CN109079745A - The deformable wheat wheel movement chassis of service robot - Google Patents
The deformable wheat wheel movement chassis of service robot Download PDFInfo
- Publication number
- CN109079745A CN109079745A CN201811264423.9A CN201811264423A CN109079745A CN 109079745 A CN109079745 A CN 109079745A CN 201811264423 A CN201811264423 A CN 201811264423A CN 109079745 A CN109079745 A CN 109079745A
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- 241000209140 Triticum Species 0.000 title claims abstract description 25
- 235000021307 Triticum Nutrition 0.000 title claims abstract description 25
- 238000010079 rubber tapping Methods 0.000 claims abstract description 8
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 5
- 230000004888 barrier function Effects 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of deformable wheat wheel movement chassis of service robot, it is characterised in that it includes Mecanum wheel, fixed hook, deformation wheel wheel body, outside external disk, hex-head nut, external disk shank of bolt, tapping screw, inside external disk, steering engine U-shaped frame, connecting shaft, steering engine, fastening screw, inner disc connect bolt, inner disc attaching nut, inner disc；The present invention move chassis deformable Mecanum wheel be it is openable, outside is responsible for the Mecanum wheel roller of Omni-mobile, and inside is deformation wheel construction.Deformation principle is the steering engine control inner disc rotation when encountering barrier, and the rotation of deformation wheel spoke slides external disk bolt in slideway, struts deformation wheat wheel and is allowed to be opened for three claw types.Expand the action request that effective obstacle detouring radius completes threshold crossing.Therefore in mobile obstacle detouring, there are two driving link, DC servo motor control movement, the relative rotation of steering engine control inner disc and external disk, i.e. control deformations on the movement chassis.
Description
Technical field
The invention belongs to service robot Omni-mobile technical fields, and in particular to the deformable wheat wheel movement of service robot
Obstacle crossing function is completed while flexibly turning to realize in chassis.
Background technique
With the fast development of world economy and the continuous progress of human living standard, the consumer objects of people are more next
More turn to service orientation.Emerging service robot adapts to this trend, is vigorously developed at present.Service robot is applied to meal
Multiple occasions such as drink-service business, market service, conference service, household be public.But due to application narrow terrain, the stream of people it is busy this
It requires the chassis performance of service robot that there is the ability by small space, also needs the obstacle detouring energy for having certain if necessary
Power.
With regard to current development, the bobbin movement structure of mobile robot is mainly include the following types: wheeled construction robot
It can become the most common movement side with its flexible steering behaviour, the stability of operation, the terseness of control, efficientibility
Formula.But there is very big deficiency in it in obstacle performance.Indoor threshold step etc. can all become the obstacle that it advances.Crawler type knot
It adaptable of structure robot can move ahead in Various Complex landform, and many celestial body detecting vehicles are all using wheeled and crawler belt
The combination of formula.But such structure is narrow landform steering capability is poor, low efficiency, and occupied space is not suitable for greatly indoor fortune
Make.Its design structure multiplicity of leg foot formula constructed machine people is applied to special occasions, but since control is complicated, low efficiency is taking
Business robot field uses seldom.It can be seen that all there is the drawback in structure in common mobile chassis structure, on service robot
Research is still not perfect.
Summary of the invention
For the problem that the deficiency in the prior art, the present invention, which intends to solve, is to provide a kind of deformable wheat of service robot
Wheel movement chassis.The deformable wheat wheel liberates labour and fully achieves automatic food delivery mainly in public arenas such as dining rooms
Deng service.Solves the even obstacle detouring of Omni-mobile, independent navigation avoidance under narrow environment that ordinary robot cannot achieve
Function.User only need to remotely issue an order, and service robot just can be realized comprehensive autonomous, by self structure
The characteristics of realize active obstacle, to reach the purpose of food delivery.Deformable wheat wheel be suitable for food and drink, hotel, meeting, exhibition,
The multiple fields such as household, are highly suitable for secondary development, have broad application prospects.
