Omnidirectional self-adaptive operation robot
Through the coordinated cooperation of wheelset deformation and suspension linkage mechanism, the problem of insufficient dynamic adaptability of McNum wheel robots in complex terrain is solved, and high stability and efficient passability in complex environments are achieved.
Patent Information
- Application Number
- CN202510861777.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-25
- Publication Date
- 2025-08-19
AI Technical Summary
Traditional McNum Wheel Robots lack terrain adaptation mechanisms in complex unstructured terrain, resulting in slipping, instability, hanging or being stuck by obstacles during movement, making it difficult to quickly pass complex obstacles in high-timed scenarios, and the driving force on slippery or soft roads decreases, affecting environmental adaptability.
The wheel deformation mechanism and suspension linkage mechanism of four sets of McNum wheels are adopted. The wheel deformation mechanism and suspension linkage mechanism are expanded or contracted by independent control of the wheel plates, combined with the suspension linkage state and locked state, to realize adaptive adjustment of the robot when terrain changes.
It significantly improves the stability and passability of the robot in complex terrain, takes into account the maneuverability on flat roads, and improves the adaptability and efficiency of operations.
Smart Images
Figure CN120503548A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of robotics technology, and in particular to an omnidirectional adaptive working robot. Background Art
[0002] With the rapid development of artificial intelligence, robotics, and automatic control technologies, mobile robots have found widespread application in industrial automation, emergency response, post-disaster search and rescue, military reconnaissance, and complex environment inspections. Their high mobility and flexibility are particularly valuable in complex environments characterized by uncertainty, high risk, or inaccessible to humans. To meet the complex demands of diverse application scenarios, mobile robots are continuously evolving towards high mobility, environmental adaptability, and intelligence.
[0003] Traditionally, mobile robots are categorized into wheeled, tracked, and legged structures. Wheeled robots are widely adopted due to their simple structure, high efficiency, and ease of control. Among these wheeled structures, Mecanum wheels, due to their unique roller arrangement, offer inherent omnidirectional mobility, enabling linear, rotational, and combined motions in any direction within a plane. Consequently, they are widely used in scenarios requiring high spatial mobility. However, traditional Mecanum wheel structures generally utilize a fixed wheel diameter, making their motion characteristics and obstacle-crossing capabilities highly dependent on the smoothness of the road surface.
[0004] In complex, unstructured terrain, such as uneven, bumpy roads, gravel, slopes, slippery surfaces, and environments with obstacles like steps, fixed-wheel-diameter Mecanum-wheeled robots often encounter serious problems during movement, such as slipping, instability, wheel suspension, and even getting stuck on obstacles. These problems essentially stem from the fact that the Mecanum wheel structure was designed without considering its dynamic response to terrain fluctuations. Its wheel diameter cannot adaptively adjust to uneven surfaces, resulting in uneven wheel force, reduced ground contact points, and reduced wheel drive efficiency, which seriously restricts its accessibility and stability in complex environments.
[0005] Furthermore, in time-sensitive scenarios like emergency rescue, mobile robots often need to quickly traverse complex obstacles such as piles of rubble and collapsed buildings. Traditional Mecanum wheels, lacking a terrain adaptation mechanism, significantly reduce their ability to navigate. On slippery or soft surfaces (such as dirt and sand), their driving force is easily lost due to slipping, further reducing their ability to adapt to the environment. In actual deployments, researchers have attempted to combine Mecanum wheels with tracks or leg-based structures to compensate for their lack of obstacle-crossing capabilities. However, these systems are complex, costly, energy-intensive, and require complex control strategies, making them difficult to implement on a large scale in industrial environments.
[0006] Therefore, for robots using Mecanum wheels, how to improve their dynamic adaptability to different terrains has become a technical problem that needs to be solved urgently. Summary of the Invention
[0007] The main purpose of the present invention is to provide an omnidirectional adaptive working robot, which aims to improve the dynamic adaptability of robots using Mecanum wheels to different terrains.
[0008] To achieve the above objectives, the present invention provides an omnidirectional adaptive working robot, comprising a chassis and four sets of Mecanum wheels mounted on the chassis, and further comprising: Four sets of wheel deformation mechanisms are connected to the four sets of Mecanum wheels in a one-to-one correspondence, and are used to independently control the inward contraction or outward expansion of the wheel blades of each Mecanum wheel set; a suspension linkage mechanism connecting the four Mecanum wheels of the chassis, the suspension linkage mechanism having a linkage state and a locked state; in the linkage state, the four Mecanum wheels are linked to each other so that the chassis adapts to terrain changes; in the locked state, the suspension state of each Mecanum wheel is fixed; The wheel deformation mechanism and the suspension linkage mechanism cooperate to enhance the robot's terrain adaptability.
