Variable-structure mobile robot capable of making orthogonal bidirectional movement and control method of variable-structure mobile robot

A mobile robot and two-way motion technology, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of difficult to accurately control the steering angle of the walking wheel frame and low transmission efficiency, and achieve the effect of enhancing the mobility and flexibility of the movement

Active Publication Date: 2016-10-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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Problems solved by technology

However, for this kind of wheeled mobile mechanism, the transmission efficiency of the sliding coupling and the universal coupling i

Method used

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  • Variable-structure mobile robot capable of making orthogonal bidirectional movement and control method of variable-structure mobile robot
  • Variable-structure mobile robot capable of making orthogonal bidirectional movement and control method of variable-structure mobile robot
  • Variable-structure mobile robot capable of making orthogonal bidirectional movement and control method of variable-structure mobile robot

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with accompanying drawing.

[0047] Such as figure 1 As shown, the variable structure mobile robot capable of orthogonal bidirectional movement provided by the present invention includes a chassis 1, a separate displacement drive mechanism 2, a displacement motor 3, a top cover 4, an integral displacement drive mechanism 5, and a displacement motor Push rod 6, driving wheel motor A7, driving wheel motor B8, driving wheel A9 and driving wheel B10, follower wheel A11 and follower wheel B12, control device, guide sensor. The chassis 1 and the top cover 4 are respectively a bent part with a bottom plate and two side plates. Separate displacement drive mechanism 2, driving wheel motor A7, and displacement motor 3 are installed on the chassis 1. While keeping the position of the driving wheel motor A7 unchanged, the height position of the axis of the driving wheel A9 relative to the chassis is changed by th...

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Abstract

The invention discloses a variable-structure mobile robot capable of making orthogonal bidirectional movement and a control method of the variable-structure mobile robot. The variable-structure mobile robot capable of making orthogonal bidirectional movement comprises a chassis, a separation type variable-position driving mechanism, a variable-position motor, an integral variable-position driving mechanism, a variable-position electric push rod, a driving wheel motor A, a driving wheel motor B, a driving wheel A, a driving wheel B, a follower wheel A, a follower wheel B, a control device and a guiding sensor. The separation type variable-position driving mechanism is installed on the chassis, and the position, relative to the chassis, of the axis of the driving wheel A is changed while the position of the driving wheel motor A is kept unchanged. The integral variable-position driving mechanism is installed on a top cover, and the position, relative to the chassis, of the axis of the driving wheel B is changed by changing the height of the top cover. The axis of the driving wheel A is orthogonal with the driving wheel B, and the lowest position of the axis of the driving wheel A is the same as that of the driving wheel B. Orthogonal bidirectional movement of the mobile robot is achieved by changing the driving wheels making contact with the ground, the movement direction can be freely switched between orthogonal directions in the same plane, and the movement maneuverability and flexibility of the mobile robot are enhanced.

Description

technical field [0001] The invention relates to the field of automation equipment, in particular to a variable-structure mobile robot capable of orthogonal bidirectional movement and a control method thereof. Background technique [0002] According to the degrees of freedom of planar motion, mobile robots can be divided into non-holonomic mobile modes with limited lateral motion and omnidirectional mobile modes that can realize all planar motions. The omni-directional mobile robot can not only move forward and backward along the longitudinal direction of the body, rotate around the center of the body, but also move left and right along the lateral direction of the body, and can move along any direction in the plane while keeping the posture of the body unchanged. The limited working space has good maneuverability. [0003] Omni-directional wheels, represented by Mecanum wheels and spherical wheels, can not only rotate around the main axis to achieve forward and backward mov...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 武星楼佩煌何珍钱晓明唐敦兵赵龙金鹏张颖朱立群张万雷
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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