CN109823427B - Vehicle-snake combined variable-structure mobile robot - Google Patents
Vehicle-snake combined variable-structure mobile robot Download PDFInfo
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- CN109823427B CN109823427B CN201910065319.5A CN201910065319A CN109823427B CN 109823427 B CN109823427 B CN 109823427B CN 201910065319 A CN201910065319 A CN 201910065319A CN 109823427 B CN109823427 B CN 109823427B
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Abstract
The utility model provides a car-snake combined type variable structure mobile robot, one side of first car body year thing mechanism is provided with the connecting rod, second car body year thing mechanism is provided with lower connecting rod corresponding to the last connecting rod of first car body year thing mechanism, the fixed steering wheel that is provided with in one end of keeping away from second car body year thing mechanism on the lower connecting rod supports the groove, the steering wheel supports and installs digital steering wheel on the groove, the top of digital steering wheel is connected on the one end of keeping away from first car body year thing mechanism of last connecting rod through the steering wheel connecting piece, be used for driving first car body year thing mechanism and use digital steering wheel as the rotation of axle, be provided with the control module who connects first car body year thing mechanism respectively on first car body year thing mechanism or the second car body year thing mechanism, control module wireless connection wireless control handle. The robot can smoothly pass through a narrow passage, and the environmental adaptability of the robot is obviously improved. Has flexibility and strong environmental adaptability, and can be applied to various complex industrial environments.
Description
Technical Field
The present invention relates to a mobile robot. In particular to a vehicle-snake combined type variable structure mobile robot with four-wheeled vehicle-shaped rapid omnidirectional movement.
Background
With the improvement of international industrial level, industrial environment becomes more and more complex, for example, in industries such as petrochemical industry, electric power and the like, places where pipelines and equipment are very dense in narrow space generally exist, and these places are also high-occurrence areas where major accidents and faults occur, regular inspection or maintenance is required to ensure safe operation of these equipment and pipelines, at present, such work is mainly completed by manpower, but the manual inspection and maintenance has great potential safety hazards (toxic, explosive or radioactive and the like), and many workers in narrow areas cannot enter, so that it is very necessary to develop a device which is flexible in motion control and has good environmental adaptability to replace manpower to complete inspection or maintenance tasks. Obviously, the research has important practical significance for the efficient and safe production of modern industry.
A large number of earlier stage research results show that the variable structure is an ideal solution for designing a device with good environmental adaptability. Some researchers have designed various deformation robots based on the idea of variable structure. For example, the invention relates to a caterpillar deformable robot moving platform facing to dangerous disaster site environment (patent number: CN108673469A), the shape of the deformable robot is roughly mouse-shaped, the power is provided by the friction force of a caterpillar, and the main deformation mechanism is the shape change of a supporting hub in the caterpillar, and the robot is used for adapting to different concave-convex road surface environments. The skeleton of the deformation robot is basically unchanged, so that the deformation robot cannot adapt to narrow passage passing.
For example, the invention discloses a metamorphic robot (patent number: CN201730164623), which has two deformation structures of spider shape and dog shape, the deformation is realized by a steering engine, and the two deformation structures both use a four-foot moving mode, so that the metamorphic robot has the problems of low moving speed, poor steering flexibility and the like. In addition, although the robot body structures of the two deformation structures are changed slightly, the change is not obvious, narrow passages cannot be passed through, and the adaptability to the environment is obviously insufficient.
Generally, the shape of the existing deformable robot after deformation does not change greatly, the adaptability of the transformation device to the environment of the robot is not obviously improved, and the inspection or overhaul work of most complex industrial environments cannot be well finished. Aiming at the common problem of the existing deformation robot and comprehensively considering the actual application requirement of a complex industrial environment, the invention provides a vehicle-snake combined type variable structure mobile robot.
Disclosure of Invention
The invention aims to solve the technical problem of providing a vehicle-snake composite variable structure mobile robot which has strong motion flexibility and outstanding complex environment adaptability.