[0009] In one embodiment of the present application, the wheel set deformation mechanism includes a deformation motor, a deformation wheel fixing member, a deformation wheel rotating member, a deformation wheel wheel piece and a deformation wheel driving member; The fixed end of the deformation motor is mounted on the deformation wheel fixing member, and the movable end is connected to the deformation wheel rotating member; the deformation wheel blade is hinged to the deformation wheel fixing member through the deformation wheel driving member, and a bearing is provided at the hinge; The deforming wheel rotating component, the deforming wheel blade, the deforming wheel driving component and the deforming wheel fixing component form a parallelogram connecting rod structure, so that the deforming wheel blade can be controlled to expand or contract when the deforming motor is driven.
[0010] In one embodiment of the present application, a slip ring is further included; the slip ring is embedded in the groove of the deformation wheel fixing member to eliminate the entanglement of the wires when the deformation wheel rotates.
[0011] In one embodiment of the present application, the suspension linkage mechanism includes a linkage suspension control motor, a movable internal threaded member, a fixed external threaded member, a suspension turntable plate, and a linkage connecting rod; The suspension turntable plate is connected to the chassis through a flange bearing, and the linked suspension control motor drives the fixed external threaded part to rotate, so that the movable internal threaded part moves in the vertical direction; when the movable internal threaded part moves downward to press the outer ring of the flange bearing, the suspension turntable plate is locked; when the movable internal threaded part moves upward to disengage from the flange bearing, the suspension turntable plate rotates freely.
[0012] In one embodiment of the present application, the vertical movement of the movable internal threaded part is constrained by a sleeve bolt; the optical axis at the end of the sleeve bolt cooperates with the circular hole of the outer ring of the movable internal threaded part, limiting it to only up and down movement.
[0013] In one embodiment of the present application, the suspension turntable plate is connected to the suspension turntable plates of other wheel sets through a linkage rod, so that the displacement of the shock absorber of a single wheel set drives the remaining wheel sets to tilt synchronously through the linkage rod.
[0014] In one embodiment of the present application, a robotic arm and a connecting shaft are further included; the connecting shaft connects the robotic arm and the chassis, providing the robotic arm with a degree of freedom of rotation around a plane perpendicular to the chassis.
[0015] In one embodiment of the present application, the robotic arm includes a lifting mechanism and a parallelogram linkage mechanism; the lifting mechanism includes a lifting drive motor, a lifting screw and a lifting slide rail; the lifting drive motor drives the lifting screw, so that the lifting screw nut drives the robotic arm base to move vertically along the lifting slide rail.
[0016] In one embodiment of the present application, the parallelogram linkage mechanism includes a first parallelogram configuration and a second parallelogram configuration; the first parallelogram configuration is composed of a robotic arm, a robotic arm rocker, a robotic arm and an arm transmission connecting rod; the second parallelogram configuration is composed of a robotic arm, an arm connecting rod, a triangular turntable and an end clamp of the robotic arm; the robotic arm drive motor drives the robotic arm, and the robotic arm drive motor drives the robotic arm rocker, so that the end clamp moves horizontally in a plane parallel to the robotic arm.
[0017] In one embodiment of the present application, a protective frame is further included, which is arranged around the chassis to protect against external scratches during operation.
[0018] By adopting the above technical solution, the omnidirectional adaptive working robot can dynamically and accurately adjust its own structure and posture through the coordinated cooperation of the wheel deformation mechanism and the suspension linkage mechanism, so that the robot can maintain high stability and passability in complex unstructured terrain environments, while taking into account the maneuverability on flat roads, thereby significantly improving the robot's operational adaptability and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The present invention will be described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a schematic structural diagram of a first embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the explosion structure; Figure 3 for Figure 1Detailed structural diagram of the robotic arm; Figure 4 Schematic diagram of the chassis structure; Figure 5 is an exploded schematic diagram of the suspension connection assembly; Figure 6 Schematic diagram of the exploded view of the deformation wheel assembly; 1. Robotic arm; 2. Connecting shaft; 3. Chassis; 4. Protective frame; 101. Robotic arm base plate; 102. Lifting drive motor; 103. Lifting drive motor fixture; 104. Lifting screw nut; 105. Lifting screw; 106. Screw top fixing piece; 107. Lifting slider; 108. Slider fixing plate; 109. Robotic arm base; 110. Lifting slide rail; 111. Robotic arm; 112. Forearm transmission connecting rod; 113. Robotic arm end gripper; 114. Robotic arm; 115. Forearm connecting rod; 116. Triangular turntable; 117. Robotic arm drive motor; 118. Robotic arm rocker; 119. Robotic arm drive motor; 21. Shaft movable inner ring; 301. Deformation wheel assembly; 302. Transforming wheel power drive motor; 303. Transforming wheel assembly; 304. Chassis aluminum alloy frame; 305. Suspension system fixing plate; 306. Linked suspension control motor; 307. Motor sleeve; 308. Sleeve bolt; 309. Flange bearing; 310. Suspension turntable plate; 311. Shock absorber isolation column; 312. Shock absorber; 313. Turntable support ring; 314. Thrust ball bearing; 315. Linking connecting rod; 316. Bearing inner ring pressure plate; 317. Movable internal threaded part; 318. Fixed external threaded part; 3011. Slip ring; 3012. Transforming wheel fixing part; 3013. Transforming wheel wheel piece; 3014. Transforming wheel driving part; 3015. Transforming motor; 3016. Transforming wheel rotating part. DETAILED DESCRIPTION
[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following specific embodiments are only used to explain the present invention and do not constitute a limitation of the present invention.