The present invention solve the technical problem the technical solution adopted is that: design a kind of deformable wheat wheel fortune of service robot
Dynamic chassis, which is characterized in that including Mecanum wheel, fixed hook, deformation wheel wheel body, outside external disk, hex-head nut, external disk
Shank of bolt, tapping screw, inside external disk, steering engine U-shaped frame, connecting shaft, steering engine, fastening screw, inner disc connection bolt, inner disc connection
Nut, inner disc；The Mecanum wheel includes the small axis of Mecanum wheel, spring collar, Mecanum wheel fixed hub, Mai Kena
Nurse axle sleeve；
The deformation wheel wheel body is made of three identical 1/3 deformation wheels, circularizes array distribution with core wheel；Each
The outer peripheral surface upper/lower terminal of 1/3 deformation wheel is fixedly welded there are three fixed hook, each fixed hook and 1/3 deformation wheel
Outer peripheral surface is installed in equal angular, and nine fixed hooks of upper end are distributed on the outer peripheral surface of deformation wheel wheel body and are formed by clockwise
The sawtooth colyliform of arrangement, nine fixed hooks of lower end, which are distributed on the outer peripheral surface of deformation wheel wheel body, to be formed by arranging counterclockwise
Sawtooth colyliform；The end of each fixed hook is provided with fixation hole；
Mecanum axle sleeve is sleeved on the periphery of the small axis of Mecanum wheel, and the length of the small axis of Mecanum wheel is received compared with Mike
The length of nurse axle sleeve is long, and two ends of the small axis of Mecanum wheel are mounted on spring collar and Mecanum wheel fixed hub；
One end of the small axis of Mecanum wheel is mounted in the fixation hole of fixed hook end of upper end, passes through spring collar and Mecanum
Wheel fixed hub is fastened；The other end of the small axis of Mecanum wheel be mounted on it is opposite with the fixed hook position of the upper end under
On the fixed hook at end；The inner hole centreline of fixed hook is overlapped with the small shaft centre line of Mecanum wheel mounted thereto, with
Edge close to the Mecanum wheel end face of shaft bush of one side is at 45 °；
The spoke of approximate Y-shaped is provided on the inside of each 1/3 deformation wheel, top both ends transverse weld is each 1/3
On the inner surface of deformation wheel, end is provided with centre bore, and deformation hole is provided in a branch；The setting of external disk shank of bolt exists in setting
It is deformed in hole, and can be slided along deformation hole；The spoke end of each 1/3 deformation wheel is connected by installation inner disc in hole in its center
Connecting bolt is fixed between two inner discs, and two sides are fastened by inner disc attaching nut；Outside external disk passes through three external disk shanks of bolt
It is connected with three groups of hex-head nuts with inside external disk；One group of hex-head nut is two, is separately mounted to inside external disk two sides
On external disk shank of bolt, limitation inside external disk moving along external disk shank of bolt；
The one end of the connecting shaft is connect with motor coupler, and the other end is connect with steering engine U-shaped frame, and the connection at both ends is
Interference connection；Steering engine U-shaped frame is connected in the external disk of inside by fastening screw, and fluting inlays steering engine on the outside of the external disk of inside
Wherein；The U-shaped frame of steering engine and steering engine are clearance fit, and steering engine is connected by tapping screw and inside external disk 11；The output shaft of steering engine
It is connect with inner disc.
Compared with prior art, the invention has the following advantages: the deformable Mike that the present invention moves in chassis receives
Nurse wheel be it is openable, outside is responsible for the Mecanum wheel roller of Omni-mobile, and inside is deformation wheel construction.Deformation principle
It is the steering engine control inner disc rotation when encountering barrier, the rotation of deformation wheel spoke slides external disk bolt in slideway, struts change
Shape wheat wheel is allowed to be opened for three claw types.Expand the action request that effective obstacle detouring radius completes threshold crossing.Therefore the movement chassis exists
There are two driving link when mobile obstacle detouring, DC servo motor control is moved, and steering engine controls the relative rotation of inner disc and external disk, that is, controls
System deformation.
Marked improvement of the invention is:
The present invention can keep complete circle knot using Mecanum wheel rim and ground face contact when plane earth is walked
Structure, and the advantages of wheat takes turns Omni-mobile is inherited, it realizes and flexibly turns to ability in narrow landform.The wheel on present invention movement chassis
Inside is using deformation wheel construction, and when service robot encounters the Typical obstacles object such as threshold, deformation wheat wheel is opened into three claw types
State, and expand effective promising obstacle detouring of obstacle detouring radius and provide fulcrum.Greatly enhance obstacle performance.
