CN113180560B - Two-disc driving type omnidirectional walking device and walking method - Google Patents
Two-disc driving type omnidirectional walking device and walking method Download PDFInfo
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- CN113180560B CN113180560B CN202110518668.5A CN202110518668A CN113180560B CN 113180560 B CN113180560 B CN 113180560B CN 202110518668 A CN202110518668 A CN 202110518668A CN 113180560 B CN113180560 B CN 113180560B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Abstract
The invention discloses a two-disc driving type omnidirectional walking device and a walking method. According to the two-disk drive type omnidirectional walking device and the walking method, the angle and the rotating direction between the walking disk and the working plane are controlled, so that the specified position on the walking disk can generate friction with the working plane, the friction force in the specified direction is formed, the omnidirectional walking device is pushed to directly walk in the specified arbitrary direction, and the omnidirectional movement is realized.
Description
Technical Field
The invention relates to the technical field of mopping robots, in particular to a two-disc driving type omnidirectional walking device and a walking method.
Background
The automatic cleaning robot has been gradually popularized as a novel cleaning household appliance, greatly saves the labor intensity of daily floor cleaning, and saves a large amount of time. Mopping is an important part in daily floor cleaning, a plurality of automatic mopping robots on the market are driven by wheel sets, even if some automatic mopping robots are driven by wiping discs, the wiping discs used by the automatic mopping robots are basically fixed at the bottom, so that the automatic mopping robots can only move forward along one direction, and only can adjust the angle of a machine body when the automatic mopping robots turn around, the automatic mopping robots cannot move flexibly and quickly, the cleaning travel planning and control of the automatic mopping robots are not facilitated, dead corners exist during cleaning, and the cleaning effect is not good.
Disclosure of Invention
Aiming at the problems that the automatic cleaning robot driven by the wiping disk in the prior art can not walk omnidirectionally, so that the action is not flexible, the travel planning and the control are inconvenient, and dead angles exist in cleaning, the invention provides the two-disk driven omnidirectional walking device and the walking method.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an omnidirectional walking device of two dish drive formulas, the walking module that is equipped with two sets of symmetries in omnidirectional walking device's the fuselage and sets up, walking module is connected with a walking disc respectively, walking disc and working plane parallel arrangement just can under walking module control and between the working plane form disc angle of inclination A, walking module drive walking disc along walking disc place plane rotates, makes omnidirectional walking device walks.
The technical scheme adopted by the invention for solving the technical problem further comprises the following steps:
according to the omnidirectional walking device, the walking module comprises a walking driving motor, an inclination angle adjusting mechanism, a universal transmission shaft and a rotation adjusting mechanism, the universal transmission shaft is arranged along the vertical direction, the walking driving motor is connected with the upper end of the universal transmission shaft and drives the universal transmission shaft to rotate, and the walking disc is fixed at the lower end of the universal transmission shaft; the inclination angle adjusting mechanism and the rotation adjusting mechanism are arranged between the walking driving motor and the walking disc, and the inclination angle adjusting mechanism is fixedly connected with the universal transmission shaft.
According to the omnidirectional walking device, the universal transmission shaft comprises a first universal shaft, a cross shaft and a second universal shaft, the first universal shaft is movably connected with the second universal shaft through the cross shaft, the first universal shaft is connected with the walking driving motor, the second universal shaft is connected with the walking disc, and the inclination angle adjusting mechanism is connected with the second universal shaft.
The omnidirectional walking device comprises an omnidirectional walking device, wherein the rotation adjusting mechanism comprises an angle adjusting box, an adjusting box base, a rotary bearing and a rotation driving motor, and the inclination angle adjusting mechanism is arranged in the angle adjusting box; the rotary bearing rotates to be connected angle adjusting box and adjusting box base, the second cardan shaft passes angle adjusting box, rotary bearing and adjusting box base, the rotary driving motor with the angle adjusting box is connected and is driven the angle adjusting box is rotatory.
