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Variable motion mode omni-bearing self-independent mobile robot running gear

A motion mode, autonomous moving technology, applied in the field of robots, can solve the problem of the wheel not turning normally, not walking in mud or sand, and high cost, achieving reliable motion characteristics, reducing requirements, and reducing the number of applications. Effect

Inactive Publication Date: 2009-05-27
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the special mechanism of the omni-directional wheel, the cost is high; and due to the shape and distribution of the omni-directional wheel, it is not possible to walk on muddy or sandy ground, so as not to be caught after being involved and the wheel cannot rotate normally. The field of application is limited

Method used

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  • Variable motion mode omni-bearing self-independent mobile robot running gear
  • Variable motion mode omni-bearing self-independent mobile robot running gear
  • Variable motion mode omni-bearing self-independent mobile robot running gear

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with drawings and implementation.

[0027] Such as figure 1 , 2 , Shown in 3 and 4, the present invention comprises four-wheel vehicle body, front and rear two sets of ball screw slider mechanisms with the same structure, three groups of transmission gear sets and four groups of wheel steering linkages with the same structure; wherein:

[0028] 1) The four-wheel vehicle body: comprising two front wheels 25, two rear wheels 25 and a box body with control parts inside, the two front wheels are respectively equipped with drive components, and the rotating shafts of the four wheels all extend out of the box Outside the upper end surface of the body;

[0029] 2) The two sets of ball screw slider mechanisms with the same structure before and after: including the screw shaft 6, the ball screw slider 16 and the ball screw guide rail 18, the upper end of the box body is respectively installed between the fron...

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Abstract

The invention discloses an omnibearing independent mobile robot walking mechanism capable of changing modes of motion consists of a quadricycle body, two sets of lead screw slide block mechanisms sharing the same structure, three sets of transmission gear trains and four sets of wheel steering linkages sharing the same structure, wherein the wheel steering linkage consists of a crank-rocker mechanism, the steering linkages of the two front wheels and the steering linkages of the two rear wheels are respectively share a crank, and two crank gyration centers are respectively positioned on the front and rear slide block central shafts of the lead screw slide block mechanism. The cranks of the steering linkages can rotate or the crank centers can move with the slide block through switching of gear engagement, thereby changing modes of motion of the mobile robot. Three modes of motion, namely normal walking with rear wheel guiding, motion of translation, rotation with zero radius, can be realized through different combinations, thereby enabling omnibearing motion capacity and reducing the quantity of motors used. The change of modes of motion through the switching mechanism can meet the motion requirements of farmland operation and also ensure reliable motion characteristics.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walking mechanism of an all-round autonomous mobile robot with a variable motion mode. Background technique [0002] Compared with legged robots, wheeled mobile robots have simple control and flexible movement, and have been widely used in many fields such as industry, agriculture and forestry, mineral exploration, environmental protection and home services, military reconnaissance and aerospace. The walking mechanism and driving form determine the movement mode of the wheeled mobile robot. At present, the rear wheel drive differential steering is widely used to move. However, this movement method has defects in zero turning radius and translation. Therefore, the omnidirectional mobile robot with special omnidirectional wheels has three degrees of freedom on the two-dimensional plane, and can simultaneously perform translation in any direction. It can complete the movement in a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D7/16B62D7/06
Inventor 武传宇肖琳李秦川胡旭东应义斌蒋焕煜
Owner ZHEJIANG SCI-TECH UNIV
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