CN108275211A - A kind of crawler type omni-directional mobile robots - Google Patents
A kind of crawler type omni-directional mobile robots Download PDFInfo
- Publication number
- CN108275211A CN108275211A CN201810258091.7A CN201810258091A CN108275211A CN 108275211 A CN108275211 A CN 108275211A CN 201810258091 A CN201810258091 A CN 201810258091A CN 108275211 A CN108275211 A CN 108275211A
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- bottom plate
- main body
- unit
- fixed
- track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- 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 invention discloses a kind of crawler type omni-directional mobile robots, including main body bottom plate, main body cover, battery unit, control unit, communication unit, electric-motor drive unit and track unit；The track unit is made of shaft, crawler belt, Athey wheel fixed plate, crawler rack, driving motor, retarder, speed measuring coder；Main body bottom plate uses aluminium alloy structure, the equipment that robot body is carried above main body bottom plate, including battery unit, control unit, communication unit and electric-motor drive unit；It is 4 track units below main body bottom plate, each track unit constitutes one group of steering structure, is mounted below robot body's bottom plate by bearing block and angular contact bearing；Track unit can be deflected around yawing axis ± 90 °, and deflection angle is measured by angular transducer, and angular transducer is fixed on by angular transducer holder on main body bottom plate；Complete machine does not need complicated active steering structure, is provided simultaneously with that caterpillar type robot lifting capacity is strong, the features such as operating steadily.
Description
Technical field：
The present invention relates to a kind of robot of omnidirectional more particularly to a kind of crawler type omni-directional mobile robots.
Background technology：
With the rapid development of robot technology, robot plays more and more important work in the production and living of people
With.Omni-directional mobile robots may be implemented the rotation that turning radius is zero or keep robot pose it is constant in the case of to
Any direction moves.Due to unique movenent performance, omni-directional mobile robots are in intelligent wheel chair, transfer robot, inspection machine
There is apparent superiority in the products such as people.
The common motion structure of omni-directional mobile robots has Mecanum wheel, concentric deflecting roller etc. at present.But Mecanum
The roller of wheel outer rim is alternately contacted with ground, in rolling process middle roller constantly by the shock loading on ground so that wheel exists
Constantly change with the height of ground contact points in rotation process, leads to body oscillating or skidding；The Omni-mobile of deflecting roller composition
The deflection of wheels of robot direction needs active steering structure to drive, it is therefore desirable to complicated steering structure, and robot is straight
Driving structure is turned to when line is run becomes additional load, and capacity usage ratio is low.
Invention content：
In view of the above problems existing in the prior art, the purpose of the present invention is to provide a kind of reasonable design, bearing capacities by force,
Safe and reliable omni-directional mobile robots.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of crawler type omni-directional mobile robots, including main body bottom plate, main body cover, battery unit, control unit, communication
Unit, electric-motor drive unit and track unit, it is characterised in that：Robot body's bottom plate uses aluminium alloy structure, main body
Bottom plate is fixedly arranged above the equipment and structure of robot body, including communication unit, battery unit, control unit and motor drive
Moving cell, surrounding are with main body cover.It is 4 track units below main body bottom plate, each track unit constitutes one group of steering knot
Structure is mounted on by bearing block and angular contact bearing below robot body's bottom plate.
Robot body's bottom plate uses aluminium alloy structure, is equipped with installation screw thread mouth and through-hole above, and main body cover leads to
Letter unit, battery unit, control unit and electric-motor drive unit are fixed on by screw above main body bottom plate.
The track unit by shaft, crawler belt, Athey wheel fixed plate, crawler rack, driving motor, retarder, test the speed volume
Code device composition.The threaded hole and through-hole of installation are equipped in the Athey wheel fixed plate, the shaft and crawler rack pass through
Screw is fixed in Athey wheel fixed plate, and the driving motor is direct current generator and is fixed on speed reducer, driving motor power
Output end is connect with speed reducer input terminal to by the power output of motor, the driving motor rear end is connected with coding and tests the speed
Device, to measurement motor rotating speed.The retarder is fixed on crawler rack, and output end is connected with crawler belt driving wheel, to increase
Strong output torque.
The bearing block is fixed by screws on main body bottom plate, and angular contact bearing, the crawler belt list are housed in bearing block
Member is connect by angular contact bearing with main body bottom plate, track unit axis can ± 90 ° of deflections, deflection angle measures by angular transducer,
The angular transducer shell is fixed on sensor stand, and the rotary shaft of angular transducer passes through shaft coupling and track unit
Shaft connects, and the sensor stand is fixed by screws on main body bottom plate.
Since angular contact bearing can bear larger radial load and axial load simultaneously, so track unit can both rise
To the effect of carrying robot body and load weight, and the horizontal movement of traction robot can be operated by crawler belt.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) robot replaces active steering wheel with the track unit steering structure with passive steering structure, makes the machine
People does not need complicated active steering structure, eliminates robot and turns to driving structure row in linear running and is born at additional
It carries.
(2) compared with the wheeled omnidirection robot of traditional Mecanum, crawler type omnidirection robot has crawler type machine
Lifting capacity that device people is possessed is strong, the features such as operating steadily.