The omnidirectional walking device comprises an adjusting box base, wherein the adjusting box base is provided with a ring-shaped supporting shaft surrounding the second universal shaft, the ring-shaped supporting shaft extends upwards, a rotary bearing is sleeved on the ring-shaped supporting shaft, the bottom of an angle adjusting box is provided with a downward protruding ring-shaped protruding edge, the size of the ring-shaped protruding edge is matched with that of the rotary bearing and fixedly sleeved outside the rotary bearing, a ring gear is sleeved outside the ring-shaped protruding edge, a rotary adjusting mechanism is provided with a rotary driving gear set, the rotary driving gear set is meshed with the ring gear, the rotary driving motor drives the ring gear to rotate through the rotary driving gear set, and the ring gear drives the angle adjusting box to rotate.
According to the omnidirectional walking device, the diameter of the second universal shaft is d, the bottom of the angle adjusting box is provided with a first through hole for the universal transmission shaft to penetrate out, the diameter of the first through hole is a, and a and d meet the condition that 1.5d is more than or equal to a and more than d; and a second through hole corresponding to the first through hole is formed in the base of the regulating box, the diameter of the second through hole is b, and b and d meet the condition that 1.5d is more than or equal to b and more than d.
The omnidirectional walking device comprises an angle adjusting plate and a turnover mechanism, wherein the angle adjusting mechanism comprises an angle adjusting plate and the turnover mechanism, the angle adjusting plate is provided with a deflection bearing, an outer ring of the deflection bearing is fixedly connected with the angle adjusting plate, and an inner ring of the deflection bearing is fixedly connected with the second universal shaft, so that the second universal shaft can freely rotate, and the axial position of the angle adjusting plate on the second universal shaft is fixed; the turnover mechanism is connected to one end of the angle adjusting plate and drives the angle adjusting plate to turn horizontally, so that the angle adjusting plate drives the second universal shaft to form an included angle with the vertical direction.
The omnidirectional walking device comprises the turnover mechanism, the turnover mechanism comprises a rotary screw, an adjusting gear box and an adjusting motor, the rotary screw is in threaded connection with one end of the angle adjusting plate, the other end of the rotary screw is rotatably fixed in the adjusting gear box, a rotary gear for driving the rotary screw to rotate is arranged in the adjusting gear box, and the adjusting motor drives the rotary gear to rotate through a gear arranged on a motor shaft.
According to the omnidirectional walking device, the size of the disc inclination angle A is more than or equal to 10 degrees and more than or equal to A and more than or equal to 0.
A walking method of the two-disc driving type omnidirectional walking device comprises the steps that a disc inclination angle A is formed between a walking disc of the omnidirectional walking device and a working plane under the control of a walking module, the vertex B of the disc inclination angle A is a contact point of the walking disc, the walking disc rotates in the clockwise direction or the anticlockwise direction in the plane where the walking disc is located under the driving of a universal transmission shaft, the rotating directions of the two walking discs of the omnidirectional walking device are opposite, and the linear speed direction of the contact point of the walking disc is opposite to the advancing direction of the omnidirectional walking device.
The invention has the beneficial effects that: according to the two-disc driving type omnidirectional walking device and the walking method, the angle and the rotating direction between the walking disc and the working plane are controlled, so that the specified position on the walking disc can generate friction with the working plane, the friction force in the specified direction is formed, the omnidirectional walking device is pushed to directly walk in the specified arbitrary direction, and the omnidirectional movement is realized; the omnidirectional walking device is accurate in control, simple in structure and convenient to produce, and can adapt to the development direction of lightness and thinness of the cleaning robot.