[0021] like Figures 1 to 6 As shown, in order to achieve the above-mentioned purpose, the present invention proposes an omnidirectional adaptive working robot, comprising a chassis 3 and four sets of Mecanum wheels mounted on the chassis 3, and further comprising: Four sets of wheel deformation mechanisms are connected to the four sets of Mecanum wheels in a one-to-one correspondence, and are used to independently control the inward contraction or outward expansion of the wheel blades of each Mecanum wheel set; a suspension linkage mechanism connecting the four Mecanum wheels of the chassis 3, the suspension linkage mechanism having a linkage state and a locked state; in the linkage state, the four Mecanum wheels are linked to each other so that the chassis 3 adapts to changes in terrain; in the locked state, the suspension state of each Mecanum wheel is fixed; The wheel deformation mechanism and the suspension linkage mechanism cooperate to enhance the robot's terrain adaptability.
[0022] Specifically, this embodiment relates to an omnidirectional adaptive working robot, comprising a chassis 3 and four sets of Mecanum wheels mounted on the chassis 3, as well as four wheel deformation mechanisms and a suspension linkage mechanism. The four wheel deformation mechanisms are connected one-to-one to the four Mecanum wheels on the chassis 3. Each wheel deformation mechanism includes a deformation motor 3015, a deformation wheel fixing member 3012, a deformation wheel rotating member 3016, and a deformation wheel driving member 3014. The deformation motor 3015 has a fixed end mounted on the deformation wheel fixing member 3012, and a movable end connected to the deformation wheel rotating member 3016. The deformation wheel rotating member 3016 and the deformation wheel driving member 3014 are connected via bearings to form a parallelogram connecting rod structure. The deformation wheel driving member 3014 is directly connected to the wheel blades of the Mecanum wheels.
[0023] When the deformation motor 3015 rotates, the deformation wheel rotating member 3016 drives the deformation wheel driving member 3014 to expand the wheel blades outward or retract inward, thereby realizing the shape change of the Mecanum wheel set, increasing or decreasing the contact area with the ground, and thus adapting to different terrain conditions.
[0024] The suspension linkage mechanism is connected between the chassis 3 and the four Mecanum wheel sets. The suspension linkage mechanism includes a linkage suspension control motor 306, a fixed external threaded part 318, a movable internal threaded part 317, a suspension turntable plate 310, a flange bearing 309, a sleeve bolt 308 and a motor sleeve 307. The linkage suspension control motor 306 is fixedly installed in the motor sleeve 307, the fixed external threaded part 318 is connected to the rotating shaft of the linkage suspension control motor 306, and the movable internal threaded part 317 is sleeved on the shaft. The outer side of the fixed external threaded part 318 can move up and down along the axial direction of the fixed external threaded part 318, the sleeve bolt 308 passes through the upper and lower suspension turntable plates 310 for fixing, the optical axis part of the sleeve bolt 308 cooperates with the circular hole of the movable internal threaded part 317 to constrain the movable internal threaded part 317 to only move axially, and a flange bearing 309 is provided on the suspension turntable plate 310, the outer ring of the flange bearing 309 is connected to the suspension turntable plate 310, and the inner ring is respectively connected to the boss of the motor sleeve 307 and the bearing inner ring pressure plate 316.
[0025] When the linkage suspension control motor 306 rotates, the fixed external threaded member 318 rotates and drives the movable internal threaded member 317 to move up and down. When the movable internal threaded member 317 moves downward and contacts the outer ring of the flange bearing 309, the suspension turntable plate 310 is fixed and in a locked state. The suspension position of each Mecanum wheelset is relatively fixed and no linkage occurs.
[0026] When the movable internal threaded member 317 moves upward and disengages the outer ring of the flange bearing 309, the suspension turntable plate 310 can rotate freely. The four Mecanum wheels are linked via the suspension linkage mechanism, allowing the chassis 3 to automatically adjust its posture as the terrain changes, ensuring that all four Mecanum wheels are in contact with the ground, thereby improving the robot's overall stability and maneuverability. During operation, when the robot encounters complex terrain such as slopes or steps, the wheel deformation mechanism deploys the Mecanum wheel blades to increase the wheel contact area. Simultaneously, the suspension linkage mechanism engages the linkage mechanism, allowing the chassis 3 to dynamically adjust its posture and maintain contact with the ground, allowing the robot to smoothly navigate unstructured and complex terrain. On relatively flat terrain, the wheel deformation mechanism retracts the blades and locks the suspension linkage mechanism, giving the robot greater maneuverability and operational precision.
