Omni-directional moving mechanism with obstacle crossing function and robot system

Abstract

The invention provides an omni-directional moving mechanism with an obstacle crossing function and a robot system. The mechanism comprises a robot master base, a lifting mechanism, a robot platform, adouble-degree-of-freedom moving mechanism, an obstacle crossing mechanism and a master controller, wherein the lifting mechanism is used for driving a plane of the robot platform to maintain parallelto the plane of the robot master base in a lifting process; the robot platform is driven by the lifting mechanism to do ascending and descending movement; the double-degree-of-freedom moving mechanism comprises moving wheels installed at the bottom of the obstacle crossing mechanism, and the moving wheels can realize axial and radial rotation; the obstacle crossing mechanism is connected with themoving wheels and used for driving the moving wheels to span an obstacle in a moving process; and the master controller is used for controlling lifting amplitude of the lifting mechanism and drivingand controlling the moving speed and a moving track of the whole omni-directional moving mechanism. According to the mechanism, the structure is simple, the operation is convenient, the mechanism is capable of rapidly moving to the vicinity of a building, a multi-degree-of-freedom robot is driven by the lifting mechanism to carry out construction operation on the building with a certain height, the mechanism can adapt to different pavement obstacles, and the stability is good in the operation process.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an omnidirectional mobile mechanism with obstacle-surmounting function, and a robot system composed of the omnidirectional mobile mechanism. Background technique [0002] At present, robots are widely used in building construction. However, due to the limitation of the robot's own working space, it is difficult to work on scenes with a large construction area. At present, there is no robot system that can simultaneously overcome obstacles, move and lift. [0003] Wherein, existing ways that can realize the function of overcoming obstacles include: wheel type, leg type, crawler type. Among them, the wheel type has the highest efficiency, but the worst adaptability; although the crawler type has good climbing ability and certain obstacle ability, but the efficiency is low and the flexibility is poor; while the leg type has the strongest adaptability, but the Poor effici...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides an all-round mobile mechanism and robot system with the function of over

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