CN109910059A - Robot driving device and method - Google Patents
Robot driving device and method Download PDFInfo
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- CN109910059A CN109910059A CN201910337040.8A CN201910337040A CN109910059A CN 109910059 A CN109910059 A CN 109910059A CN 201910337040 A CN201910337040 A CN 201910337040A CN 109910059 A CN109910059 A CN 109910059A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000000758 substrate Substances 0.000 claims abstract description 141
- 238000001179 sorption measurement Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 23
- 238000010521 absorption reaction Methods 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 description 25
- 210000002683 foot Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 239000003463 adsorbent Substances 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000004744 fore-foot Anatomy 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000258920 Chilopoda Species 0.000 description 1
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000009351 contact transmission Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of robot driving device and methods.The described method includes: moving substrate, and the driving rotating disk of the moving substrate bottom surface is set；Energy substrate, and the driving unit of the energy substrate top surface is set；The driving unit and size, the shape of the driving rotating disk match, so that the driving unit provides energy for the driving rotating disk.Through the above technical solution, it is linked together between driving rotating disk and driving unit by adsorption capacity, moving substrate and robot is enabled to keep stable in the process of moving, and in two moving substrates of robot alternating moving process, the mobile power supply for robot is alternately contacted with energy substrate by one or two moving substrates, it is mobile for electrically-driven robot without installing the battery unit for driving robot mobile additional in robot or passing through conducting wire, it is more advantageous to as robot continued power, simplified power supply mode.
Description
Technical field
The present embodiments relate to equipment control technology field more particularly to robot driving device and methods.
Background technique
In the prior art, bio-robot is when stand walking, it is necessary first to overcome and take a step to walk in robot
The problem of how keeping balance well in the process.It keeps one's balance in walking process in order to enable robot takes a step, often
It needs using more complicated algorithm.However, (for example, instructed person's learning machine in some special robot usage scenarios
Device people programming Control), user's scarce capacity is to grasp and skillfully using the algorithm for keeping robot to balance.
In addition, being needed when constituting robot cluster since the energy content of battery that robot carries is limited for each robot
It is equipped with high capacity cell, increases the cost and weight of robot；Lead to robot not and can be carried out that flexible, complicated, the duration is long
Movement.
Based on above scheme, a kind of scheme for capableing of more flexible driving robot ambulation is needed.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of robot driving device and method, to can be more
Add the scheme of flexible driving robot ambulation.
In a first aspect, the embodiment of the present invention provides a kind of robot driving device, which includes:
Moving substrate, and the driving rotating disk of the moving substrate bottom surface is set；
Energy substrate, and the driving unit of the energy substrate top surface is set；
The driving unit and size, the shape of the driving rotating disk match, so that the driving unit is described
Rotating disk is driven to provide energy.
Further, the driving rotating disk includes: the first driving rotating disk and the second driving rotating disk；
The driving unit and size, the shape of the first driving rotating disk match, so that the driving unit is
The first driving rotating disk provides electric energy and/or electric signal；
The driving unit and size, the shape of the second driving rotating disk match, so that the driving unit is
The second driving rotating disk provides electric energy and/or electric signal.
Further, it is provided with first rotating shaft in the first driving rotating disk, the first rotating shaft is embedded in the movement
Shrinkage pool on substrate, so that the first driving rotating disk is flexibly connected with the moving substrate.
Further, the bottom surface of the first driving rotating disk is provided with the first linking terminal；The top of the driving unit
Face is provided with the second linking terminal, and the first linking terminal is connected terminal with described second and matches, so that first rank
Connecting terminal with it is described second linking terminal connect after by the driving unit for it is described first drive rotating disk provide electric energy and/or
Electric signal.
Further, further includes: the first linking terminal is single by the driving after connecting with the second linking terminal
Member provides adsorption capacity and repulsive force for the first driving rotating disk.
Further, the moving substrate bottom surface of the moving substrate is additionally provided with the second driving rotating disk, and described
The second shaft is provided in two driving rotating disks；
Second shaft is embedded in the linear grooves on the moving substrate so that it is described second driving rotating disk with it is described
Moving substrate is flexibly connected, and the second driving rotating disk can be adjusted along the linear grooves relative to the first driving rotation
The position of disk.