The technical scheme adopted by the invention is as follows: a vehicle-snake combined type variable structure mobile robot comprises a first vehicle body carrying mechanism and a second vehicle body carrying mechanism, wherein an upper connecting rod is arranged on one side of the first vehicle body carrying mechanism, a lower connecting rod is arranged on the second vehicle body carrying mechanism corresponding to the upper connecting rod of the first vehicle body carrying mechanism, a steering engine supporting groove is fixedly arranged at one end, far away from the second vehicle body carrying mechanism, of the lower connecting rod, a digital steering engine is arranged on the steering engine supporting groove, the top end of the digital steering engine is connected to one end, far away from the first vehicle body carrying mechanism, of the upper connecting rod through a steering engine connecting piece and used for driving the first vehicle body carrying mechanism to rotate by taking the digital steering engine as a shaft, a control module respectively connected with the first vehicle body carrying mechanism, the second vehicle body carrying mechanism and the digital steering engine is arranged on the first vehicle body carrying mechanism or the second vehicle body carrying mechanism, the control module is in wireless connection with the wireless control handle.
The first vehicle body carrying mechanism and the second vehicle body carrying mechanism have the same structure and both comprise: II shape motor link, the inboard of two perpendicular side bearers of II shape motor link is provided with a motor respectively, two the output shaft of motor run through respectively perpendicular side bearer correspond the mecanum wheel that is located II shape motor link both sides, fixedly connected with is used for carrying the objective platform of thing on the up end of the horizontal crossbearer of II shape motor link, the drive signal input of motor connects control module.
The first Mecanum wheel and the fourth Mecanum wheel are positioned on the same side of the vehicle body in a vehicle-shaped state, and the second Mecanum wheel and the third Mecanum wheel are positioned on the same side of the vehicle body; under the state of being deformed into a straight snake shape, the Mecanum wheel and the Mecanum wheel are sequentially positioned on the same straight line.
The rollers on the outer sides of the first Mecanum wheel and the third Mecanum wheel are mounted in the forward direction, and the rollers on the outer sides of the second Mecanum wheel and the fourth Mecanum wheel are mounted in the reverse direction.
The upper connecting rod comprises a lower horizontal connecting rod, a vertical connecting rod and an upper horizontal connecting rod which are integrally formed, wherein one end of the lower horizontal connecting rod is fixedly connected to one side of a carrying platform in the first vehicle body carrying mechanism, the other end of the lower horizontal connecting rod is connected with the bottom end of the vertical connecting rod, the top end of the vertical connecting rod is connected with the side edge of one end of the upper horizontal connecting rod, and the other end of the upper horizontal connecting rod is connected with the top end of the digital steering engine through a steering engine connecting piece.
The lower connecting rod is of an L-shaped structure, wherein the short side of the L-shaped structure is fixedly connected to one side of a loading platform in the second vehicle body loading mechanism, and the steering engine supporting groove is fixedly connected to the end part of the long side of the L-shaped structure.
The control module comprises a master control circuit consisting of a single chip microcomputer and a voltage stabilizing circuit which are connected, a signal receiving end of the single chip microcomputer is connected with a wireless receiving module, signals of a wireless control handle are received through the wireless receiving module, a control signal output end of the single chip microcomputer is respectively connected with a first motor driving circuit used for driving two motors in a first vehicle body carrying mechanism, a second motor driving circuit used for driving two motors in a second vehicle body carrying mechanism and a digital steering engine, and power supply input ends of the voltage stabilizing circuit, the first motor driving circuit and the second motor driving circuit are all connected with lithium batteries.
The vehicle-snake combined type variable structure mobile robot adopts the special Mecanum wheels, skillfully utilizes the combination of radial component force and axial component force of the Mecanum wheels, and can have extraordinary omnidirectional flexible moving capability. The robot of the invention uses the digital steering engine to realize the mode conversion of the vehicle and the snake, so that the robot can smoothly pass through a narrow passage, and the environmental adaptability of the robot is obviously improved. The novel variable-structure robot with flexibility and strong environmental adaptability can be widely applied to various complex industrial environments in the future, and has good commercial popularization potential. Has the following advantages:
1. the vehicle-snake combined variable structure mobile robot has strong motion flexibility. The robot has two moving postures of a car shape and a straight snake shape, and can realize the omnidirectional extremely flexible planar movement under the car shape posture, including the front-back, left-right parallel movement and the in-situ rotation movement. The robot can realize snake-shaped radial rolling, in-situ rotation and axial movement under the straight snake-shaped posture, and the multiple moving modes of the straight snake-shaped posture endow the robot with the capability of flexibly passing through a narrow passage environment.
