Inverting roller type positioning mobile robot
A mobile robot, roller-type technology, applied in the field of robots, can solve the problems of difficult process, slow moving speed, no positioning, etc., and achieve the effect of improving moving efficiency, moving speed and efficiency.
Inactive Publication Date: 2010-06-02
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
This patent simulates biological movement, with legs, torso and other structures, and the process is relatively difficult. In order to make the robot walk on two legs and maintain balance, some detection devices and feedback control are used. The volume is large, the implementation is complicated, and the moving speed is slow. relatively slow, and no positioning
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[0022] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.
[0023] Such as figure 1 As shown, this embodiment includes: three inverted roller devices 2, a photoelectric positioning device 3, and a robot body 1, wherein: three inverted roller devices 2 are arranged on the edge of the robot body 1 at equal intervals, and the photoelectric positioning device 3 is located on the edge of the robot body 1. The bottom of the robot body 1.
[0024] Such as image 3 As shown, the inverted roller device 2 includes a spherical roller 8, a first driving roller 9, a second driving roller 10, a first ordinary roller 11, a second ordinary ...
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The invention relates to an inverted roller-type positioning micro mobile robot belonging to the technical field of the robot. The invention comprises three inverted roller devices, a photoelectric positioning device and a robot body; wherein, the three inverted roller devices are arranged on the edge of the robot body at equal spacing and the photoelectric positioning device is arranged at the bottom of the robot body. The inverted roller device comprises a spherical roller, a first driving rolling shaft, a second driving rolling shaft, a first common rolling shaft, a second common rolling shaft, a first servo motor, a second servo motor, a first code disk, a second code disk, a first transmission belt, a second transmission belt and three driving balls. The mobile robot can realize omnidirectional rapid movement of the robot, achieve 10um-level positioning and can meet the omnidirectional movement without radius of gyration.
Description
technical field [0001] The invention relates to a device in the technical field of robots, in particular to an inverted roller positioning mobile robot. Background technique [0002] Generally, mobile robots can be divided into wheeled or legged. Wheeled mechanisms generally have non-holonomic constraints, that is, movement in a certain direction is restricted and cannot move in all directions, and systems that use wheeled mechanisms to achieve omnidirectional movement mostly have multiple wheels for coordinated motion. This structure increases the complexity of the system, and due to the transmission errors of multiple wheels, it increases the difficulty of coordinated motion, making it difficult to realize true omnidirectional motion. Moreover, for the robot, when multi-wheel drive is used, the positioning accuracy of the robot is determined by the encoder on the wheel of the robot, and its positioning accuracy is difficult to meet the requirements. The legged robot simu...
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IPC IPC(8): B62D57/00B62K1/00B60B33/08A63H11/00
Inventor 李智军祝永新莫亭亭任峙宗
Owner SHANGHAI JIAOTONG UNIV