WO2022236773A1 - 一种两盘驱动式的全向行走装置及行走方法 - Google Patents
一种两盘驱动式的全向行走装置及行走方法 Download PDFInfo
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- WO2022236773A1 WO2022236773A1 PCT/CN2021/093592 CN2021093592W WO2022236773A1 WO 2022236773 A1 WO2022236773 A1 WO 2022236773A1 CN 2021093592 W CN2021093592 W CN 2021093592W WO 2022236773 A1 WO2022236773 A1 WO 2022236773A1
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- Prior art keywords
- walking
- angle adjustment
- shaft
- omnidirectional
- disc
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 57
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004140 cleaning Methods 0.000 description 18
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Definitions
- the invention relates to the technical field of mopping robots, in particular to a two-disk driven omnidirectional walking device and a walking method.
- the present invention provides a two-disc drive robot.
- the omnidirectional walking device and walking method are provided with two groups of walking modules, and the two groups of walking modules respectively control a walking disc. By controlling the contact point and rotation direction of the walking disc, omnidirectional walking can be realized, and the weight of the robot itself The resulting pressure is converted into friction on the working plane, which is more conducive to the cleaning of the working plane.
- the technical solution adopted by the present invention to solve the technical problem is: a two-disk driven omnidirectional walking device, the fuselage of the omnidirectional walking device is provided with two groups of symmetrically arranged walking modules, and the walking modules are respectively connected to There is a walking disk, the walking disk is set parallel to the working plane and can form a disk inclination angle A between the working plane and the walking module under the control of the walking module, and the walking module drives the walking disk to move along the walking disk The plane where it is located rotates so that the omnidirectional walking device walks.
- the walking module includes a walking drive motor, an inclination angle adjustment mechanism, a universal transmission shaft and a rotation adjustment mechanism, the universal transmission shaft is arranged along the vertical direction, and the walking drive motor It is connected with the upper end of the universal transmission shaft and drives the rotation of the universal transmission shaft, and the walking disc is fixed on the lower end of the universal transmission shaft; the tilt angle adjustment mechanism and the rotation adjustment mechanism are arranged on the Between the traveling drive motor and the traveling disc, the tilt angle adjustment mechanism is fixedly connected to the universal transmission shaft.
- the cardan shaft includes a first cardan shaft, a cross shaft and a second cardan shaft, and the first cardan shaft is movably connected to the second cardan shaft through the cross shaft,
- the first cardan shaft is connected with the travel drive motor
- the second cardan shaft is connected with the travel disk
- the inclination angle adjustment mechanism is connected with the second cardan shaft.
- the rotation adjustment mechanism includes an angle adjustment box, an adjustment box base, a rotation bearing and a rotation drive motor, and the tilt angle adjustment mechanism is arranged in the angle adjustment box; the rotation bearing rotates The angle adjustment box and the adjustment box base are connected, the second cardan shaft passes through the angle adjustment box, the rotating bearing and the adjustment box base, and the rotation drive motor is connected with the angle adjustment box and drives the angle Adjustment box rotation.
- the base of the adjustment box is provided with an annular support shaft surrounding the second cardan shaft, the annular support axially protrudes, and the rotating bearing is sleeved on the annular support
- the bottom of the angle adjustment box is provided with a downwardly protruding annular protruding edge.
- the outer cover is equipped with a ring gear
- the rotation adjustment mechanism is provided with a rotation drive gear set
- the rotation drive gear set meshes with the ring gear
- the rotation drive motor drives the ring gear to rotate through the rotation drive gear set
- the ring gear drives the angle adjustment box to rotate.
- the diameter of the second cardan shaft is d
- the bottom of the angle adjustment box is provided with a first through hole for the cardan shaft to pass through, and the diameter of the first through hole is a, a, and d satisfy 1.5d ⁇ a>d
- the base of the adjustment box is provided with a second through hole corresponding to the first through hole, and the diameter of the second through hole is b, b, d Satisfy 1.5d ⁇ b>d.
- the inclination angle adjustment mechanism includes an angle adjustment plate and a turning mechanism, and the angle adjustment plate is provided with a yaw bearing whose outer ring is fixedly connected to the angle adjustment plate, and the inner ring of the yaw bearing It is fixedly connected with the second cardan shaft, so that the second cardan shaft can rotate freely and the axial position of the angle adjustment plate on the second cardan shaft is fixed; the turning mechanism is connected at the angle At one end of the adjustment plate, the turning mechanism drives the angle adjustment plate to turn over horizontally, so that the angle adjustment plate drives the second cardan shaft to form an included angle with the vertical direction.
- the turning mechanism includes a rotating screw, an adjusting gear box and an adjusting motor, the rotating screw is screwed to one end of the angle adjusting plate, and the other end of the rotating screw is rotatably fixed
- a rotating gear that drives the rotating screw to rotate is arranged in the adjusting gear box, and the adjusting motor drives the rotating gear to rotate through the gear arranged on the motor shaft.