2. The vehicle-snake combined variable structure mobile robot has outstanding adaptability to complex environments. The vehicle shape and the straight snake shape are perfectly combined by the deformed connecting rod structure, the rotating shaft of the attitude switching steering engine is arranged outside the rotating diameter range of the vehicle body and the Mecanum wheel, the vehicle shape can be quickly unfolded into the straight snake shape by rotating the steering engine for 180 degrees, and compared with the traditional ground mobile robot, the vehicle-snake composite type variable structure mobile robot has superior narrow channel crossing capability. Compared with the traditional snake-shaped robot, the vehicle-snake combined variable-structure mobile robot has the omnidirectional rapid moving capability in the open pavement environment.
3. The vehicle-snake combined variable structure mobile robot has wide application prospect in various fields such as industry, disaster relief and the like. For example, in a daunting nuclear environment, the robot can be used for completing the operation task in a radioactive environment, the working condition environment of the nuclear power plant is complex, the equipment failure rate is high, and in consideration of the personal safety of technical personnel in the nuclear power plant, the robot can be used for efficiently replacing workers to realize information acquisition and routing inspection work in the nuclear environment. In addition, in the collapse environment of the building caused by earthquake or malignant explosion accidents, the robot can well utilize the advantages of the flexible movement and changeable structure of the robot, quickly search trapped people and provide important search and rescue environment information and rescue substances.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle-snake combined type variable structure mobile robot of the present invention;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 2 expanded in a straight serpentine shape;
FIG. 4 is a block diagram showing the construction of a control module according to the present invention;
FIG. 5 is a functional schematic of the wireless control handle of the present invention.
In the drawings
1: upper connecting rod 1.1: lower horizontal connecting rod
1.2: vertical connecting rod 1.3: upper horizontal connecting rod
2: lower connecting rod 2.1: short side
2.2: long side 3: steering engine supports groove
4: digital steering engine 5: steering engine connecting piece
6: the control module 6.1: master control circuit
6.11: 6.12 parts of the singlechip: voltage stabilizing circuit
6.2: wireless receiving module 6.3: lithium battery
6.4: first motor drive circuit 6.5: second motor drive circuit
7: II-shaped motor link 8: electric machine
9: mecanum wheel 9.1: first Mecanum wheel
9.2: second mecanum wheel 9.3: third Mecanum wheel
9.4: fourth mecanum wheel 10: carrying platform
11: steering engine signal line interface 12: first key
13: second key 14: third press key
15: fourth key 16: fifth push-button
17: the wireless transmission module 18: sixth push button
19: seventh key 20: eighth push button
21: ninth key 22: tenth button
23: handle switch
Detailed Description
The following describes a vehicle-snake composite variable structure mobile robot in detail with reference to the embodiments and the accompanying drawings.
The vehicle-snake combined variable-structure mobile robot takes a steering engine rotating shaft as a center, and is changed into a straight-line snake-shaped robot after being subjected to centrosymmetric deformation, so that the robot has the ground moving capability of a wheeled robot and the passing capability of a narrow passage at the same time.
As shown in fig. 1 and 2, the vehicle-snake combined type variable structure mobile robot comprises a first vehicle body carrying mechanism a and a second vehicle body carrying mechanism B, wherein an upper connecting rod 1 is arranged on one side of the first vehicle body carrying mechanism a, the second vehicle body carrying mechanism B is provided with a lower connecting rod 2 corresponding to the upper connecting rod 1 of the first vehicle body carrying mechanism a, a steering engine supporting groove 3 is fixedly arranged at one end, far away from the second vehicle body carrying mechanism B, of the lower connecting rod 2, a digital steering engine 4 is arranged on the steering engine supporting groove 3, the top end of the digital steering engine 4 is connected to one end, far away from the first vehicle body carrying mechanism a, of the upper connecting rod 1 through a steering engine connecting piece 5 and is used for driving the first vehicle body carrying mechanism a to rotate by taking the digital steering engine 4 as an axis, and the first vehicle body carrying mechanism a or the second vehicle body carrying mechanism B is provided with a and a second vehicle body carrying mechanism B which is respectively connected with the first vehicle, The second vehicle body carries thing mechanism B and digital steering wheel 4's control module 6, control module 6 wireless connection wireless control handle.
