CN201971077U - Combined moving mechanism of robot - Google Patents

Abstract

The utility model relates to a combined moving mechanism of a robot. Two parallel main shafts are arranged at the bottom of a robot body, each main shaft is provided with a main motor, two ends of each main shaft are respectively provided with a cross-shaped bracket, the axial line of each main shaft passes through the center of the bracket, the brackets can rotate along with the main shafts, four ends of each bracket are respectively provided with a roller motor, the axial line of an output shaft of each roller motor is parallel to the axial line of each main shaft, each output shaft is provided with a roller, and the rollers can rotate along with the output shafts; the robot body is provided with an infrared distance-measurement sensor, the detection height of the infrared distance-measurement sensor is larger than the heights of the main shafts and smaller than the heights of the top ends of the brackets, the infrared distance-measurement sensor is connected with a control unit, the roller motor is provided with a current sensor, the current sensor is connected with the control unit in a signal manner, and the control unit is connected with the main motors and the roller motors by a control circuit. The combined moving mechanism of the robot disclosed by the utility model can ensure that the robot regularly walks on the complex ground, thus the robot can flexibly deal with various barriers and the stability of a mechanical structure is improved.

Description

A Composite Moving Mechanism of Robot

technical field

The utility model relates to a moving mechanism of a robot, in particular to an obstacle-surmounting moving structure.

Background technique

According to the characteristics of the moving mechanism of the obstacle-crossing robot, the robot can be divided into various types such as wheel type, foot type, crawler type, and compound type.

Wheeled obstacle-surpassing robots are characterized by good maneuverability, simple structure, easy control, and low energy consumption, but their off-road performance is poor. Usually, they can only cross obstacles whose height is smaller than the radius of the wheel, and it is difficult to complete the task in a complex environment. In order for a robot to cross higher obstacles, a common method is to adopt a passive suspension mechanism or a multi-section car body to increase the degree of freedom of the robot, so that the robot can adjust its attitude according to the change of the terrain during the travel process.

The footed obstacle-crossing robot is characterized by good flexibility and the ability to adapt to complex terrain conditions. But its structure is more complex and difficult to control.

The crawler-type obstacle-surpassing robot is characterized by good off-road performance and can overcome obstacles such as stairs and trenches. But its mechanism is bulky, consumes a lot of energy, and because it is not easy to detect when the track slips, it is difficult to position itself.

Robots with a single structural form have various defects in performance and structure, and the effect in practical applications is not ideal.

Utility model content

The technical problem to be solved by the utility model is to provide a robot composite moving mechanism with good obstacle-surmounting performance, simple structure and good reliability.

The utility model is achieved through the following technical solutions:

A composite mobile mechanism for a robot, characterized in that:

Two parallel spindles are configured at the bottom of the robot body, and each spindle is configured with a main motor.

A cross-shaped bracket is assembled at both ends of each spindle, the axis of the spindle passes through the center of the bracket, and the bracket can rotate with the spindle.

A roller motor is installed on each of the four ends of the bracket. The axis of the output shaft of the roller motor is parallel to the axis of the main shaft. The output shaft is equipped with a roller, which can rotate with the output shaft.

An infrared ranging sensor is arranged on the main body of the robot. The detection height of the infrared ranging sensor is higher than the main shaft and lower than the top of the support. The signal of the infrared ranging sensor is connected to the control unit.

A current sensor is arranged on the roller motor, and the signal of the current sensor is connected to the control unit.

The control unit is connected with the main motor and the roller motor through the control circuit.

In terms of control principles, there are three cases:

One is that on relatively flat ground, the main motor does not output, the main shaft does not rotate, and the roller motors on the two lower ends of the cross-shaped bracket drive the rollers in contact with the ground to rotate, and the robot moves forward;

Second, when the infrared ranging sensor detects that there is an obstacle in front, that is, when the height of the obstacle reaches the detection height of the infrared ranging sensor, it means that the height of the obstacle exceeds the limit height of the moving mechanism. At this time, the infrared ranging sensor sends it to the control unit A signal, the control unit controls the roller motor to reverse, and drives the roller to reverse to achieve backward, and then turn to avoid obstacles and continue to move forward;

The third is when the infrared ranging sensor does not detect an obstacle ahead, but the current sensor on the roller motor detects that the current on the roller motor circuit is quite different from the current under normal working conditions, such as: the current is normal. When the current is 1.3 to 1.5 times that of the current, it means that the two rollers in front of the robot have come into contact with a surmountable obstacle, and cannot continue to move forward, and the rollers are idling. At this time, the current sensor sends a signal to the control unit, and the control unit controls the roller motor. Stop the output, start the main motor to drive the main shaft to rotate, the entire bracket is turned over, and the obstacle is overcome. After the obstacle is successfully overcome, the control unit controls the main motor to stop output, the roller motor starts, drives the roller in contact with the ground to rotate, and the robot continues to move forward.

If the detection height of the infrared ranging sensor is too high, the bracket will still be unable to successfully overcome obstacles after being turned over. If the detection height is too low, the robot’s ability to overcome obstacles will be reduced. Therefore, the detection height of the infrared ranging sensor is generally 1/ of the height of the bracket. 2 to 7/10, preferably 2/3 of the bracket height.

Further, in order to facilitate the prediction of the control unit in advance, the detection distance of the infrared ranging sensor is generally preferably 0.1-0.8m in front of the robot's traveling direction.

Furthermore, in order to ensure that the entire robot flips smoothly when overcoming obstacles and avoids the flipping speed being too fast, the main shaft and the main motor are connected through a reduction gear set.

