Complex terrain self-adaptive wheeled mobile robot

Abstract

The utility model discloses a self-adaptive wheeled mobile robot for complex terrains, and mainly relates to the technical field of wheeled mobile robots. Comprising a foldable vehicle body, and variable-diameter wheels, driving devices used for driving the variable-diameter wheels to rotate and wheel adjusting mechanisms used for adjusting the outer diameters of the variable-diameter wheels are installed at the front ends and the rear ends of the left side and the right side of the foldable vehicle body; the foldable vehicle body comprises two mounting frames and two connecting frames; the connecting frame comprises a steering engine, a front frame body hinged to the front mounting frame and a rear frame body hinged to the rear mounting frame, the front frame body is hinged to the rear frame body, and the steering engine is fixed to the front frame body or the rear frame body and used for driving the rear frame body and / or the front frame body to rotate around a hinge shaft; according to the utility model, the variable-diameter wheels and the foldable vehicle body are adopted, so that the mobile robot can realize the self-adaption to complex terrains through the coordination between the variable diameter of the wheels and the folding and unfolding of the vehicle body in the running process.

Description

Technical Field

[0001] The utility model relates to the technical field of wheeled mobile robots, in particular to a complex terrain adaptive wheeled mobile robot. Background Art

[0002] With the development of science and technology, robots are increasingly used in various fields, such as industrial manufacturing, health care, disaster relief, etc. Existing robots are also in various forms, including rigid robots, flexible robots, biological robots, etc. Among them, wheeled mobile robots are a common mobile robot, which uses wheels as motion actuators to achieve positioning and navigation in a planar environment. It has the advantages of simple structure, low cost, and easy control, but it also has some limitations, such as difficulty in adapting to complex terrain and obstacles and the inability to achieve multi-degree-of-freedom motion and operation. Utility Model Content

[0003] The utility model aims to solve the problems existing in the prior art and to provide a complex terrain adaptive wheeled mobile robot, which adopts variable diameter wheels and a foldable body, so that the mobile robot can achieve adaptiveness in complex terrain through the coordination between the variable diameter of the wheels and the folding and unfolding of the body during driving.

[0004] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0005] A complex terrain adaptive wheeled mobile robot comprises a foldable body, wherein both front and rear ends of the left and right sides of the foldable body are equipped with variable-diameter wheels, a driving device for driving the variable-diameter wheels to rotate, and a wheel adjustment mechanism for adjusting the outer diameter of the variable-diameter wheels; the foldable body comprises two mounting frames and two connecting frames; the two mounting frames are symmetrically arranged, with one mounting frame being located behind the other mounting frame; one connecting frame is located on the left side of the two mounting frames, and the other connecting frame is located on the right side of the two mounting frames; the connecting frame comprises a steering gear, a front frame body hinged to the front mounting frame, and a rear frame body hinged to the rear mounting frame, the front frame body is hinged to the rear frame body, and the steering gear is fixed on the front frame body or the rear frame body, and is used to drive the rear frame body and / or the front frame body to rotate around the hinge axis.

[0006] Preferably, the mounting frame is a trapezoidal frame, the front frame and the rear frame are both triangular frames, the hypotenuse end of the trapezoidal frame is hinged to the hypotenuse end of the triangular frame, and a U-shaped frame is provided at one end of the front frame and the rear frame that are close to each other.

[0007] Preferably, the front frame, the rear frame and the mounting frame are all hinged via hinges.

[0008] Preferably, the driving device includes a first motor which is connected to the variable diameter wheel through gear transmission.

[0009] Preferably, the variable diameter wheel is an origami wheel.

[0010] Preferably, the variable diameter wheel includes an inner wheel shaft, an outer wheel casing and two groups of connecting rod mechanisms for supporting the outer wheel casing, each group of connecting rod mechanisms includes two sleeves and a plurality of connecting rod mechanisms evenly arranged along the circumference of the inner wheel shaft, the sleeves in the two groups of connecting rod mechanisms are both sleeved on the inner wheel shaft, and the outermost sleeve is fixedly connected to the inner wheel shaft, the other three sleeves are slidably connected to the inner wheel shaft, and a spring is provided between two adjacent sleeves, the connecting rod mechanism includes a triangular bracket hinged to one of the sleeves in the connecting rod mechanism group and an auxiliary frame hinged to the other sleeve, and the end of the auxiliary frame away from the sleeve is hinged to the middle or lower part of the triangular bracket.

[0011] Preferably, the inner shaft of the wheel is a hollow shaft, and the wheel adjustment mechanism includes a second motor arranged at the bottom of the foldable body, the second motor is provided with a winding wheel, and the winding wheel is provided with a driving rope, the driving rope enters from the inner end of the hollow shaft and exits from the outer end of the hollow shaft, and then is connected to the innermost sleeve on the hollow shaft.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] The utility model introduces a foldable body on the basis of a variable diameter wheel mobile robot, realizes the coordinated cooperation between the variable diameter wheel and the foldable body, improves the stability of the robot when changing diameter in complex terrain, and makes up for the shortcomings of a single variable diameter wheel. At the same time, through the linkage cooperation between the variable diameter wheel and the foldable body, good stability, smoothness, power and passability are achieved in various complex terrains, and the stable obstacle crossing ability of the robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is one of the three-dimensional structural schematic diagrams of the utility model;

[0015] Figure 2 This is the second schematic diagram of the three-dimensional structure of the utility model;

[0016] Figure 3 It is a schematic diagram of the transmission structure of the variable diameter wheel;

[0017] Figure 4 It is a schematic diagram of the structure of a variable diameter wheel.