The first vehicle body carrying mechanism A and the second vehicle body carrying mechanism B have the same structure and both comprise: II shape motor link 7, the inboard of two perpendicular side bearers of II shape motor link 7 is provided with a motor 8 respectively, two the output shaft of motor 8 run through respectively perpendicular side bearer correspond and connect the mecanum wheel 9 that is located II shape motor link 7 both sides, fixedly connected with is used for carrying cargo platform 10 of thing on the up end of II shape motor link 7's horizontal crossbearer, the drive signal input of motor connects control module 6.
The mecanum wheels 9 include third mecanum wheels 9.3 and fourth mecanum wheels 9.4 respectively located on both sides of the first vehicle loading mechanism a, and first mecanum wheels 9.1 and second mecanum wheels 9.2 respectively located on both sides of the second vehicle loading mechanism B, the first mecanum wheels 9.1 and the fourth mecanum wheels 9.4 are located on the same side, and the second mecanum wheels 9.2 and the third mecanum wheels 9.3 are located on the same side.
The Mecanum wheel is special in structure, rollers are mounted on the outer side of the wheel, and the mounting mode of the rollers on the outer side of the wheel is as follows: the rollers on the outside of the first 9.1 and third 9.3 mecanum wheels are mounted in a forward direction and the rollers on the outside of the second 9.2 and fourth 9.4 mecanum wheels are mounted in a reverse direction.
As shown in fig. 1 and 2, the upper connecting rod 1 includes a lower horizontal connecting rod 1.1, a vertical connecting rod 1.2 and an upper horizontal connecting rod 1.3 which are integrally formed, wherein one end of the lower horizontal connecting rod 1.1 is fixedly connected to one side of a carrying platform in the first vehicle carrying mechanism a, the other end of the lower horizontal connecting rod 1.1 is connected to the bottom end of the vertical connecting rod 1.2, the top end of the vertical connecting rod 1.2 is connected to the side edge of one end of the upper horizontal connecting rod 1.3, and the other end of the upper horizontal connecting rod 1.3 is connected to the top end of the digital steering engine 4 through a steering engine connecting piece 5.
As shown in fig. 1 and 2, the lower connecting rod 2 is an L-shaped structure, wherein a short side 2.1 of the L-shaped structure is fixedly connected to one side of a loading platform in the second vehicle body loading mechanism B, and the steering engine supporting groove 3 is fixedly connected to an end of a long side 2.2 of the L-shaped structure.
As shown in fig. 4, the control module 6 includes a main control circuit 6.1 composed of a connected single chip microcomputer 6.11 and a voltage stabilizing circuit 6.12, a signal receiving end of the single chip microcomputer 6.11 is connected with a wireless receiving module 6.2, and receives a signal of a wireless control handle through the wireless receiving module 6.2, a control signal output end of the single chip microcomputer 6.11 is respectively connected with a first motor driving circuit 6.4 for driving two motors in a first vehicle body carrying mechanism a, a second motor driving circuit 6.5 for driving two motors in a second vehicle body carrying mechanism B, and a digital steering engine 4, and power input ends of the voltage stabilizing circuit 6.12, the first motor driving circuit 6.4, and the second motor driving circuit 6.5 are all connected with a lithium battery 6.3.
In the embodiment of the invention, the single chip microcomputer can select STM32F1X series single chip microcomputers, the wireless receiving module can select a 2.4G wireless communication module, the voltage stabilizing circuit can select a power management module with a 3.3v voltage stabilizing function, the battery can select a 1300mah7.4v lithium battery, the first motor driving circuit and the second motor driving circuit can select a TB6612FNG module, input signals of the first motor driving circuit and the second motor driving circuit comprise PWM signals and direction signals, and four-wheel independent driving of the vehicle-snake combined type variable structure mobile robot can be realized. The motor selects a direct current motor with rated voltage of 12v and rated rotating speed of 333rpm, the driving wheel selects a Mecanum wheel with the diameter of 3 inches, and the digital steering engine selects a digital steering engine with the rated voltage of 7.4v and the maximum torque of 15kg cm.
According to the vehicle-snake combined variable-structure mobile robot, the deformation mechanism is designed on one side of the middle of the vehicle body and consists of an upper connecting rod and a lower connecting rod, the connecting rods are connected with the steering engine, and the steering engine is used for driving the vehicle body connecting rods to realize switching between vehicle-shaped postures and straight-line snake-shaped postures. The deformation structure is different from the existing deformation connecting rod of the robot, the deformation structure connecting rod of the invention adopts a single connecting rod up-down stacking type structure, compared with a double-connecting-rod mechanism, the weight of the deformation structure connecting rod of the invention is reduced by one time, and the robot can keep balance when in a straight snake-shaped motion.
