CN205499108U - All direction movement mechanism for service robot - Google Patents
All direction movement mechanism for service robot Download PDFInfo
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- CN205499108U CN205499108U CN201620281136.9U CN201620281136U CN205499108U CN 205499108 U CN205499108 U CN 205499108U CN 201620281136 U CN201620281136 U CN 201620281136U CN 205499108 U CN205499108 U CN 205499108U
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- wheel
- flat board
- flexible flat
- motor
- service robot
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Abstract
The utility model discloses an all direction movement mechanism for service robot relates to intelligent robot technical field. Adopt wheel -type structure, this moving platform has four wheels, and wherein two be the action wheel, and other two every wheel of action wheel all contains an in -wheel motor and one and turns to the motor and come control to move and turn to for from the driving wheel, only contains one from the driving wheel and turns to the motor and control and turn to, the support frame of every wheel is all connected at flexible dull and stereotyped little edge, and big limit is connected with two parallel navigation grooves that closely cooperate with the I -shaped groove, controls reciprocating of expansion plate through the lead screw, and their connection all is movable connections to realize the flexible of wheel and extend the motion, make the robot when accomplishing specific service, can accomplish all -round, nimble, in the same direction as prompt and convenient and so on advantage.
Description
Technical field
The present invention relates to intelligent robot technology field, be specifically related to a kind of service robot all-around mobile machine
Structure.
Background technology
Continuous maturation along with service robot technology so that the development cost of service robot constantly reduce, clothes
Business robot will become household electrical appliance and equally move in huge numbers of families, for life, the study and work service of people.
Service robot is designed to greatly the service role that apery body completes to specify above the waist, and these tasks are all people
Seem the most simply to be similar to the action that captures and deliver, this will accomplish omnibearing for the life of people
Service.Want the effect that the thoughtful service of the mankind can really have been given play to by service robot, then service robot
Mobile platform it is necessary to have the motility of height and comprehensive property, so being designed to study of mobile platform
An important link in service robot.
Upper part of the body system based on service robot, in order to ensure that service robot is lifting 20 kilograms on ground
During weight, it is maintained to system normal.Power supply also to provide the power value of at least 1000 watts for whole system.
This just requires it is necessary to have the power of certain effect is supplied for it.For convenience of chassis work sky during process task
Between the utilization of extended operation, in order to the design keeping platform is simple as far as possible, and four wheels is kept
One static base state.For the ease of integrated platform kinesiology, it should utilize omnidirectional moving to solve, this
Greatly increase the mobile motility of mobile platform.The power supply supply on chassis also must be served above the waist, control
The computer of robot motion processed is placed on inside mobile platform together with also must be integrated into communication equipment.?
High capacity and the dynamic operation task of height and keep again structure compact in the case of, meet stability requirement extremely
Closing important, it is related to that robot can smoothly and be safely completed task.
Therefore, the mobile platform of service robot for from the point of view of itself just as the foundation of a building,
Its design is particularly significant, the problem that always research institution makes earnest efforts.Such as: at a desk, mobile driving
System should be at least isotropic directivity.Should allow to reach best performance in the control of mobile chassis
Closed loop system is maintained in a minimum bandwidth of 100 hertz in real time difficult together with trunk and arm.
Summary of the invention
For the deficiencies in the prior art, the open a kind of service robot omni-directional moving mechanism of the present invention.
For realizing object above, the present invention is achieved by the following technical programs:
A kind of service robot omni-directional moving mechanism, including mobile platform flat cover, flexible flat board and wheel body,
Described mobile platform flat cover, it is flexibly connected by flexible flat board and wheel body.
Preferably, described mobile platform flat cover includes top cover, sidewall and base plate, described top cover, sidewall, screw mandrel
Being sequentially connected with from top to bottom with base plate, described sidewall both sides have I-shaped groove.
Preferably, described flexible flat board includes flexible flat board, lower flexible flat board, bracing frame, set square and leads
Navigate groove, and described flexible flat board and the lower big limit of flexible flat board are all connected with navigation groove, and little limit is all connected with bracing frame,
Described set square one end is connected with mobile platform flat cover sidewall, and the other end is connected in the middle part of lower flexible flat board.
Preferably, described wheel body includes wheel, wheel shaft, turns to motor, steering spindle and wheel carrier, described takes turns
Son is connected with wheel carrier by wheel shaft, and described wheel carrier is connected with turning to motor by steering spindle.
Preferably, described wheel body has four.
Preferably, described wheel body has been additionally provided with spring-damping element and mechanics sensor.
The open a kind of service robot omni-directional moving mechanism of the present invention, uses wheeled construction, and mobile platform has
Having four wheels, two of which is drivewheel, and two other is driven pulley, and each wheel of drivewheel all contains
One wheel hub motor and a steer motor control to move and turn to, and driven pulley comprises only a steer motor
Control turns to；The bracing frame of each wheel is both connected on the little limit of flexible flat board, big limit parallel with two with
I-shaped groove close-fitting navigation groove connects, and controls moving up and down of expansion plate by leading screw, their connection
It is all to be dynamically connected so that robot is when completing specifically to service, it is possible to accomplish comprehensive, flexibly, along prompt
With convenience etc. advantage.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, in describing below
Accompanying drawing is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creation
Property work on the premise of, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the sectional structure schematic diagram of the present invention；
Fig. 3 is the plan structure schematic diagram of the present invention；
Fig. 4 is the stretching structure schematic diagram of the present invention；
Fig. 5 is the leading screw lifting structure schematic diagram of the present invention.
