CN115384656A - Multi freedom robot running gear - Google Patents

Multi freedom robot running gear Download PDF

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Publication number
CN115384656A
CN115384656A CN202210993973.4A CN202210993973A CN115384656A CN 115384656 A CN115384656 A CN 115384656A CN 202210993973 A CN202210993973 A CN 202210993973A CN 115384656 A CN115384656 A CN 115384656A
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China
Prior art keywords
walking chassis
driving
wheel structure
gear
adjusting gear
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CN202210993973.4A
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CN115384656B (en
Inventor
熊勇刚
杨小娟
米承继
张锐
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Beijing Ironman Technology Co ltd
Hunan University of Technology
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Beijing Ironman Technology Co ltd
Hunan University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Robotics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)

Abstract

The invention discloses a multi-degree-of-freedom robot walking mechanism, which comprises: the walking chassis, the drive wheel structure is installed to inside one side of walking chassis, and the inside opposite side installation of walking chassis installs first directive wheel structure and second directive wheel structure respectively, and infrared sensor, obstacle-avoiding sensor are installed to the front end difference spiro union on walking chassis simultaneously to the fixing base is installed through the spiro union in the top on walking chassis, the surface and the picking robot fixed connection of fixing base. When the device runs, when the obstacle avoidance sensor detects an obstacle, the trolley is turned to the left by default, and when only one infrared sensor on one side detects the obstacle, the trolley is turned to the other side without the obstacle; after the vehicle turns, when all the sensors do not detect the obstacles any more, the vehicle returns to straight running, and the purpose of avoiding the obstacles can be achieved.

Description

Multi freedom robot running gear
Technical Field
The invention relates to the field of picking robots, in particular to a multi-degree-of-freedom robot walking mechanism.
Background
The blueberry has good health-care effect, and can delay memory loss and prevent heart disease; in addition, the fruit juice also has the effects of improving eyesight, preventing colon cancer and the like, is regarded as a super fruit by people, and has wide market prospect; blueberries are susceptible to diseases and insect pests, particularly fungal diseases, bacterial diseases, nematodes and the like; for the prevention and control of plant diseases and insect pests, the traditional manual spraying mode is basically adopted in China, so that the labor intensity is high, more workers are used, the operation efficiency is low, unsafe factors exist, and the spraying is not uniform; in order to eliminate the defects, the adoption of a pesticide spraying robot for pest control is a necessary trend; the pesticide spraying robot mainly comprises a control part and a walking mechanism; when the travelling mechanism moves, the obstacle cannot be avoided, and the travelling mechanism can be prevented from moving when colliding with the obstacle.
Disclosure of Invention
The invention provides a multi-degree-of-freedom robot walking mechanism in order to make up for market vacancy.
The invention aims to provide a multi-degree-of-freedom robot walking mechanism to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-degree-of-freedom robot walking mechanism comprises:
the picking robot comprises a walking chassis, a driving wheel structure is mounted on one side inside the walking chassis, a first steering wheel structure and a second steering wheel structure are mounted on the other side inside the walking chassis respectively, an infrared sensor and an obstacle avoidance sensor are mounted at the front end of the walking chassis respectively in a threaded manner, a fixed seat is mounted at the top of the walking chassis in a threaded manner, and the surface of the fixed seat is fixedly connected with the picking robot;
the rear wheel of the driving wheel structure is arranged on a rear shaft lever, two groups of driven chain wheels are arranged on the rear shaft lever, the mounting frame is screwed on the walking chassis, a brushless motor is arranged in the mounting frame through a machine base, and an output shaft of the brushless motor is fixedly connected with the driving chain wheel;
first directive wheel structure, carry out swing joint through the bearing between the structural front wheel of first directive wheel and the front axle, and the front axle keeps away from the one end and the adjusting gear welded fastening of front wheel, and adjusting gear installs simultaneously on the installation axle to installation axle passes through bearing movable mounting in the inside on walking chassis, and driving motor is installed through the frame in the inside on walking chassis.