Description of the drawings：
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the track unit and main body connection diagram of the present invention；
Fig. 3 is the track unit structural schematic diagram of the present invention；
Fig. 4 is the single track unit control flow chart of the present invention；
Fig. 5 is the whole control flow chart of the present invention.
In figure：1, electric-motor drive unit；2, battery unit；3, control unit；4, main body cover；5, communication unit；6, main
Body bottom plate；7, track unit；601, angular transducer；602, angular transducer holder；603, shaft coupling；604, flat key；605、
Bearing block；606, angular contact bearing；607, track unit；701, shaft；702, Athey wheel fixed plate；703, crawler rack；
704, crawler belt；705, retarder；706, driving motor；707, speed measuring coder.
Specific implementation mode：
In order to keep the technical means, creative features, achievable purpose and effectiveness that the present invention is realized simple and clear, with reference to
Specific the drawings and specific embodiments are described in further detail the present invention, it should be understood that specific implementation described herein
Example is only used for explaining the present invention, is not intended to limit the present invention.
Referring to attached drawing 1~3, a kind of crawler type omni-directional mobile robots, including electric-motor drive unit 1, battery unit 2, control
Unit 3 processed, main body cover 4, communication unit 5, main body bottom plate 6, track unit 7.It is characterized in that：Robot body's bottom plate
6 use aluminium alloy structure, main body bottom plate 6 to be fixedly arranged above the equipment and structure of robot body, including electric-motor drive unit 1,
Battery unit 2, control unit 3 and communication unit 5, surrounding are with main body cover 4.6 lower section of main body bottom plate is 4 track units
7, each track unit 7 constitutes one group of steering structure, and robot body is mounted on by bearing block 605 and angular contact bearing 606
6 lower section of bottom plate.
Robot body's bottom plate 6 uses aluminium alloy structure, is equipped with installation screw thread mouth and through-hole above, and motor driving is single
Member 1, battery unit 2, control unit 3, main body cover 4 and communication unit 5 are fixed on 6 top of main body bottom plate by screw.
The track unit 7 by shaft 701, Athey wheel fixed plate 702, crawler rack 703, crawler belt 704, retarder 705,
Driving motor 706, speed measuring coder 707 form.The threaded hole and through-hole of installation are equipped in the Athey wheel fixed plate 702,
The shaft 701 and crawler rack 703 are fixed by screws in Athey wheel fixed plate 702, and the driving motor 706 is straight
It galvanic electricity machine and is fixed on speed reducer 705,706 power output end of driving motor is connect with 705 input terminal of speed reducer to will be electric
The power output of machine, 706 rear end of the driving motor is connected with coding velometer 707, to measurement motor rotating speed.The deceleration
Device 705 is fixed on crawler rack, and output end is connected with crawler belt driving wheel, to enhance output torque.
The bearing block 605 is fixed by screws on main body bottom plate 6, and angular contact bearing 606 is housed in bearing block 605,
The track unit 7 is connect by angular contact bearing 606 with main body bottom plate 6,7 axis of track unit can ± 90 ° deflection, deflection angle by
Angular transducer measures 601, and 601 shell of the angular transducer is fixed on sensor stand 602, angular transducer 601
Rotary shaft is connect by shaft coupling 603 with the shaft 701 of track unit 7, and the sensor stand 602 is fixed by screws in master
On body bottom plate 6.
Since angular contact bearing can bear larger radial load and axial load simultaneously, so track unit can both rise
To the effect of carrying robot body and load weight, and the horizontal movement of traction robot can be operated by crawler belt.
The communication unit 5 communicates to robot with other equipment, and the battery unit 2 provides the use of robot complete machine
Electricity demanding, described control unit 3 carry out kinematics attitude algorithm to the motion state of robot, and electric-motor drive unit 1 is driving
Dynamic motor rotation,
As shown in figure 4, the movement of single track unit 7 can be decomposed into linear motion and around the shaft 701 rotation, it is defeated
Enter 701 deflection angle of movement velocity and shaft that controlled quentity controlled variable is two crawler belts 704.Reality is measured by angular transducer 601 first
The difference of deflection angle, is calculated by control unit 3 and exports two 706 rotating speeds of driving motor in border deflection angle and control signal
Adjusted value.Speed discrepancy superimposed motor adjustment of rotational speed value in the actual speed and control instruction of each driving motor 706, input
Into control unit 3, the rotating speed of each driving motor 706 is adjusted, the movement that driving motor 706 exports is passed by retarder 705
It is delivered on crawler belt 704, the deflection angle and movement speed of track unit is exported by direction and speed cooperation, and then complete single
The differential motion of a track unit.
As shown in figure 5, the movement instruction that robot is received from communication unit 5 includes movement velocity, direction and the master of main body
The Command Resolution of robot body is each track unit 7 according to kinematics attitude algorithm by body direction, robot control unit 3
Control instruction, and instruction is sent to electric-motor drive unit 1 and then driving motor 706, by each track unit 7 with motivation
Device people moves integrally.
The basic principles, main features and advantages of the invention have been shown and described above, and the technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It both falls in scope of the present invention, scope of the claimed of the present invention is by appended claims and its equivalent
Object defines.
