CN110481672A - A kind of low degree-of-freedom omnidirectional four-footed mobile platform - Google Patents
A kind of low degree-of-freedom omnidirectional four-footed mobile platform Download PDFInfo
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- CN110481672A CN110481672A CN201910700599.2A CN201910700599A CN110481672A CN 110481672 A CN110481672 A CN 110481672A CN 201910700599 A CN201910700599 A CN 201910700599A CN 110481672 A CN110481672 A CN 110481672A
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- low degree
- mobile platform
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- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 210000002683 foot Anatomy 0.000 claims description 78
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 2
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of low degree-of-freedom omnidirectional four-footed mobile platforms, comprising: cross slid platform mechanism, the straight line slipway mechanism combined including two groups according to X-direction and Y direction；Scalable foot can telescopically be respectively connected to the both ends of the length direction of every group of straight line slipway mechanism up and down.Controller connects with two groups of straight line slipway mechanisms and each scalable foot control respectively, realizes Omni-mobile for two groups of straight line slipway mechanisms of coordinated control and each scalable foot.The present invention is compound by the continuous moving and two dimension of slide unit, to realize Omni-mobile with less freedom degree, and has the function of to explore ambient enviroment etc. automatically, can flexibly realize the steady movement in complicated landform.
Description
Technical field
The present invention relates to robot field more particularly to a kind of low degree-of-freedom omnidirectional four-footed mobile platforms.
Technical background
Sufficient formula walking robot is very active in research field in recent years, and legged type robot is adapted to good environment
Property, people can be helped to complete under hazardous environment in the movement under the complex environments such as hollow, bright stone, meadow, rugged mountainous region
Rescue and exploration task.
Legged type robot most study is bionical quadruped robot, before the gait of natural imitation circle quadruped is realized
Into, but its gait research is sufficiently complex, automates more demanding, cost of manufacture height.
The present invention proposes a kind of non-bionical four-footed active mechanism and walking mechanism, realizes that omnidirectional moves by simple mechanism
Dynamic four-footed mobile robot has control simply, at low cost, makes simple advantage, has good development prospect.
Summary of the invention
The present invention provides a kind of low degree-of-freedom omnidirectional four-footed mobile platform, and mechanical flexibility is good, can adapt to various terrains,
It realizes Omni-mobile, controls simple and reliable, low manufacture cost, installation is simple.
An object of the present invention is realized at least through following technical solution:
A kind of low degree-of-freedom omnidirectional four-footed mobile platform, comprising:
Cross slid platform mechanism, the straight line slipway mechanism combined including two groups according to X-direction and Y direction；
Scalable foot can telescopically be respectively connected to the two of the length direction of every group of straight line slipway mechanism up and down
End.
Controller connects with two groups of straight line slipway mechanisms and each scalable foot control respectively, is used for two groups of coordinated control
Straight line slipway mechanism and each scalable foot realize Omni-mobile.
Further, the straight line slipway mechanism includes:
Rack；
Sliding rail is arranged in parallel on the rack along its length；
Parallel-plate is slidably connected by sliding block and the sliding rail；
Servo motor is fixed on the parallel-plate between two parties；
Linear transmission mechanism is drivingly connected with the servo motor, generates straight line between the parallel-plate and rack for driving
Relative motion.
Further, the linear transmission mechanism includes:
Synchronizing wheel is fixed on the output shaft of the servo motor；
Synchronous belt, matches with the synchronizing wheel and both ends by I-shaped fixing piece are separately fixed at the rack length direction
Both ends；
Two tensioning wheels are symmetricly set on the parallel-plate and are located at the synchronizing wheel two sides, for adjusting synchronous belt Zhang Jindu
Tensioning wheel.
Further, the linear transmission mechanism includes:
Gear is driven, is fixed on the output shaft of the servo motor；
Stationary rack is fixed in the rack along its length and is meshed with the pinion gear.
Further, the rack is hollow rectangular frame structure.
Further, the parallel-plate of the two straight line slipway mechanisms is coaxially disposed in the vertical direction and by screw thread copper post
It is fixedly connected.
Further, the scalable foot includes:
Foot connector is fixed at the end of the rack downward in a certain anglely；
Foot portion frame is centrally located the groove that can be inserted into the foot connector；
Two linear slide pairs are symmetricly set between the foot connector and the foot portion frame；
Foot servo motor, through L word motor cabinet regulation on the foot connector；
Gear is fixedly connected with the foot servo motor output shaft；
Rack gear is fixedly mounted on the foot portion frame middle line and is meshed with gear.
