Wide breadth-adjustable mobile platform and robot having same

Abstract

The invention relates to a wide breadth-adjustable mobile platform and a robot having the same. The wide breadth-adjustable mobile platform comprises walking portions, a wide breadth adjusting device and a centering device. The wide breadth adjusting device is positioned between the two walking portions and connected with the two walking portions; the wide breadth adjusting device comprises a screw rod stand, a screw hole stand and a breadth adjusting screw rod unit; a breadth adjusting screw rod of the breadth adjusting screw rod unit is connected with the screw rod stand and is in threaded connection with the screw hole stand; the centering device comprises a centering stand and a centering screw rod unit; the centering stand is connected with the wide breadth adjusting device through a sliding pair; a centering screw rod of the centering screw rod unit is in threaded connection with the centering stand and is connected with the wide breadth adjusting device. The wide breadth of the wide breadth-adjustable mobile platform can be adjusted through the wide breadth adjusting device, and the centering stand of the wide breadth-adjustable mobile platform can perform centering through the centering device. The robot employs the wide breadth-adjustable mobile platform, so that the wide breadth of the robot can be adjusted.

Description

Technical field

[0001] The invention relates to the technical field of robots, in particular to a mobile platform with adjustable width and a robot with the mobile platform. Background technique

[0002] The width of the mobile platform plays an important role in the stability of the mobile platform, and the mobile platform with a wide chassis has better stability. A mobile platform with a narrow chassis can pass through a narrower passage, but it is prone to roll and overturn in undulating terrain. Therefore, if the width of the chassis of the mobile platform can be adjusted according to the needs of the terrain, the terrain adaptability of the mobile platform can be improved. At present, there are few reports on the wide adjustable robot mobile platform.

[0003] With the support of the National Natural Science Foundation of China Youth Fund (approval number: 51205391), the inventor team further conducted research to overcome the above-mentioned problems and explored a wide adj...

Examples

Embodiment 1

[0088] Reference Figure 1 to Figure 8 ;

[0089] The technical solutions adopted by the present invention to solve its technical problems are:

[0090] figure 1 , 6 7. The wide adjustable mobile platform according to the first embodiment of the present invention includes: a walking part, a width adjusting device 2 and a centering device 3; in this embodiment, the walking part is a wheeled walking part 110. The wheeled walking part 110 includes a walking part frame, and there are two wheeled walking parts 110 with a symmetrical structure. The wheeled walking part 110 includes a first wheeled walking part 111 and a second wheeled walking part 112. Such as figure 2 As shown, the width adjusting device 2 is located between the first wheeled walking portion 111 and the second wheeled walking portion 112 and is connected to the first wheeled walking portion 111 and the second wheeled walking portion 112, and the width adjusting device 2 Including: a screw rod frame 210 connected to th...

Embodiment 2

[0100] Reference Figure 10 to Figure 11 ;

[0101] Such as Picture 10 , 11 As shown, the difference between the second embodiment of the present invention and the first embodiment is that the amplitude modulation screw unit further includes a first driving unit 232, which is connected to the amplitude modulation screw 231 and drives the amplitude modulation wire The rod 231 rotates; the centering screw unit includes a second driving unit 322 that is connected to the centering screw 321 and drives the centering screw 321 to rotate. In this embodiment, both the first driving unit 232 and the second driving unit 322 adopt a geared motor. In other embodiments, other rotation driving devices such as hydraulic motors, pneumatic motors, etc. can be selected. Picture 10 It is the state diagram when the width of the second embodiment of the present invention is the smallest; Picture 11 It is the state diagram of the second embodiment of the present invention when the width is the larg...