[0027] By adopting the above technical solution, the omnidirectional adaptive working robot can dynamically and accurately adjust its own structure and posture through the coordinated cooperation of the wheel deformation mechanism and the suspension linkage mechanism, so that the robot can maintain high stability and passability in complex unstructured terrain environments, while taking into account the maneuverability on flat roads, thereby significantly improving the robot's operational adaptability and efficiency.
[0028] In one embodiment of the present application, the wheel deformation mechanism includes a deformation motor 3015, a deformation wheel fixing member 3012, a deformation wheel rotating member 3016, a deformation wheel wheel piece 3013 and a deformation wheel driving member 3014; The fixed end of the deformation motor 3015 is mounted on the deformation wheel fixing member 3012, and the movable end is connected to the deformation wheel rotating member 3016; the deformation wheel blade 3013 is hinged to the deformation wheel fixing member 3012 via the deformation wheel driving member 3014, and a bearing is provided at the hinge; The deforming wheel rotating component 3016, the deforming wheel blade 3013, the deforming wheel driving component 3014 and the deforming wheel fixing component 3012 form a parallelogram connecting rod structure, so that the deforming wheel blade 3013 can be controlled to expand or contract when the deformation motor 3015 is driven.
[0029] Specifically, the wheel group deformation mechanism described in this embodiment includes a deformation motor 3015, a deformation wheel fixing part 3012, a deformation wheel rotating part 3016, a deformation wheel wheel piece 3013 and a deformation wheel driving part 3014; the fixed end of the deformation motor 3015 is fixedly installed on the deformation wheel fixing part 3012 by bolts, and the movable end of the deformation motor 3015 is fixedly connected to the deformation wheel rotating part 3016 to drive the deformation wheel rotating part 3016 to rotate around the rotation axis of the deformation motor 3015; the deformation wheel wheel piece 3013 is hinged between the deformation wheel driving part 3014 and the deformation wheel fixing part 3012, and a bearing is provided at the hinged part to achieve rotation flexibility; the deformation wheel rotating part 3016, the deformation wheel wheel piece 3013, the deformation wheel driving part 3014 and the deformation wheel fixing part 3012 together form a parallelogram connecting rod structure to ensure that the mechanism maintains a stable and reliable motion trajectory under the rotation drive of the deformation motor 3015.
[0030] When the deformation motor 3015 is started, it drives the deformation wheel rotating part 3016 to rotate. The deformation wheel rotating part 3016 pushes the deformation wheel blade 3013 to make a circular motion around the hinge point with the deformation wheel fixing part 3012 through the deformation wheel driving part 3014, so that the deformation wheel blade 3013 expands outward or contracts inward, realizing the overall shape change of the deformation wheel blade 3013, thereby achieving the effect of adjusting the contact area of the wheel set and the tire shape.
[0031] By adopting the above technical solution, the wheel group deformation mechanism has a compact structure. Through the precise movement of the parallelogram connecting rod structure, the expansion and contraction movement of the deformable wheel piece 3013 is more stable and reliable, and the mechanism can always maintain balanced force and smooth movement during the deformation process, so that the robot can accurately and efficiently adapt to a variety of complex terrains, significantly improving the robot's passability and terrain adaptability.
[0032] In one embodiment of the present application, a slip ring 3011 is further included; the slip ring 3011 is embedded in the groove of the deformation wheel fixing member 3012, and is used to eliminate the entanglement of wires when the deformation wheel rotates.
[0033] Specifically, this embodiment further includes a slip ring 3011; the slip ring 3011 is embedded in a groove provided on the deforming wheel fixing member 3012, the outer circumferential surface of the slip ring 3011 is fixedly matched with the inner wall of the groove of the deforming wheel fixing member 3012, and the central part of the slip ring 3011 is connected to the deforming wheel rotating member 3016 to achieve relative rotation between the slip ring 3011 and the deforming wheel rotating member 3016; when the deforming motor 3015 drives the deforming wheel rotating member 3016 to rotate, the slip ring 3011 allows electrical signals and electrical energy to be transmitted through the relative rotation interface between the stationary end and the rotating end, thereby avoiding the problem of wire entanglement during the rotation of the deforming wheel, and ensuring the stability and reliability of the power supply line and signal transmission.
[0034] By adopting the above technical solution, the embedded installation method of the slip ring 3011 effectively saves structural space and ensures the stable power and signal transmission of the deformation wheel mechanism during continuous rotation. It not only eliminates the hidden dangers of failure caused by wire entanglement, but also significantly improves the continuity and stability of the wheel deformation mechanism.