Further, the moving substrate includes hinged first movement substrate and the second moving substrate；
It is described first driving rotating disk be flexibly connected with the first movement substrate, it is described second drive rotating disk with it is described
Second moving substrate is flexibly connected.
Further, the driving unit is regular hexagon, is provided on each side to outbound, so that multiple drivings are single
Member links together.
Further, the driving rotating disk is to contain adsorbent equipment, the adsorbent equipment include: magnetic iron absorption device,
Sucker suction devices；
If the driving rotating disk is the magnet arrangement containing magnetic pole, the driving unit is the magnet cartridge containing magnetic pole
It sets；
The magnetic pole of the driving rotating disk and the magnetic pole of the driving unit are opposite magnetic pole, so that the driving rotating disk
It is adsorbed on the driving unit.
Further, described device further include: at least two mobile bionical limbs；
Each bionical limbs of the movement include at least two moving substrates；
Described at least two mobile bionical limbs are alternately inhaled with the energy substrate by least two moving substrate
It is attached to connect, so that the energy substrate provides electric energy for robot movement.
Second aspect, the embodiment of the present invention provide a kind of robotically-driven method, this method comprises:
It obtains absorption or releases order；
According to predetermined angle relationship, driving unit in the driving rotating disk and energy substrate of the bottom surface of moving substrate is adjusted
Relative angular relationship；
If adjustment finishes, the driving rotating disk and the driving unit are adsorbed or discharged.
Further, the driving rotating disk includes: the first driving rotating disk and the second driving rotating disk；
It is described to adsorb the driving rotating disk and the driving unit, comprising:
According to predetermined angle relationship, the relative angular relationship of the first driving rotating disk and the driving unit is adjusted；
If adjustment finishes, the first driving rotating disk and the driving unit are adsorbed.
Further, after obtaining absorption or releasing order, further includes:
According to predetermined angle relationship, adjusts and driven in the second driving rotating disk and the energy substrate of the bottom surface of moving substrate
The relative angular relationship of moving cell；
Adjust the distance between the first driving rotating disk and the second driving rotating disk relationship；
If adjustment finishes, the second driving rotating disk and the driving unit are adsorbed or discharged.
Further, the moving substrate includes at least two mobile bionical limbs；
Further include:
Described at least two mobile bionical limbs are alternately obtained the absorption by the moving substrate or released order, with
Move described at least two mobile bionical limbs alternately；Wherein, described at least two mobile bionical limbs pass through the movement
Substrate, which is alternately connect with the energy substrate adsorption, is retrieved as the mobile offer electric energy of the robot.
In embodiments of the present invention, rotating disk is driven by being arranged in the moving substrate bottom surface of robot, and in the energy
Driving unit is arranged in substrate top surface, and the size and shape of rotating disk and driving unit is driven to match, when driving is revolved
After turntable and driving unit absorption connection, it is that moving substrate and robot power by energy substrate, allows the robot to picture
People equally takes a step to move.Based on above scheme, drives and pass through adsorption capacity (such as magnetic-adsorption) between rotating disk and driving unit
It links together, moving substrate and robot is enabled to keep stable in the process of moving, and at two of robot
Moving substrate replaces in moving process, alternately contacts the movement for robot with energy substrate by one or two moving substrate
Power supply, without installing the battery unit for driving robot mobile additional in robot or passing through conducting wire for electrically-driven robot
It is mobile, it is more advantageous to as robot continued power, simplified power supply mode.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of moving substrate structural schematic diagram of robot driving device provided in an embodiment of the present invention；
Fig. 2 is a kind of energy schematic diagram of substrate structure of robot driving device provided in an embodiment of the present invention；
Fig. 3, Fig. 4 are a kind of structural schematic diagram of the driving unit of robot driving device provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of robot driving device provided in an embodiment of the present invention；
Fig. 6, Fig. 7 are a kind of structural representation of the rotation drive disk of robot driving device provided in an embodiment of the present invention
Figure；
A kind of position Fig. 8 driving flow diagram of robot driving device provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning, " a variety of " generally comprise at least two, but not
It excludes to include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Include, so that commodity or system including a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also
There are other identical elements.
It should be noted that robot described herein can be the bio-robot by two legs walking, it can also
To be the bio-robot by quadruped locomotion；It is of course also possible to be the robot (such as centipede anthropomorphic robot) with polypody.