- the disc inclination angle A satisfies 10° ⁇ A ⁇ 0.
- the walking disc of the omnidirectional traveling device forms a disc inclination angle A between the walking module and the working plane, and the The vertex B of the disk inclination angle A is the touch point of the walking disk, and the walking disk is driven by the Vientiane drive shaft to rotate clockwise or counterclockwise in the plane where the walking disk is located.
- the direction of rotation of the two walking discs of the traveling device is opposite, and the direction of the contact point line speed of the traveling disc is opposite to the direction of travel of the omnidirectional traveling device.
- the beneficial effect of the present invention is that: the two-disk driven omnidirectional walking device and walking method of the present invention can make the specified position on the walking disc and the working plane Generate friction, form a friction force in a specified direction, push the omnidirectional walking device to walk directly in any designated direction, and realize omnidirectional movement; moreover, the omnidirectional walking device of the present invention has precise control, simple structure, convenient production, and can adapt to cleaning robots The development direction of light and thin.
- Fig. 1 is the cross-sectional structure schematic diagram of the preferred embodiment of the omnidirectional traveling device of the two-disk drive type of the present invention
- Fig. 2 is the structural representation of the inclination angle adjustment mechanism in the preferred embodiment of the two-disk driven omnidirectional traveling device of the present invention
- Fig. 3 is the schematic cross-sectional structure diagram of the rotation adjustment mechanism in the preferred embodiment of the two-disk driven omnidirectional walking device of the present invention
- Fig. 4 is a schematic diagram of walking in different traveling directions of the walking method of the two-disk driven omnidirectional traveling device of the present invention
- walking disc 2, walking drive motor, 3, tilt angle adjusting mechanism, 31, angle adjusting plate, 311, yaw bearing, 32, rotating screw, 33, adjusting gear box, 331, rotating gear, 34 , adjusting motor, 4, cardan shaft, 41, first cardan shaft, 42, cross shaft, 43, second cardan shaft, 5, rotation adjustment mechanism, 51, angle adjustment box, 511, annular protrusion, 512, ring gear, 513, first through hole, 52, adjustment box base, 521, annular support shaft, 522, second through hole, 53, rotary bearing, 54, rotary drive motor, 55, rotary drive gear set.
- This embodiment is a preferred implementation mode of the present invention, and other principles and basic structures that are the same or similar to this embodiment are within the protection scope of the present invention.
- first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present utility model, the meanings of “multiple” and “several” are two or more, unless otherwise specifically defined.
- the preferred embodiment of the two-disk driven omnidirectional walking device of the present invention is shown in Fig.
- the walking disc 1 is set parallel to the working plane and can form a disc inclination angle A with the working plane under the control of the walking module.
- the walking module drives the walking disc 1 to rotate along the plane where the walking disc 1 is located. , forming friction with the working plane, making the omnidirectional walking device walk.
- the walking module that controls the walking disk 1 includes a walking drive motor 2 , an inclination angle adjustment mechanism 3 , a universal drive shaft 4 and a rotation adjustment mechanism 5 .
- the cardan shaft 4 is arranged along the vertical direction, the travel drive motor 2 is connected with the upper end of the cardan shaft 4 and drives the cardan shaft 4 to rotate, and the walking disk 1 is fixed on the lower end of the cardan shaft 4, so that the cardan shaft 4 Rotating to the transmission shaft 4 can drive the walking disc 1 to rotate.
- the inclination angle adjustment mechanism 3 and the rotation adjustment mechanism 5 are arranged between the travel drive motor 2 and the travel disc 1, the inclination angle adjustment mechanism 3 is fixedly connected with the cardan shaft 4, controls the deflection of the cardan shaft 4, and makes the travel disc 1 forms an inclination angle A with the working plane.
- the cardan shaft 4 of the present embodiment includes a first cardan shaft 41, a cross shaft 42 and a second cardan shaft 43, and the first cardan shaft 41 connects with the second cardan shaft through the cross shaft 42.
- the shaft 43 is movably connected so that the universal transmission shaft 4 can still normally drive the traveling disc 1 to rotate after the second cardan shaft 43 deflects in any direction relative to the first cardan shaft 41 .
- the first cardan shaft 41 is connected with the traveling drive motor 2
- the second cardan shaft 43 is connected with the travel disk 1
- the inclination angle adjusting mechanism 3 is connected with the second cardan shaft 43 to control the deflection of the second cardan shaft 43 .
- a rotation adjustment mechanism 5 is provided to drive the position of the contact point to change.
- the rotation adjustment mechanism 5 includes an angle adjustment box 51, an adjustment box base 52, a rotation bearing 53 and a rotation drive motor 54.
- the angle adjustment box 51 is adopted in this embodiment.
- the inclination angle adjustment mechanism 3 is arranged in the angle adjustment box 51.