[0018] Numbers in the attached drawings: 1. variable diameter wheel; 2. mounting frame; 3. connecting frame; 31. servo; 32. front frame; 33. rear frame; 34. U-shaped frame; 4. hinge; 5. first motor; 11. inner shaft of wheel; 12. outer wheel; 13. sleeve; 14. spring; 15. triangular bracket; 16. auxiliary frame; 17. second motor; 18. winding wheel. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the present application.

[0020] At present, the main design methods of existing deformable wheeled mobile robots are still focused on wheel-leg composite deformation design, but this type of design has disadvantages such as complex structure, difficult design, and unstable operation.

[0021] In order to improve the adaptability and flexibility of wheeled mobile robots, a feasible method is to introduce origami mechanisms.

[0022] Origami is a deformable structure designed based on the principles of origami art. It can achieve different morphological changes by changing the angle of the crease. Origami has the characteristics of light weight, small size, rigid-flexible combination, and programmability. It can provide additional functions and performance for wheeled mobile robots, such as increasing degrees of freedom, improving stability, and achieving growth and forming. Combining the good scalability and deformability of origami with wheeled robots makes it possible to realize variable-diameter tires.

[0023] Example: As attached Figure 1-4As shown, the utility model is a complex terrain adaptive wheeled mobile robot, including a foldable body, and both front and rear ends of the left and right sides of the foldable body are equipped with variable diameter wheels 1, a driving device for driving the variable diameter wheels 1 to rotate, and a wheel adjustment mechanism for adjusting the outer diameter of the variable diameter wheels 1, and one variable diameter wheel 1 corresponds to one driving device and one wheel adjustment mechanism; the foldable body includes two mounting frames 2 and two connecting frames 3; the two mounting frames 2 are symmetrically arranged, one mounting frame 2 is located behind the other mounting frame 2; one connecting frame 3 is located between the two mounting frames 2. The connecting frame 3 is located on the left side of a mounting frame 2, and another connecting frame 3 is located on the right side of the two mounting frames 2; the connecting frame 3 includes a steering gear 31, a front frame body 32 hinged to the front mounting frame 2, and a rear frame body 33 hinged to the rear mounting frame 2, the front frame body 32 is hinged to the rear frame body 33, the steering gear 31 is fixed on the front frame body 32 or the rear frame body 33, and is used to drive the rear frame body 33 and / or the front frame body 32 to rotate around the hinge axis, the steering gear 31 can be fixedly installed on the rear frame body 33 by screws, and the hinge axis between the front frame body 32 and the rear frame body 33 is transmission-connected to the output shaft of the steering gear 31 through a coupling.

[0024] Preferably, the mounting frame 2 is a trapezoidal frame, the front frame 32 and the rear frame 33 are both triangular frames, the hypotenuse end of the trapezoidal frame is hinged to the hypotenuse end of the triangular frame, and a U-shaped frame 34 is provided at the end close to the front frame 32 and the rear frame 33, and the two mounting frames 2 and the two connecting frames 3 are surrounded by a rectangular "U" structure.

[0025] Preferably, the front frame body 32 , the rear frame body 33 and the mounting frame 2 are hingedly connected via hinges 4 .

[0026] Preferably, the driving device includes a first motor 5 which is connected to the variable diameter wheel 1 through gear transmission.

[0027] Preferably, the variable diameter wheel 1 is an origami wheel, which may be an existing origami wheel or a deformable wheel developed by Hankook researchers.

[0028] Preferably, the variable diameter wheel 1 comprises a wheel inner shaft 11, a wheel outer shell 12 and two groups of connecting rod mechanisms for supporting the wheel outer shell 12, each group of connecting rod mechanisms comprises two sleeves 13 and a plurality of connecting rod mechanisms uniformly arranged along the circumference of the wheel inner shaft 11, the sleeves 13 in the two groups of connecting rod mechanisms are sleeved on the wheel inner shaft 11, and the outermost sleeve 13 is fixedly connected to the wheel inner shaft 11, and the other three sleeves 13 are slidably connected to the wheel inner shaft 11, and a spring 14 is provided between two adjacent sleeves 13, and the connecting rod mechanism comprises a triangular bracket 15 hinged to one of the sleeves 13 in the connecting rod mechanism group and an auxiliary frame 16 hinged to the other sleeve 13, and the end of the auxiliary frame 16 away from the sleeve 13 is hinged to the middle or lower part of the triangular bracket 15. The wheel outer shell 12 is wrapped around the outside of the entire supporting structure, presenting a modified water-elastic structure, and each rectangular plane portion of the water-elastic structure is fixed to the uppermost plane of the connecting rod mechanism.