During walking mobile (that is, by two limbs or quadruped locomotion), an at least limb is to maintain in two limbs or four limbs of robot
The state contacted with energy substrate, so that energy substrate is robot power supply.It should be noted that if robot jumps etc.
When movement, possible each limbs will appear of short duration the case where being detached from energy substrate.
Fig. 1 is a kind of structural schematic diagram of robot driving device provided in an embodiment of the present invention, as shown in Figure 1, the dress
Setting includes: moving substrate 10, and the driving rotating disk 11 of 10 bottom surface of moving substrate is arranged in；As shown in Fig. 2, energy base
Plate 20, and the driving unit 21 of 20 top surface of energy substrate is set；The driving unit 21 and the driving rotating disk
11 size, shape match, so that the driving unit 21 is that the driving rotating disk 11 provides energy.
In practical applications, moving substrate 10 moves the bionical foot in two limbs or four limbs of limbs as robot,
Bionical foot can be also possible to be constituted by multiple moving substrates 10 are hinged by 10 structure of moving substrate.In order to just
Balanced in power supply, the holding of mobile robot etc., the bottom surface of moving substrate 10 is provided with driving rotating disk 11, driving rotation
Turntable 11 can be circular discs as shown in Figure 1, it is of course also possible to be set as needed as other shapes.It should be noted that
If being adjusted to the size or shape of driving rotating disk 11, correspondingly, it is also desirable to the size or shape of driving unit 21
It is adjusted.
In practical applications, energy substrate 20 usually requires to connect with power supply and control unit, to provide for robot
Electric energy and electric signal.20 upper surface of energy substrate needs to be provided with driving unit 21.In order to meet driving demand, multiple drivings are single
Member 21 is laid on energy substrate 20.
It should be noted that robot in moving process, can not leave energy substrate 20；In other words, robot can only
It is moved on energy substrate 20 by moving substrate 10.
In one or more embodiment of the invention, the driving rotating disk 11 includes: the first driving rotating disk 11a
With the second driving rotating disk 11b；
Size, the shape of the driving unit 21 and the first driving rotating disk 11a match, so that the driving is single
Member 21 provides electric energy and/or electric signal for the first driving rotating disk 11a；The driving unit 21 is revolved with second driving
Size, the shape of turntable 11b matches so that the driving unit 21 for it is described second driving rotating disk 11b provide electric energy and/
Or electric signal.
In order to enable robot can have more functions, apish movement that can be more vivid, for example, jumping
Jump, setting is respectively the driving rotating disk of the first driving rotating disk 11a and second there are two driving rotating disk on the foot of robot
11b.In use, using the second driving rotating disk 11b as the heel of bionical foot, using the first driving rotating disk 11a as
The forefoot of bionical foot.It should be noted that even if being divided into front and back sole, but the first driving rotating disk 11a and the second driving
The shape and size of rotating disk 11b should be same or similar, so as to match well with driving unit 21.
Electric signal mentioned here is the control signal to robot.The electric signal can be wirelessly transferred, and can also be passed through
Driving rotating disk carries out contact transmission.
In one or more embodiment of the invention, first rotating shaft is provided on the first driving rotating disk 11a
11a1, the first rotating shaft 11a1 are embedded in the shrinkage pool 12 on the moving substrate 10 so that it is described first driving rotating disk 11a with
The moving substrate 10 is flexibly connected.
In practical applications, the first driving rotating disk 11a can be rotated by first rotating shaft 11a1；In other words, may be used
To drive first rotating shaft 11a1 rotation by driving rotating device (for example, motor or cylinder), to drive the first driving rotation
Disk 11a rotation.Shrinkage pool 12 mentioned here can be through-hole or groove, so that first rotating shaft 11a1 can penetrate into shrinkage pool 12
It is interior.
In one or more embodiment of the invention, as shown in Figure 6, Figure 7, the first driving rotating disk 11a's
Bottom surface is provided with the first linking terminal 11a2；The top surface of the driving unit 21 is provided with the second linking terminal 21a, and described first
Linking terminal 11a2 is connected terminal 21a with described second and matches, so that the first linking terminal 11a2 and second rank
Electric energy and/or electric signal are provided for the first driving rotating disk 11a by the driving unit 21 after connecting terminal 21a connection.