Further, the driving wheel structure includes rear wheel, driven sprocket, chain, installing frame, brushless motor, drive sprocket and back axostylus axostyle, and brushless motor is provided with two sets ofly in the inside of installing frame, and two sets of brushless motor synchronous working carry out the transmission through the chain between driven sprocket and the drive sprocket.
Furthermore, first directive wheel structure includes guided way, driving motor, drive gear, front wheel, front axle, adjusting gear, installation axle, connecting rod, guide block and trompil, and first directive wheel structure is unanimous with the constitution structure of second directive wheel structure.
Furthermore, adjusting gear and drive gear level setting, and adjusting gear and drive gear's size looks adaptation, adjusting gear and drive gear meshing are connected simultaneously.
Furthermore, the guided way is fixedly welded in the traveling chassis, the right side end of the guided way is in an arc shape, the guide block is matched with the guided way in size, and the end of the guide block is arranged in the guided way in a sliding manner.
Furthermore, the upper left side of the adjusting gear is fixedly welded with a connecting rod, the connecting rod is of an L-shaped structure made of metal materials, and one end, far away from the adjusting gear, of the connecting rod is fixedly connected with the guide block.
Further, the two side walls of the bottom of the walking chassis are provided with holes, the front shafts are inserted into the holes and are arranged into two groups, and the front shafts are driven and driven through the driving gear and the adjusting gear.
Furthermore, the infrared sensors and the obstacle avoidance sensors adopt a mode of combining cross obstacle avoidance, infrared light rays emitted by the two groups of infrared sensors are arranged in a cross mode, and meanwhile, the two groups of infrared sensors are of a symmetrical structure relative to the obstacle avoidance sensors.
Furthermore, the infrared sensor, the obstacle avoidance sensor and a core control module arranged inside the walking chassis form an obstacle avoidance system of the robot walking mechanism, the core control module is electrically connected with the driving motor, the core control module adopts an Arduino yun control chip, the core of the chip is an ATmega32u4 single chip microcomputer, and the embedded type Linux machine is arranged on the core of the chip.
Compared with the prior art, the invention has the beneficial effects that: when the device moves forwards, when the obstacle avoidance sensor detects an obstacle, the trolley turns to the left by default, and when only one infrared sensor detects the obstacle, the trolley turns to the other side without the obstacle; after the vehicle turns, when all the sensors do not detect the obstacles any more, the vehicle returns to straight running, and the purpose of avoiding the obstacles can be achieved.
Drawings
FIG. 1 is a schematic front view of the structure of the present invention;
FIG. 2 isbase:Sub>A schematic cross-sectional view A-A of FIG. 1 illustrating the structure of the present invention;
FIG. 3 is a side view of FIG. 1 of the structure of the present invention;
FIG. 4 is a schematic view of the synchronous steering of the first and second steering wheel structures of the present invention;
FIG. 5 is a schematic view of a first steering wheel configuration of the present invention;
FIG. 6 is a top view of FIG. 1 of the structure of the present invention;
FIG. 7 is a schematic diagram of an overall apparatus of the inventive structure;
fig. 8 is a logic block diagram of an obstacle avoidance system of the structure of the present invention.