The most inner side that the present invention moves chassis is mounted on above motor, provides space for the deformation obstacle detouring of wheel, effectively
The case where avoiding the chassis and barrier interference that service robot is likely to occur during obstacle detouring.
The present invention moves chassis layout and can be arranged symmetrically for four-wheel, and wherein it is full to meet Jacobian matrix for the layout of wheat wheel
Order, to reach the Omni-mobile requirement on robotics.Wherein wheel number is designed as four, is laid out compared with three, conventional omni-directional wheel
Stability is more preferable, also arranges air damping spring in motor support position, and to meet service robot, the moment is protected when walking
Card four-wheel simultaneously land make to run it is more stable.
Structure of the invention control is succinct, circuit is clear, runs smoothly.Wheel spoke uses aluminum alloy material, mitigates significantly
The weight of wheel.Meet Green design, reliability design, the requirement of economic design.
Detailed description of the invention
Fig. 1 is a kind of deformable wheat wheel movement schematic perspective view of embodiment in chassis of service robot of the present invention；
Fig. 2 is the power transfer part and inside of a kind of deformable wheat wheel movement embodiment in chassis of service robot of the present invention
The scheme of installation of external disk；
Fig. 3 is a kind of installation signal of the deformable wheat wheel movement deformed part of embodiment in chassis of service robot of the present invention
Figure；
Fig. 4 is a kind of 1/3 deformation of the deformable wheat wheel movement embodiment deformation wheel wheel body in chassis of service robot of the present invention
Wheel construction schematic diagram；
Fig. 5 is that a kind of deformable wheat wheel movement embodiment Mecanum wheel sectional structure in chassis of service robot of the present invention shows
It is intended to；
Fig. 6 is that a kind of another angle stereochemical structure of the deformable wheat wheel movement embodiment in chassis of service robot of the present invention is shown
It is intended to；
Fig. 7 is a kind of deformation wheel front and back state signal of the deformable wheat wheel movement embodiment in chassis of service robot of the present invention
Figure, before wherein Fig. 7 (a) is deformation, Fig. 7 (b) is after deforming.
In figure, the small axis of 1- Mecanum wheel, 2- spring collar, 3- Mecanum wheel fixed hub, 4- fixed hook, 5- wheat
Ke Namu axle sleeve, 6- deformation wheel wheel body, external disk on the outside of 7-, 8- hex-head nut, 9- shank of bolt, 10- tapping screw, in 11-
Side external disk, 12- steering engine U-shaped frame, 13- connecting shaft, 14- steering engine, 15- screw, 16- inner disc connection bolt, 17- inner disc connect spiral shell
Female, 18- inner disc.
Specific embodiment
The present invention is explained further below with reference to examples and drawings, but is not protected in this, as to the claim of this application
Protect the restriction of range.
(referred to as movement chassis, receives referring to Fig. 1-7), including Mike on the deformable wheat wheel movement chassis of service robot of the present invention
Nurse wheel, fixed hook 4, deformation wheel wheel body 6, outside external disk 7, hex-head nut 8, external disk shank of bolt 9, tapping screw 10, inside
External disk 11, steering engine U-shaped frame 12, connecting shaft 13, steering engine 14, fastening screw 15, inner disc connection bolt 16, inner disc attaching nut 17,
Inner disc 18.The Mecanum wheel includes the small axis 1 of Mecanum wheel, spring collar 2, Mecanum wheel fixed hub 3, Mai Kena
Nurse axle sleeve 5.
The deformation wheel wheel body 6 is made of three identical 1/3 deformation wheels, circularizes array distribution with core wheel.Often
The outer peripheral surface upper/lower terminal of a 1/3 deformation wheel is fixedly welded there are three fixed hook 4, and each fixed hook 4 and 1/3 deforms
The outer peripheral surface of wheel in equal angular install, nine fixed hooks 4 of upper end be distributed on the outer peripheral surface of deformation wheel wheel body 6 formed by
The sawtooth colyliform arranged clockwise, nine fixed hooks 4 of lower end are distributed on the outer peripheral surface of deformation wheel wheel body 6 and are formed by the inverse time
The sawtooth colyliform of needle arrangement.The end of each fixed hook 4 is provided with fixation hole.