In practical applications, the first linking terminal 11a2 is connected capable of matching together for terminal 21a with second.Example
Such as, the first linking terminal 11a2 is bulge-structure, and corresponding second linking terminal 21a is groove structure, alternatively, the first cohesive end
Sub- 11a2 is groove structure, and corresponding second linking terminal 21a is bulge-structure；So as to the first linking terminal 11a2 and the second rank
Connecting terminal 21a matches.In practical applications, it may be provided with multiple first cohesive ends simultaneously on the first driving rotating disk 11a
Sub- 11a2 similarly, on driving unit 21 is also correspondingly arranged identical multiple second linking terminal 21a.It should be noted that the first rank
It meets cross-talk 11a2 to connect with the second linking cross-talk 21a, can be and adsorption capacity or repulsive force are only provided, electric energy or telecommunications are not provided
Number, electric energy and electric signal can be by way of wireless (contactless) transmission.
In one or more embodiment of the invention, the first linking terminal 11a2 is connected terminal with described second
Adsorption capacity and repulsive force are provided for the first driving rotating disk 11a by the driving unit 21 after 21a connection.
In practical applications, the first linking terminal 11a2 is connected after terminal 21a links together with second, is able to carry out electricity
The transmission of energy or electric signal.In addition, adsorption capacity can also be generated between the two, so that robot can be more steady
Fixed takes a step to move on energy substrate.For example, the bionical foot of the limbs bottom end of robot needs in moving process of taking a step
The movement lifted and declined generates adsorption capacity after the drop of bionical underfooting, generates repulsive force when preparing and lifting.
In one or more embodiment of the invention, 10 bottom surface of the moving substrate of the moving substrate 10 is also set
It is equipped on the second driving rotating disk 11b, the second driving rotating disk 11b and is provided with the second shaft 11b1；Second shaft
11b1 is embedded in the linear grooves 13 on the moving substrate 10, so that the second driving rotating disk 11b and the moving substrate
10 are flexibly connected, and the second driving rotating disk 11b can be adjusted along the linear grooves 13 relative to the first driving rotation
The position of disk 11a.
As can be seen from the foregoing, each driving rotating disk is both provided with corresponding first linking terminal, for example, four linkings
Terminal arranges and is square in driving rotating disk, corresponding, four second linking terminals being arranged on driving unit 10
It is square.When the bionical foot of robot is parallel with diagonal line in driving unit 10, in order to enable driving rotating disk and driving
Unit can match just, need to adjust the distance between the driving of the first driving rotating disk 11a and second rotating disk 11b.For example, such as
Shown in Fig. 1, the second shaft 11b1 of the second driving rotating disk 11b can be rotatablely connected by linear grooves 13, so that second
Driving rotating disk can be moved along linear grooves 13, so as to adjust the first driving rotating disk 11a and the second driving rotating disk 11b
The distance between.
It should be noted that mentioned here first and second be no strict sequence.For example, the first driving rotation
Turntable 11a can also be used as the heel of bionical foot, and the second driving rotating disk 11b then can be used as the sole of bionical foot.In addition, this
In described linear grooves 13, the first driving rotating disk and the second driving rotating disk can be applied to, simultaneously both to adjust
The distance between.
In one or more embodiment of the invention, as shown in Figure 1, the moving substrate 10 includes hinged first
Moving substrate 101 and the second moving substrate 102；The first driving rotating disk 11a and 101 activity of the first movement substrate are even
It connects, the second driving rotating disk 11b is flexibly connected with second moving substrate 102.
In practical applications, first movement substrate 101 can be used as the forefoot of bionical foot, and the second moving substrate 102 can
Using the heel as bionical foot.In control process, first movement substrate 101 and the second moving substrate 102 may simultaneously with energy
Source substrate contact, it is also possible to which only one is contacted with energy substrate.
In one or more embodiment of the invention, the driving unit is regular hexagon, is provided with pair on each side
Outbound, so that multiple driving units link together.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 7, driving unit 21 can be regular hexagon and (certainly, in practical applications may be used
To be other shapes, such as square), multiple splicings of driving unit 21 are on energy substrate 20.In order to enable each driving unit
21 can be stable be stitched together, can be spliced by way of pin joint.