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic cross-sectional view of a preferred embodiment of the two-disc drive omnidirectional exercise apparatus of the present invention;
FIG. 2 is a schematic structural view of a tilt angle adjusting mechanism in a preferred embodiment of the two-disc drive type omnidirectional walking apparatus of the present invention;
FIG. 3 is a schematic cross-sectional view of a rotation adjusting mechanism in a preferred embodiment of the two-disc drive type omni-directional walking device of the present invention;
FIG. 4 is a schematic diagram illustrating the walking in different directions of the walking method of the two-disc driving type omnidirectional walking device according to the present invention;
in the figure, 1, a walking disc, 2, a walking driving motor, 3, an inclination angle adjusting mechanism, 31, an angle adjusting plate, 311, a deflection bearing, 32, a rotating screw, 33, an adjusting gear box, 331, a rotating gear, 34, an adjusting motor, 4, a universal transmission shaft, 41, a first universal shaft, 42, a cross shaft, 43, a second universal shaft, 5, a rotating adjusting mechanism, 51, an angle adjusting box, 511, an annular flange, 512, a ring gear, 513, a first through hole, 52, an adjusting box base, 521, an annular supporting shaft, 522, a second through hole, 53, a rotating bearing, 54, a rotating driving motor, 55 and a rotating driving gear set.
Detailed Description
The present embodiment is a preferred embodiment of the present invention, and other principles and basic structures that are the same as or similar to the present embodiment are within the scope of the present invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1-3, two groups of walking modules are symmetrically arranged in a machine body of the omnidirectional walking device, the walking modules are respectively connected with a walking disc 1 with the same size, the walking discs 1 are arranged in parallel with a working plane and can form a disc inclination angle a with the working plane under the control of the walking modules, and the walking modules drive the walking discs 1 to rotate along the plane where the walking discs 1 are located and form friction with the working plane, so that the omnidirectional walking device walks.
The walking module for controlling the walking disc 1 in the embodiment comprises a walking driving motor 2, an inclination angle adjusting mechanism 3, a universal transmission shaft 4 and a rotation adjusting mechanism 5. Universal drive shaft 4 sets up along vertical direction, and walking driving motor 2 is connected and drives universal drive shaft 4 and rotates with universal drive shaft 4's upper end, and walking disc 1 is fixed at universal drive shaft 4's lower extreme for universal drive shaft 4 rotates and to drive walking disc 1 and rotate. The inclination angle adjusting mechanism 3 and the rotation adjusting mechanism 5 are arranged between the walking driving motor 2 and the walking disc 1, the inclination angle adjusting mechanism 3 is fixedly connected with the universal transmission shaft 4, and the universal transmission shaft 4 is controlled to deflect, so that an inclination angle A is formed between the walking disc 1 and a working plane.
In order to realize universal transmission, the universal transmission shaft 4 of the embodiment includes a first universal shaft 41, a cross shaft 42 and a second universal shaft 43, and the first universal shaft 41 is movably connected with the second universal shaft 43 through the cross shaft 42, so that the universal transmission shaft 4 can still normally drive the traveling disc 1 to rotate after the second universal shaft 43 makes any direction of deflection relative to the first universal shaft 41. The first universal shaft 41 is connected with the walking driving motor 2, the second universal shaft 43 is connected with the walking disc 1, and the inclination angle adjusting mechanism 3 is connected with the second universal shaft 43 and controls the deflection of the second universal shaft 43.
In this embodiment, since the touchdown point of the omnidirectional walking device needs to be determined according to the traveling direction, in order to be able to cooperate with different walking directions, the rotation adjusting mechanism 5 is provided to drive the position change of the touchdown point. The rotation adjusting mechanism 5 comprises an angle adjusting box 51, an adjusting box base 52, a rotation bearing 53 and a rotation driving motor 54, in order to avoid mutual interference between the inclination angle adjusting mechanism 3 and the rotation adjusting mechanism 5, the angle adjusting box 51 is adopted to separate the two mechanisms in the embodiment, the inclination angle adjusting mechanism 3 is arranged in the angle adjusting box 51, and in the specific production implementation, the two mechanisms can be separated by adopting a structure such as a partition plate according to the use requirement. The rotation bearing 53 rotatably connects the angle adjusting box 51 and the adjusting box base 52, the second cardan shaft 43 passes through the angle adjusting box 51, the rotation bearing 53 and the adjusting box base 52, and the rotary driving motor 54 is connected with the angle adjusting box 51 and drives the angle adjusting box 51 to rotate, so that the tilt angle adjusting mechanism 3 provided inside the angle adjusting box 51 rotates along with the angle adjusting box 51.