[0035] In one embodiment of the present application, the suspension linkage mechanism includes a linkage suspension control motor 306 , a movable internal threaded member 317 , a fixed external threaded member 318 , a suspension turntable plate 310 , and a linkage link 315 ; The suspension turntable plate 310 is connected to the chassis 3 through the flange bearing 309, and the linked suspension control motor 306 drives the fixed external threaded part 318 to rotate, so that the movable internal threaded part 317 moves in the vertical direction; when the movable internal threaded part 317 moves downward to press the outer ring of the flange bearing 309, the suspension turntable plate 310 is locked; when the movable internal threaded part 317 moves upward to disengage from the flange bearing 309, the suspension turntable plate 310 rotates freely.
[0036] Specifically, the suspension linkage mechanism described in this embodiment includes a linkage suspension control motor 306, a movable internal threaded part 317, a fixed external threaded part 318, a suspension turntable plate 310 and a linkage connecting rod 315; the suspension turntable plate 310 is connected to the chassis 3 through a flange bearing 309, the inner ring of the flange bearing 309 is fixedly connected to the bearing mounting structure on the chassis 3, and the outer ring of the flange bearing 309 is fixedly connected to the suspension turntable plate 310 to realize the rotational movement of the suspension turntable plate 310 relative to the chassis 3.
[0037] The linkage suspension control motor 306 is fixedly arranged on the chassis 3, and the output shaft end of the linkage suspension control motor 306 is connected to the fixed external threaded part 318. The movable internal threaded part 317 is sleeved on the fixed external threaded part 318 and realizes vertical movement up and down through threaded cooperation.
[0038] A raised portion is provided on the outer edge of the movable internal threaded part 317. When the movable internal threaded part 317 moves vertically downward, the raised portion comes into close contact with the upper end face of the outer ring of the flange bearing 309, pressing and fixing the outer ring of the flange bearing 309, thereby limiting the rotation of the suspension turntable plate 310 and realizing the locking state of the suspension linkage mechanism.
[0039] When the linkage suspension control motor 306 drives the fixed external threaded member 318 to rotate in the opposite direction, the movable internal threaded member 317 moves upward along the fixed external threaded member 318, and its protrusion disengages from the upper end surface of the outer ring of the flange bearing 309, allowing the flange bearing 309 to return to a free state, thereby allowing the suspension turntable plate 310 to rotate freely; one end of the linkage connecting rod 315 is hingedly connected to the suspension turntable plate 310, and the other end is hingedly connected to the suspension turntable plate 310 of the adjacent Mecanum wheelset, thereby forming a complete suspension linkage structure.
[0040] When the suspension linkage mechanism is in a freely rotating linkage state, if any Mecanum wheel assembly on chassis 3 is affected by terrain changes and moves up and down or tilts, the motion state of the Mecanum wheel assembly is transmitted to the other suspension turntable plates 310 through the linkage link 315, causing the other three Mecanum wheel assemblies to adjust accordingly, allowing the entire chassis 3 to automatically adapt to the terrain changes and enable the entire chassis 3 to smoothly pass through complex terrain.
[0041] By adopting the above technical solution, the vertical coordinated movement of the movable internal threaded part 317 and the fixed external threaded part 318 can be used to quickly switch between the linkage and locking states of the suspension linkage mechanism. The structural design is simple and efficient. It can adapt to terrain changes in real time in the linkage state, and ensure a stable working posture in the locked state, which significantly improves the terrain adaptability and stability of the omnidirectional adaptive working robot.
[0042] In one embodiment of the present application, the vertical movement of the movable internal threaded part 317 is constrained by the sleeve bolt 308; the optical axis at the end of the sleeve bolt 308 cooperates with the circular hole of the outer ring of the movable internal threaded part 317, limiting it to only move up and down.
[0043] Specifically, in this embodiment, the vertical movement of the movable internal threaded part 317 is constrained by the sleeve bolt 308; the sleeve bolt 308 includes a threaded section and an optical axis section, wherein the threaded section of the sleeve bolt 308 is passed between the upper and lower suspension turntable plates 310 and is fixedly connected by threads, and the upper and lower suspension turntable plates 310 are fixed in relative positions after being tightened by the sleeve bolt 308.
[0044] The optical axis segment of the sleeve bolt 308 protrudes upward from the upper surface of the suspension turntable plate 310 and is passed through a corresponding circular hole on the outer ring of the movable internal threaded part 317. The diameter of the circular hole is precisely matched with the outer diameter of the optical axis segment, so that the movable internal threaded part 317 can only move up and down in the vertical direction along the optical axis segment of the sleeve bolt 308 and cannot produce lateral rotation or displacement in other directions.
[0045] In the above manner, when the movable internal threaded part 317 is driven by the linked suspension control motor 306 to rotate the fixed external threaded part 318, it can precisely perform up and down linear motion only under the constraint and guidance of the optical axis section of the sleeve bolt 308, ensuring that the positional relationship between the movable internal threaded part 317 and the outer ring of the flange bearing 309 is stable and reliable, so that the locking or free state switching of the suspension turntable plate 310 is accurate and rapid.