- structures such as partitions can be used to separate the two mechanisms according to the needs of use.
- the swivel bearing 53 rotates and connects the angle adjustment box 51 and the adjustment box base 52
- the second cardan shaft 43 passes through the angle adjustment box 51
- the swivel bearing 53 and the adjustment box base 52 passes through the angle adjustment box 51
- the rotation drive motor 54 is connected with the angle adjustment box 51 and drives the angle
- the adjustment box 51 rotates, so that the inclination angle adjustment mechanism 3 arranged inside the angle adjustment box 51 rotates with the angle adjustment box 51 .
- the adjustment box base 52 is provided with an annular support shaft 521 surrounding the second cardan shaft 43, the annular support shaft 521 protrudes upwards, and the rotary bearing 53 is sleeved on the annular support shaft 521;
- the bottom of the angle adjustment box 51 is provided with a downward protruding annular flange 511, the size of the annular flange 511 matches the size of the rotary bearing 53 and is fixedly sleeved outside the rotary bearing 53, so that the position of the rotary bearing 53 is limited to the angle adjustment. Between the box 51 and the annular flange 511 .
- the ring gear 512 is covered with the ring flange 511, and the rotation adjustment mechanism 5 is provided with a rotation drive gear set 55, which meshes with the ring gear 512, and the rotation drive motor 54 is driven by rotation.
- the gear set 55 drives the ring gear 512 to rotate, and the ring gear 512 drives the angle adjustment box 51 to rotate.
- the bottom of the angle adjustment box 51 is provided with a first hole for the cardan shaft 4 to pass through.
- the diameter of the first through hole 513 is a
- the diameter of the second cardan shaft 43 is d
- a, d satisfy 1.5d ⁇ a>d
- the diameter of the second through hole 522 is b, and b and d satisfy 1.5d ⁇ b>d.
- the inclination angle adjustment mechanism 3 of the present embodiment is arranged at a position corresponding to the second cardan shaft 43, and the inclination angle adjustment mechanism 3 includes Angle adjustment plate 31 and turning mechanism.
- the angle adjustment plate 31 is provided with a yaw bearing 311 whose outer ring is fixedly connected with the angle adjustment plate 31, and the inner ring of the yaw bearing 311 is fixedly connected with the second cardan shaft 43, so that the second cardan shaft 43 can rotate freely and the angle can be adjusted.
- the axial position of the plate 31 on the second cardan shaft 43 is fixed.
- the turning mechanism is connected to one end of the angle adjusting plate 31, and the turning mechanism drives the angle adjusting plate 31 to turn over horizontally, so that the angle adjusting plate 31 drives the second cardan shaft 43 to form an included angle with the vertical direction.
- the turning mechanism includes a rotating screw 32, an adjusting gear box 33 and an adjusting motor 34.
- the rotating screw 32 is screwed to one end of the angle adjusting plate 31, and the other end of the rotating screw 32 is rotatable.
- the adjusting gear box 33 fixed in the adjusting gear box 33, the adjusting gear box 33 is provided with a rotating gear 331 that drives the rotating screw 32 to rotate, and the adjusting motor 34 drives the rotating gear 331 to rotate through the gear arranged on the motor shaft, so that the rotating screw 32 can rise accurately Or down, the angle adjustment plate 31 is driven to turn over, and the second cardan shaft 43 is deflected.
- the traveling disc 1 lies flat on the working plane, and the frictional force with the working plane cancels each other out, and the traveling disc 1 rotates on the spot; if the inclination angle of the traveling disc 1 is 90°, it is the same as a wheel, and the omnidirectional walking device cannot rely on two walking discs 1 to maintain balance, and the mop attached to the disc structure has the smallest contact area with the working plane, so it cannot be effectively cleaned.
- the walking disc 1 needs to be slightly inclined.
- the size of the disc inclination angle A satisfies 10° ⁇ A ⁇ 0.
- the size of the inclination angle A of the walking disc 1 is 3°, and the size of the walking disc 1 should also be considered comprehensively in the specific production implementation process.
- This embodiment also discloses a walking method of a two-disk driven omnidirectional walking device, which includes the following steps:
- the walking method of the two-disk driven omnidirectional walking device of the present embodiment is specifically shown in FIG.
- To the moving direction of the traveling device determine the linear velocity direction of the contact point B, and then control the deflection of the second cardan shaft 43, so that the disc inclination angle A is formed between the traveling disc 1 and the working plane. Since the traveling disc 1 is a circle Therefore, the contact point B is the intersection point of the extension line extending from the line segment projected by the second cardan shaft 43 on the working plane to the edge of the walking disc 1 and the edge of the walking disc 1 . Afterwards, the controller first determines the rotation direction of the walking disc 1 according to the re-moving direction.
