The mobile platform and the robot with the width adjustable by the rack and pinion

Abstract

The invention discloses a movable platform using a gear and a rack for adjusting the width. The movable platform comprises a main trolley body, walking parts and a width adjusting device. The width adjusting device is connected with the main trolley body and the two walking parts and comprises a gear and rack mechanism and a driving unit; the gear and rack mechanism comprises a base, a gear and two rack connecting pieces, wherein the base is connected with the main trolley body, the gear is connected with the base in a pivoting mode, the two rack connecting pieces and the base form a moving pair, and the two rack connecting pieces are arranged at the two sides of the gear in parallel, meshed with the gear and connected with the two walking parts respectively; the driving unit drives the gear and rack mechanism to do meshing motion, and the two gear and rack connecting pieces drive the two walking parts to move oppositely at the same time to achieve space adjustment between the two walking parts. The invention further provides a robot with the movable platform using the gear and the rack for adjusting the width.

Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a mobile platform for adjusting width by using a rack and pinion 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, and its stability is not good. 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] Under the support of the National Natural Science Foundation of China Youth Fund (approval number: 51205391), the team of the inventor...

Examples

Embodiment 1

[0064] refer to Figure 1 to Figure 7 ;

[0065] The technical solution adopted by the present invention to solve its technical problems is:

[0066] Such as figure 1 and figure 2 As shown, according to Embodiment 1 of the present invention, the mobile platform for adjusting the width by using rack and pinion includes: a main vehicle body 2, a running part and a width adjusting device 3, and the running part includes a running part frame. In this embodiment, the running part is a crawler running part 11 , the running part frame is a crawler frame 1101 , and the crawler running part 11 includes a first crawler running part 111 and a second crawler running part 112 . The width adjusting device 3 is respectively connected with the main vehicle body 2 and the two crawler belt running parts. Such as Figure 5 , 6 , 7, the width adjustment device 3 includes a rack and pinion mechanism 31 and a drive unit. The rack and pinion mechanism 31 includes: a base 314, the base 314 is...

Embodiment 2

[0073] refer to Figure 9 to Figure 10 ;

[0074] Embodiment 2 according to the present invention is the same as Embodiment 1 in main structure, the difference is that, according to Embodiment 2 of the present invention, the mobile platform for adjusting the width by means of rack and pinion also includes a guide device 5, and the guide device 5 includes: a fixed guide 51, the fixed guide 51 is connected with the main vehicle body 2; the moving guide, there are two moving guides, including the first moving guide 52 and the second moving guide 53, the moving guide and the second moving guide 53 The fixed guide 51 cooperates with the guide, and the two movable guides are connected with the crawler frame of the two crawler belt running parts, Figure 10 Among them, the first moving guide 52 is connected with the first crawler running part 111 , and the second moving guide 53 is connected with the second crawler running part 112 . In the second embodiment, the guide device 5 is ...

Embodiment 3

[0076] refer to Figure 8 ;

[0077] According to some embodiments of the present invention, the mobile platform whose width is adjusted by rack and pinion further includes a width limiting device to limit the maximum and minimum distance between the two running parts. exist Figure 8 In the shown third embodiment of the present invention, the width limiting device is provided on the width adjusting device 3, and the width limiting device includes: a limiting groove 3112, and the limiting groove 3112 is arranged in one of them Rack connector ( Figure 8 The center is on the first rack connector 311); the limit pin 33, the limit pin 33 is provided on the base 314, and the limit pin 33 is embedded in the limit groove 3112. In this way, the stroke of the rack connector is limited by the length of the limiting groove 3112 and the limiting pin 33, and the width limiting device plays a role of limiting the width.

[0078] In some other embodiments, a position detection device ca...

technical field

[0001] The invention relates to the technical field of robots, in particular to a mobile platform for adjusting width by using a rack and pinion 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, and its stability is not good. 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] Under the support of the National Natural Science Foundation of China Youth Fund (approval number: 51205391), the team of the inventor...

Examples

Embodiment 1

[0064] refer to Figure 1 to Figure 7 ;

[0065] The technical solution adopted by the present invention to solve its technical problems is:

[0066] Such as figure 1 and figure 2 As shown, according to Embodiment 1 of the present invention, the mobile platform for adjusting the width by using rack and pinion includes: a main vehicle body 2, a running part and a width adjusting device 3, and the running part includes a running part frame. In this embodiment, the running part is a crawler running part 11 , the running part frame is a crawler frame 1101 , and the crawler running part 11 includes a first crawler running part 111 and a second crawler running part 112 . The width adjusting device 3 is respectively connected with the main vehicle body 2 and the two crawler belt running parts. Such as Figure 5 , 6 , 7, the width adjustment device 3 includes a rack and pinion mechanism 31 and a drive unit. The rack and pinion mechanism 31 includes: a base 314, the base 314 is...

Embodiment 2

[0073] refer to Figure 9 to Figure 10 ;

[0074] Embodiment 2 according to the present invention is the same as Embodiment 1 in main structure, the difference is that, according to Embodiment 2 of the present invention, the mobile platform for adjusting the width by means of rack and pinion also includes a guide device 5, and the guide device 5 includes: a fixed guide 51, the fixed guide 51 is connected with the main vehicle body 2; the moving guide, there are two moving guides, including the first moving guide 52 and the second moving guide 53, the moving guide and the second moving guide 53 The fixed guide 51 cooperates with the guide, and the two movable guides are connected with the crawler frame of the two crawler belt running parts, Figure 10 Among them, the first moving guide 52 is connected with the first crawler running part 111 , and the second moving guide 53 is connected with the second crawler running part 112 . In the second embodiment, the guide device 5 is ...

Embodiment 3

[0076] refer to Figure 8 ;

[0077] According to some embodiments of the present invention, the mobile platform whose width is adjusted by rack and pinion further includes a width limiting device to limit the maximum and minimum distance between the two running parts. exist Figure 8 In the shown third embodiment of the present invention, the width limiting device is provided on the width adjusting device 3, and the width limiting device includes: a limiting groove 3112, and the limiting groove 3112 is arranged in one of them Rack connector ( Figure 8 The center is on the first rack connector 311); the limit pin 33, the limit pin 33 is provided on the base 314, and the limit pin 33 is embedded in the limit groove 3112. In this way, the stroke of the rack connector is limited by the length of the limiting groove 3112 and the limiting pin 33, and the width limiting device plays a role of limiting the width.

[0078] In some other embodiments, a position detection device ca...

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