Moving device of robot

Abstract

The invention relates to moving of a robot, in particular to a moving device of the robot. The moving device of the robot comprises a moving robot base plate, universal wheels, driving wheels and a motor. The moving device of the robot is characterized in that strip-shaped driving fixing plates and a guide fixing plate are arranged, the front side and the rear side of one end of the moving robot base plate are respectively provided with one driving fixing plate which is perpendicular to the front-back direction of the moving robot base plate, the two ends of the driving fixing plates are respectively provided with the universal wheels and the driving wheels, the driving wheels are connected with the motor, a driving wheel shaft is arranged in the front-back direction of the moving robot base plate, the guide fixing plate which is arranged in the front-back direction of the moving robot base plate is arranged in the middle at the other end of the moving robot base plate, and the two end portions of the guide fixing plate are respectively provided with one universal wheel. The moving device of the robot has the advantages of being simple and novel in structure, good in stability and particularly adaptive to being used in the robot which moves in complex terrains, and achieves moving forward and backward, 360-degree autorotation in situ and 90-degree right-angle turning.

Description

technical field [0001] The invention relates to the movement of a robot, in particular to a moving device for a robot which has strong adaptability to road surfaces and can perform 360-degree rotation in situ, 90-degree right-angle turn, forward or backward. Background technique [0002] As we all know, the mobile devices for realizing robots mainly include wheel type, crawler type, leg type, snake type, jump type and composite type. Relatively convenient, fast walking speed, flexible maneuvering, and high work efficiency. Due to the above advantages, wheeled mobile robots are widely used in fields such as industry, agriculture, medical care, family and space exploration. The existing wheeled mobile robots are driven by It can be roughly divided into two types, one is the differential speed type, and the base plate of the mobile robot is equipped with universal wheels and driving wheels respectively. Generally, the universal wheels are set on the front side of the robot bas...

AI Technical Summary

Problems solved by technology

[0002] As we all know, the mobile devices for realizing robots mainly include wheel type, crawler type, leg type, snake type, jump type and composite type. Relatively convenient, fast walking speed, flexible maneuvering, and high work efficiency. Due to the above advantages, wheeled mobile robots are widely used in fields such as industry, agriculture, medical care, family and space exploration. The existing wheeled mobile robots are driven by It can be roughly divided into two types, one is the differential speed type, and the base plate of the mobile robot is equipped with universal wheels and driving wheels respectively. Generally, the universal wheels are set on the front side of the robot base plate, and the driving wheels are set on both sides of the rear side of the robot base plate. The wheels are respectively driven by electric motors, using the speed of the two motors, that is, the two-wheel differential speed to achieve left-right steering and drive forward. The differential-speed wheeled mobile robot has a simple structure and can cope with uneven ground conditions. However, due to the friction between the wheels and the ground Insufficient driving force will easily cause problems such as insufficient driving force, slipping and inflexible steering; the other method is similar to the steering and transmission mode of a car, that is, the front wheel is the steering wheel and the rear wheel is the driving wheel, which is called steering wheel type, wheel type The wheel support mechanism of mobile robots is generally fixed directly to the bottom plate of the mobile robot. This is a rigid fixed connection. This method has a complex structure and is difficult to adapt to complex changes in the road surface. The wheels are suspended in the air, or the contact with the ground is not good, which affects the normal walking of the wheeled mobile robot

The wheels of the above two wheeled mobile robot moving mechanisms are generally fixed directly to the bottom plate of the mobile robot. This is a rigid fixed connection method, which is difficult to adapt to complex changes in the road surface. Make the wheels suspended in the air or not in good contact with the ground, which will affect the normal walking of the wheeled mobile robot

At present, wheeled mobile robots with forward and backward functions and 360-degree in-situ rotation functions generally adopt four-wheel drive. The four-motor drive mechanism has a heavy body and high cost; while using two-motor drive can only achieve forward, arc turning and Simple short distance back function

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