- the rotation directions of the two walking discs 1 are set in opposite directions, which can maximize the cleaning area; when cleaning special positions such as corners and edges or when there are special cleaning needs, the two walking discs 1 can also be used at the same time as required.
- the controller adjusts the contact point B through the rotation adjustment mechanism 5 , and the rotation adjustment mechanism 5 can adjust the contact point B to a preset position without changing the inclination angle A.
- the omnidirectional traveling device of the present embodiment can directly change the moving direction, it is not necessary to adjust the angle of the fuselage as the existing traveling device and advance. As long as the walking disk 1 starts to rotate, the omnidirectional traveling device of the present embodiment will directly To move to a predetermined moving direction, the walking disc 1 needs to be started after the contact point B and the rotating direction are determined and adjusted, so that the omnidirectional walking device starts to move directly.
- the controller After starting, during the follow-up travel process, the controller will continuously determine the moving direction according to the position of the next target point in the preset path, and then adjust the relative position of the contact point B by rotating the adjustment mechanism 5, so that the walking disc 1 and the working disc 1 The plane generates frictional force in opposite directions, which pushes the omnidirectional traveling device to travel in the determined moving direction.
- the working plane mentioned in the present invention refers to the plane where the omnidirectional walking device works.
- its working plane is the ground;
- the plane refers to the glass plane to be wiped; in other fields, its working plane is the plane where it walks or works;
- the contact point B is the contact point between the omnidirectional walking device and the working plane, not limited to the contact point between the walking device and the ground .
- the walking disc 1 can be adapted to different uses and needs to be equipped with mop, rag and other accessories that can realize corresponding functions.