[0046] By adopting the above technical solution, the optical axis at the end of the sleeve bolt 308 is precisely matched with the outer circular hole of the movable internal threaded part 317, which effectively ensures the vertical movement accuracy and stability of the movable internal threaded part 317, avoids structural damage or locking failure caused by lateral deviation during movement, and significantly improves the reliability and working performance of the entire suspension linkage mechanism.
[0047] In one embodiment of the present application, the suspension turntable plate 310 is connected to the suspension turntable plates 310 of other wheel sets through a linkage rod 315, so that the displacement of the shock absorber 312 of a single wheel set drives the remaining wheel sets to tilt synchronously through the linkage rod 315.
[0048] Specifically, the suspension turntable plate 310 described in this embodiment is connected to the suspension turntable plates 310 of other wheel groups through a linkage link 315; one end of the linkage link 315 is fixedly connected to the side end of a certain suspension turntable plate 310 through a hinge structure, and the other end of the linkage link 315 is fixedly connected to the suspension turntable plate 310 of the adjacent wheel group through the same hinge structure, thereby forming a complete linkage network for all the suspension turntable plates 310.
[0049] When the shock absorber 312 corresponding to a Mecanum wheel assembly undergoes vertical displacement due to terrain changes, the vertical displacement of the shock absorber 312 directly drives the suspension turntable plate 310 connected to the shock absorber 312 to rotate. The rotational motion of the suspension turntable plate 310 then transmits the rotational force directly to the suspension turntable plates 310 corresponding to other Mecanum wheel assemblies through the linkage rod 315, causing the other suspension turntable plates 310 to synchronously produce corresponding rotational motion, thereby driving the entire chassis 3 to achieve synchronous tilt or posture adjustment.
[0050] The working principle of this linkage structure lies in the force transmission path formed between the suspension turntable plates 310 through the linkage link 315, which enables the chassis 3 to automatically coordinate the height and angle of all wheel sets when facing uneven or inclined terrain, ensuring that all wheel sets are in stable contact with the ground at the same time, thereby ensuring that the robot can pass smoothly in complex terrain.
[0051] By adopting the above technical solution, through the connection of the linkage link 315, the local displacement of the shock absorber 312 caused by any Mecanum wheel group encountering terrain obstacles can be efficiently and accurately transmitted to the other wheel groups, realizing automatic coordination and synchronous adjustment of the posture of the entire chassis 3. This effectively improves the maneuverability and stability of the omnidirectional adaptive working robot in complex terrain, enabling the robot to maintain high operating efficiency and safety in a wider range of application scenarios.
[0052] In one embodiment of the present application, it also includes a robotic arm 1 and a connecting shaft 2; the connecting shaft 2 connects the robotic arm 1 and the chassis 3, providing the robotic arm 1 with a degree of freedom of rotation around a plane perpendicular to the chassis 3.
[0053] Specifically, this embodiment also includes a robotic arm 1 and a connecting shaft 2; the lower end of the connecting shaft 2 is firmly mounted on the center position of the upper surface of the chassis 3 by bolts or welding, and the upper end of the connecting shaft 2 is fixedly connected to the bottom of the robotic arm 1 by a flange connection, so that the robotic arm 1 has a degree of freedom of rotation relative to the chassis 3 around a plane perpendicular to the chassis 3; a slewing bearing or bearing assembly is provided inside the connecting shaft 2 to ensure that the robotic arm 1 can perform a smooth and stable rotation movement on the connecting shaft 2; when the robot is working, the robotic arm 1 rotates around an axis perpendicular to the plane of the chassis 3 to the required angular position through the connecting shaft 2, thereby realizing omnidirectional operation of the robotic arm 1 in the horizontal plane to meet the working requirements in different directions.
[0054] By adopting the above technical solution, the rotational freedom provided to the robot arm 1 by the connecting shaft 2 enables the robot arm 1 to flexibly and quickly adjust its working orientation, thereby expanding the working range and operational flexibility of the robot in a single position, and significantly improving the robot's operating efficiency and spatial adaptability.
[0055] In one embodiment of the present application, the robotic arm 1 includes a lifting mechanism and a parallelogram linkage mechanism; the lifting mechanism includes a lifting drive motor 102, a lifting screw 105 and a lifting slide rail 110; the lifting drive motor 102 drives the lifting screw 105, so that the lifting screw 105 nut 104 drives the base of the robotic arm 1 to move vertically along the lifting slide rail 110.
[0056] Specifically, the robotic arm 1 described in this embodiment includes a lifting mechanism and a parallelogram linkage mechanism; wherein, the lifting mechanism includes a lifting drive motor 102, a lifting screw 105 and a lifting slide rail 110; the fixed end of the lifting drive motor 102 is fixedly installed on the base plate of the robotic arm 1 by bolts, and the output shaft of the lifting drive motor 102 is connected to one end of the lifting screw 105 through a coupling, and the other end of the lifting screw 105 is fixedly connected to the screw top fixing part 106 at the top of the base plate of the robotic arm 1 through a bearing.