The beneficial effects of the utility model are:

1. The cross-shaped crossing wheel train can ensure the normal walking of the robot on the complex surface, so that the robot can flexibly deal with various obstacles;

2. The driving motor of the roller on the cross-shaped spanning wheel train is directly installed at the end of the bracket, which reduces the complexity of the cross-shaped spanning wheel train structure and improves the stability of the mechanical structure;

3. The combination of wheel and foot is adopted, which not only has the advantages of good mobility, simple structure, good reliability and easy control, but also makes up for the disadvantage of poor cross-country performance of the wheeled obstacle-crossing robot.

Description of drawings

Figure 1 is a schematic diagram of the assembly of the cross-shaped bracket

Figure 2 is a schematic diagram of the assembly of the cross bracket and the main shaft

Figure 3 is a schematic diagram of the assembly of the composite mobile mechanism and the main body of the robot

Figure 4-7 is a schematic diagram of the action of the moving mechanism at different obstacle heights

Among Figs. 1-7: 1 is a roller, 2 is an output shaft, 3 is a roller motor, 4 is a main motor, 5 is a support, 6 is a main shaft, and 7 is a reduction gear set.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

In the composite moving mechanism of the robot of the present utility model, two parallel main shafts 6 are arranged at the bottom of the main body of the robot, and each main shaft 6 is equipped with a main motor 4, and the main shaft 6 and the main motor 4 are connected through a reduction gear set 7, and each main shaft 6 has two ends Each is equipped with a cross-shaped bracket 5, the axis of the main shaft 6 passes through the center of the bracket 5, and the bracket 5 can rotate with the main shaft 6,

The four ends of the support 5 are respectively equipped with a roller motor 3, the axis of the output shaft 2 of the roller motor 3 is parallel to the axis of the main shaft 6, the output shaft 2 is equipped with a roller 1, and the roller 1 can rotate with the output shaft 2,

An infrared ranging sensor is arranged on the main body of the robot. The detection height of the infrared ranging sensor is 2/3 of the height of the bracket 5. The detection distance of the infrared ranging sensor is 0.20m in front of the robot's traveling direction. The signal of the infrared ranging sensor is connected to the control unit. ,

A current sensor is arranged on the roller motor 3, and the signal of the current sensor is connected to the control unit,

The control unit is connected with the main motor 4 and the roller motor 3 through a control circuit.

In the case of relatively flat ground, the main motor 4 does not output, the main shaft 6 does not rotate, and the roller motor 3 on the two downward ends of the cross-shaped support 5 drives the roller 1 in contact with the ground to rotate, and the robot moves forward, as As shown in Figure 4;

When the infrared ranging sensor does not detect any obstacles ahead, but the current sensor on the roller motor 3 detects that the current of the roller motor 3 is quite different from the current under normal working conditions, such as: the current is the same as that under normal working conditions. When the amount of current is 1.3 to 1.5 times, it means that the two rollers 1 in front of the robot have touched the obstacles that can be climbed over, and cannot continue to move forward, and the rollers are idling. At this time, the current sensor sends a signal to the control unit, and the control unit controls the roller motor 3 The output is stopped, the main motor 4 starts to drive the main shaft 6 to rotate, and the entire support is turned over to achieve obstacle surmounting. After successfully surmounting the obstacle, the control unit controls the main motor 4 to stop output, and the roller motor 3 starts to drive the roller 1 in contact with the ground to rotate. Continue to move forward, as shown in Figure 5-6;

When the infrared ranging sensor detects that there is an obstacle ahead, that is, when the height of the obstacle reaches the detection height of the infrared ranging sensor, it means that the height of the obstacle exceeds the limit height of the moving mechanism. At this time, the infrared ranging sensor sends a message to the control unit. signal, the control unit controls the roller motor 3 to reverse, and drives the roller 1 to reverse to achieve backward movement, and then turns to avoid obstacles and then continues to move forward, as shown in Figure 7.

Claims (5)

1. A composite mobile mechanism of a robot, characterized in that: Two parallel main shafts (6) are arranged at the bottom of the main body of the robot, and each main shaft (6) is equipped with a main motor (4), A cross-shaped support (5) is assembled at both ends of each main shaft (6), the axis of the main shaft (6) passes through the center of the support (5), and the support (5) can rotate with the main shaft (6). A roller motor (3) is respectively installed on the four ends of the support (5), the output shaft (2) axis of the roller motor (3) is parallel to the axis of the main shaft (6), and the roller (1) is assembled on the output shaft (2). The roller (1) can rotate with the output shaft (2), An infrared ranging sensor is arranged on the main body of the robot. The detection height of the infrared ranging sensor is higher than the main shaft (6) and lower than the top of the support (5). The signal of the infrared ranging sensor is connected to the control unit. A current sensor is arranged on the roller motor (3), and the signal of the current sensor is connected to the control unit, The control unit is connected with the main motor (4) and the roller motor (3) through a control circuit. 2. The robot compound moving mechanism according to claim 1, characterized in that: the detection height of the infrared ranging sensor is 1/2-7/10 of the height of the support (5). 3. The robot compound moving mechanism according to claim 2, characterized in that: the detection height of the infrared ranging sensor is 2/3 of the height of the support (5). 4 . The robot compound moving mechanism according to claim 1 , characterized in that: the detection distance of the infrared ranging sensor is 0.1-0.8 m ahead of the robot in the direction of travel. 5. The robot compound moving mechanism according to claim 1, characterized in that: the main shaft (6) is connected with the main motor (4) through a reduction gear set (7). the

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