- the two-disk driven omnidirectional traveling device and walking method of the present invention can make the designated position on the traveling disc rub against the working plane by controlling the angle and rotation direction between the traveling disc and the working plane, forming The friction force pushes the omnidirectional walking device to walk directly in any designated direction to realize omnidirectional movement; moreover, the omnidirectional walking device of the present invention has precise control, simple structure, convenient production, and can adapt to the development direction of thinner and lighter cleaning robots.
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Abstract
一种两盘驱动式的全向行走装置及行走方法，全向行走装置的机身内设有两组对称设置的行走模块，行走模块分别连接有一个行走圆盘（1），行走圆盘（1）与工作平面平行设置且能够在行走模块控制下与工作平面之间形成圆盘倾斜角A，行走模块驱动行走圆盘（1）沿着行走圆盘（1）所在平面转动，使得全向行走装置行走。通过控制行走圆盘（1）与工作平面之间的角度和旋转方向，能够使得行走圆盘（1）上指定的位置与工作平面产生摩擦，形成指定方向的摩擦力，推动全向行走装置直接向指定的任意方向行走，实现全方位运动。
Description
本发明涉及拖地机器人技术领域，具体涉及一种两盘驱动式的全向行走装置及行走方法。
自动清洁机器人作为一种新型的清洁家电已经逐步普及，大大的节省了日常地面清洁的劳动强度，节省了大量的时间。拖地是日常地面清洁中重要的一环，市面上很多的自动拖地机器人都是通过轮组驱动的，即使有部分是由擦盘驱动的，但是他们所用的擦盘基本都是固定在底部的，使得机器只能沿着一个方向前进，遇到拐弯只能调整机身角度后前进，行动不灵活迅速，不利于机器的清洁行程规划和控制，清洁时存在死角，清扫效果不好。
针对上述提到的现有技术中的擦盘驱动的自动清洁机器人不能够全向行走，使得行动不灵活，行程规划和控制不方便，清洁存在死角的问题，本发明提供一种两盘驱动式的全向行走装置及行走方法，设有两组行走模块，两组行走模块分别控制一个行走圆盘，通过控制行走圆盘的触地点和旋转方向，能够实现全向行走，而且将机器人自身重量造成的压力转化为对工作平面的摩擦力，更有利于对工作平面的清洁。
本发明解决其技术问题采用的技术方案是：一种两盘驱动式的全向行走装置，所述全向行走装置的机身内设有两组对称设置的行走模块，所述行走模块分别连接有一个行走圆盘，所述行走圆盘与工作平面平行设置且能够在行走模块控制下与工作平面之间形成圆盘倾斜角A，所述行走模块驱动行走圆盘沿着所述行走圆盘所在平面转动，使得所述全向行走装置行走。
本发明解决其技术问题采用的技术方案进一步还包括：
如上所述的全向行走装置，所述行走模块包括行走驱动电机、倾斜角调节机构、万向传动轴和旋转调节机构，所述万向传动轴沿着竖直方向设置，所述行走驱动电机与所述万向传动轴的上端连接并驱动所述万向传动轴转动，所述行走圆盘固定在所述万向传动轴的下端；所述倾斜角调节机构和旋转调节机构设置在所述行走驱动电机和行走圆盘之间，所述倾斜角调节机构与所述万向传动轴固定连接。
如上所述的全向行走装置，所述万向传动轴包括第一万向轴、十字轴和第二万向轴，所述第一万向轴通过十字轴与第二万向轴活动连接，所述第一万向轴与行走驱动电机连接，所述第二万向轴与行走圆盘连接，所述倾斜角调节机构与所述第二万向轴连接。
如上所述的全向行走装置，所述旋转调节机构包括角度调节箱、调节箱底座、旋转轴承和旋转驱动马达，所述倾斜角调节机构设置在所述角度调节箱中；所述旋转轴承转动连接所述角度调节箱和调节箱底座，所述第二万向轴穿过所述角度调节箱、旋转轴承和调节箱底座，所述旋转驱动马达与所述角度调节箱连接并驱动所述角度调节箱旋转。
如上所述的全向行走装置，所述调节箱底座上设有环绕所述第二万向轴设置环形支撑轴，所述环形支撑轴向上伸出，所述旋转轴承套装在所述环形支撑轴上，所述角度调节箱的底部设有向下突出的环形突边，所述环形突边的大小与所述旋转轴承的大小吻合并固定套装在所述旋转轴承外，所述环形突边外套装有环形齿轮，所述旋转调节机构设有旋转驱动齿轮组，所述旋转驱动齿轮组与所述环形齿轮啮合，所述旋转驱动马达通过所述旋转驱动齿轮组驱动所述环形齿轮转动，所述环形齿轮带动所述角度调节箱转动。