[0029] Preferably, the inner wheel shaft 11 is a hollow shaft, and the wheel adjustment mechanism includes a second motor 17 arranged at the bottom of the foldable body, and the second motor 17 is provided with a winding wheel 18, and the winding wheel 18 is provided with a driving rope, and the driving rope passes through the inner end of the hollow shaft and passes through the outer end of the hollow shaft, and then is connected to the innermost sleeve 13 on the hollow shaft. The second motor 17 rotates to wind the driving rope around the winding wheel 18, pull the innermost sleeve 13, overcome the elastic force of the spring 14, and change the outer diameter of the variable diameter wheel 1.

[0030] When the utility model is in use, the first motor 5 drives the variable diameter wheel 1 to rotate, and each variable diameter wheel 1 is driven by an independent first motor 5, so that the robot can move forward and backward and turn; when encountering complex terrain and unable to move forward smoothly, the second motor 17 drives the winding wheel 18 to rotate to control the length of the driving rope to adjust the compression degree of the wheel outer shell 12, and then drives the connecting rod structure to expand and close, and finally realizes the diameter change of the four variable diameter wheels 1 respectively; at the same time, according to the deformation state of the wheel, the control module controls the folding and unfolding state of the body by adjusting the rotation of the steering gear to maintain the instantaneous balance of the body in various states; in addition, the control module can also control the rotation of the steering gear to realize the robot changing direction and moving forward.

Claims

1. A complex terrain adaptive wheeled mobile robot, characterized by: The invention comprises a foldable vehicle body, wherein both front and rear ends of the left and right sides of the foldable vehicle body are equipped with variable diameter wheels (1), a driving device for driving the variable diameter wheels (1) to rotate, and a wheel adjustment mechanism for adjusting the outer diameter of the variable diameter wheels (1); the foldable vehicle body comprises two mounting frames (2) and two connecting frames (3); the two mounting frames (2) are symmetrically arranged, one of the mounting frames (2) is located behind the other mounting frame (2); and one of the connecting frames (3) is located between the two mounting frames. The connecting frame (3) is located on the left side of the two mounting frames (2), and another connecting frame (3) is located on the right side of the two mounting frames (2); the connecting frame (3) includes a steering gear (31), a front frame body (32) hinged to the front mounting frame (2), and a rear frame body (33) hinged to the rear mounting frame (2); the front frame body (32) is hinged to the rear frame body (33), and the steering gear (31) is fixed on the front frame body (32) or the rear frame body (33) to drive the rear frame body (33) and / or the front frame body (32) to rotate around the hinge axis.

2. The complex terrain adaptive wheeled mobile robot according to claim 1, characterized in that: The mounting frame (2) is a trapezoidal frame body, the front frame body (32) and the rear frame body (33) are both triangular frame bodies, the hypotenuse end of the trapezoidal frame body is hinged to the hypotenuse end of the triangular frame body, and a U-shaped frame body (34) is provided at one end where the front frame body (32) and the rear frame body (33) are close to each other.

3. The complex terrain adaptive wheeled mobile robot according to claim 1, characterized in that: The front frame body (32), the rear frame body (33) and the mounting frame (2) are all hingedly connected via hinges (4).

4. The complex terrain adaptive wheeled mobile robot according to claim 1, characterized in that: The driving device comprises a first motor (5) which is connected to the variable diameter wheel (1) through gear transmission.

5. The complex terrain adaptive wheeled mobile robot according to claim 1, characterized in that: The variable diameter wheel (1) is an origami-style wheel.

6. A complex terrain adaptive wheeled mobile robot according to claim 1 or 5, characterized in that: The variable diameter wheel (1) comprises an inner wheel shaft (11), an outer wheel casing (12) and two groups of connecting rod mechanisms for supporting the outer wheel casing (12), each group of connecting rod mechanisms comprises two sleeves (13) and a plurality of connecting rod mechanisms evenly arranged along the circumference of the inner wheel shaft (11), the sleeves (13) in the two groups of connecting rod mechanisms are sleeved on the inner wheel shaft (11), and the outermost sleeve (13) is fixedly connected to the inner wheel shaft (11), and the other three sleeves (13) are slidably connected to the inner wheel shaft (11), and a spring (14) is provided between two adjacent sleeves (13), and the connecting rod mechanism comprises a triangular bracket (15) hinged to one of the sleeves (13) in the connecting rod mechanism group and an auxiliary bracket (16) hinged to the other sleeve (13), and the end of the auxiliary bracket (16) away from the sleeve (13) is hinged to the middle or lower part of the triangular bracket (15).

7. The complex terrain adaptive wheeled mobile robot according to claim 6, characterized in that: The inner wheel shaft (11) is a hollow shaft, and the wheel adjustment mechanism comprises a second motor (17) arranged at the bottom of the foldable vehicle body, the second motor (17) is provided with a winding wheel (18), and the winding wheel (18) is provided with a driving rope, the driving rope passes through the inner end of the hollow shaft and passes through the outer end of the hollow shaft, and then is connected to the innermost sleeve (13) on the hollow shaft.

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