Width-adjustable mobile platform and robot with 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 stability of the mobile platform with a wide chassis is better. The mobile platform with narrow chassis can pass through relatively narrow passages, but it is prone to rolling and overturning 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 width-adjustable robot mobile platform.

[0003] With the support of the National Natural Science Foundation of China Youth Fund (approval number: 51205391), the team of the inventors conducted further research to explore a width-adjustabl...

Examples

Embodiment 1

[0088] refer to Figure 1 to Figure 8 ;

[0089] The technical solution adopted by the present invention to solve its technical problems is:

[0090] figure 1 , 6 7. The width-adjustable mobile platform according to Embodiment 1 of the present invention includes: a running part, a width adjusting device 2 and a centering device 3 ; in this embodiment, the running part is a wheeled running part 110 . The wheeled running part 110 includes a running part frame, and there are two wheeled running parts 110 in a symmetrical structure, and the wheeled running part 110 includes a first wheeled running part 111 and a second wheeled running part 112 . Such as figure 2 As shown, the width adjusting device 2 is located between the first wheeled running part 111 and the second wheeled running part 112 and is connected with the first wheeled running part 111 and the second wheeled running part 112, and the width adjusting device 2 Including: screw rod frame 210, the screw rod frame 21...

Embodiment 2

[0100] refer to Figure 10 to Figure 11 ;

[0101] Such as Figure 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 also includes a first drive unit 232, and the first drive unit 232 is connected with the amplitude modulation screw 231 and drives the amplitude modulation screw The rod 231 rotates; the centering screw rod unit includes a second driving unit 322, which is connected to the centering screw rod 321 and drives the centering screw rod 321 to rotate. In this embodiment, both the first drive unit 232 and the second drive unit 322 use geared motors. In other embodiments, other rotary driving devices such as hydraulic motors, pneumatic motors, etc. may be selected. Figure 10 is the state diagram when the width is the smallest in Embodiment 2 of the present invention; Figure 11 It is the state diagram when the width is the largest in Embodiment 2 of the prese...

Embodiment 3

[0103] refer to Figure 12 to Figure 13 ;

[0104] Figure 12 In the third embodiment, one end of the amplitude modulation screw 231 of the amplitude modulation screw unit 230 is fixedly connected with the screw frame 210; Pivotally connected, and the amplitude modulation moving screw nut 215 is connected with the amplitude modulation screw rod 231 with a threaded pair; one end of the centering screw rod 321 of the centering screw rod unit 320 is fixedly connected with the hole frame 220 (in other embodiments, One end of the centering screw rod 321 is fixedly connected with the screw mandrel frame 210); the centering frame 310 includes a centering moving screw nut 315, and the centering moving thread nut 315 is pivotally connected with the centering frame 310, and the centering The screw mandrel 321 is connected with the moving screw nut 315 in the adjustment with a thread pair. In the third embodiment, the width adjusting device further includes a first driving assembly 24...

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 stability of the mobile platform with a wide chassis is better. The mobile platform with narrow chassis can pass through relatively narrow passages, but it is prone to rolling and overturning 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 width-adjustable robot mobile platform.

[0003] With the support of the National Natural Science Foundation of China Youth Fund (approval number: 51205391), the team of the inventors conducted further research to explore a width-adjustabl...

Examples

Embodiment 1

[0088] refer to Figure 1 to Figure 8 ;

[0089] The technical solution adopted by the present invention to solve its technical problems is:

[0090] figure 1 , 6 7. The width-adjustable mobile platform according to Embodiment 1 of the present invention includes: a running part, a width adjusting device 2 and a centering device 3 ; in this embodiment, the running part is a wheeled running part 110 . The wheeled running part 110 includes a running part frame, and there are two wheeled running parts 110 in a symmetrical structure, and the wheeled running part 110 includes a first wheeled running part 111 and a second wheeled running part 112 . Such as figure 2 As shown, the width adjusting device 2 is located between the first wheeled running part 111 and the second wheeled running part 112 and is connected with the first wheeled running part 111 and the second wheeled running part 112, and the width adjusting device 2 Including: screw rod frame 210, the screw rod frame 21...

Embodiment 2

[0100] refer to Figure 10 to Figure 11 ;

[0101] Such as Figure 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 also includes a first drive unit 232, and the first drive unit 232 is connected with the amplitude modulation screw 231 and drives the amplitude modulation screw The rod 231 rotates; the centering screw rod unit includes a second driving unit 322, which is connected to the centering screw rod 321 and drives the centering screw rod 321 to rotate. In this embodiment, both the first drive unit 232 and the second drive unit 322 use geared motors. In other embodiments, other rotary driving devices such as hydraulic motors, pneumatic motors, etc. may be selected. Figure 10 is the state diagram when the width is the smallest in Embodiment 2 of the present invention; Figure 11 It is the state diagram when the width is the largest in Embodiment 2 of the prese...

Embodiment 3

[0103] refer to Figure 12 to Figure 13 ;

[0104] Figure 12 In the third embodiment, one end of the amplitude modulation screw 231 of the amplitude modulation screw unit 230 is fixedly connected with the screw frame 210; Pivotally connected, and the amplitude modulation moving screw nut 215 is connected with the amplitude modulation screw rod 231 with a threaded pair; one end of the centering screw rod 321 of the centering screw rod unit 320 is fixedly connected with the hole frame 220 (in other embodiments, One end of the centering screw rod 321 is fixedly connected with the screw mandrel frame 210); the centering frame 310 includes a centering moving screw nut 315, and the centering moving thread nut 315 is pivotally connected with the centering frame 310, and the centering The screw mandrel 321 is connected with the moving screw nut 315 in the adjustment with a thread pair. In the third embodiment, the width adjusting device further includes a first driving assembly 24...

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