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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- driving wheel
- follower
- output shaft
- turning
- motor output
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Abstract
The present invention relates to a millimeter-grade all-bearing mobile robot which belongs to the field of mechanical engineering. The present invention comprises composite driving wheels, a driving gear, a centre gear and a turning microdriver, wherein the three composite driving wheels use the turning microdriver as a center to be evenly distributed on the circumference of the turning microdriver, the composite driving wheels are fixed on the driving gear and are connected with the turning microdriver through the driving gear and the centre gear, and the turning microdriver is positioned at the center and is connected with a centre gear shaft. The present invention can realize the all-bearing high-precision motion of the miniature robot in a millimeter-grade dimension, is similarly suitable for the ordinary robot, has the advantages of simple structure and easy production, and is particularly suitable for realizing high-precision all-bearing motion without the turning radius under the condition of microsize 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 |
Family
ID=34153472
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 | Directional wheel |
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2003
- 2003-06-12 CN CN 03129280 patent/CN1282524C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1476962A (en) | 2004-02-25 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061101 |