Further, the foot portion frame includes two side plates disposed in parallel, two connectors,
Hollow-out parts are provided in the middle part of the side plate, wherein the hollow-out parts for being equipped with the side plate of rack gear are with teeth along center line setting
Mounting portion；
Two connector is fixedly connected between the upper left corner and the upper right corner of two side plates；
It is linked together between the bottom of the both side plate by profile.
Further, the two linear slide pairs include:
Symmetrically arranged two foots sliding rail is respectively fixedly disposed at the two sides of the foot connector；
Two symmetrically arranged foot sliding blocks are separately fixed on two connectors and are slidably connected with corresponding foot sliding rail.
Further, the foot connector and the angle of the rack are right angle or obtuse angle.
Compared to existing bionical quadruped robot, the present invention is compound by the continuous moving of slide unit and two dimension, thus with compared with
Few freedom degree realizes Omni-mobile；Mobile platform of the invention can use more simple control algolithm, realize robot
Four-footed walking, is more able to achieve omnidirectional and moves freely, and control is simple, low manufacture cost, adaptable, smooth running, can be flexible
Realization complicated landform steady movement.
Detailed description of the invention
Fig. 1 is the low degree-of-freedom omnidirectional four-footed mobile platform overall structure diagram of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the cross slid platform mechanism of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the scalable foot of the embodiment of the present invention.
The label declaration of components in schematic diagram:
1- servo motor, 2- synchronizing wheel, 3- tensioning wheel, 4- synchronous belt, 5- sliding rail, 6- sliding block, 7- I-shaped fixing piece, 8- are parallel
Plate, 9- rack, 10- foot sliding rail, 11- foot sliding block, 12- connector, 13- side plate, 14- foot servo motor, 15-L word electricity
Base, 16- gear, 17- rack gear；18- foot connector.
Specific embodiment
The purpose of the present invention is described in further detail below by specific embodiment, embodiment cannot herein one by one
It repeats, but therefore embodiments of the present invention are not limited to the following examples.
As shown in Figure 1, a kind of low degree-of-freedom omnidirectional four-footed mobile platform, comprising:
Cross slid platform mechanism, the straight line slipway mechanism combined including two groups according to X-direction and Y direction；
Scalable foot can telescopically be respectively connected to the two of the length direction of every group of straight line slipway mechanism up and down
End.
Controller connects with two groups of straight line slipway mechanisms and each scalable foot control respectively, is used for two groups of coordinated control
Straight line slipway mechanism and each scalable foot realize Omni-mobile.
Specifically, as shown in Fig. 2, the straight line slipway mechanism includes:
Rack 9, the rack 9 are hollow rectangular frame structure；
Sliding rail 5 is arranged in parallel in along its length in rack 9；
Parallel-plate 8 is slidably connected by sliding block 6 and the sliding rail 5；
Servo motor 1 is fixed on the parallel-plate 8 between two parties；
Linear transmission mechanism is drivingly connected with the servo motor 1, is generated directly between the parallel-plate 8 and rack 9 for driving
Line relative motion.
The linear transmission mechanism includes:
Synchronizing wheel 2 is fixed on the output shaft of the servo motor 1；
Synchronous belt 4, matches with the synchronizing wheel 2 and both ends pass through I-shaped fixing piece 7 and are separately fixed at the 9 length side of rack
To both ends；
Two tensioning wheels 3 are symmetricly set on the parallel-plate 8 and are located at 2 two sides of synchronizing wheel, open for adjusting synchronous belt 4
The tensioning wheel 3 of progress, tensioning wheel 3 can change the turnover of synchronous belt 4 direction, increase the contact area of synchronous belt 4 and synchronizing wheel 2,
Bigger driving force can be provided, the case where skidding effectively is avoided, the parallel-plate 8 is driven to relatively move with rack 9.
The servo motor 1 drives synchronous belt 4 to move slide unit and realizes linear movement, is compiled using the Hall that servo motor 1 carries
Code device accurately controls motor rotating cycle, thus realize that the moving distance of slide unit is precisely controlled, then compound two sets of servo-systems
Coordinate output, a certain range of position control in X/Y plane may be implemented, achieve the effect that Omni-mobile.