Fig. 6 is the wheel body internal structure schematic diagram of the present invention.
Fig. 7 is drivewheel and the contrast schematic diagram of driven pulley of the present invention.
In figure: 1, top cover；2, sidewall；3, steer motor；4, wheel carrier；5, spoke；6, upper flexible flat
Plate；7, spring 8, screw mandrel；9, base plate；10, set square；11, lower flexible flat board；12, wheel shaft；13、
Wheel hub motor；14, wheel；15, bracing frame；16, I-shaped groove；17, guide pillar.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, in the embodiment of the present invention
Technical scheme is clearly and completely described, it is clear that described embodiment is a part of embodiment of the present invention,
Rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under creative work premise, broadly falls into the scope of protection of the invention.
A kind of service robot omni-directional moving mechanism described in the embodiment of the present invention, mobile platform framework is by four
Steel plate and two hexagon steel plates are connected by screw and form.
In mobile platform, so that four wheels can carry out shrinking and stretching, the mechanism of wheel is designed
Become to be connected in two parallel navigation grooves slide, and the groove that navigates closely cooperates with I-shaped groove.Thus rely on
Electric machine rotation drives set square to move up and down, so that two flexible flat boards make parallelogram along with navigation groove
Motion.Wheel carrier is achieved that contraction and stretching.
In selection, in order to ensure the strength and stiffness of part, navigate No. 45 steel of flowing current separation.Height is wanted during heat treatment
Temperature quenching, carburizing proof strength to be carried out at groove.I-steel, in order to reduce vibration and avoid groove portion impaired, is adopted
With HT200, because it can be with absorbing and the insensitivity to breach, so he is best selection.
The big limit of flexible flat board is connected with navigation groove, and little limit is connected with bracing frame, and their connection is all movably to connect
Connect.
When rotated, wheel shaft produces to its active force, ground and wheel frictional force by bearing to mobile platform
Counteracting force and gravity.If three power being synthesized so axle just have the possibility of bending.Therefore, wheel
Axle must be high intensity and hardness, for this select No. 45 steel process axle.Axle head above uses key and electricity
Machine coordinates.Following axle head then uses threaded, and it to rotate with wheel carrier simultaneously, therefore uses threaded.
, for three wheel mechanisms or other mechanism, there are bigger bearing capacity and carrying in the mechanism of four wheels
Balance, and be easier to the center of gravity realizing robot and overlap with the center of gravity on the chassis of service robot.In order to
When making the elongation of the wheel of robot and shrink so that the distance between two wheels can be very big, with imitative shifting
Touch the object around other time dynamic, and preferably represent through the stability on chassis during step, so selecting
The mechanism of four wheels, it can free shrink and stretching, extension back and forth.Mechanism's design of this wheel can realize certainly
By turn around turn to, it is also possible to realize radius of turn and arbitrarily set from the zero to infinitely great (i.e. linear motion).When
Through step or rugged local time, it is possible to use the spring-damp system of wheel structure carry out damping and
Adjust the height of each wheel, to such an extent as to whole chassis is appointed and is so on a horizontal line, thus keep the flat of it
Weighing apparatus.
Mobile platform is the In-wheel motor driving independent by two.They are all directly to use brshless DC motor.
And the wheel of motor pushing is made up of solid rubber and iron and steel.First the advantage of wheel hub motor is the sky in wheel
Between can be employed, therefore a compact design is necessary；Secondly because the weight of motor
Close to ground, center of gravity being significantly reduced, this has also complied with the requirement of stability.
Having two kinds of motors above mobile platform, one is the steer motor controlling to turn to, and another is at wheel
Wheel hub motor.Control the motor that turns to and select motor, it is not necessary to decelerator, it is possible to reduce turn and join space and make
Obtain structure compacter, so selecting motor to realize driving effect.Motor at wheel is due to his knot
Structure is analogous to rear wheels of electric vehicle formula, so selecting wheel hub motor.The mobile robot of service is for turning velocity
Requirement relatively low, and the precision comparison for position is strict, because positional precision just may decide that machine sometimes
Device people front whether can the avoiding obstacles of safety or accurately arrive at some specific place, therefore
Extremely important.And select motor can meet requirement.Steer motor mainly enables wheel in original position
Putting the revolution realizing no-radius, this process needs to overcome with ground in the face of the frictional force of wheel, but rotating speed is not very
High.
Having two groups of bearing partss at the wheel of mobile platform, they play support for movement and the rotation of wheel
Effect, the external applied load that it is born is primarily radial and transverse load.Owing to the bearing at wheel is mainly subject to
Load radially, also has the least axial force, so selecting deep groove ball bearing, it is primarily subjected to from radial direction
Active force, it is also possible to bear axial force.