In one or more embodiment of the invention, the driving rotating disk is to contain adsorbent equipment, the absorption
Device includes: magnetic iron absorption device, sucker suction devices；If the driving rotating disk is the magnet arrangement containing magnetic pole, described
Driving unit is the magnet arrangement containing magnetic pole；The magnetic pole of the driving rotating disk is opposite magnetic with the magnetic pole of the driving unit
Pole, so that the driving rotating disk is adsorbed on the driving unit.
For example, driving rotating disk can be respectively arranged with electromagnet in the upper surface of bottom surface and driving unit.To drive
Adsorption capacity is generated between dynamic rotating disk and driving unit, can be powered so that the two has opposite magnetic pole；To drive
Repulsive force is generated between rotating disk and driving unit, then can be powered so that the two magnetic pole having the same.In practical applications,
If only needing to generate adsorption capacity, adsorbent equipment can also be sucker etc., can produce adsorption capacity by the sucker, can also deflate
Generate repulsive force.
In one or more embodiment of the invention, described device further include: at least two mobile bionical limbs；Often
A bionical limbs of the movement include at least two moving substrates；Described at least two mobile bionical limbs pass through described at least two
A moving substrate is alternately connect with the energy substrate adsorption, so that the energy substrate provides electricity for robot movement
Energy.
In practical applications, robot can have at least two mobile bionical limbs, and bionical limbs can not only be used to connect
It is moved by electric energy, adsorption capacity can also be generated between energy substrate.Therefore, which not only can have energy in tiling
The horizontal plane of source substrate is walked, if energy substrate is laid on vertical metope, robot also can vertical direction take a step to walk,
The influence of gravity can be overcome.
Based on same thinking, as shown in figure 8, the embodiment of the present invention also provides a kind of robotically-driven method, this method
Include the following steps: 201: obtaining absorption or release order；202: according to predetermined angle and spaced relationship, adjusting moving substrate
The relative angular relationship of driving unit in the driving rotating disk and energy substrate of bottom surface；203: if adjustment finishes, by the drive
Dynamic rotating disk and the driving unit are adsorbed or are discharged.
Absorption mentioned here is released order, and is for robotically-driven process, generally, robot is imitative
Raw foot is to release order when lifting foot, is absorption instruction when robot puts down bionical foot.As shown in Figure 1 and Figure 2 it is found that driving
Linking terminal in rotating disk and driving unit is all according to certain regularly arranged, when the bionical foot of robot is mobile to side
When, need to adjust the relative angle between driving rotating disk and driving unit.Predetermined angle relationship mentioned here, it is possible to understand that
For when the relative angle between driving rotating disk and driving unit.
In one or more embodiment of the invention, the driving rotating disk includes: the first driving rotating disk and
Two driving rotating disks；It is described to adsorb the driving rotating disk and the driving unit, comprising: according to predetermined angle relationship, to adjust
The relative angular relationship of whole first the driving rotating disk and the driving unit；If adjustment finishes, described first is driven
Rotating disk and the driving unit adsorb.
It can also include: according to pre- after obtaining absorption or releasing order in one or more embodiment of the invention
If angular relationship, the relative angle of driving unit in the second driving rotating disk and the energy substrate of the bottom surface of moving substrate is adjusted
Degree relationship；Adjust the distance between the first driving rotating disk and the second driving rotating disk relationship；If adjustment finishes,
The second driving rotating disk and the driving unit are adsorbed or discharged.
In one or more embodiment of the invention, the moving substrate includes at least two mobile bionical limbs；
Can also include: described at least two mobile bionical limbs alternately obtained by the moving substrate absorption or
It releases order, so that described at least two mobile bionical limbs alternately move；Wherein, described at least two mobile bionical limbs are logical
It crosses the moving substrate and alternately connect with the energy substrate adsorption and the mobile offer electric energy of the robot is provided.