The vehicle-shaped omnidirectional moving function is realized through a special Mecanum wheel omnidirectional moving function. The vehicle-shaped four-wheel independent driving mode is adopted and combined with various rotating directions, so that the functions of front-back and left-right parallel movement and in-situ left-right steering of the vehicle body are realized.
The linear snake motion function is realized by utilizing axial component force of Mecanum wheels, as shown in figure 3, the linear snake gesture of the robot arranges four Mecanum wheels into a row, and provides advancing power for the linear snake-shaped state vehicle-snake composite variable structure mobile robot according to a mode that the Mecanum wheels at intervals provide equidirectional driving force and the adjacent Mecanum wheels provide positive tangential driving force. The linear and turning motion of the robot is realized by adjusting the rotating speeds of the Mecanum wheels at two ends and the Mecanum wheel at the middle part of the linear snake-shaped robot.
The vehicle-snake combined variable-structure mobile robot is provided with the wireless control handle, so that the requirement of a controller on remote wireless control of the robot is met. The control principle is that a wireless communication module carried on a vehicle body carrying platform receives a wireless communication signal from a handle, and a robot action group command can be transmitted through a handle key to realize control. As shown in fig. 5 and table 1.
TABLE 1
| Handle key number | Wireless receiving information | Definition of functions |
| First key 12 | Number four array values: 0XFE | Deformation of vehicle shape |
| |
Number three numerical values: 0XEF | Vehicle shaped advance |
| Third key 14 | Number three numerical values: 0X7F | Vehicle-shaped left shift |
| Fourth key 15 | Number three numerical values: 0XDF | Vehicle-shaped right shift |
| Fifth key 16 | Number three numerical values: 0XBF | Vehicle shape back |
| |
Number four array values: OxFB | Line snake shape deformation |
| |
Number four array values: 0XEF | Vehicle-shaped left-turning and straight snake-shaped advancing |
| |
Number four array values: 0XF7 | Straight snake-shaped right turn |
| Ninth button 21 | Number four array values: 0XFD | Straight snake-shaped left |
| Tenth button | ||
| 22 | Number four array values: 0XBF | Vehicle-shaped right-turning and straight snake-shaped retreating |
The invention relates to a working principle of a vehicle-snake combined variable structure mobile robot, which comprises the following steps:
1. first, according to the omnidirectional movement characteristics of the mecanum wheels, as shown in fig. 3, the first mecanum wheel 9.1 and the third mecanum wheel 9.3 from the left side select mecanum wheels with rollers on the outer sides of the wheels installed in the forward direction, the second mecanum wheel 9.2 and the fourth mecanum wheel 9.4 from the left side select mecanum wheels with rollers on the outer sides of the wheels installed in the reverse direction, the counterclockwise rotation direction of the mecanum wheels from the left to the right in fig. 3 is defined as the positive direction, the first mecanum wheel 9.1 and the third mecanum wheel 9.3 are kept rotating synchronously, the second mecanum wheel 9.2 and the fourth mecanum wheel 9.4 are rotated synchronously, and the rotation directions of the two sets of synchronous wheels are opposite, so that the robot can keep the one-word snaking motion in the horizontal direction in fig. 3. Because the rotation directions of the adjacent Mecanum wheels are different, if the four Mecanum wheels are kept to rotate at the same rotation speed, the robot can generate inward or outward torsion perpendicular to the paper surface, in order to enable the robot to move linearly, the first solution can realize linear snake-shaped movement by adjusting the rotation speed ratio of the Mecanum wheels, and the second solution can simultaneously shorten the lengths of the upper connecting rod 5 and the lower connecting rod 11.