The open a kind of service robot omni-directional moving mechanism of the present invention, uses wheeled construction in sum, should
Mobile platform has four wheels, and two of which is drivewheel, and two other is driven pulley, drivewheel each
Wheel all contains a wheel hub motor and a steer motor controls to move and turn to, and driven pulley comprises only one
Steer motor controls to turn to；The bracing frame of each wheel is both connected on the little limit of flexible flat board, big limit and two
Individual parallel navigation groove close-fitting with I-shaped groove is connected, and their connection is all to be dynamically connected, thus realizes
Flexible and the stretching of wheel so that robot is when completing specifically to service, it is possible to accomplish comprehensive, spirit
Live, along prompt and convenient etc. advantage.It should be noted that in this article, term " include ", " comprising " or
Its any other variant of person is intended to comprising of nonexcludability so that include the process of a series of key element,
Method, article or equipment not only include those key elements, but also include other key elements being not expressly set out,
Or also include the key element intrinsic for this process, method, article or equipment.There is no more restriction
In the case of, statement " including ... " key element limited, it is not excluded that in the mistake including described key element
Journey, method, article or equipment there is also other identical element.
Above example only in order to the technical scheme of the present invention/utility model to be described, is not intended to limit；Although ginseng
Being described in detail the present invention/utility model according to previous embodiment, those of ordinary skill in the art should
Understand: the technical scheme described in foregoing embodiments still can be modified by it, or to wherein part
Technical characteristic carries out equivalent；And these amendments or replacement, do not make the essence disengaging of appropriate technical solution
The spirit and scope of the present invention/utility model each embodiment technical scheme.
Claims (5)
1. a service robot omni-directional moving mechanism, it is characterised in that: include mobile platform flat cover, flexible flat board and wheel body, described mobile platform flat cover, be flexibly connected by flexible flat board and wheel body.
2. service robot omni-directional moving mechanism as claimed in claim 1, it is characterised in that: described mobile platform flat cover includes that top cover, sidewall and base plate, described top cover, sidewall and base plate are sequentially connected with from top to bottom, and described sidewall both sides have I-shaped groove.
3. service robot omni-directional moving mechanism as claimed in claim 1 or 2, it is characterized in that: described flexible flat board includes flexible flat board, lower flexible flat board, bracing frame, set square and navigation groove, described flexible flat board and the lower big limit of flexible flat board are all connected with navigation groove; little limit is all connected with bracing frame; described set square one end is connected with mobile platform flat cover sidewall, and the other end is connected in the middle part of lower flexible flat board.
4. service robot omni-directional moving mechanism as claimed in claim 1, it is characterized in that: described wheel body includes wheel, wheel shaft, turns to motor, steering spindle and wheel carrier, described wheel is connected with wheel carrier by wheel shaft, and described wheel carrier is connected with turning to motor by steering spindle.
5. service robot omni-directional moving mechanism as described in claim 1 or 4, it is characterised in that: described wheel body has four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620281136.9U CN205499108U (en) | 2016-04-01 | 2016-04-01 | All direction movement mechanism for service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620281136.9U CN205499108U (en) | 2016-04-01 | 2016-04-01 | All direction movement mechanism for service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205499108U true CN205499108U (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620281136.9U Expired - Fee Related CN205499108U (en) | 2016-04-01 | 2016-04-01 | All direction movement mechanism for service robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| WO2019041071A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Movable robot |
| WO2019041070A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent universal moving wheel for robot |
| CN110254551A (en) * | 2019-07-16 | 2019-09-20 | 南京农业大学 | A kind of structure changes plant phenotype detection mobile robot |
| CN114211922A (en) * | 2021-11-24 | 2022-03-22 | 电子科技大学 | Height-adjustable cantilever device and vehicle thereof |
| WO2024077641A1 (en) * | 2022-10-14 | 2024-04-18 | 深圳市闪至科技有限公司 | Movable platform, chassis of movable platform and control method thereof, and storage medium |
-
2016
- 2016-04-01 CN CN201620281136.9U patent/CN205499108U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620572A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Omni-directional movement mechanism for service robot |
| CN105620572B (en) * | 2016-04-01 | 2019-02-26 | 安徽理工大学 | Service robot omni-directional moving mechanism |
| WO2019041071A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Movable robot |
| WO2019041070A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent universal moving wheel for robot |
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN110254551A (en) * | 2019-07-16 | 2019-09-20 | 南京农业大学 | A kind of structure changes plant phenotype detection mobile robot |
| CN114211922A (en) * | 2021-11-24 | 2022-03-22 | 电子科技大学 | Height-adjustable cantilever device and vehicle thereof |
| WO2024077641A1 (en) * | 2022-10-14 | 2024-04-18 | 深圳市闪至科技有限公司 | Movable platform, chassis of movable platform and control method thereof, and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20170401 |
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| CF01 | Termination of patent right due to non-payment of annual fee |