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Four-wheel drive differential steering method of mobile welding robot

A welding robot and differential steering technology, which is applied to non-deflectable wheel steering, steering mechanism, transportation and packaging, etc., can solve the problems of increasing the number of robot drive motors, uncontrollable robot posture, and increasing mechanism complexity. Low cost, accurate steering, improved stability and load capacity

Inactive Publication Date: 2013-03-27
NANCHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wheeled mobile welding robot has the advantages of compact structure and flexible movement; but with four-wheel drive, if there is no rotating mechanism, the four wheels will turn in a sliding manner. When the mobile robot is working on a vertical wall, this steering method will cause Robot pose is uncontrollable, affecting welding quality
If the turning mechanism is added, the robot will not only increase the number of driving motors, but also greatly increase the complexity of the mechanism.

Method used

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  • Four-wheel drive differential steering method of mobile welding robot
  • Four-wheel drive differential steering method of mobile welding robot
  • Four-wheel drive differential steering method of mobile welding robot

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Embodiment Construction

[0011] The specific mechanism and working principle of the present invention will be further described below in conjunction with the accompanying drawings.

[0012] Such as figure 1 As shown, the present invention includes a first driving wheel 1, a second driving wheel 2, a third driving wheel 3, a fourth driving wheel 4, a moving body 5, a first turning pair 6, a second turning pair 7, and a third turning pair 8. The fourth rotating pair 9; the speed of the first driving wheel 1 and the second driving wheel 2 V R Size and deflection angle The size is the same, but the direction of the deflection angle is opposite; the speed of the third driving wheel 3 and the fourth driving wheel 4 V L Size and deflection angle The same size, but the opposite direction of deflection angle. Let the speed difference be △ V=V R -V L ,when , the moving mechanism will move in a straight line; when , the moving mechanism will rotate 0 around the right rotation center (such as f...

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Abstract

The invention discloses a four-wheel drive differential steering method of a mobile welding robot. The mobile welding robot comprises a first driving wheel, a second driving wheel, a third driving heel, a fourth driving wheel, a mobile body, a first revolving pair between the first driving wheel and the body, a second revolving pair between the second driving wheel and the body, a third revolving pair between the third driving wheel and the body and a fourth revolving pair between the fourth driving wheel and the body, and is characterized in that the sizes of speeds VR of the first and second driving wheels and the sizes of deflection angles of the first and second driving wheels are the same all the time, and the directions of the deflection angles are reverse; and the sizes of speeds VL of the third and fourth driving wheels and the sizes of deflection angles of the third and fourth driving wheels are the same all the time, and the directions of the deflection angles are reverse. The four-wheel drive differential steering method has the advantages of simple control, easiness in implementation, low cost, capability of realizing steering of any radius, no need of a steering mechanism, no slip during steering, accurate steering and high reliability. Meanwhile, since four-wheel drive is adopted, the stability and the load capacity of the method are greatly improved compared with two-wheel differential steering.

Description

technical field [0001] The invention belongs to the technical field of mobile welding robots. Background technique [0002] The development of modern industry and manufacturing technology has led to more and more applications of important large-scale structural parts. The welding, testing and maintenance of such components must be done on-site. To realize automatic welding, testing and maintenance, mobile The robot as a work platform is the key to realization. The wheeled mobile welding robot has the advantages of compact structure and flexible movement; but with four-wheel drive, if there is no rotating mechanism, the four wheels will turn in a sliding manner. When the mobile robot is working on a vertical wall, this steering method will cause The pose of the robot is uncontrollable, which affects the welding quality. If the turning mechanism is added, the robot will not only increase the number of driving motors, but also greatly increase the complexity of the mechanism....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D11/02
Inventor 毛志伟周少玲石志新王艳庆
Owner NANCHANG UNIV
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