如上所述的全向行走装置，所述第二万向轴的直径为d，所述角度调节箱底部设有供万向传动轴穿出的第一通孔，所述第一通孔的直径为a，a、d满足1.5d≥a＞d；所述调节箱底座上设有与所述第一通孔对应的第二通孔，所述第二通孔的直径为b，b、d满足1.5d≥b＞d。
如上所述的全向行走装置，所述倾斜角调节机构包括角度调节板和翻转机构，所述角度调节板上设有外圈与角度调节板固定连接的偏转轴承，所述偏转轴承的内圈与所述第二万向轴固定连接，使得所述第二万向轴可自由转动且所述角度调节板在第二万向轴上的轴向位置固定；所述翻转机构连接在所述角度调节板的一端，所述翻转机构驱动所述角度调节板水平翻转，使得所述角度调节板带动所述第二万向轴与与竖直方向形成夹角。
如上所述的全向行走装置，所述翻转机构包括旋转螺杆、调节齿轮箱和调节电机，所述旋转螺杆与所述角度调节板的一端螺纹连接，所述旋转螺杆的另一端可转动的固定在所述调节齿轮箱中，所述调节齿轮箱中设有带动旋转螺杆转动的旋转齿轮，所述调节电机通过设置在电机轴上的齿轮驱动所述旋转齿轮转动。
如上所述的全向行走装置，所述圆盘倾斜角A的大小满足10°≥A≥0。
一种如上任一所述的两盘驱动式的全向行走装置的行走方法，所述全向行走装置的行走圆盘在行走模块控制下与工作平面之间形成圆盘倾斜角A，所述圆盘倾斜角A的顶点B为所述行走圆盘的触地点，所述行走圆盘在万象传动轴驱动下在行走圆盘所在平面内分别以顺时针方向或逆时针方向转动，所述全向行走装置的两个行走圆盘转动方向相反，行走圆盘的触地点线速度方向与全向行走装置的行进方向相反。
本发明的有益效果是：本发明的两盘驱动式的全向行走装置和行走方法通过控制行走圆盘与工作平面之间的角度和旋转方向，能够使得行走圆盘上指定的位置与工作平面产生摩擦，形成指定方向的摩擦力，推动全向行走装置直接向指定的任意方向行走，实现全方位运动；而且本发明的全向行走装置的控制精准，结构简单，生产方便，能够适应清洁机器人轻薄化的发展方向。
下面将结合附图和具体实施方式对本发明做进一步说明。
图1为本发明的两盘驱动式的全向行走装置较优实施例的剖面结构示意图；
图2为本发明的两盘驱动式的全向行走装置较优实施例中倾斜角调节机构的结构示意图；
图3为本发明的两盘驱动式的全向行走装置较优实施例中旋转调节机构的剖面结构示意图；
图4为本发明的两盘驱动式的全向行走装置行走方法的不同行进方向行走示意图；
图中，1、行走圆盘，2，行走驱动电机，3、倾斜角调节机构，31、角度调节板，311、偏转轴承，32、旋转螺杆，33、调节齿轮箱，331、旋转齿轮，34、调节电机，4、万向传动轴，41、第一万向轴，42、十字轴，43、第二万向轴，5、旋转调节机构，51、角度调节箱，511、环形突边，512、环形齿轮，513、第一通孔，52、调节箱底座，521、环形支撑轴，522、第二通孔，53、旋转轴承，54、旋转驱动马达，55、旋转驱动齿轮组。
本实施例为本发明优选实施方式，其他凡其原理和基本结构与本实施例相同或近似的，均在本发明保护范围之内。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实用新型的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本实用新型的描述中，“多个”、“若干个”的含义是两个或两个以上，除非另有明确具体的限定。
本发明的两盘驱动式的全向行走装置较优实施例参照图1-3所示，全向行走装置的机身内设有两组对称设置的行走模块，行走模块分别连接有一个大小一致的行走圆盘1，行走圆盘1与工作平面平行设置且能够在行走模块控制下与工作平面之间形成圆盘倾斜角A，行走模块驱动行走圆盘1沿着行走圆盘1所在平面转动，与工作平面形成摩擦，使得全向行走装置行走。
本实施例中控制行走圆盘1的行走模块包括行走驱动电机2、倾斜角调节机构3、万向传动轴4和旋转调节机构5。万向传动轴4沿着竖直方向设置，行走驱动电机2与万向传动轴4的上端连接并驱动万向传动轴4转动，行走圆盘1固定在万向传动轴4的下端，使得万向传动轴4转动能够带动行走圆盘1转动。倾斜角调节机构3和旋转调节机构5设置在行走驱动电机2和行走圆盘1之间，倾斜角调节机构3与万向传动轴4固定连接，控制万向传动轴4偏转，使行走圆盘1与工作平面之间形成倾斜角A。
为了能够实现万向传动，本实施例的万向传动轴4包括第一万向轴41、十字轴42和第二万向轴43，第一万向轴41通过十字轴42与第二万向轴43活动连接，使得第二万向轴43相对第一万向轴41做任意方向的偏转后万向传动轴4仍能够正常的驱动行走圆盘1 转动。第一万向轴41与行走驱动电机2连接，第二万向轴43与行走圆盘1连接，倾斜角调节机构3与第二万向轴43连接，控制第二万向轴43的偏转。
本实施例中，由于全向行走装置的触地点需要根据行进方向确定，为了能够配合不同的行走方向，设置旋转调节机构5，驱动触地点的位置改变。旋转调节机构5包括角度调节箱51、调节箱底座52、旋转轴承53和旋转驱动马达54，为了避免倾斜角调节机构3和旋转调节机构5之间相互干扰，本实施例中采用角度调节箱51将两种机构分隔，倾斜角调节机构3设置在角度调节箱51中，在具体生产实施中，可以根据使用需要采用隔板等结构将两种机构分隔。旋转轴承53转动连接角度调节箱51和调节箱底座52，第二万向轴43穿过角度调节箱51、旋转轴承53和调节箱底座52，旋转驱动马达54与角度调节箱51连接并驱动角度调节箱51旋转，使得设置在角度调节箱51内部的倾斜角调节机构3随着角度调节箱51转动。