2. According to the rotation direction and stress analysis of Mecanum wheels in the two postures, all the body structures on one side of the upper connecting rod 1 are subjected to centrosymmetric transformation by taking the rotating shaft of the digital steering engine 4 as the center, so that the transformation from the vehicle-shaped posture to the straight snake-shaped posture of the vehicle-snake combined type variable structure mobile robot can be realized. The transformation method of the invention selects a certain reasonable fixed position to carry out central symmetry transformation, not only saves the time required by the transformation process, but also the transformation connecting rod structure of the robot presents a very simple transformation device, and compared with a double-connecting-rod transformation structure, the single-connecting-rod transformation structure reduces the weight of the connecting rod in the straight snake-shaped motion process of the vehicle-snake combined type variable structure mobile robot, and improves the accuracy of the straight snake-shaped linear motion.
3. The invention can use 2.4G wireless communication mode to control the motor and the digital steering engine by the singlechip, the wireless control handle or the computer sends a robot motion instruction, the wireless control handle sends a wireless signal after pressing keys, the wireless receiving module receives the signal and then sends the signal to the singlechip for signal decoding, the singlechip executes a corresponding task according to the decoded function instruction, if the function instruction is a moving function, the singlechip sends PWM wave to the motor driving module to control the rotation speed of the Mecanum wheel. If the function instruction is a deformation function, the single chip sends a rotation instruction to the digital steering engine to realize the deformation function of the robot. The motion instruction, i.e., the robot function, specifically includes: the vehicle-shaped state is forward, backward, left-shift, right-shift, left-turn and right-turn, the straight snake-shaped state is forward, backward, left-shift, right-shift, left-turn and right-turn, and the deformation of the vehicle shape and the straight snake-shaped state is switched. The wireless control handle function is defined as shown in fig. 5. The above motion function requires that the four mecanum wheels be independently rotatable. To avoid torque forces due to relative rotation of adjacent wheels during the in-line serpentine motion, the ratio of the rotational speed of second mecanum wheel 9.2 and third mecanum wheel 9.3 to the rotational speed of first mecanum wheel 9.1 and fourth mecanum wheel 9.4 in fig. 3 is about 10 to 7. When the rotating speed ratio is kept to be 10: 7, the robot can realize straight snake-shaped linear motion, when the rotating speed is larger than or smaller than the ratio, the robot can realize left-turn or right-turn motion, and the specific threshold value is determined according to the actual material and the size.
4. In the process of deforming the vehicle shape to the straight snake shape, the digital steering engine receives signals through wireless communication, the digital steering engine rotates the structure of the machine body by 180 degrees in two steps, and the Mecanum wheels rotate together with the digital steering engine in the motion process of the digital steering engine, so that the deformation function of the robot is assisted, the load capacity of the connecting rod is reduced, the service life of the connecting rod is prolonged, and the deformation process is assisted. In fig. 3, the ratio of the rotational speed of the first and fourth mecanum wheels 9.1, 9.4 to the rotational speed of the second and third mecanum wheels 9.2, 9.3 is determined by the radius ratio of each mecanum wheel from the center of the steering engine's rotating shaft.
Through the embodiment, the combined type variable-structure mobile robot with the four-wheeled vehicle-shaped rapid omnidirectional movement and the straight snake-shaped narrow passage crossing capacity can be built. The two postures can be freely switched in an open road or a narrow channel, and the device has flexibility and self-adaptability and can well complete the operation task in a complex environment.
Claims (5)
1. A vehicle-snake combined type variable structure mobile robot is characterized by comprising a first vehicle body carrying mechanism (A) and a second vehicle body carrying mechanism (B), wherein an upper connecting rod (1) is arranged on one side of the first vehicle body carrying mechanism (A), the second vehicle body carrying mechanism (B) is provided with a lower connecting rod (2) corresponding to the upper connecting rod (1) of the first vehicle body carrying mechanism (A), a steering engine supporting groove (3) is fixedly arranged at one end, far away from the second vehicle body carrying mechanism (B), of the lower connecting rod (2), a digital steering engine (4) is installed on the steering engine supporting groove (3), the top end of the digital steering engine (4) is connected to one end, far away from the first vehicle body carrying mechanism (A), of the upper connecting rod (1) through a steering engine connecting piece (5) and used for driving the first vehicle body carrying mechanism (A) to rotate by taking the digital steering engine (4) as an axis, the vehicle-snake mode conversion is realized, a control module (6) which is respectively connected with the first vehicle body carrying mechanism (A), the second vehicle body carrying mechanism (B) and the digital steering engine (4) is arranged on the first vehicle body carrying mechanism (A) or the second vehicle body carrying mechanism (B), and the control module (6) is wirelessly connected with a wireless control handle;
the upper connecting rod (1) comprises a lower horizontal connecting rod (1.1), a vertical connecting rod (1.2) and an upper horizontal connecting rod (1.3) which are integrally formed, wherein one end of the lower horizontal connecting rod (1.1) is fixedly connected to one side of a carrying platform in a first vehicle body carrying mechanism (A), the other end of the lower horizontal connecting rod (1.1) is connected with the bottom end of the vertical connecting rod (1.2), the top end of the vertical connecting rod (1.2) is connected with the side edge of one end of the upper horizontal connecting rod (1.3), and the other end of the upper horizontal connecting rod (1.3) is connected with the top end of the digital steering engine (4) through a steering engine connecting piece (5);
the lower connecting rod (2) is of an L-shaped structure, wherein a short side (2.1) of the L-shaped structure is fixedly connected to one side of an object carrying platform in the second vehicle body object carrying mechanism (B), and the steering engine supporting groove (3) is fixedly connected to the end portion of a long side (2.2) of the L-shaped structure.