In order to enable the angle adjusting box 51 to rotate stably, an annular supporting shaft 521 is arranged on the adjusting box base 52 and surrounds the second universal shaft 43, the annular supporting shaft 521 extends upwards, and the rotary bearing 53 is sleeved on the annular supporting shaft 521; the bottom of the angle adjusting case 51 is provided with a downwardly protruding annular flange 511, and the annular flange 511 is sized to fit the rotary bearing 53 and is fixedly fitted around the rotary bearing 53 such that the position of the rotary bearing 53 is defined between the angle adjusting case 51 and the annular flange 511. In order to drive the angle adjusting box 51 to rotate, the annular flange 511 is externally sleeved with a ring gear 512, the rotation adjusting mechanism 5 is provided with a rotation driving gear set 55, the rotation driving gear set 55 is meshed with the ring gear 512, the rotation driving motor 54 drives the ring gear 512 to rotate through the rotation driving gear set 55, and the ring gear 512 drives the angle adjusting box 51 to rotate.
In order to avoid that the second universal shaft 43 collides with the angle adjusting box 51 and the adjusting box base 52 when rotating to influence the rotation of the walking disc 1, the bottom of the angle adjusting box 51 is provided with a first through hole 513 for the universal transmission shaft 4 to penetrate out, the diameter of the first through hole 513 is a, the diameter of the second universal shaft 43 is d, and a and d meet the condition that 1.5d is more than or equal to a and more than d; the adjusting box base 52 is provided with a second through hole 522 corresponding to the first through hole 513, the diameter of the second through hole 522 is b, and b and d satisfy that 1.5d is more than or equal to b and more than d.
Since the tilt angle of the traveling disc 1 can be controlled by controlling the deflection of the second universal shaft 43, the tilt angle adjusting mechanism 3 of the present embodiment is provided at a position corresponding to the second universal shaft 43, and the tilt angle adjusting mechanism 3 includes the angle adjusting plate 31 and the turnover mechanism. The angle adjusting plate 31 is provided with a deflection bearing 311, an outer ring of which is fixedly connected with the angle adjusting plate 31, and an inner ring of the deflection bearing 311 is fixedly connected with the second universal shaft 43, so that the second universal shaft 43 can rotate freely and the axial position of the angle adjusting plate 31 on the second universal shaft 43 is fixed. Tilting mechanism connects the one end at angle adjusting plate 31, and tilting mechanism drive angle adjusting plate 31 level upset for angle adjusting plate 31 drives second cardan shaft 43 and forms the contained angle with vertical direction.
In order to accurately control the turning angle of the angle adjusting plate 31, the turning mechanism comprises a rotary screw 32, an adjusting gear box 33 and an adjusting motor 34, the rotary screw 32 is in threaded connection with one end of the angle adjusting plate 31, the other end of the rotary screw 32 is rotatably fixed in the adjusting gear box 33, a rotary gear 331 for driving the rotary screw 32 to rotate is arranged in the adjusting gear box 33, the adjusting motor 34 drives the rotary gear 331 to rotate through a gear arranged on a motor shaft, so that the rotary screw 32 accurately ascends or descends, the angle adjusting plate 31 is driven to turn, and the second universal shaft 43 deflects.