In the figure: 1. a walking chassis; 2. a drive wheel structure; 21. a rear wheel; 22. a driven sprocket; 23. a chain; 24. installing a frame; 25. a brushless motor; 26. a drive sprocket; 27. a rear shaft lever; 3. a first steering wheel arrangement; 30. a guide rail; 31. a drive motor; 32. a drive gear; 33. a front wheel; 34. a front axle; 35. an adjusting gear; 36. installing a shaft; 37. a connecting rod; 38. a guide block; 39. opening a hole; 4. a second steering wheel arrangement; 5. picking robots; 6. a fixed seat; 7. an infrared sensor; 8. keep away barrier sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The first embodiment is as follows: referring to fig. 1-8, the present invention provides a technical solution: a multi-degree-of-freedom robot walking mechanism comprises: the walking chassis comprises a walking chassis 1, a driving wheel structure 2 and a first steering wheel structure 3;
a driving wheel structure 2 is installed on one side inside the walking chassis 1, a first steering wheel structure 3 and a second steering wheel structure 4 are installed on the other side inside the walking chassis 1 respectively, an infrared sensor 7 and an obstacle avoidance sensor 8 are installed at the front end of the walking chassis 1 respectively in a threaded mode, a fixed seat 6 is installed at the top of the walking chassis 1 in a threaded mode, and the surface of the fixed seat 6 is fixedly connected with the picking robot 5;
the rear wheel 21 of the driving wheel structure 2 is arranged on a rear shaft lever 27, two groups of driven chain wheels 22 are arranged on the rear shaft lever 27, meanwhile, an installation frame 24 is installed on the walking chassis 1 in a threaded mode, a brushless motor 25 is installed inside the installation frame 24 through a machine base, and an output shaft of the brushless motor 25 is fixedly connected with a driving chain wheel 26;
the front wheel 33 and the front shaft 34 on the first steering wheel structure 3 are movably connected through a bearing, one end of the front shaft 34 far away from the front wheel 33 is welded and fixed with the adjusting gear 35, meanwhile, the adjusting gear 35 is installed on the installing shaft 36, the installing shaft 36 is movably installed inside the walking chassis 1 through a bearing, and the driving motor 31 is installed inside the walking chassis 1 through a base.
The working principle is as follows: when the walking mechanism is used, the picking robot 5 can be moved and transported, the switch of the brushless motor 25 is started, the output shaft of the brushless motor 25 drives the driving chain wheel 26 to rotate, the driving chain wheel 26 drives the driven chain wheel 22 to rotate through the chain 23, the device is driven to move, and the moving device is driven to move through the first steering wheel structure 3 and the second steering wheel structure 4.
The second embodiment is as follows: the present embodiment is a further limitation of the first embodiment, the driving wheel structure 2 includes a rear wheel 21, a driven sprocket 22, a chain 23, a mounting frame 24, a brushless motor 25, a driving sprocket 26 and a rear shaft 27, two sets of brushless motors 25 are provided inside the mounting frame 24, the two sets of brushless motors 25 operate synchronously, and the driven sprocket 22 and the driving sprocket 26 are driven by the chain 23.
As shown in fig. 1: the two groups of brushless motors 25 work synchronously, and can drive the rear shaft lever 27 to rotate through the two groups of driving chain wheels 26, chains 23 and driven chain wheels 22, so that the rear wheel 21 rotates, and the walking device is driven and moved;
the power source of the running gear is a permanent magnet direct current brushless motor 25, which has the following characteristics: the electronic reversing mechanism has the advantages of simple structure, good heat dissipation, difficult occurrence of desynchronizing, vibrating and other phenomena, convenient speed regulation and control, and capability of well meeting the design requirements of the traveling mechanism.
The third concrete implementation mode: the first steering wheel structure 3 includes a guide rail 30, a driving motor 31, a driving gear 32, a front wheel 33, a front shaft 34, an adjusting gear 35, a mounting shaft 36, a connecting rod 37, a guide block 38 and an opening 39, and the first steering wheel structure 3 and the second steering wheel structure 4 have the same composition structure.
As shown in fig. 1-4: the working principle of the first steering wheel arrangement 3 is: the switch of the driving motor 31 is started, the output shaft of the driving motor 31 drives the driving gear 32 to rotate, the driving gear 32 drives the adjusting gear 35 to rotate, the adjusting gear 35 drives the front wheel 33 to incline through the front shaft 34, and the steering work of the walking device is achieved.
The fourth concrete implementation mode: the third specific embodiment further defines that the adjusting gear 35 is horizontally disposed with the driving gear 32, and the adjusting gear 35 is adapted to the size of the driving gear 32, while the adjusting gear 35 is meshed with the driving gear 32.
The adjusting gear 35 is meshed with the driving gear 32, and the adjusting gear 35 can be driven to rotate by the driving of the driving motor 31.
The fifth concrete implementation mode: in the third embodiment, the guide rail 30 is fixedly welded inside the traveling chassis 1, the right end of the guide rail 30 is arc-shaped, the guide block 38 is matched with the guide rail 30 in size, and the end of the guide block 38 is slidably arranged inside the guide rail 30.