Claims (1)
1. a kind of crawler type omni-directional mobile robots, it is characterised in that：Robot body's bottom plate (6) uses aluminum alloy junction
Structure, main body bottom plate (6) are fixedly arranged above the equipment and structure of robot body, including electric-motor drive unit (1), battery unit
(2), control unit (3) and communication unit (5), surrounding are with main body cover (4).It is 4 crawler belt lists below main body bottom plate (6)
First (7), each track unit (7) constitute one group of steering structure, are mounted on by bearing block (605) and angular contact bearing (606)
Below robot body's bottom plate (6)；Robot body's bottom plate (6) uses aluminium alloy structure, is equipped with installation screw thread mouth above
And through-hole, electric-motor drive unit (1), battery unit (2), control unit (3), main body cover (4) and communication unit (5) pass through
Screw is fixed on above main body bottom plate (6)；The track unit (7) is by shaft (701), Athey wheel fixed plate (702), crawler belt branch
Frame (703), crawler belt (704), retarder (705), driving motor (706), speed measuring coder (707) composition；The Athey wheel is solid
The threaded hole and through-hole of installation are equipped on fixed board (702), the shaft (701) and crawler rack (703) are solid by screw
It is scheduled in Athey wheel fixed plate (702), the driving motor (706) is direct current generator and is fixed on speed reducer (705), is driven
Motor (706) power output end is connect with speed reducer (705) input terminal to by the power output of motor, the driving motor
(706) rear end is connected with coding velometer (707), to measurement motor rotating speed；The retarder (705) is fixed on crawler rack
On, output end is connected with crawler belt driving wheel, to enhance output torque；The bearing block (605) is fixed by screws in main body
On bottom plate (6), angular contact bearing (606) is housed in bearing block (605), the track unit (7) passes through angular contact bearing (606)
Connect with main body bottom plate (6), track unit (7) axis can ± 90 ° deflection, deflection angle by angular transducer measure (601), the angle
Degree sensor (601) shell is fixed on sensor stand (602), and the rotary shaft of angular transducer (601) passes through shaft coupling
(603) it is connect with the shaft of track unit (7) (701), the sensor stand (602) is fixed by screws in main body bottom plate
(6) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810258091.7A CN108275211A (en) | 2018-03-27 | 2018-03-27 | A kind of crawler type omni-directional mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810258091.7A CN108275211A (en) | 2018-03-27 | 2018-03-27 | A kind of crawler type omni-directional mobile robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108275211A true CN108275211A (en) | 2018-07-13 |
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ID=62810575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810258091.7A Pending CN108275211A (en) | 2018-03-27 | 2018-03-27 | A kind of crawler type omni-directional mobile robots |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496761A (en) * | 2020-05-15 | 2020-08-07 | 深圳国信泰富科技有限公司 | Driving structure of crawler wheel |
| CN112896350A (en) * | 2021-02-08 | 2021-06-04 | 华南理工大学 | Fire fighting robot with crawler-type Mecanum wheel omnidirectional moving platform |
| CN115339534A (en) * | 2022-09-21 | 2022-11-15 | 中煤科工集团重庆研究院有限公司 | Multi-crawler omnidirectional running device |
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| US20100021234A1 (en) * | 2006-09-29 | 2010-01-28 | Willis Paul E | Propulsion and steering system for a road milling machine |
| CN104254652A (en) * | 2011-10-26 | 2014-12-31 | Ihc工程商业有限公司 | Steerable underwater trenching apparatus |
| CN106043427A (en) * | 2016-06-24 | 2016-10-26 | 伍锡如 | Multi-caterpillar-band type all-directional mobile platform |
| CN106428275A (en) * | 2016-05-31 | 2017-02-22 | 张敏 | Marine robot |
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2018
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Patent Citations (4)
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|---|---|---|---|---|
| US20100021234A1 (en) * | 2006-09-29 | 2010-01-28 | Willis Paul E | Propulsion and steering system for a road milling machine |
| CN104254652A (en) * | 2011-10-26 | 2014-12-31 | Ihc工程商业有限公司 | Steerable underwater trenching apparatus |
| CN106428275A (en) * | 2016-05-31 | 2017-02-22 | 张敏 | Marine robot |
| CN106043427A (en) * | 2016-06-24 | 2016-10-26 | 伍锡如 | Multi-caterpillar-band type all-directional mobile platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496761A (en) * | 2020-05-15 | 2020-08-07 | 深圳国信泰富科技有限公司 | Driving structure of crawler wheel |
| CN112896350A (en) * | 2021-02-08 | 2021-06-04 | 华南理工大学 | Fire fighting robot with crawler-type Mecanum wheel omnidirectional moving platform |
| CN112896350B (en) * | 2021-02-08 | 2024-05-31 | 华南理工大学 | Fire-fighting robot with crawler-type Mecanum wheel omni-directional mobile platform |
| CN115339534A (en) * | 2022-09-21 | 2022-11-15 | 中煤科工集团重庆研究院有限公司 | Multi-crawler omnidirectional running device |
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Application publication date: 20180713 |
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