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 overcoming obstacles, and has the functions of moving and lifting at the same time, so as to solve the problem of limited construction scope of existing robots

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