Variable motion mode all-directional self-determined mobile robot running gear

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 an omnidirectional autonomous mobile robot walking mechanism with variable motion modes. 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 household 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 movement is widely used. However, this movement method has defects in zero turning radius and translation. Therefore, the omnidirectional mobile robot with special omnidirectional wheels proposed has three degrees of freedom on a two-dimensional plane, and can achieve simultaneous translation in any direction. It can move in any di...

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

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