings such as forward, traversing, diagonal, rotation and combinations thereof movement.
Preferably, control module (not shown) can be also set on the top of rack 100, and control module includes master control core
Piece, power module, WIFI module, servos control port, DC MOTOR CONTROL port, USART, power supply output module, sensor
Module, DC motor driver and program download module.
Preferably, control system is developed based on ARM, and sensor assembly includes camera and attitude transducer, posture sensing
Device is MPU6050 attitude transducers, and the function of control system is mainly acquired processing to the data that sensor assembly returns,
Then by radioing to host computer, coordination control is carried out to each steering engine in leg exercise structure according to host computer analysis result
System.
Although specifically showing and describing the present invention with reference to preferred embodiment, those skilled in the art should be bright
In vain, it is not departing from the spirit and scope of the present invention that described claims are limited, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (10)
1. a kind of Lun Zu omnidirectional movings robot, which is characterized in that include：Rack, the wheeled row being fixedly connected with the rack
The leg formula traveling component being fixedly connected into component, with the rack, the rack be integral type axially symmetric structure, the wheeled row
Into component and the leg formula traveling component independently of each other, work alternatively and form Lun Zu omnidirectional movings robot.
2. Lun Zu omnidirectional movings robot according to claim 1, it is characterised in that：The intermediate position of the rack is equipped with
The reinforcing rib extended along rack length direction.
3. Lun Zu omnidirectional movings robot according to claim 1, it is characterised in that：The wheeled traveling component is with being located at
Raised installation position or hanger bracket in the rack is affixed.
4. the Lun Zu omnidirectional movings robot according to claim 1 or 3, it is characterised in that：The wheeled traveling component packet
Multigroup motor and Mike's method nurse wheel are included, the output shaft of Mike's method nurse wheel and the motor is sequentially connected, and the motor passes through
Motor rack and the rack are affixed.
5. Lun Zu omnidirectional movings robot according to claim 4, it is characterised in that：Mike's method nurse wheel and the machine
Spring damper is equipped between frame.
6. Lun Zu omnidirectional movings robot according to claim 1, it is characterised in that：The leg formula traveling component is fixed in
The edge of the rack, the leg formula traveling component is by servo driving.
7. Lun Zu omnidirectional movings robot according to claim 6, it is characterised in that：The leg formula traveling component includes the
One joint, second joint, third joint and the 4th joint are connected by steering engine between the joint.
8. Lun Zu omnidirectional movings robot according to claim 7, it is characterised in that：First joint, second joint,
The steering engine is wrapped up inside it in third joint.
9. Lun Zu omnidirectional movings robot according to claim 7, it is characterised in that：4th joint is damping knot
Structure, the end in the 4th joint are also wrapped on rubber.
10. Lun Zu omnidirectional movings robot according to claim 1, it is characterised in that：The head of the rack is additionally provided with
Multi-joint mechanical arm, the end of the mechanical arm are equipped with handgrip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492554.8A CN108238126A (en) | 2017-12-30 | 2017-12-30 | A kind of Lun Zu omnidirectional movings robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492554.8A CN108238126A (en) | 2017-12-30 | 2017-12-30 | A kind of Lun Zu omnidirectional movings robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108238126A true CN108238126A (en) | 2018-07-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711492554.8A Pending CN108238126A (en) | 2017-12-30 | 2017-12-30 | A kind of Lun Zu omnidirectional movings robot |
Country Status (1)
| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267141A (en) * | 2020-04-09 | 2020-06-12 | 白志超 | Extensible robot joint and switchable robot with driving modes formed by same |
| CN113146602A (en) * | 2021-03-30 | 2021-07-23 | 黑龙江工程学院 | Robot structure suitable for computer control |
| US20230211842A1 (en) * | 2021-12-31 | 2023-07-06 | Hyundai Motor Company | Autonomous walking vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111267141A (en) * | 2020-04-09 | 2020-06-12 | 白志超 | Extensible robot joint and switchable robot with driving modes formed by same |
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| US20230211842A1 (en) * | 2021-12-31 | 2023-07-06 | Hyundai Motor Company | Autonomous walking vehicle |
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Application publication date: 20180703 |
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