In addition, if the inclination angle of the walking disc 1 is 0 degrees, the walking disc 1 lies on the working plane flatly and offsets the friction force with the working plane, and the walking disc 1 rotates in situ; if the inclination angle of the walking disks 1 is 90 degrees, the walking disks are not different from the wheels, the omnidirectional walking device cannot keep balance by the two walking disks 1, and the contact area between the mop attached to the disk structure and the working plane is minimum, so that the effective cleaning cannot be carried out. In order to ensure the walking of the omnidirectional walking device and the cleaning efficiency, the walking disc 1 needs to be slightly inclined, the inclination angle A of the disc meets the condition that the angle A is more than or equal to 10 degrees and more than or equal to 0, if the inclination angle of the walking disc 1 is larger, the single cleaning working plane is smaller, and the difficulty of adjusting the inclination angle A by the angle adjusting mechanism 5 is larger; if the inclination angle of the traveling disk 1 is too small, the obstacle surmounting ability is also reduced accordingly, and the traveling disk cannot surmount obstacles such as wires. In this embodiment, the size of the inclination angle a of the walking disc 1 is 3 °, and the size of the walking disc 1 should be considered comprehensively in the specific production implementation process.
The embodiment also discloses a walking method of the two-disk drive type omnidirectional walking device, which comprises the following steps:
controlling the walking disc 1 to incline and forming a disc inclination angle A with the working plane;
rotating the walking disc 1 and adjusting the position of a contact point B of the walking disc 1;
and driving the walking disc to rotate in the plane in a clockwise direction or a counterclockwise direction, so that the linear speed direction of the touchdown point B is opposite to the traveling direction of the omnidirectional walking device.
Specifically, referring to fig. 4, when the omnidirectional walking device is started, a controller for controlling the omnidirectional walking device plans a moving path in advance, determines a moving direction of the omnidirectional walking device according to the moving path, determines a linear velocity direction of a touch point B, and then controls a second universal shaft 43 to deflect, so that a disc inclination angle a is formed between the walking disc 1 and the working plane, and since the walking disc 1 is circular, the touch point B is an intersection point of an extension line of a line segment projected by the second universal shaft 43 on the working plane, the extension line of the line segment is extended to an edge of the walking disc 1, and the edge of the walking disc 1. And then the controller determines the rotation direction of the walking disc 1 according to the moving direction, and the walking direction of the walking disc 1 needs to be determined according to the cleaning or walking requirement because the linear velocity directions on the touch point B under different rotation directions are completely different. The two walking discs 1 are arranged in opposite rotating directions in a general cleaning mode, so that the cleaning area can be maximized; when special positions such as wall corner edges are cleaned or special cleaning needs are needed, the two walking disks 1 can rotate in the same direction according to needs, and waste needing to be cleaned is taken out by the walking disks 1 rotating in the same direction. Then, the controller adjusts the touchdown point B by rotating the adjusting mechanism 5, and the rotating adjusting mechanism 5 can adjust the touchdown point B to a preset position without changing the inclination angle a. The omnidirectional walking device of the embodiment can directly change the moving direction, and does not need to move forward after adjusting the angle of the machine body like the existing walking device, so long as the walking disc 1 starts to rotate, the omnidirectional walking device of the embodiment can directly move to the preset moving direction, and the walking disc 1 needs to be started after the contact point B and the rotating direction are determined and adjusted, so that the omnidirectional walking device directly starts to move. After the omnidirectional walking device is started, in the subsequent travelling process, the controller can continuously determine the moving direction according to the position of the next target location in the preset path, and then the relative position of the touch location point B is adjusted through the rotary adjusting mechanism 5, so that the walking disc 1 and the working plane generate friction in opposite directions, and the omnidirectional walking device is pushed to walk in the determined moving direction.
It should be noted that the working plane in the present invention refers to a plane where the omnidirectional walking device is located when working, for example, when being used on a sweeping robot, the working plane is the ground; the device is used on a window cleaning robot, and the working plane of the window cleaning robot refers to the plane of the glass to be cleaned; the working plane is the plane where the walking or working is located; the touchdown point B is a contact point between the omnidirectional walking device and the working plane and is not limited to the contact point between the walking device and the ground. In practical use, the walking disc 1 can adapt to different uses and can be provided with accessories such as mops, rags and the like which can realize corresponding functions.