In another feasible embodiment, the linear transmission mechanism includes:
Gear is driven, is fixed on the output shaft of the servo motor 1；
Stationary rack is fixed in the rack 9 along its length and is meshed with the pinion gear.The present embodiment passes through driving
Gear is matched with stationary rack, and the parallel-plate 8 is driven to relatively move with rack 9.
The present embodiment gear and rack teeth mechanism is not necessarily to tensioning wheel 3 instead of above-mentioned belt wheel transmission mode, compact-sized.
The parallel-plate 8 of the two straight line slipway mechanisms is coaxially disposed in the vertical direction, and two parallel-plates 8 pass through screw thread copper
Column is fixedly connected, and forms one.
Specifically, two line slide rails 5 being parallel to each other ensure the glide direction of slide unit, reduce resistance to sliding.Machine
Carrying of the frame 9 as slide unit, the sliding rail 5 avoided are stressed directly, and increase the bending resistance square ability of long track.
As shown in figure 3, the scalable foot includes:
Foot connector 18 is fixed at the end of the rack 9 with rack 9 downward in 90 degree of at an angles；
Foot portion frame is centrally located the groove that can be inserted into the foot connector；
Two linear slide pairs are symmetricly set between the foot connector and the foot portion frame；
Foot servo motor 14, through L word motor cabinet regulation on the foot connector；
Gear 16 is fixedly connected with 14 output shaft of foot servo motor；
Rack gear 17 is fixedly mounted on the foot portion frame middle line and is meshed with gear 16, and gear 16 and rack gear 17 match,
Foot is set to complete to do reciprocal lifting and fixed movement to rack 9 along the vertical direction.
Specifically, every scalable foot of set can independent control, the reciprocal lifting of completion and fixed movement.It is sliding in cross
When platform mechanism kinematic, diagonal scalable foot is packed up as entire robot, another diagonal scalable foot is propped
Avoid with ground face contact, simply take a step to advance so as to smoothly realize.
Wherein, the foot portion frame includes two side plates 13 disposed in parallel, two connectors 12,
The middle part of the side plate 13 is provided with hollow-out parts, wherein the hollow-out parts for being equipped with the side plate 13 of rack gear 17 are set along center line
It is equipped with rack gear mounting portion；
Two connector 12 is fixedly connected between the upper left corner and the upper right corner of two side plates 13；
It is linked together between the bottom of the both side plate 13 by profile.
Wherein, the two linear slide pairs include:
Symmetrically arranged two foots sliding rail 10, is respectively fixedly disposed at the two sides of the foot connector 18；
Two symmetrically arranged foot sliding blocks 11 are separately fixed on two connectors 12 and slide company with corresponding foot sliding rail 10
It connects.
Specifically, foot sliding rail 10 of the two sides back to placement, when foot sliding block 11 on the one hand can be cooperated to reduce mobile
Frictional resistance, reduce by 14 power loss of foot servo motor, on the other hand, two foot sliding rails 10 can constrain vertical direction
On movement, effectively avoid foot side plate 13 inwardly or lateral offset, improve mechanical stability.
In another feasible embodiment of the invention, the foot connector 18 and the angle of the rack 9 are blunt
Angle makes the two scalable foots positioned at same 9 both ends of rack in toed-out shape, thus steady when effectively improving mobile platform walking
Qualitative and adherence properties prevent from rolling.
The process for using of the low degree-of-freedom omnidirectional four-footed mobile platform of above-described embodiment is as follows:
Before powering on, scalable foot is in collapsed state, and cross slid platform mechanism is in extreme position, is integrally rectangular in shape.On
The servo motor 1 of each slide unit is demarcated using current self-position as initial position after electricity, and four foot servo motors 14 drive simultaneously
The whole lifting robot of carry-over bar 17 causes maximum height.It completes latter two opposite scalable foot and is raised to a certain height, separately
Outer two opposite scalable foots are remained stationary as supporting point, while cross slid platform mechanism is slid, until slide unit is presented
When square is arranged, the scalable foot of two remained stationary before is put down as new supporting point, and the scalable foot of another pair is then
Execution is packed up to take a step next time.This completes the actuation cycles once taken a step forward.Taking a step for other directions can basis
Two parallel-plates 8 slide the control of different distance and then control moving distance and direction, achieve the effect that Omni-mobile.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (10)
1. a kind of low degree-of-freedom omnidirectional four-footed mobile platform characterized by comprising
Cross slid platform mechanism, the straight line slipway mechanism combined including two groups according to X-direction and Y direction；
Scalable foot can telescopically be respectively connected to the two of the length direction of every group of straight line slipway mechanism up and down
End；
Controller connects with two groups of straight line slipway mechanisms and each scalable foot control respectively, is used for two groups of straight lines of coordinated control
Slipway mechanism and each scalable foot realize Omni-mobile.
2. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 1, which is characterized in that the straight line slide unit machine
Structure includes:
Rack (9)；
Sliding rail (5) is arranged in parallel in along its length on rack (9)；
Parallel-plate (8) is slidably connected by sliding block (6) and the sliding rail (5)；
Servo motor (1) is fixed on the parallel-plate (8) between two parties；
Linear transmission mechanism is drivingly connected, for driving between the parallel-plate (8) and rack (9) with the servo motor (1)
Generate relative linear motion.
3. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 2, which is characterized in that the straight-line transmitting motivation
Structure includes:
Synchronizing wheel (2), is fixed on the output shaft of the servo motor (1)；
Synchronous belt (4), matches with the synchronizing wheel (2) and both ends pass through I-shaped fixing piece (7) and are separately fixed at the rack
(9) both ends of length direction；
Two tensioning wheels (3) are symmetricly set on the parallel-plate (8) and are located at the synchronizing wheel (2) two sides, for adjusting synchronization
The tensioning wheel (3) of band (4) Zhang Jindu.
4. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 2, which is characterized in that the straight-line transmitting motivation
Structure includes:
Gear is driven, is fixed on the output shaft of the servo motor (1)；
Stationary rack is fixed on the rack (9) along its length and is meshed with the pinion gear.
5. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 2, which is characterized in that the rack (9) is
Hollow rectangular frame structure.
6. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 2, which is characterized in that the two straight line slide unit machines
The parallel-plate (8) of structure is coaxially disposed in the vertical direction and is fixedly connected by screw thread copper post.
7. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 2, which is characterized in that the scalable foot
Include:
Foot connector (18), is fixed at the end of the rack (9) downward in a certain anglely；
Foot portion frame is centrally located the groove that can be inserted into the foot connector；
Two linear slide pairs are symmetricly set between the foot connector and the foot portion frame；
Foot servo motor (14), through L word motor cabinet regulation on the foot connector；
Gear (16) is fixedly connected with foot servo motor (14) output shaft；
Rack gear (17) is fixedly mounted on the foot portion frame middle line and is meshed with gear (16).
8. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 7, which is characterized in that the foot portion frame packet
Two side plates (13) disposed in parallel, two connectors (12) are included,
Hollow-out parts are provided in the middle part of the side plate (13), wherein the hollow-out parts of the side plate (13) of rack gear (17) are installed in
Heart line is provided with rack gear mounting portion；
Two connector (12) is fixedly connected between the upper left corner and the upper right corner of two side plates (13)；
It is linked together between the bottom of the both side plate (13) by profile.
9. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 7, which is characterized in that two linear slides
Pair includes:
Symmetrically arranged two foots sliding rail (10) is respectively fixedly disposed at the two sides of the foot connector (18)；
Two symmetrically arranged foot sliding blocks (11) are separately fixed on two connectors (12) and sliding with corresponding foot sliding rail (10)
Dynamic connection.
10. low degree-of-freedom omnidirectional four-footed mobile platform according to claim 7, which is characterized in that the foot connection
Part (18) and the angle of the rack (9) are right angle or obtuse angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910700599.2A CN110481672A (en) | 2019-07-31 | 2019-07-31 | A kind of low degree-of-freedom omnidirectional four-footed mobile platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910700599.2A CN110481672A (en) | 2019-07-31 | 2019-07-31 | A kind of low degree-of-freedom omnidirectional four-footed mobile platform |
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| CN110481672A true CN110481672A (en) | 2019-11-22 |
Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114684296A (en) * | 2022-04-08 | 2022-07-01 | 合肥学院 | Waist-driven four-footed robot walking method and gait planning method |
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| CN207640337U (en) * | 2017-06-22 | 2018-07-24 | 常州工程职业技术学院 | A kind of sucker type glass curtain wall crawling device |
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2019
- 2019-07-31 CN CN201910700599.2A patent/CN110481672A/en active Pending
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| US5351626A (en) * | 1991-11-11 | 1994-10-04 | Ken Yanagisawa | Walking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114684296A (en) * | 2022-04-08 | 2022-07-01 | 合肥学院 | Waist-driven four-footed robot walking method and gait planning method |
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