CN108238126A - A kind of Lun Zu omnidirectional movings robot - Google Patents

A kind of Lun Zu omnidirectional movings robot Download PDF

Info

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
Authority
CN
China
Prior art keywords
rack
joint
lun
robot
omnidirectional
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
Application number
CN201711492554.8A
Other languages
Chinese (zh)
Inventor
徐文福
徐克轶
姚辰
康鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Graduate School Harbin Institute of Technology
Original Assignee
Shenzhen Graduate School Harbin Institute of Technology
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 Shenzhen Graduate School Harbin Institute of Technology filed Critical Shenzhen Graduate School Harbin Institute of Technology
Priority to CN201711492554.8A priority Critical patent/CN108238126A/en
Publication of CN108238126A publication Critical patent/CN108238126A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

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

A kind of Lun Zu omnidirectional movings robot
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.
CN201711492554.8A 2017-12-30 2017-12-30 A kind of Lun Zu omnidirectional movings robot Pending CN108238126A (en)

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

Family

ID=62698399

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
CN (1) CN108238126A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
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

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101823484A (en) * 2010-02-11 2010-09-08 上海交通大学 Concealed air cushion vehicle
CN103112515A (en) * 2013-01-28 2013-05-22 大连海洋大学 Wheel leg combined type robot
CN204110201U (en) * 2014-10-15 2015-01-21 吉林大学 A kind of multiple degree of freedom running gear for six biped robots
CN105151153A (en) * 2015-09-28 2015-12-16 哈尔滨工业大学深圳研究生院 Wheel-foot hybrid mode hexapod robot moving platform
CN105150206A (en) * 2015-09-28 2015-12-16 哈尔滨工业大学深圳研究生院 Six-leg and double-arm compound type mobile robot system
WO2016110719A1 (en) * 2015-01-09 2016-07-14 Mclaren Applied Technologies Limited Mobile platform
CN106183681A (en) * 2016-08-01 2016-12-07 山东建筑大学 Omni-directional moving platform with damping device
CN106627827A (en) * 2016-11-22 2017-05-10 姜涵宇 Multi-terrain conveying vehicle
CN106741299A (en) * 2016-12-21 2017-05-31 深圳若步智能科技有限公司 A kind of merchandising machine people's body structure based on Mecanum wheel
CN206218053U (en) * 2016-12-01 2017-06-06 天津农学院 The sufficient search and rescue robot of wheel-leg combined type movement six
CN106828651A (en) * 2017-01-20 2017-06-13 哈尔滨工业大学深圳研究生院 A kind of sufficient kinematic robot of deformable wheel
CN107021148A (en) * 2017-04-19 2017-08-08 无锡新创力工业设备有限公司 The transfer robot that comprehensive full landform is guided automatically
CN107054590A (en) * 2017-04-25 2017-08-18 重庆大学 Vibrate absorption type four-footed climbing robot under water
CN107140052A (en) * 2017-04-24 2017-09-08 北京航空航天大学 A kind of wheel leg type Hexapod Robot with suspension

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101823484A (en) * 2010-02-11 2010-09-08 上海交通大学 Concealed air cushion vehicle
CN103112515A (en) * 2013-01-28 2013-05-22 大连海洋大学 Wheel leg combined type robot
CN204110201U (en) * 2014-10-15 2015-01-21 吉林大学 A kind of multiple degree of freedom running gear for six biped robots
WO2016110719A1 (en) * 2015-01-09 2016-07-14 Mclaren Applied Technologies Limited Mobile platform
CN105151153A (en) * 2015-09-28 2015-12-16 哈尔滨工业大学深圳研究生院 Wheel-foot hybrid mode hexapod robot moving platform
CN105150206A (en) * 2015-09-28 2015-12-16 哈尔滨工业大学深圳研究生院 Six-leg and double-arm compound type mobile robot system
CN106183681A (en) * 2016-08-01 2016-12-07 山东建筑大学 Omni-directional moving platform with damping device
CN106627827A (en) * 2016-11-22 2017-05-10 姜涵宇 Multi-terrain conveying vehicle
CN206218053U (en) * 2016-12-01 2017-06-06 天津农学院 The sufficient search and rescue robot of wheel-leg combined type movement six
CN106741299A (en) * 2016-12-21 2017-05-31 深圳若步智能科技有限公司 A kind of merchandising machine people's body structure based on Mecanum wheel
CN106828651A (en) * 2017-01-20 2017-06-13 哈尔滨工业大学深圳研究生院 A kind of sufficient kinematic robot of deformable wheel
CN107021148A (en) * 2017-04-19 2017-08-08 无锡新创力工业设备有限公司 The transfer robot that comprehensive full landform is guided automatically
CN107140052A (en) * 2017-04-24 2017-09-08 北京航空航天大学 A kind of wheel leg type Hexapod Robot with suspension
CN107054590A (en) * 2017-04-25 2017-08-18 重庆大学 Vibrate absorption type four-footed climbing robot under water

Cited By (4)

* Cited by examiner, † Cited by third party
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
CN113146602B (en) * 2021-03-30 2022-09-02 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

Similar Documents

Publication Publication Date Title
CN111497965B (en) Wheel-foot switching robot system and control method thereof
CN110525535B (en) Double-wheel-foot hybrid self-balancing robot
CN214875226U (en) Moving device of robot and robot
KR100687461B1 (en) Robot And Knuckle Apparatus For Robot
CN211032803U (en) Double-wheel-foot hybrid self-balancing robot
CN206781911U (en) A kind of Hexapod Robot
WO2002040223A1 (en) Legged mobile robot and control method thereof, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot
US20090321150A1 (en) Walking robot and method of controlling the same
US7561941B2 (en) Ambulatory robot and method for controlling the same
CN108238126A (en) A kind of Lun Zu omnidirectional movings robot
CN109850025B (en) Single-leg robot mechanism for wall surface jumping and control method
CN107053215B (en) Robot control system
WO2011119599A2 (en) In-line legged robot vehicle and method for operating
CN113173216A (en) Moving device of robot and robot
CN205469357U (en) A multi -functional imitative ant robot for crossing over obstacle
CN201231791Y (en) Multi-joint type crawler mobile robot
CN104986240B (en) The walking robot leg configuration of linear drives and four feet walking robot in parallel
WO2006064599A1 (en) Legged mobile robot and control program for the robot
JP4295947B2 (en) Legged mobile robot and its movement control method
JP4707372B2 (en) Biped robot and its walking control method
CN210634664U (en) Obstacle-avoidable spider hexapod robot
CN107856762A (en) A kind of motor cycle type robot
JP5856724B2 (en) Vehicle with crank wheels
WO2018051365A1 (en) A robotic foot having a toe actuation mechanism for a humanoid robot and method for constructing thereof
CN207257818U (en) A kind of robot multi-link lever suspension fork wheel and single hop crawler type walking mechanism

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
RJ01 Rejection of invention patent application after publication

Application publication date: 20180703

RJ01 Rejection of invention patent application after publication