According to the two-disc driving type omnidirectional walking device and the walking method, the angle and the rotating direction between the walking disc and the working plane are controlled, so that friction can be generated between the appointed position on the walking disc and the working plane, the friction force in the appointed direction is formed, the omnidirectional walking device is pushed to directly walk in the appointed arbitrary direction, and omnidirectional movement is realized; the omnidirectional walking device is accurate in control, simple in structure and convenient to produce, and can adapt to the development direction of lightness and thinness of the cleaning robot.
Claims (7)
1. The two-disc driving type omnidirectional walking device is characterized in that two groups of symmetrically arranged walking modules are arranged in a machine body of the omnidirectional walking device, the walking modules are respectively connected with a walking disc (1), the walking discs (1) are arranged in parallel with a working plane and can form a disc inclination angle A with the working plane under the control of the walking modules, and the walking modules drive the walking discs (1) to rotate along the plane where the walking discs (1) are located, so that the omnidirectional walking device walks; the walking module comprises a walking driving motor (2), an inclination angle adjusting mechanism (3), a universal transmission shaft (4) and a rotation adjusting mechanism (5), the universal transmission shaft (4) is arranged along the vertical direction, the walking driving motor (2) is connected with the upper end of the universal transmission shaft (4) and drives the universal transmission shaft (4) to rotate, and the walking disc (1) is fixed at the lower end of the universal transmission shaft (4); the inclination angle adjusting mechanism (3) and the rotation adjusting mechanism (5) are arranged between the walking driving motor (2) and the walking disc (1), and the inclination angle adjusting mechanism (3) is fixedly connected with the universal transmission shaft (4); the universal transmission shaft (4) comprises a first universal shaft (41), a cross shaft (42) and a second universal shaft (43), the first universal shaft (41) is movably connected with the second universal shaft (43) through the cross shaft (42), the first universal shaft (41) is connected with the walking driving motor (2), the second universal shaft (43) is connected with the walking disc (1), and the inclination angle adjusting mechanism (3) is connected with the second universal shaft (43); rotatory adjustment mechanism (5) are including angle adjusting box (51), regulating box base (52), swivel bearing (53) and rotation driving motor (54), angle of inclination adjustment mechanism (3) set up in angle adjusting box (51), swivel bearing (53) rotate and connect angle adjusting box (51) and regulating box base (52), second cardan shaft (43) pass angle adjusting box (51), swivel bearing (53) and regulating box base (52), rotation driving motor (54) with angle adjusting box (51) are connected and are driven angle adjusting box (51) is rotatory.
2. The omnidirectional walking device according to claim 1, wherein an annular supporting shaft (521) is disposed on the adjusting box base (52) and surrounds the second universal shaft (43), the annular supporting shaft (521) extends upward, the rotary bearing (53) is sleeved on the annular supporting shaft (521), an annular protruding edge (511) which protrudes downward is disposed at the bottom of the angle adjusting box (51), the size of the annular protruding edge (511) matches the size of the rotary bearing (53) and is fixedly sleeved outside the rotary bearing (53), an annular gear (512) is sleeved outside the annular protruding edge (511), the rotation adjusting mechanism (5) is provided with a rotation driving gear set (55), the rotation driving gear set (55) is engaged with the annular gear (512), the rotation driving motor (54) drives the annular gear (512) to rotate through the rotation driving gear set (55), and the annular gear (512) drives the angle adjusting box (51) to rotate.
3. The omnidirectional walking device according to claim 2, wherein the diameter of the second universal shaft (43) is d, a first through hole (513) for the universal transmission shaft (4) to penetrate through is formed in the bottom of the angle adjusting box (51), the diameter of the first through hole (513) is a, and a and d satisfy 1.5d ≥ a > d; and a second through hole (522) corresponding to the first through hole (513) is arranged on the adjusting box base (52), the diameter of the second through hole (522) is b, and b and d meet the condition that 1.5d is more than or equal to b and more than d.