As shown in fig. 1-2: guide block 38 and guided way 30 size looks adaptation to guide block 38 tip slides and sets up in the inside of guided way 30, and when adjusting gear 35 drove front wheel 33 through front axle 34 and carried out the slope, guide block 38 tip slides and sets up in the inside of guided way 30, can carry out spacing and direction to adjusting gear 35 when rotating, avoids adjusting gear 35 to take place the slope.
The sixth specific implementation mode: in the fourth embodiment, a connecting rod 37 is welded and fixed to the upper left side of the adjusting gear 35, the connecting rod 37 is made of a metal material and has an "L" shaped structure, and one end of the connecting rod 37 away from the adjusting gear 35 is fixedly connected to the guide block 38.
As shown in fig. 1-2: the connecting rod 37 is an L-shaped structure made of metal material, and when the adjusting gear 3 rotates, the guide block 38 on the adjusting gear is slidably arranged inside the guide rail 30, so as to ensure the stability of the rotating structure when steering.
The seventh embodiment: the embodiment is a further limitation of the first embodiment, the two side walls of the bottom of the walking chassis 1 are both provided with openings 39, the front shafts 34 are inserted into the openings 39, the front shafts 34 are arranged into two groups, and the front shafts 34 perform driving transmission through the driving gear 32 and the adjusting gear 35.
As shown in fig. 1-3: the walking driving mode of the device adopts a chain transmission mode; compared with a gear, although the chain transmission cannot keep a constant instantaneous transmission ratio, the manufacturing and installation precision requirement is low, the cost is low, particularly for long-distance transmission, the structure of the chain transmission is much lighter than that of the gear transmission, and a formula for calculating the gear ratio of the main driving chain and the driven chain is as follows:
Figure BDA0003804798840000061
v-running gear movement speed (km/h);
r-hub radius (m);
n-direct current brushless motor rotation speed (r/min);
z 1 ，z 2 -the number of teeth of the main driven sprocket.
The gear ratio of the driving chain wheel and the driven chain wheel can be obtained by measuring the speed of the travelling mechanism, the radius of the wheel hub and the rotating speed of the brushless motor.
The specific implementation mode is eight: in the first embodiment, the infrared sensors 7 and the obstacle avoidance sensors 8 adopt a mode of combining crossing and obstacle avoidance, infrared light rays emitted by the two groups of infrared sensors 7 are arranged in a crossing manner, and meanwhile, the two groups of infrared sensors 7 are in a symmetrical structure with respect to the obstacle avoidance sensors 8.
When the device advances, when the obstacle avoidance sensor 8 detects an obstacle, the trolley turns to the left side by default, and when only one side infrared sensor 7 detects the obstacle, the trolley turns to the other side without the obstacle; after the vehicle turns, when all the sensors can not detect the obstacles any more, the vehicle returns to the straight running.
The specific implementation method nine: the embodiment is further limited by the first specific embodiment, the infrared sensor 7, the obstacle avoidance sensor 8 and the core control module installed inside the walking chassis 1 form an obstacle avoidance system of the robot walking mechanism, the core control module is electrically connected with the driving motor 31, the core control module adopts an Arduino yun control chip, the core of the chip is an ATmega32u4 single chip microcomputer, and the chip is provided with a built-in Linux machine.
