CN1282524C - Nano-grade all-bearing mobile miniature robot - Google Patents
Nano-grade all-bearing mobile miniature robot Download PDFInfo
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- CN1282524C CN1282524C CN 03129280 CN03129280A CN1282524C CN 1282524 C CN1282524 C CN 1282524C CN 03129280 CN03129280 CN 03129280 CN 03129280 A CN03129280 A CN 03129280A CN 1282524 C CN1282524 C CN 1282524C
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Abstract
一种毫米级全方位移动机器人，属于机械工程领域。本发明包括：复合驱动轮、传动齿轮、中心齿轮和转向微驱动器，三个复合驱动轮以转向微驱动器为中心，彼此间隔120°均匀分布在其周围。复合驱动轮在转向过程中与地面摩擦为滚动摩擦，主动轮与被动轮的设计使得本身无侧向反作用力。本发明能在微小尺寸内实现微型机器人的全方位运动，也同样适用于普通机器人。本发明结构简单、制造容易，特别适合在微小尺寸限制的条件下实现无回转半径的全方位移动。
A millimeter-level omnidirectional mobile robot belongs to the field of mechanical engineering. The invention comprises: a compound driving wheel, a transmission gear, a sun gear and a steering micro-driver, and the three compound driving wheels center on the steering micro-driver and are evenly distributed around it at intervals of 120°. The friction between the composite driving wheel and the ground during the steering process is rolling friction, and the design of the driving wheel and the driven wheel makes it have no side reaction force. The invention can realize the omni-directional movement of the micro-robot in a tiny size, and is also applicable to common robots. The invention is simple in structure and easy to manufacture, and is especially suitable for realizing omni-directional movement without turning radius under the condition of tiny size limitation.
Description
Technical field
That the present invention relates to is a kind of mobile robot, and particularly a kind of millimeter level all directionally movable robot belongs to the microrobot field.
Background technology
General wheeled robot realizes that comprehensive moving mainly contains three kinds of mechanisms: the one, utilize universal wheel, and promptly driving wheel itself has two frees degree; The 2nd, have special deflecting roller, be similar to the tricycle structure; The 3rd, utilize two driving wheels, a follower structure, follower has two frees degree, but does not have drive source.Universal wheel complex structure, microsize are difficult to realize, are applicable to large-scale mobile robot; Second kind of structure has certain radius of gyration, determines its kinematic dexterity to be restricted, and can't realize real comprehensive moving; The structure of follower that the third structure requires is complicated equally, is difficult to realize in microsize.
Analyze by literature search, find that Chinese patent application number is: 00206665.3, name is called: a kind of omni-directional moving mechanism that is used in the robot, this patent readme is: with center driven by motor central gear is the center of entire mechanism, around central gear, travelling gear is pressed the cross structure arranged in form, four gears of periphery respectively drive a wheel, and the wheel on the diagonal is identical in twos, is respectively driving wheel and driven pulley, article two, the travelling gear quantity difference on the diagonal, be respectively odd and even number, rational in infrastructure, cost is low, the overall operation efficiency height is easy to rotational angle, direction control.This patent produce not to move because of frictional force for robot body in turning to, the gear number difference on its diagonal, active and passive take turns turn to difference, thereby the sliding friction force direction that produces in steering procedure is opposite, cancels out each other.But when adopting this structure, can not guarantee comprehensive mobile in 360 degree, still can not satisfy the requirement of comprehensive travelling performance and kinematic accuracy.
Summary of the invention
The objective of the invention is to overcome the deficiency in the above technology, a kind of millimeter comprehensive mobile microrobot of level is provided, achieve miniature wheeled mobile robot in running, be particularly suitable under the condition of microsize restriction, realizing comprehensive the moving of high accuracy of non-rotating radius.
The present invention is achieved by the following technical solutions, the present invention includes: combination flooding driving wheel, travelling gear, central gear, turn to microdrive, its connected mode is: turn to microdrive to be positioned at the center, link to each other with sun gear shaft; Three combination flooding driving wheels are the center to turn to microdrive, are evenly distributed on around it, and the combination flooding driving wheel is fixed in travelling gear, and by travelling gear, central gear and turn to microdrive to link to each other, divertical motion is by turning to microdrive to pass to the combination flooding driving wheel.
The combination flooding driving wheel comprises: driving wheel, follower, driving gearshaft, motor output shaft and straight line removable drive.Driving wheel and follower lay respectively at the both sides of straight line removable drive, are the center symmetry with the driving gearshaft, and driving wheel and motor output shaft are rigidly connected, and follower and motor output shaft flexibly connect.Follower can freely rotate along motor output shaft.Driving wheel and follower do not have axial freedom on motor output shaft.Straight line moves by three combination flooding driving wheels and finishes jointly, and the straight line removable drive on each combination flooding driving wheel drives the driving wheel motion by motor output shaft, and follower then is in is obedient to state, and straight line moves passively.Divertical motion is by turning to microdrive to be delivered to driving wheel and follower by central gear, travelling gear, driving gearshaft, straight line removable drive, motor output shaft.
When the microrobot straight line moved, directional drive passed to electric current and keeps certain moment, kept the direction of motion of microrobot stable.Three combination flooding driving wheels are controlled as same microdrive, import same driving signal to guarantee synchronous operation, and driving wheel drives the follower motion, regulates control signal and can control its direction of motion (advance, retreat) and the speed of service.