4. The omnidirectional walking apparatus according to claim 1, wherein the tilt angle adjusting mechanism (3) comprises an angle adjusting plate (31) and a tilting mechanism, a yaw bearing (311) having an outer ring fixedly connected to the angle adjusting plate (31) is provided on the angle adjusting plate (31), and an inner ring of the yaw bearing (311) is fixedly connected to the second cardan shaft (43), such that the second cardan shaft (43) can freely rotate and the axial position of the angle adjusting plate (31) on the second cardan shaft (43) is fixed; the turnover mechanism is connected to one end of the angle adjusting plate (31) and drives the angle adjusting plate (31) to turn horizontally, so that the angle adjusting plate (31) drives the second universal shaft (43) to form an included angle with the vertical direction.
5. The omnidirectional walking device according to claim 4, wherein the turning mechanism comprises a rotary screw (32), an adjusting gear box (33) and an adjusting motor (34), the rotary screw (32) is in threaded connection with one end of the angle adjusting plate (31), the other end of the rotary screw (32) is rotatably fixed in the adjusting gear box (33), a rotary gear (331) for driving the rotary screw (32) to rotate is disposed in the adjusting gear box (33), and the adjusting motor (34) drives the rotary gear (331) to rotate through a gear disposed on a motor shaft.
6. Omni-directional walking device according to claim 1, characterized in that the disc tilt angle A is of the size 10 ° ≧ A ≧ 0.
7. A walking method of the two-disc drive type omni-directional walking device according to any one of claims 1 to 6, comprising the steps of: a disc inclination angle A is formed between the walking disc (1) of the omnidirectional walking device and a working plane under the control of the walking module; adjusting the position of a contact point B of the walking disc (1); and controlling the walking disc (1) to rotate in the plane in a clockwise direction or a counterclockwise direction, so that the linear speed direction of the touchdown point B is opposite to the traveling direction of the omnidirectional walking device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518668.5A CN113180560B (en) | 2021-05-12 | 2021-05-12 | Two-disc driving type omnidirectional walking device and walking method |
| PCT/CN2021/093592 WO2022236773A1 (en) | 2021-05-12 | 2021-05-13 | Two-disc drive type omni-directional walking device, and walking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518668.5A CN113180560B (en) | 2021-05-12 | 2021-05-12 | Two-disc driving type omnidirectional walking device and walking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113180560A CN113180560A (en) | 2021-07-30 |
| CN113180560B true CN113180560B (en) | 2022-11-11 |
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| CN202110518668.5A Active CN113180560B (en) | 2021-05-12 | 2021-05-12 | Two-disc driving type omnidirectional walking device and walking method |
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| CN (1) | CN113180560B (en) |
| WO (1) | WO2022236773A1 (en) |
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- 2021-05-12 CN CN202110518668.5A patent/CN113180560B/en active Active
- 2021-05-13 WO PCT/CN2021/093592 patent/WO2022236773A1/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101910583A (en) * | 2007-12-31 | 2010-12-08 | Fev电机技术有限公司 | The VCR universal drive |
| CN104918529A (en) * | 2013-01-16 | 2015-09-16 | 三星电子株式会社 | Robot cleaner |
| CN105744874A (en) * | 2013-11-20 | 2016-07-06 | 三星电子株式会社 | Cleaning robot and method for controlling the same |
| EP2875768A1 (en) * | 2013-11-25 | 2015-05-27 | Samsung Electronics Co., Ltd | Robot cleaner |
| KR101579036B1 (en) * | 2015-01-29 | 2015-12-22 | 성균관대학교산학협력단 | Cleaning robot for solar panel |
| CN210196299U (en) * | 2019-07-24 | 2020-03-27 | 广州振通机械有限公司 | Elastic pin and universal shaft combined torque limiter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113180560A (en) | 2021-07-30 |
| WO2022236773A1 (en) | 2022-11-17 |
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