When the two sensors detect the obstacles, the trolley turns to the direction in which the obstacles are not detected; when the 3 sensors detect the obstacles, namely the trolley encounters a wall corner or a large obstacle in front, the trolley is switched to a sharp turning mode at the moment, the trolley defaults to turn left on site, if the sensors do not detect the obstacles any more in the sharp turning, the obstacle turns to the right side of the trolley, and the trolley is switched to a forward mode and returns to straight running.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. A multi-degree-of-freedom robot walking mechanism is characterized by comprising:
the picking robot comprises a walking chassis (1), wherein a driving wheel structure (2) is installed on one side inside the walking chassis (1), a first steering wheel structure (3) and a second steering wheel structure (4) are installed on the other side inside the walking chassis (1) respectively, an infrared sensor (7) and an obstacle avoidance sensor (8) are installed at the front end of the walking chassis (1) in a threaded mode respectively, a fixing seat (6) is installed at the top of the walking chassis (1) in a threaded mode, and the surface of the fixing seat (6) is fixedly connected with a picking robot (5);
the rear wheel (21) of the driving wheel structure (2) is mounted on a rear shaft lever (27), two groups of driven chain wheels (22) are mounted on the rear shaft lever (27), meanwhile, a mounting frame (24) is mounted on the walking chassis (1) in a threaded mode, a brushless motor (25) is mounted inside the mounting frame (24) through a machine base, and an output shaft of the brushless motor (25) is fixedly connected with a driving chain wheel (26);
first directive wheel structure (3), carry out swing joint through the bearing between front wheel (33) on first directive wheel structure (3) and front axle (34), and front axle (34) keep away from one end and adjusting gear (35) welded fastening of front wheel (33), adjusting gear (35) are installed on installation axle (36) simultaneously to installation axle (36) are through the inside of bearing movable mounting in walking chassis (1), and driving motor (31) are installed through the frame in the inside of walking chassis (1).
2. The running mechanism of the multi-degree-of-freedom robot according to claim 1, wherein: the driving wheel structure (2) comprises a rear wheel (21), a driven sprocket (22), a chain (23), a mounting frame (24), a brushless motor (25), a driving sprocket (26) and a rear shaft rod (27), the brushless motor (25) is provided with two sets in the mounting frame (24), the two sets of brushless motors (25) work synchronously, and the driven sprocket (22) and the driving sprocket (26) are driven through the chain (23).
3. The running mechanism of the multi-degree-of-freedom robot according to claim 1, wherein: the first steering wheel structure (3) comprises a guide rail (30), a driving motor (31), a driving gear (32), a front wheel (33), a front shaft (34), an adjusting gear (35), a mounting shaft (36), a connecting rod (37), a guide block (38) and an opening (39), and the first steering wheel structure (3) and the second steering wheel structure (4) are consistent in structure.
4. The running mechanism of a multi-degree-of-freedom robot as claimed in claim 3, wherein: the adjusting gear (35) and the driving gear (32) are horizontally arranged, the adjusting gear (35) is matched with the driving gear (32) in size, and meanwhile, the adjusting gear (35) is meshed with the driving gear (32).
5. The running mechanism of a multi-degree-of-freedom robot according to claim 3, wherein: the guide rail (30) is fixedly welded in the walking chassis (1), the right side end of the guide rail (30) is arranged in an arc shape, meanwhile, the guide block (38) is matched with the guide rail (30) in size, and the end of the guide block (38) is arranged in the guide rail (30) in a sliding mode.
6. The running mechanism of the multi-degree-of-freedom robot according to claim 4, wherein: a connecting rod (37) is fixedly welded on the upper left side of the adjusting gear (35), the connecting rod (37) is of an L-shaped structure made of metal materials, and meanwhile one end, far away from the adjusting gear (35), of the connecting rod (37) is fixedly connected with a guide block (38).
7. The running mechanism of the multi-degree-of-freedom robot according to claim 1, wherein: both sides wall of walking chassis (1) bottom has all been seted up trompil (39), and inside interlude of trompil (39) has front axle (34), and front axle (34) set up to two sets of, and front axle (34) carry out the drive transmission through drive gear (32) and adjusting gear (35).
8. The running mechanism of the multi-degree-of-freedom robot according to claim 1, wherein: the infrared sensors (7) and the obstacle avoidance sensors (8) adopt a mode of combining cross obstacle avoidance, infrared rays emitted by the two groups of infrared sensors (7) are arranged in a cross mode, and meanwhile the two groups of infrared sensors (7) are of a symmetrical structure relative to the obstacle avoidance sensors (8).
9. The running mechanism of the multi-degree-of-freedom robot according to claim 1, wherein: infrared sensor (7), keep away barrier sensor (8) and walking chassis (1) internally mounted's core control module component constitutes the obstacle-avoiding system of robot running gear together, and core control module and driving motor (31) electric connection, and core control module adopts Arduino yun control chip simultaneously, and the core of chip is ATmega32u4 singlechip, and from taking the formula of inlaying people Linux machine.
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