Mecanum axle sleeve 5 is sleeved on the periphery of the small axis 1 of Mecanum wheel, and the length of the small axis 1 of Mecanum wheel is compared with wheat
The length of Ke Namu axle sleeve 5 is long, and two ends of the small axis 1 of Mecanum wheel are mounted on spring collar 2 and Mecanum wheel is solid
Dead axle set 3；One end of the small axis 1 of Mecanum wheel is mounted in the fixation hole of 4 end of fixed hook of upper end, passes through spring collar
2 and Mecanum wheel fixed hub 3 fastened.The other end of the small axis 1 of Mecanum wheel is mounted on to be hung with the fixed of the upper end
On the fixed hook 4 of the opposite lower end in 4 position of hook.The inner hole centreline of fixed hook 4 and Mecanum wheel mounted thereto
Small 1 center line of axis is overlapped, at 45 ° with the edge of 5 end face of Mecanum axle sleeve close to one side；
The spoke of approximate Y-shaped is provided on the inside of each 1/3 deformation wheel, top both ends transverse weld is each 1/3
On the inner surface of deformation wheel, end is provided with centre bore, and deformation hole is provided in a branch.The setting of external disk shank of bolt 9 is being arranged
In its deformation hole, and it can be slided along deformation hole.The spoke end of each 1/3 deformation wheel is by installing inner disc in hole in its center
Connection bolt 16 is fixed between two inner discs 18, and two sides are fastened by inner disc attaching nut 17.Outside external disk 7 is outer by three
Valve snail tightening latch 9 and three groups of hex-head nuts 8 are connected with inside external disk 11.One group of hex-head nut 8 is two, is separately mounted to interior
On the external disk shank of bolt 9 of 11 two sides of side external disk, limitation inside the moving along external disk shank of bolt 9 of external disk 11.
Described 13 one end of connecting shaft is connect with motor coupler, and the other end is connect with steering engine U-shaped frame 12, the connection at both ends
It is interference connection；Steering engine U-shaped frame 12 is connected in the external disk 11 of inside by fastening screw 15, and fluting makes on the outside of inside external disk 11
Steering engine 14 can be inlayed wherein.The U-shaped frame 12 of steering engine and steering engine 14 are clearance fit, and steering engine 14 passes through outside tapping screw 10 and inside
Disk 11 is connected.The output shaft of steering engine 14 is connect with inner disc 18.
Connecting shaft 13 transmits the torque from DC servo motor when moving bobbin movement, will turn by steering engine U-shaped frame 12
Square is transmitted in external disk, and the rotation of external disk 7 drives wheel rotation.The operating when needing to deform of steering engine 14, by 7 centre bore of external disk with
The connection of inner disc 18 driving inner disc 18 is with respect to external disk deformation and then obstacle detouring.
It is wired to circle on the outside of nine deformation Mecanums axle sleeve, keeps wheel shape more complete, it is ensured that
Level land is more stable when running.
The steering engine is embedded in the outside of inside external disk 11, takes full advantage of limited space, steps up deformation mechanism more
It gathers.Being bolted the fixation such as U frame is all to be arranged symmetrically to greatly improve the stability of movement chassis at runtime.
The working principle of the invention and process are as follows: when level land is run, controller passes through the control to DC servo motor
Power is set to be transmitted to connecting shaft 13 by shaft coupling, connecting shaft 13 and steering engine U-shaped frame 12 are interference fitted, and are transferred power to outer
Disk, external disk are bolted with deformation wheel wheel body, and such external disk rotation drives deformation wheel wheeling thereof to realize entire fortune
The level land on dynamic chassis is mobile.When needing obstacle detouring, it is embedded in the steering engine 14 in the external disk 11 of inside and passes through in the driving of steering engine output shaft
Disk 18 rotates, and inner disc 18 is connect by bolt with deformation wheel wheel body, becomes external disk shank of bolt 9 in deformation wheel when deformation wheel rotation
It is slided in shape hole, struts deformation wheel wheel body and be opened into three-jaw form.Three-jaw form increases effective obstacle detouring radius, and mentions for obstacle detouring
For fulcrum, obstacle climbing ability is increased effectively.