Based on the various embodiments described above it can be appreciated that by the way that driving rotating disk is arranged in the moving substrate bottom surface of robot,
And driving unit is set in energy substrate top surface, and driving the size and shape of rotating disk and driving unit is to match
, it is that moving substrate and robot power by energy substrate, so that machine after driving rotating disk and driving unit absorption connects
Device people can take a step to move as people.Based on above scheme, drive between rotating disk and driving unit by adsorption capacity (such as
Magnetic-adsorption) it links together, enable moving substrate and robot to keep stable in the process of moving, and in machine
In two moving substrates alternating moving process of people, the shifting for robot is alternately contacted with energy substrate by two moving substrates
Dynamic power supply, without installing the battery unit for driving robot mobile additional in robot or passing through conducting wire for electric driving machine
People is mobile, is more advantageous to as robot continued power, simplified power supply mode.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of required general hardware platform is added, naturally it is also possible to which reality is come in conjunction with by way of hardware and software
It is existing.Based on this understanding, substantially the part that contributes to existing technology can be to calculate in other words for above-mentioned technical proposal
The form of machine product embodies, and it wherein includes the meter of computer usable program code that the present invention, which can be used in one or more,
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable resources more new equipment to produce
A raw machine, so that being generated by the instruction that the processor of computer or other programmable resources more new equipment executes for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable resources more new equipment with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions can also be loaded on computer or other programmable resources more new equipment, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
A1, a kind of robot driving device, described device include:
Moving substrate, and the driving rotating disk of the moving substrate bottom surface is set；
Energy substrate, and the driving unit of the energy substrate top surface is set；
The driving unit and size, the shape of the driving rotating disk match, so that the driving unit is described
Rotating disk is driven to provide energy.
A2, the device according to a1, the driving rotating disk include: the first driving rotating disk and the second driving rotation
Disk；
The driving unit and size, the shape of the first driving rotating disk match, so that the driving unit is
The first driving rotating disk provides electric energy and/or electric signal；
The driving unit and size, the shape of the second driving rotating disk match, so that the driving unit is
The second driving rotating disk provides electric energy and/or electric signal.
A3, the device according to a2, it is described first driving rotating disk on be provided with first rotating shaft, the first rotating shaft is embedding
Enter the shrinkage pool on the moving substrate, so that the first driving rotating disk is flexibly connected with the moving substrate.
The bottom surface of a4, the device according to a2, the first driving rotating disk are provided with the first linking terminal；The drive
The top surface of moving cell is provided with the second linking terminal, and the first linking terminal is connected terminal with described second and matches, so that
The first linking terminal is mentioned after connecting with the second linking terminal by the driving unit for the first driving rotating disk
For electric energy and/or electric signal.
A5, the device according to a4, further includes: it is described first linking terminal with it is described second be connected terminal connect after by
The driving unit provides adsorption capacity and repulsive force for the first driving rotating disk.
A6, the device according to a2, the moving substrate bottom surface of the moving substrate are additionally provided with the second driving rotation
Turntable, it is described second driving rotating disk on be provided with the second shaft；
Second shaft is embedded in the linear grooves on the moving substrate so that it is described second driving rotating disk with it is described
Moving substrate is flexibly connected, and the second driving rotating disk can be adjusted along the linear grooves relative to the first driving rotation
The position of disk.
A7, the device according to a6, the moving substrate include hinged first movement substrate and the second moving substrate；
It is described first driving rotating disk be flexibly connected with the first movement substrate, it is described second drive rotating disk with it is described
Second moving substrate is flexibly connected.
A8, the device according to a1, the driving unit are regular hexagon, are provided on each side to outbound, so that more
A driving unit links together.
A9, the device according to a1, the driving rotating disk are to contain adsorbent equipment, and the adsorbent equipment includes: magnetic
Iron adsorbent equipment, sucker suction devices；
If the driving rotating disk is the magnet arrangement containing magnetic pole, the driving unit is the magnet cartridge containing magnetic pole
It sets；
The magnetic pole of the driving rotating disk and the magnetic pole of the driving unit are opposite magnetic pole, so that the driving rotating disk
It is adsorbed on the driving unit.
A10, the device according to a1, further includes:
The driving unit passes through contactless transmission electric energy and/or control signal.
B11, a kind of robotically-driven method, comprising:
It obtains absorption or releases order；
According to predetermined angle relationship, driving unit in the driving rotating disk and energy substrate of the bottom surface of moving substrate is adjusted
Relative angular relationship；
If adjustment finishes, the driving rotating disk and the driving unit are adsorbed or discharged.
B12, the method according to b11, the driving rotating disk include: the first driving rotating disk and the second driving rotation
Disk；
It is described to adsorb the driving rotating disk and the driving unit, comprising:
According to predetermined angle relationship, the relative angular relationship of the first driving rotating disk and the driving unit is adjusted；
If adjustment finishes, the first driving rotating disk and the driving unit are adsorbed.
