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

A movement mode and autonomous movement technology, which is applied in the field of robots, can solve the problems that the wheels cannot rotate normally, cannot walk on muddy or sandy ground, and the cost is high, so as to achieve reliable movement characteristics, reduce requirements, and reduce the number of uses Effect

Inactive Publication Date: 2008-02-06
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 po

Method used

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

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Embodiment Construction

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

[0027] As shown in Figures 1, 2, 3, and 4, the present invention includes a four-wheeled vehicle body, two sets of front and rear ball screw slider mechanisms with the same structure, three sets of transmission gear sets and four sets of wheel steering linkages with the same structure; in:

[0028] 1) The described four-wheeled vehicle body: including two front wheels 25, two rear wheels 25 and a box body with a control part inside, the two front wheels are respectively equipped with driving parts, and the rotating shafts of the four wheels extend out of the box. outside the upper end face of the body;

[0029] 2) The front and rear two sets of ball screw slider mechanisms with the same structure: including the screw shaft 6, the ball screw slider 16 and the ball screw guide rail 18. The first end plate 30, the front and rear electromagnet boxes ar...

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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 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...

Claims

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Application Information

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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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