为了使角度调节箱51能够稳定的旋转，调节箱底座52上设有环绕第二万向轴43设置环形支撑轴521，环形支撑轴521向上伸出，旋转轴承53套装在环形支撑轴521上；角度调节箱51的底部设有向下突出的环形突边511，环形突边511的大小与旋转轴承53的大小吻合并固定套装在旋转轴承53外，使得旋转轴承53的位置被限定在角度调节箱51和环形突边511之间。为了方便驱动角度调节箱51转动，环形突边511外套装有环形齿轮512，旋转调节机构5设有旋转驱动齿轮组55，旋转驱动齿轮组55与环形齿轮512啮合，旋转驱动马达54通过旋转驱动齿轮组55驱动环形齿轮512转动，环形齿轮512带动角度调节箱51转动。
为了避免第二万向轴43在转动时与角度调节箱51和调节箱底座52产生碰撞，影响行走圆盘1的转动，角度调节箱51底部设有供万向传动轴4穿出的第一通孔513，第一通孔513的直径为a，第二万向轴43的直径为d，a、d满足1.5d≥a＞d；调节箱底座52上设有与第一通孔513对应的第二通孔522，第二通孔522的直径为b，b、d满足1.5d≥b＞d。
由于通过控制第二万向轴43的偏转，能够控制行走圆盘1的倾斜角，本实施例的倾斜角调节机构3设置在与第二万向轴43对应的位置，倾斜角调节机构3包括角度调节板31和翻转机构。角度调节板31上设有外圈与角度调节板31固定连接的偏转轴承311，偏转轴承311的内圈与第二万向轴43固定连接，使得第二万向轴43可自由转动且角度调节板31在第二万向轴43上的轴向位置固定。翻转机构连接在角度调节板31的一端，翻转机构驱动角度调节板31水平翻转，使得角度调节板31带动第二万向轴43与与竖直方向形成夹角。
为了能够精确的控制角度调节板31 的翻转角度，翻转机构包括旋转螺杆32、调节齿轮箱33和调节电机34，旋转螺杆32与角度调节板31的一端螺纹连接，旋转螺杆32的另一端可转动的固定在调节齿轮箱33中，调节齿轮箱33中设有带动旋转螺杆32转动的旋转齿轮331，调节电机34通过设置在电机轴上的齿轮驱动旋转齿轮331转动，使得旋转螺杆32精确的上升或下降，带动角度调节板31 翻转，第二万向轴43 偏转。
此外由于若行走圆盘1倾斜角为 0°，则行走圆盘1平趴在工作平面上，与工作平面的摩擦力相互抵消，行走圆盘1原地转动；若行走圆盘1倾斜角为 90°，则与轮子无异，全向行走装置无法依靠两个行走圆盘1保持平衡，而且附着在盘式结构上的拖布与工作平面接触面积最小，无法进行有效的清洁。为了保证全向行走装置行走，也同时保证清洁效率，行走圆盘1需要稍微倾斜，圆盘倾斜角A的大小满足10°≥A≥0，若行走圆盘1倾斜角越大则单次清洁工作平面积越小，而且角度调节机构5调整倾斜角A的难度越大；若行走圆盘1倾斜角太小则越障碍能力也相应地减弱，无法越过电线等障碍物。本实施例中，行走圆盘1的倾斜角A的大小为 3°，在具体生产实施过程中还应该综合考虑行走圆盘1的大小。
本实施例还公开一种两盘驱动式的全向行走装置的行走方法，包括以下步骤：
控制行走圆盘1倾斜，与工作平面之间形成圆盘倾斜角A；
转动行走圆盘1，调整行走圆盘1触地点B的位置；
驱动所述行走圆盘在所在平面内以顺时针方向或逆时针方向转动，使得所述触地点B的线速度方向与全向行走装置的行进方向相反。
本实施例的两盘驱动式的全向行走装置的行走方法具体参照图4所示，在全向行走装置启动时，控制全向行走装置的控制器预先规划好移动路径，根据移动路径判断全向行走装置的移动方向，确定触地点B的线速度方向，然后控制第二万向轴43偏转，使得行走圆盘1与工作平面之间形成圆盘倾斜角A，由于行走圆盘1为圆形，因此触地点B为第二万向轴43在工作平面上投影的线段向行走圆盘1的边缘延长的延长线与行走圆盘1的边缘的交点。之后控制器根据再移动方向先确定行走圆盘1的转动方向，由于不同的转动方向下触地点B上的线速度方向会完全不同，因此需要根据清洁或行走的需要确定行走圆盘1的行走方向。在一般的清洁模式下两个行走圆盘1 转动方向相反设置，可以使得清洁面积最大；在清洁墙角边缘等特殊位置或有特殊清洁需要使时，还能够根据需要让两个行走圆盘1同向转动，使需要清理的废弃物被同向转动的行走圆盘1带出。再后，控制器通过旋转调节机构5对触地点B进行调整，旋转调节机构5在不改变倾斜角A的情况下能够将触地点B调整到预设的位置。由于本实施例的全向行走装置能够直接的改变移动方向，无需像现有的行走装置一样调整机身角度后前进，只要行走圆盘1开始转动，本实施例的全向行走装置就会直接向预定的移动方向移动，行走圆盘1需要在触地点B和转动方向确定并调整完成后启动，使全向行走装置直接开始移动。启动后在后续行进过程中，控制器会不断根据预设路径中下一个目标地点的位置确定移动方向，然后通过旋转调节机构5对触地点B的相对位置进行调整，使得行走圆盘1与工作平面产生方向相反的摩擦力，推动全向行走装置向确定的移动方向行走。
还需要说明的是，本发明中所述的工作平面是指全向行走装置工作时所在的平面，例如用在扫地机器人上的时候，其工作平面为地面；用在擦窗机器人上，其工作平面指被擦拭的玻璃平面；用在其他领域，其工作平面则为其行走或工作所在平面；触地点B为全向行走装置与工作平面的接触点，并不仅限于行走装置与地面的接触点。在实际使用时，行走圆盘1上可以适应不同的使用需安装上拖布、抹布等能够实现相应功能的配件。