Travelling gear, central gear constitute transmission system of the present invention.When microrobot of the present invention turned to, the combination flooding driving wheel did not have the driving signal, realized that with the assisted diversion microdrive high accuracy turns to.Turn to microdrive by transmission system drive three combination flooding driving wheels simultaneously, equidirectional rotation is all identical under free position with the steering angle that guarantees the combination flooding driving wheel.The combination flooding driving wheel is not because there is the signal of driving, and its driving wheel and follower all are in free state.Under the driving that turns to microdrive and travelling gear, because frictional ground force, driving wheel on the combination flooding driving wheel and follower are the center along the axis with travelling gear, is the circular arc of radius with the center to the distance of driving wheel or follower, is that rotating shaft rotates passively to turn to the microdrive output shaft.Be pure rolling friction between driving wheel, follower and the ground, greatly reduce frictional force turning to the influence of precision; Simultaneously the frictional force of each combination flooding driving wheel driving wheel, follower at any time direction opposite, cancel out each other, Micro-Robot self is not had influence, can not produce and be displaced sideways, guarantee running accuracy, and can realize rotating arbitrarily in the week.
The present invention has substantive distinguishing features and marked improvement, by the design of compound driver, make driving wheel when turning to and the friction on ground be pure rolling friction; It is identical that three combination flooding driving wheels turn to, and gearratio is identical to have guaranteed that any moment, it was towards identical; The frictional force sum that the design of driving wheel and follower makes combination flooding driving wheel self produce is zero, guarantees the no cornering force of robot itself.Therefore the present invention can realize the omnidirectional high-accuracy motion of microrobot in millimeter level size, is applicable to the ordinary robot too.The present invention is simple in structure, easy to manufacture, is particularly suitable for realizing under the condition of microsize restriction comprehensive the moving of high accuracy of non-rotating radius.
Description of drawings
Fig. 1 structural representation of the present invention
Fig. 2 combination flooding driving wheel of the present invention schematic diagram
The specific embodiment
As shown in Figure 1 and Figure 2, the present invention includes: combination flooding driving wheel 1, travelling gear 2, central gear 3 and turn to microdrive 4, its connected mode is: three combination flooding driving wheels 1 are the center to turn to microdrive 4, be evenly distributed on around it, combination flooding driving wheel 1 is fixed in travelling gear 2, by travelling gear 2, central gear 3 and turn to microdrive 4 to link to each other, turn to microdrive 4 to be positioned at the center, link to each other with sun gear shaft 7.
Combination flooding driving wheel 1 comprises: driving wheel 5, follower 6, driving gearshaft 7, motor output shaft 8 and straight line removable drive 9, its connected mode is: driving wheel 5 and follower 6 lay respectively at the both sides of straight line removable drive 9, with driving gearshaft 7 is the center symmetry, driving wheel 5 is rigidly connected with motor output shaft 8, and follower 6 flexibly connects with motor output shaft 8.Follower 6 freely rotates along motor output shaft 8, and driving wheel 5 does not have axial freedom with follower 6 on motor output shaft 8.
Straight line moves by three combination flooding driving wheels 1 and finishes jointly, and the straight line removable drive 9 on each combination flooding driving wheel 1 drives driving wheel 5 motions by motor output shaft 8, and 6 of followers are in is obedient to state, and straight line moves passively.Divertical motion is by turning to microdrive 4 to be delivered to driving wheel 5 and follower 6 by central gear 3, travelling gear 2, driving gearshaft 7, straight line removable drive 9, motor output shaft 8.
Claims (2)
1, a kind of millimeter comprehensive mobile microrobot of level comprises: combination flooding driving wheel (1), travelling gear (2), central gear (3) and turn to microdrive (4).Three combination flooding driving wheels (1) are the center with central gear (3), apart 120 ° evenly distribute, combination flooding driving wheel (1) comprising: driving wheel (5), follower (6), driving gearshaft (7), motor output shaft (8) and straight line removable drive (9), driving wheel (5) and follower (6) lay respectively at the both sides of straight line removable drive (9), with driving gearshaft (7) is the center symmetry, driving wheel (5) is rigidly connected with motor output shaft (8), and follower (6) flexibly connects with motor output shaft (8).
2, the comprehensive mobile microrobot of millimeter level according to claim 1 is characterized in that follower (6) freely rotates along motor output shaft (8), and driving wheel (5) is gone up no axial freedom with follower (6) at motor output shaft (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129280 CN1282524C (en) | 2003-06-12 | 2003-06-12 | Nano-grade all-bearing mobile miniature robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129280 CN1282524C (en) | 2003-06-12 | 2003-06-12 | Nano-grade all-bearing mobile miniature robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1476962A CN1476962A (en) | 2004-02-25 |
| CN1282524C true CN1282524C (en) | 2006-11-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03129280 Expired - Fee Related CN1282524C (en) | 2003-06-12 | 2003-06-12 | Nano-grade all-bearing mobile miniature robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1282524C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100443312C (en) * | 2006-03-02 | 2008-12-17 | 上海交通大学 | omni wheel |
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2003
- 2003-06-12 CN CN 03129280 patent/CN1282524C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1476962A (en) | 2004-02-25 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061101 |