CN114074723A

CN114074723A - Wheel-track type mobile robot based on Mecanum wheels

Info

Publication number: CN114074723A
Application number: CN202010838426.XA
Authority: CN
Inventors: 陈志高; 胡仕成; 黎新齐
Original assignee: Central South University
Current assignee: Central South University
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2022-02-22

Abstract

The invention discloses a wheel-tracked mobile robot based on Mecanum wheels, which comprises four Mecanum wheels, four track leg mechanisms, a vehicle body, four main driving mechanisms, four track leg swinging mechanisms and the like.

Description

Wheel-track type mobile robot based on Mecanum wheels

Technical Field

The invention relates to the technical field of mobile robots, in particular to a wheel-track type mobile robot based on Mecanum wheels.

Background

The wheel-track combined mobile robot is an important branch of the ground mobile robot and has close relationship with the life of people. In daily life, the ground mobile robot is mainly used for assisting people to walk, climb stairs and the like to cross other obstacles, and can help people to lightly transport valuables to a destination, and stair climbing is the most common obstacle.

Nowadays, as the demand for mobile robots is increasing, the need for walking and obstacle crossing capabilities in unknown environments is also increasing. At present, the wheel-tracked mobile robot is difficult to realize omnibearing movement in a narrow space in a wheel-type movement manner, in order to adapt to a more complex terrain and a narrower space, the mobile robot has to have omnibearing movement and strong obstacle-crossing climbing capability, but due to the harsh environment in the aspects of earthquake rescue and detection, better improvement on the aspects of the volume and the weight of the mobile robot is needed. In response to these problems, it is important to develop a mobile robot that can move in all directions and cope with a complicated environment.

Disclosure of Invention

In order to solve the problems, the invention discloses a wheel-track type mobile robot based on Mecanum wheels, which is suitable for various complex road surfaces and environments with narrow space and can realize mutual switching of different moving modes of wheel-track legs. The wheel type mode can realize rapid and long-distance all-directional movement, the crawler type can effectively improve the obstacle crossing and climbing capacity, and the leg type has great advantages in the obstacle crossing aspect.

The mobile robot adopts a symmetrical structure and comprises four main driving motors, four swinging driving motors, four Mecanum wheels, four crawler legs and a vehicle body. The structure is composed of four movement units with the same structure size and a vehicle body. Wherein each moving unit comprises a track leg mechanism and a driving wheel mechanism. The robot can move freely in all directions by completely depending on the design principle of Mecanum wheels during wheeled motion, the four Mecanum wheels are arranged on a vehicle body in an ABAB combination mode, the four Mecanum wheels are respectively provided with four driving motors and are matched with corresponding controllers in a rotating mode to control the rotating direction and speed of each wheel. The four crawler legs are arranged on the inner sides of the wheels, rotation and swing of the crawler legs can be achieved by means of the inner shaft transmission mechanism and the outer shaft transmission mechanism, the swing amplitude is 360 degrees, each driving motor has the advantages of being small in size, light in weight, high in power and the like, an integrated planetary gear reducer and a final-stage cylindrical gear reduction pair are adopted in the aspect of reduction structure design, transmission efficiency can be improved through the structure, gear transmission with a small reduction ratio is adopted in wheel driving, rapid movement of a robot under a wheel movement mode can be guaranteed, and large reduction ratio is adopted in swing driving of the crawler legs to increase driving moment. When the robot moves in a wheel type, the crawler legs of the robot swing upwards, four wheels land, the small wheels of the walking aid can move at high speed in the mode, the robot can move in all directions by utilizing the special structure of the Mecanum wheels, the occupied space of the mobile robot is reduced, friction is reduced, and the flexibility of movement is improved. During legged movement, the swing of the crawler legs is controlled through the control of the swing motor, legged movement of the robot is achieved, and the robot has great advantages in obstacle crossing. During the crawler-type motion, four tracks contact ground, and the track drive is main, and swing motor drive is for assisting, can improve the climbing ability of robot effectively. The mobile robot adopts the design of an inner shaft transmission mechanism and an outer shaft transmission mechanism, and the inner shaft realizes that wheels rotate to drive the outer shaft to realize the swinging drive of the track legs. The main driving motor transmits power to the inner shaft to realize omnibearing wheel type motion, the swing driving motor transmits the power to the outer shaft, and the flange of the outer shaft is connected with the supporting rod of the swing arm through a fastening screw to transmit the power to the track leg and provide the swing power of the track leg so as to realize the swing motion of the track leg around the central shaft.

The invention has the beneficial effects that:

the robot has the characteristics of light weight, small volume, excellent obstacle crossing and climbing functions, omnibearing movement and the like.

The robot has a simple structure, adopts a modular design, and is convenient to disassemble and maintain, and all functional modules are assembled independently and do not interfere with each other.

The robot can be converted from a wheel motion mode to a crawler motion mode, and is driven by one driving motor, so that the volume and the weight of a vehicle body are reduced.

The wheels of the robot adopt Mecanum wheels, so that the robot can realize omnibearing movement in a narrow space.

The robot can adopt different motion modes according to different road surface environments, and the wheel-track leg three motion modes can be mutually converted, so that the robot has multiple functions.