[0057] The nut 104 of the lifting screw 105 is set on the lifting screw 105 and is rigidly connected to the base of the robot arm 1. The side wall of the base of the robot arm 1 is connected to the lifting slider 107 through the slider fixing plate 108. The lifting slider 107 is slidably installed on the lifting slide rail 110. The lifting slide rail 110 is vertically arranged and its two ends are fixedly connected between the bottom plate of the robot arm 1 and the top fixing piece 106 of the screw by bolts.
[0058] When the lifting drive motor 102 drives the lifting screw 105 to rotate, the lifting screw 105 nut 104 is driven by the rotation of the screw and moves up and down along the axis of the lifting screw 105, thereby pushing the base of the robotic arm 1 and the lifting slider 107 to move vertically along the lifting slide rail 110, so that the entire robotic arm 1 can achieve precise adjustment of the height position; the parallelogram linkage mechanism of the robotic arm 1 is installed on the base of the robotic arm 1 and moves up and down with the base of the robotic arm 1. Through the coordinated action with the lifting mechanism, the robotic arm 1 can accurately adjust the height and working posture during operation.
[0059] By adopting the above technical solution, the lifting drive motor 102 drives the lifting screw 105 and the lifting slide rail 110 to achieve smooth and high-precision vertical lifting movement of the base of the robot arm 1. At the same time, combined with the coordinated action of the parallelogram linkage mechanism, the robot arm 1 has flexible and changeable working posture and position adjustment capabilities, effectively improving the operating range and accuracy of the robot arm 1, thereby significantly improving the overall operating adaptability and working efficiency of the robot.
[0060] In one embodiment of the present application, the parallelogram linkage mechanism includes a first parallelogram configuration and a second parallelogram configuration; the first parallelogram configuration is composed of the main arm of the robotic arm 1, the robotic arm rocker arm 118, the robotic arm and the arm transmission connecting rod 112; the second parallelogram configuration is composed of the robotic arm, the arm connecting rod 115, the triangular turntable 116 and the end clamp of the robotic arm 1; the robotic arm drive motor 117 drives the main arm of the robotic arm 1, and the robotic arm drive motor 119 drives the robotic arm rocker arm 118, so that the end clamp moves horizontally in a plane parallel to the robotic arm 1.
[0061] Specifically, the parallelogram linkage mechanism described in this embodiment includes a first parallelogram configuration and a second parallelogram configuration; wherein, the first parallelogram configuration is composed of the main arm of the robotic arm 1, the robotic arm rocker arm 118, the robotic arm and the arm transmission link 112; one end of the main arm of the robotic arm 1 is hinged to the base of the robotic arm 1 through a rotating bearing, and the other end is hinged to one end of the arm transmission link 112; the other end of the arm transmission link 112 is hinged to one end of the robotic arm rocker arm 118 through a bearing, the other end of the robotic arm rocker arm 118 is hinged to one end of the robotic arm, and the other end of the robotic arm is hinged to the base of the robotic arm 1. The above components together constitute the first parallelogram configuration, ensuring that the main arm and the robotic arm of the robotic arm 1 always maintain a parallel relationship with each other during movement.
[0062] The second parallelogram configuration is composed of a robotic arm, an arm connecting rod 115, a triangular turntable 116 and the end clamp of the robotic arm 1; one end of the robotic arm is hingedly connected to the arm connecting rod 115, and the other end of the arm connecting rod 115 is connected to one end of the triangular turntable 116; the other end of the triangular turntable 116 is hingedly connected to the end clamp of the robotic arm 1; the end clamp of the robotic arm 1 is directly hingedly connected to the robotic arm to form a second parallelogram configuration to ensure that the end clamp of the robotic arm 1 always maintains a stable posture relative to the robotic arm during movement.
[0063] The fixed end of the robot arm drive motor 117 is fixed to the base of the robot arm 1 by bolts, and the output shaft end of the robot arm drive motor 117 directly drives the robot arm 1 to rotate; the fixed end of the robot arm drive motor 119 is also fixed to the base of the robot arm 1 by bolts, and the output shaft end of the robot arm drive motor 119 directly drives the robot arm rocker arm 118 to rotate; when the robot arm drive motor 117 rotates, it directly drives the robot arm 1 to rotate around the rotation axis of the robot arm 1 base, and the movement of the robot arm 1 is transmitted to the robot arm through the first parallelogram configuration. When the robot arm drive motor 119 rotates, the robot arm is pushed to swing relative to the base of the robot arm 1 through the robot arm rocker arm 118, and the swing of the robot arm is accurately transmitted to the end gripper of the robot arm 1 through the second parallelogram configuration, so that the end gripper of the robot arm 1 can accurately perform translational motion in a plane parallel to the robot arm 1, thereby accurately realizing the adjustment of the position and posture of the end gripper of the robot arm 1; By adopting the above technical solution, through the combined application of two parallelogram configurations, the robot arm 1 can accurately maintain the posture stability and parallel movement of the end gripper during the operation process, thereby achieving precise grasping and operation of the work object, and effectively improving the movement accuracy, stability and operation efficiency of the robot arm 1.