Embodiment 3

[0103] Reference Figure 12 to Figure 13 ;

[0104] Picture 12 In the third embodiment, one end of the amplitude modulation screw 231 of the amplitude modulation screw unit 230 is fixedly connected to the screw frame 210; the wire hole frame 220 includes the amplitude modulation screw nut 215, and the amplitude modulation screw nut 215 and the wire hole frame 220 can be It is pivotally connected, and the amplitude modulation screw nut 215 is connected with the amplitude modulation screw 231 by a thread pair; one end of the centering screw 321 of the centering screw unit 320 is fixedly connected to the screw hole frame 220 (in other embodiments, One end of the centering screw rod 321 is fixedly connected to the screw rod frame 210); the centering frame 310 includes a centering movable nut 315, which is pivotally connected to the centering frame 310, and is centered The screw rod 321 is connected with the adjusting screw nut 315 by a thread pair. In the third embodiment, the widt...

Technical field

[0001] The invention relates to the technical field of robots, in particular to a mobile platform with adjustable width and a robot with the mobile platform. Background technique

[0002] The width of the mobile platform plays an important role in the stability of the mobile platform, and the mobile platform with a wide chassis has better stability. A mobile platform with a narrow chassis can pass through a narrower passage, but it is prone to roll and overturn in undulating terrain. Therefore, if the width of the chassis of the mobile platform can be adjusted according to the needs of the terrain, the terrain adaptability of the mobile platform can be improved. At present, there are few reports on the wide adjustable robot mobile platform.

[0003] With the support of the National Natural Science Foundation of China Youth Fund (approval number: 51205391), the inventor team further conducted research to overcome the above-mentioned problems and explored a wide adj...

Examples

Embodiment 1

[0088] Reference Figure 1 to Figure 8 ;

[0089] The technical solutions adopted by the present invention to solve its technical problems are:

[0090] figure 1 , 6 7. The wide adjustable mobile platform according to the first embodiment of the present invention includes: a walking part, a width adjusting device 2 and a centering device 3; in this embodiment, the walking part is a wheeled walking part 110. The wheeled walking part 110 includes a walking part frame, and there are two wheeled walking parts 110 with a symmetrical structure. The wheeled walking part 110 includes a first wheeled walking part 111 and a second wheeled walking part 112. Such as figure 2 As shown, the width adjusting device 2 is located between the first wheeled walking portion 111 and the second wheeled walking portion 112 and is connected to the first wheeled walking portion 111 and the second wheeled walking portion 112, and the width adjusting device 2 Including: a screw rod frame 210 connected to th...

Embodiment 2

[0100] Reference Figure 10 to Figure 11 ;

[0101] Such as Picture 10 , 11 As shown, the difference between the second embodiment of the present invention and the first embodiment is that the amplitude modulation screw unit further includes a first driving unit 232, which is connected to the amplitude modulation screw 231 and drives the amplitude modulation wire The rod 231 rotates; the centering screw unit includes a second driving unit 322 that is connected to the centering screw 321 and drives the centering screw 321 to rotate. In this embodiment, both the first driving unit 232 and the second driving unit 322 adopt a geared motor. In other embodiments, other rotation driving devices such as hydraulic motors, pneumatic motors, etc. can be selected. Picture 10 It is the state diagram when the width of the second embodiment of the present invention is the smallest; Picture 11 It is the state diagram of the second embodiment of the present invention when the width is the larg...

Embodiment 3

[0103] Reference Figure 12 to Figure 13 ;

[0104] Picture 12 In the third embodiment, one end of the amplitude modulation screw 231 of the amplitude modulation screw unit 230 is fixedly connected to the screw frame 210; the wire hole frame 220 includes the amplitude modulation screw nut 215, and the amplitude modulation screw nut 215 and the wire hole frame 220 can be It is pivotally connected, and the amplitude modulation screw nut 215 is connected with the amplitude modulation screw 231 by a thread pair; one end of the centering screw 321 of the centering screw unit 320 is fixedly connected to the screw hole frame 220 (in other embodiments, One end of the centering screw rod 321 is fixedly connected to the screw rod frame 210); the centering frame 310 includes a centering movable nut 315, which is pivotally connected to the centering frame 310, and is centered The screw rod 321 is connected with the adjusting screw nut 315 by a thread pair. In the third embodiment, the widt...

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