The present invention moves chassis can select suitable number to be combined assembly use according to different applications.
The present invention does not address place and is suitable for the prior art.
Claims (2)
1. the deformable wheat wheel movement chassis of service robot, which is characterized in that including Mecanum wheel, fixed hook, deformation wheel
Wheel body, outside external disk, hex-head nut, external disk shank of bolt, tapping screw, inside external disk, steering engine U-shaped frame, connecting shaft, steering engine,
Fastening screw, inner disc connect bolt, inner disc attaching nut, inner disc；The Mecanum wheel includes the small axis of Mecanum wheel, spring
Retainer ring, Mecanum wheel fixed hub, Mecanum axle sleeve；
The deformation wheel wheel body is made of three identical 1/3 deformation wheels, circularizes array distribution with core wheel；Each 1/3
The outer peripheral surface upper/lower terminal of deformation wheel is fixedly welded there are three fixed hook, the periphery of each fixed hook and 1/3 deformation wheel
Face is installed in equal angular, and nine fixed hooks of upper end, which are distributed on the outer peripheral surface of deformation wheel wheel body, to be formed by arrangement clockwise
Sawtooth colyliform, nine fixed hooks of lower end be distributed on the outer peripheral surface of deformation wheel wheel body formed by the sawtooth arranged counterclockwise
Colyliform；The end of each fixed hook is provided with fixation hole；
Mecanum axle sleeve is sleeved on the periphery of the small axis of Mecanum wheel, and the length of the small axis of Mecanum wheel is compared with Mecanum wheel
The length of axle sleeve is long, and two ends of the small axis of Mecanum wheel are mounted on spring collar and Mecanum wheel fixed hub；Mike
One end that Na Mu takes turns small axis is mounted in the fixation hole of fixed hook end of upper end, solid by spring collar and Mecanum wheel
Dead axle set is fastened；The other end of the small axis of Mecanum wheel is mounted on the lower end opposite with the fixed hook position of the upper end
On fixed hook；The inner hole centreline of fixed hook is overlapped with the small shaft centre line of Mecanum wheel mounted thereto, and close
The edge of the Mecanum wheel end face of shaft bush of one side is at 45 °；
The spoke of approximate Y-shaped is provided on the inside of each 1/3 deformation wheel, top both ends transverse weld is in each 1/3 deformation
On the inner surface of wheel, end is provided with centre bore, and deformation hole is provided in a branch；The setting of external disk shank of bolt is in setting in its change
In shape hole, and it can be slided along deformation hole；The spoke end of each 1/3 deformation wheel connects spiral shell by installation inner disc in hole in its center
Bolt is fixed between two inner discs, and two sides are fastened by inner disc attaching nut；Outside external disk passes through three external disk shanks of bolt and three
Group hex-head nut is connected with inside external disk；One group of hex-head nut is two, is separately mounted to the external disk of inside external disk two sides
On shank of bolt, limitation inside external disk moving along external disk shank of bolt；
The one end of the connecting shaft is connect with motor coupler, and the other end is connect with steering engine U-shaped frame, and the connection at both ends is interference
Connection；Steering engine U-shaped frame is connected in the external disk of inside by fastening screw, and fluting allows steering engine to inlay it on the outside of the external disk of inside
In；The U-shaped frame of steering engine and steering engine are clearance fit, and steering engine is connected by tapping screw and inside external disk 11；The output shaft of steering engine with
Inner disc connection.
2. the deformable wheat wheel movement chassis of service robot according to claim 1, which is characterized in that nine deformations
Circle is wired on the outside of Mecanum axle sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811264423.9A CN109079745A (en) | 2018-10-29 | 2018-10-29 | The deformable wheat wheel movement chassis of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811264423.9A CN109079745A (en) | 2018-10-29 | 2018-10-29 | The deformable wheat wheel movement chassis of service robot |
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| Publication Number | Publication Date |
|---|---|
| CN109079745A true CN109079745A (en) | 2018-12-25 |
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ID=64844453
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811264423.9A Pending CN109079745A (en) | 2018-10-29 | 2018-10-29 | The deformable wheat wheel movement chassis of service robot |
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|---|---|---|---|---|
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-
2018
- 2018-10-29 CN CN201811264423.9A patent/CN109079745A/en active Pending
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