2. The vehicle-snake composite variable structure mobile robot according to claim 1, wherein the first vehicle loading mechanism (a) and the second vehicle loading mechanism (B) are identical in structure and each comprise: II shape motor link (7), the inboard of two perpendicular side framves of II shape motor link (7) is provided with one motor (8) respectively, two the output shaft of motor (8) run through respectively perpendicular side frame correspond connect be located the mecanum wheel (9) of II shape motor link (7) both sides, fixedly connected with is used for carrying cargo carrying platform (10) of thing on the up end of the horizontal crossbearer of II shape motor link (7), the drive signal input of motor is connected control module (6).
3. The vehicle-snake hybrid mobile robot according to claim 2, wherein the mecanum wheels (9) comprise a third mecanum wheel (9.3) and a fourth mecanum wheel (9.4) respectively located on both sides of the first vehicle loading mechanism (a), and a first mecanum wheel (9.1) and a second mecanum wheel (9.2) respectively located on both sides of the second vehicle loading mechanism (B), wherein in the vehicle-shaped state, the first mecanum wheel (9.1) and the fourth mecanum wheel (9.4) are located on the same side of the vehicle body, and the second mecanum wheel (9.2) and the third mecanum wheel (9.3) are located on the same side of the vehicle body; in the deformed state of a straight snake shape, the first Mecanum wheel (9.1), the second Mecanum wheel (9.2), the third Mecanum wheel (9.3) and the fourth Mecanum wheel (9.4) are sequentially positioned on the same straight line.
4. A vehicle-snake hybrid mobile robot according to claim 3 wherein the rollers on the outside of the first (9.1) and third (9.3) mecanum wheels are mounted in a forward direction and the rollers on the outside of the second (9.2) and fourth (9.4) mecanum wheels are mounted in a reverse direction.
5. The vehicle-snake composite variable structure mobile robot according to claim 1, it is characterized in that the control module (6) comprises a main control circuit (6.1) composed of a singlechip (6.11) and a voltage stabilizing circuit (6.12) which are connected, the signal receiving end of the singlechip (6.11) is connected with a wireless receiving module (6.2), and the wireless receiving module (6.2) is used for receiving signals of the wireless control handle, the control signal output end of the singlechip (6.11) is respectively connected with a first motor driving circuit (6.4) used for driving two motors in the first vehicle body carrying mechanism (A), a second motor driving circuit (6.5) used for driving two motors in the second vehicle body carrying mechanism (B) and a digital steering engine (4), and the power supply input ends of the voltage stabilizing circuit (6.12), the first motor driving circuit (6.4) and the second motor driving circuit (6.5) are connected with the lithium battery (6.3).
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| CN112462753B (en) * | 2020-10-20 | 2024-01-30 | 天津大学 | Kinematic modeling method for car-snake composite variable structure mobile robot |
| CN113281258A (en) * | 2021-06-21 | 2021-08-20 | 电子科技大学 | Multi-dimensional continuous rotation characterization material anisotropy equipment |
| CN114474027A (en) * | 2022-01-11 | 2022-05-13 | 西安文理学院 | S-shaped multi-joint inspection robot and operation method |
| CN115180328A (en) * | 2022-08-02 | 2022-10-14 | 江西博展自动化科技有限公司 | Storage robot |
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