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Wheeled mobile robot platform

A mobile robot and platform technology, applied in the field of robotics, can solve problems such as difficult to ensure the level of the body platform, complex structure, low efficiency, etc., and achieve the effects of overcoming poor terrain adaptability, low energy consumption, and convenient control

Active Publication Date: 2014-12-03
彼合彼方机器人(天津)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

First, the existing mobile platforms with high throughput performance (such as composite mobile platforms) are complex in structure, cumbersome in control, and inefficient
Second, it is difficult for existing mobile platforms to ensure that the body platform remains horizontal when passing through complex terrain (such as stepped roads)

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] In this embodiment, the number of support frames 2 is three, and the linear motion unit 23 adopts a ball screw type linear motion unit. The support frame base 21 is a hollow cylinder with a cavity inside, and the linear motion unit 23 is installed on the support frame base. In the cavity of the seat 21, the mobile unit 22 is a sliding part matched with the support frame base 21, the support frame base 21 and the mobile unit 22 constitute a moving pair, the support frame base 21, the mobile unit 22 and the linear motion unit 23 The axes of the three are parallel and perpendicular to the plane of the body 1 . The mobile pair is driven by the linear motion unit 23, and the lower end of each mobile unit 22 is symmetrically arranged on two wheels 3, and the wheels 3 are motor-driven wheels.

Embodiment 2

[0023] In the present embodiment, the number of support frames 2 is five, and the linear motion unit 23 adopts a belt-driven linear motion unit. The support frame base 21 is a hollow square prism with a cavity inside. In the cavity of the seat 21, the mobile unit 22 is a sliding part matched with the support frame base 21, the support frame base 21 and the mobile unit 22 constitute a moving pair, the support frame base 21, the mobile unit 22 and the linear motion unit 23 The axes of the three are parallel and perpendicular to the plane of the body 1 . The mobile pair is driven by the linear motion unit 23, and the lower end of each mobile unit 22 is symmetrically arranged on two wheels 3. The wheel 3 is an active movement mechanism, and driven by its built-in motor, it can drag the platform to move, and then realize the forward, backward and differential turning of the platform.

Embodiment 3

[0025] The quantity of support frame 2 in the present embodiment is 8, and linear motion unit 23 adopts pneumatic type linear motion unit, and support frame base 21 is a hollow prism, and the inside is a cavity, and linear motion unit 23 is installed on support frame base 21 In the cavity, the mobile unit 22 is a sliding part matched with the support frame base 21, the support frame base 21 and the mobile unit 22 constitute a moving pair, the support frame base 21, the mobile unit 22 and the linear motion unit 23 three The axes are parallel to and perpendicular to the plane of the body 1. The mobile pair is driven by the linear motion unit 23, and the lower end of each mobile unit 22 is symmetrically arranged on two wheels 3. The wheel 3 has the initiative of mechanical movement, driven by its built-in motor, it can drag the platform to move, and then realize the forward, backward and differential speed turning of the platform. When the platform walks on uneven terrain, under...

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Abstract

The invention discloses a wheeled mobile robot platform. The platform comprises a machine body, supporting racks, wheels and a control system; the platform is characterized in that the machine body is in rigid connection with the supporting racks below the machine body through bolts; the three or more supporting racks are mounted on the lower surface of the machine body uniformly; each supporting rack comprises a supporting rack base, a moving unit and a linear motion unit; the upper end of the supporting rack base is connected with the lower surface of the machine body; the supporting rack base is a hollow column body; both the moving unit and the linear motion unit are positioned in the supporting rack base; axes of the supporting rack base, the moving unit and the linear motion unit are parallel to one another, and perpendicular to the plane of the machine body; the moving unit is a sliding part which is matched with the supporting rack base; the supporting rack base and the moving unit form a moving pair which is driven by the linear motion unit; the lower end of the moving unit is connected with the wheels symmetrically arranged at the lower part of the moving unit; the wheels are motor-driven wheels.

Description

technical field [0001] The invention relates to robot technology, in particular to a wheeled mobile robot platform. Background technique [0002] The rapid development of robot technology has greatly promoted the application of robots in various fields, especially in some special environments, robots have become indispensable equipment. As the most basic unit of a mobile robot, the mobile robot platform is used to carry components such as control system, detection system and manipulator to the job site to perform specific job tasks. Its performance directly affects the overall performance of the robot. [0003] The wheeled mobile robot platform has the advantages of high speed and high efficiency, but its application is limited due to its poor terrain adaptability. In order to improve the passing performance of mobile platforms on complex terrain, a variety of wheel-shoes, leg-shoes, and wheel-leg composite mobile platforms have been developed. For example, "Structure Desi...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 张小俊李满宏张建华孙凌宇张明路
Owner 彼合彼方机器人(天津)有限公司
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