本发明的两盘驱动式的全向行走装置和行走方法通过控制行走圆盘与工作平面之间的角度和旋转方向，能够使得行走圆盘上指定的位置与工作平面产生摩擦，形成指定方向的摩擦力，推动全向行走装置直接向指定的任意方向行走，实现全方位运动；而且本发明的全向行走装置的控制精准，结构简单，生产方便，能够适应清洁机器人轻薄化的发展方向。
Claims (10)
- 一种两盘驱动式的全向行走装置，其特征在于，所述全向行走装置的机身内设有两组对称设置的行走模块，所述行走模块分别连接有一个行走圆盘（1），所述行走圆盘（1）与工作平面平行设置且能够在行走模块控制下与工作平面之间形成圆盘倾斜角A，所述行走模块驱动行走圆盘（1）沿着所述行走圆盘（1）所在平面转动，使得所述全向行走装置行走。
- 如权利要求1所述的全向行走装置，其特征在在于，所述行走模块包括行走驱动电机（2）、倾斜角调节机构（3）、万向传动轴（4）和旋转调节机构（5），所述万向传动轴（4）沿着竖直方向设置，所述行走驱动电机（2）与所述万向传动轴（4）的上端连接并驱动所述万向传动轴（4）转动，所述行走圆盘（1）固定在所述万向传动轴（4）的下端；所述倾斜角调节机构（3）和旋转调节机构（5）设置在所述行走驱动电机（2）和行走圆盘（1）之间，所述倾斜角调节机构（3）与所述万向传动轴（4）固定连接。
- 如权利要求2所述的全向行走装置，其特征在在于，所述万向传动轴（4）包括第一万向轴（41）、十字轴（42）和第二万向轴（43），所述第一万向轴（41）通过十字轴（42）与第二万向轴（43）活动连接，所述第一万向轴（41）与行走驱动电机（2）连接，所述第二万向轴（43）与行走圆盘（1）连接，所述倾斜角调节机构（3）与所述第二万向轴（43）连接。
- 如权力要求3所述的全向行走装置，其特征在于，所述旋转调节机构（5）包括角度调节箱（51）、调节箱底座（52）、旋转轴承（53）和旋转驱动马达（54），所述倾斜角调节机构（3）设置在所述角度调节箱（51）中，所述旋转轴承（53）转动连接所述角度调节箱（51）和调节箱底座（52），所述第二万向轴（43）穿过所述角度调节箱（51）、旋转轴承（53）和调节箱底座（52），所述旋转驱动马达（54）与所述角度调节箱（51）连接并驱动所述角度调节箱（51）旋转。
- 如权力要求4所述的全向行走装置，其特征在于，所述调节箱底座（52）上设有环绕所述第二万向轴（43）设置环形支撑轴（521），所述环形支撑轴（521）向上伸出，所述旋转轴承（53）套装在所述环形支撑轴（521）上，所述角度调节箱（51）的底部设有向下突出的环形突边（511），所述环形突边（511）的大小与所述旋转轴承（53）的大小吻合并固定套装在所述旋转轴承（53）外，所述环形突边（511）外套装有环形齿轮（512），所述旋转调节机构（5）设有旋转驱动齿轮组（55），所述旋转驱动齿轮组（55）与所述环形齿轮（512）啮合，所述旋转驱动马达（54）通过所述旋转驱动齿轮组（55）驱动所述环形齿轮（512）转动，所述环形齿轮（512）带动所述角度调节箱（51）转动。
- 如权力要求5所述的全向行走装置，其特征在于，所述第二万向轴（43）的直径为d，所述角度调节箱（51）底部设有供万向传动轴（4）穿出的第一通孔（513），所述第一通孔（513）的直径为a，a、d满足1.5d≥a＞d；所述调节箱底座（52）上设有与所述第一通孔（513）对应的第二通孔（522），所述第二通孔（522）的直径为b，b、d满足1.5d≥b＞d。
- 如权利要求3所述的全向行走装置，其特征在在于，所述倾斜角调节机构（3）包括角度调节板（31）和翻转机构，所述角度调节板（31）上设有外圈与角度调节板（31）固定连接的偏转轴承（311），所述偏转轴承（311）的内圈与所述第二万向轴（43）固定连接，使得所述第二万向轴（43）可自由转动且所述角度调节板（31）在第二万向轴（43）上的轴向位置固定；所述翻转机构连接在所述角度调节板（31）的一端，所述翻转机构驱动所述角度调节板（31）水平翻转，使得所述角度调节板（31）带动所述第二万向轴（43）与与竖直方向形成夹角。
- 如权利要求7所述的全向行走装置，其特征在在于，所述翻转机构包括旋转螺杆（32）、调节齿轮箱（33）和调节电机（34），所述旋转螺杆（32）与所述角度调节板（31）的一端螺纹连接，所述旋转螺杆（32）的另一端可转动的固定在所述调节齿轮箱（33）中，所述调节齿轮箱（33）中设有带动旋转螺杆（32）转动的旋转齿轮（331），所述调节电机（34）通过设置在电机轴上的齿轮驱动所述旋转齿轮（331）转动。
- 如权利要求1所述的全向行走装置，其特征在在于，所述圆盘倾斜角A的大小满足10 ≥A≥0。
- 一种如权利要求1-9任一所述的两盘驱动式的全向行走装置的行走方法，其特征在于，包括以下步骤：所述全向行走装置的行走圆盘（1）在行走模块控制下与工作平面之间形成圆盘倾斜角A；调整行走圆盘（1）触地点B的位置；控制所述行走圆盘（1）在所在平面内以顺时针方向或逆时针方向转动，使得所述触地点B的线速度方向与全向行走装置的行进方向相反。
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