Drawings

FIG. 1 is a schematic top view of the structure of the present invention;

FIG. 2 is a view of the internal and external shaft drive configuration of the present invention;

FIG. 3 is a schematic view of various modes of motion of the present invention;

FIG. 4 is a process diagram of the present invention for climbing steps;

FIG. 5 is a view of a Mecanum wheel mounting assembly of the present invention;

FIG. 6 is a schematic view of the motor steering for the omni-directional motion of the present invention;

the device comprises a vehicle body 1, mecanum wheels 2, crawler legs 3, crawler leg driving mechanisms 4, wheel crawler driving mechanisms 5, crawler wheels 6, crawler leg swinging output shafts 7, a swinging reducer 8, a swinging driving motor 9, a swinging controller 10, a main driving reducer 11, a main driving motor 12, a main driving controller 13, a main driving output shaft 14, bearings 15 and swinging arms 16.

Detailed Description

The basic structure of the mobile robot comprises four Mecanum wheels, four track leg mechanisms, four driving motors, four track leg swing motors, a vehicle body, four pairs of gear transmission mechanisms, an inner shaft transmission mechanism, an outer shaft transmission mechanism and four groups of integrated planetary gear reducers and final cylindrical gear reduction pair transmission mechanisms, and adopts a symmetrical structure. As shown in fig. 1, four track legs 3 are mounted inside the mecanum wheel 2; the mobile robot adopts a modular design, and each module consists of a Mecanum wheel 2, a track leg 3, a track leg driving mechanism 4 and a wheel track wheel driving mechanism 5; the track leg driving mechanism 4 consists of a swing reducer 8, a swing driving motor 9 and a swing controller 10; the wheel crawler wheel driving mechanism 5 consists of a main driving speed reducer 11, a main driving motor 12 and a main driving controller 13; the crawler leg driving mechanism 4 transmits power to the crawler legs 3 to realize leg type motion of the mobile robot, the wheel crawler driving mechanism 5 transmits power to wheels or a crawler to realize wheel type motion and crawler type motion of the mobile robot, the main driving controller 13 is used for controlling the switching of the working rotation of the wheels and the crawler, and simultaneously controlling the rotating speed and the steering of the main driving motor 12, and the all-directional motion of the mobile robot is realized based on the Mecanum wheel all-directional movement principle. As shown in fig. 2, each motion module adopts an inner and outer shaft transmission structure, a track leg swing output shaft 7 is sleeved outside a main drive output shaft 14, the track leg swing output shaft 7 is fixed with the track leg through a swing arm 16 and transmits power to the track leg, and the main drive output shaft 14 is fixedly connected with a track wheel 6 and a mecanum wheel 2 and transmits power with the track wheel.

The mobile robot can move in various modes such as a wheel type, a crawler type, a leg type and a composite type. As shown in fig. 3, the movement on various terrains can be realized through the cooperation of different movement modes of the wheel-track legs. As shown in fig. 4, the mobile robot can climb stairs by the swinging of the track legs 3 and the rotation of the track. As shown in fig. 5, due to the unique design of the mecanum wheels, the mobile robot can realize the all-directional movement of the mobile robot by the ABAB mounting and combining mode according to the different rotating speeds and steering directions of each wheel, so that the robot can work in a narrower space environment. As shown in fig. 5, the mobile robot can realize omni-directional movement by forward and reverse rotation of four mecanum wheels 2.

Claims

1. The utility model provides a wheel-tracked mobile robot based on mecanum wheel, it includes these four mecanum wheels, four track leg mechanisms, the automobile body, four driving motor, four track leg swing motors, its characterized in that: the mobile robot adopts a symmetrical structure, and the structure is composed of four motion units with the same structure size and a vehicle body. Each moving unit comprises a track leg mechanism and a driving wheel mechanism, wheel driving is completed by four driving motors and a control system, and the four track legs are arranged on the inner side of the wheel, so that the driving around the central shaft of the driving wheel can be realized, and the rotation around the central shaft can also be realized.

2. The mecanum wheel-based wheel-track mobile robot of claim 1, wherein: has wheeled all-round motion, legged obstacle-crossing motion, and track and leg combined type climbing motion. When the robot moves in a wheel type, the robot is swung upwards by the track legs, the four wheels land, the high-speed movement of the wheels can be realized by the mode, the functions of all-dimensional movement such as linear advancing, transverse moving, oblique moving, rotating and the like are realized, meanwhile, the occupied space is reduced, the friction is reduced, and the flexibility of the movement is improved. During legged movement, the swing of the crawler legs is controlled through the control of the swing motor, legged movement of the mobile robot is achieved, and the legged movement robot has great advantages in obstacle crossing. During the crawler-type motion, four tracks contact ground, and the track drive is main, and swing motor is supplementary, can improve the climbing ability of robot effectively.

3. The Mecanum wheel-based wheel-track mobile robot as claimed in claim 1, wherein the Mecanum wheels are adopted by the Mecanum wheel-based wheel-track mobile robot, and the Mecanum wheel-track mobile robot is characterized in that: all-round motion mechanism based on mecanum wheel technique can realize the motion modes such as advancing, sideslip, diagonal, rotation, consequently when the flat road surface traveles, drives four mecanum wheels and can carry out all-round motion, and its wheel drive adopts four driving motor and control system to accomplish, and control system holds the direction of turning to and the rotational speed of every wheel, adopts mecanum wheel both can realize the all-round removal in narrow and small space, also can alleviate the volume and the weight of automobile body.