Driving device and mobile robot

A mobile robot and driving device technology, applied in the directions of manipulator, transportation and packaging, elastic suspension, etc., can solve the problems of uneven load distribution, affecting the movement performance of omnidirectional mobile robots, and difference in driving force, so as to improve the synchronous driving effect. , Buffer vibration and impact, maintain the effect of effectiveness

Inactive Publication Date: 2017-02-08
YANCHENG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a driving device to improve the uneven load distribution of each driving wheel of the existing robot, resulting in a large difference in the driving force of each driving wheel, which affects the mobility of the omnidirectional mobile robot.
[0005] The purpose of the present invention is also to provide a mobile robot to improve the uneven load distribution of the various driving wheels of the existing robot, resulting in a large difference in the driving force of each driving wheel, which affects the mobile performance of the omnidirectional mobile robot

Method used

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  • Driving device and mobile robot
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  • Driving device and mobile robot

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Experimental program
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Effect test

Embodiment 1

[0049] refer to figure 1 and figure 2 , the present embodiment provides a driving device, including an airbag 107, an air delivery device 110 and a plurality of driving mechanisms, the driving mechanism includes a power mechanism 109 and a cylinder 108, the power mechanism 109 is installed on the output end of the cylinder 108, and the plurality of cylinders 108 The input ends of the airbags are respectively connected with the airbags 107, and the air delivery device 110 communicates with the airbags 107, and the air delivery device 110 is used to control the amount of gas in the airbags 107.

[0050] The driving device provided in this embodiment connects a plurality of driving mechanisms with an air bag 107 at the same time, and the air bag 107 communicates with the cylinder 108. When the power mechanism 109 contacts the ground, under the action of the air bag 107 and the cylinder 108, each power mechanism 109 and The pressure during ground contact is all the same, which i...

Embodiment 2

[0059] refer to Figure 3 to Figure 5 , the present embodiment provides a mobile robot, including a robot main body and the above driving device, and the driving device is installed on the bottom of the robot main body.

[0060] The driving device in the mobile robot provided in this embodiment connects multiple driving mechanisms with an air bag 107 at the same time, and the air bag 107 communicates with the cylinder 108. When the power mechanism 109 contacts the ground, under the action of the air bag 107 and the air cylinder 108, each The pressure when the power mechanism 109 is in contact with the ground is all the same, which is convenient to improve the synchronous driving effect of each power mechanism 109. At the same time, the airbag 107 can also effectively buffer the vibration and impact caused by the uneven ground to ensure the stability of the mobile robot body.

[0061] The main body of the robot includes a base 111 and a plurality of auxiliary universal wheels 1...

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Abstract

The invention provides a driving device and a mobile robot and belongs to the field of an all-directional wheel type mobile robot. The driving device comprises an air bag, an air conveying device and a plurality of driving mechanisms; each driving mechanism comprises a power mechanism and an air cylinder; each power mechanism is mounted at the output end of the corresponding air cylinder; the input ends of a plurality of air cylinders are respectively connected with the air bag; the air conveying device communicates with the air bag and is used for controlling the amount of air inside the air bag; the mobile robot comprises a robot main body and the driving device; the driving device is mounted at the bottom of the robot main body. According to the driving device in the mobile robot, a plurality of driving mechanisms are simultaneously connected with one air bag; the air bag communicates with the air cylinders; when the power mechanisms are in contact with the ground, the contact pressure between each power mechanism and the ground is the same under the effects of the air bag and the air cylinders, so convenience can be provided for improving the synchronous driving effect of each power mechanism.

Description

technical field [0001] The invention relates to the field of omnidirectional wheeled mobile robots, in particular to a driving device and a mobile robot. Background technique [0002] The omnidirectional wheeled mobile robot has three degrees of freedom in the two-dimensional plane, and can simultaneously translate and rotate in any direction. It has the ability to move in any direction without changing the posture of the vehicle body, and is very suitable for space Narrow space or occasions that require high mobility of robots, such as handling trolley robots in industry, omni-directional mobile wheelchairs, etc. In order to effectively buffer the vibration impact caused by the unevenness of the ground on the robot body and improve the stability of the robot's operation, most of the current applications are to add elastic shock absorbing devices between the body and the omni-directional wheels, such as: springs, or spring-based shock absorber. [0003] The inventor found ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B60G17/052
CPCB25J5/007B60G17/052
Inventor 肖海宁郭大宏刘黎明杨雷楼佩煌张炯武星钱晓明任耀庆熊新郑竹安
Owner YANCHENG INST OF TECH
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