B13, the method according to b12, after obtaining absorption or releasing order, further includes:
According to predetermined angle relationship, adjusts and driven in the second driving rotating disk and the energy substrate of the bottom surface of moving substrate
The relative angular relationship of moving cell；
Adjust the distance between the first driving rotating disk and the second driving rotating disk relationship；
If adjustment finishes, the second driving rotating disk and the driving unit are adsorbed or discharged.
Claims (10)
1. a kind of robot driving device, which is characterized in that described device includes:
Moving substrate, and the driving rotating disk of the moving substrate bottom surface is set；
Energy substrate, and the driving unit of the energy substrate top surface is set；
The driving unit and size, the shape of the driving rotating disk match, so that the driving unit is the driving
Rotating disk provides energy.
2. the apparatus according to claim 1, which is characterized in that the driving rotating disk include: the first driving rotating disk and
Second driving rotating disk；
The driving unit and size, the shape of the first driving rotating disk match, so that the driving unit is described
First driving rotating disk provides electric energy and/or electric signal；
The driving unit and size, the shape of the second driving rotating disk match, so that the driving unit is described
Second driving rotating disk provides electric energy and/or electric signal.
3. the apparatus of claim 2, which is characterized in that it is provided with first rotating shaft in the first driving rotating disk,
The first rotating shaft is embedded in the shrinkage pool on the moving substrate, so that the first driving rotating disk and moving substrate activity
Connection.
4. the apparatus of claim 2, which is characterized in that the bottom surface of the first driving rotating disk is provided with the first rank
Connecting terminal；The top surface of the driving unit is provided with the second linking terminal, the first linking terminal and second cohesive end
Son matches, so that it is described first that the first linking terminal, which is connected after terminal is connect with described second by the driving unit,
Rotating disk is driven to provide electric energy and/or electric signal.
5. device according to claim 4, which is characterized in that further include: the first linking terminal and second rank
Adsorption capacity and repulsive force are provided for the first driving rotating disk by the driving unit after connecting terminal connection.
6. the apparatus of claim 2, which is characterized in that the moving substrate bottom surface of the moving substrate is also set up
There is the second driving rotating disk, is provided with the second shaft in the second driving rotating disk；
Second shaft is embedded in the linear grooves on the moving substrate, so that the second driving rotating disk and the movement
Substrate is flexibly connected, and the second driving rotating disk can be adjusted along the linear grooves relative to the first driving rotating disk
Position.
7. device according to claim 6, which is characterized in that the moving substrate include hinged first movement substrate and
Second moving substrate；
The first driving rotating disk is flexibly connected with the first movement substrate, the second driving rotating disk and described second
Moving substrate is flexibly connected.
8. a kind of robotically-driven method characterized by comprising
It obtains absorption or releases order；
According to predetermined angle relationship, adjust the driving rotating disk of the bottom surface of moving substrate in the energy substrate driving unit it is opposite
Angular relationship；
If adjustment finishes, the driving rotating disk and the driving unit are adsorbed or discharged.
9. according to the method described in claim 8, it is characterized in that, the driving rotating disk include: the first driving rotating disk and
Second driving rotating disk；
It is described to adsorb the driving rotating disk and the driving unit, comprising:
According to predetermined angle relationship, the relative angular relationship of the first driving rotating disk and the driving unit is adjusted；
If adjustment finishes, the first driving rotating disk and the driving unit are adsorbed.
10. according to the method described in claim 9, it is characterized in that, after obtaining absorption or releasing order, further includes:
According to predetermined angle relationship, adjusts in the second driving rotating disk and the energy substrate of the bottom surface of moving substrate and drive list
The relative angular relationship of member；
Adjust the distance between the first driving rotating disk and the second driving rotating disk relationship；
If adjustment finishes, the second driving rotating disk and the driving unit are adsorbed or discharged.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910337040.8A CN109910059A (en) | 2019-04-25 | 2019-04-25 | Robot driving device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910337040.8A CN109910059A (en) | 2019-04-25 | 2019-04-25 | Robot driving device and method |
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ID=66978388
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| WO2001041976A1 (en) * | 1999-12-09 | 2001-06-14 | University Of The West Of England, Bristol | Mobile robots travelling on powered floor |
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