[0064] In one embodiment of the present application, a protective frame 4 is further included, which is arranged around the chassis 3 to protect against external scratches during operation.
[0065] Specifically, this embodiment also includes a protective frame 4; the protective frame 4 is annular in structure as a whole, and is firmly fixed to the outer edge of the chassis 3 by bolt connection or welding. The structural outline of the protective frame 4 surrounds the entire outer edge of the chassis 3 and protrudes a certain distance from the outer edge of the chassis 3; the protective frame 4 is made of high-strength and wear-resistant materials, such as aluminum alloy or high-strength engineering plastics, to effectively resist collisions or scratches with external objects or obstacles that the robot may encounter during operation; the cross-sectional shape of the protective frame 4 is designed to be a circular tube, rectangle or U-shaped structure, which can effectively absorb and disperse external force impact and reduce the risk of damage to the main body of the chassis 3; during the operation of the robot, when encountering potential obstacles in narrow spaces or complex environments, the protective frame 4 preferentially contacts and withstands the impact force exerted by external objects, effectively protecting the main body of the chassis 3, the suspension linkage mechanism, the wheel deformation mechanism and the robotic arm 1 from direct impact from external forces, thereby avoiding or greatly reducing the possibility of damage to key components and ensuring the long-term stable operation of the robot.
[0066] By adopting the above technical solution, the protective frame 4 arranged around the chassis 3 effectively improves the protection performance of the omnidirectional adaptive working robot in a complex working environment, ensures that key components are protected from damage caused by external collisions or scratches, significantly extends the service life of the entire machine, and enhances the reliability and safety of the robot during actual operation.
[0067] An omnidirectional adaptive working robot consists of a robotic arm 1, a connecting shaft 2, a chassis 3, and a protective frame 4. The chassis 3 enables terrain adaptability in unstructured environments; the protective frame 4 protects the omnidirectional working robot from scratches during operation. The connecting shaft 2 connects the robotic arm 1 and chassis 3 and provides the robotic arm 1 with rotational freedom perpendicular to the chassis 3. The robotic arm 1 can perform omnidirectional operating tasks. The following provides a further explanation of each component.
[0068] Furthermore, during the operation of the robotic arm 1 , the base plate of the robotic arm 1 is connected to the movable inner ring 21 of the rotating shaft by screws, so that the robotic arm 1 can rotate perpendicular to the chassis 3 .
[0069] Furthermore, the fixed end of the lifting drive motor 102 is mounted on the bottom plate of the robot arm 1 by means of bolts, and the rotating end of the lifting drive motor 102 is connected to the lifting screw 105 by means of the lifting drive motor 102 clamp, and the other end of the lifting screw 105 is arranged on the screw top fixing piece 106. At the same time, the bottom plate of the robot arm 1 is also connected to the lifting slide rail 110 by means of bolts, and the other end of the lifting slide rail 110 is connected to the screw top fixing piece 106. When the lifting drive motor 102 rotates, the lifting screw 105 converts the rotational motion into translational motion, and enables the lifting screw 105 nut 104 to move up and down. The lifting screw 105 nut 104 is arranged on the base of the robot arm 1, and the base of the robot arm 1 is connected to the lifting slider 107 and the slider fixing plate 108, so that the base of the robot arm 1 moves up and down in a straight line under the constraints of the lifting slide rail 110 and the lifting slider 107, thereby realizing the up and down motion of the robot arm 1.
[0070] Furthermore, the mechanical arm drive motor 117 and the mechanical arm drive motor 119 are arranged on the base of the mechanical arm 1. The arm transmission connecting rod 112, the mechanical arm rocker arm 118, the mechanical arm and the mechanical arm 1 together form a first parallelogram configuration; the mechanical arm, the arm connecting rod 115, the triangular turntable 116 and the end clamp of the mechanical arm 1 together form a second parallelogram configuration. When the mechanical arm drive motor 117 rotates, it directly drives the connected mechanical arm 1 arm to realize the rotation of the mechanical arm 1 arm; when the mechanical arm drive motor 119 rotates, it drives the connected mechanical arm 1 rocker arm to rotate and drives the first parallelogram configuration, transmitting the rotational force to the mechanical arm through the arm transmission connecting rod 112, at this time realizing the rotation of the mechanical arm, and driving the end clamp of the mechanical arm 1 to move through the second parallelogram configuration, thereby realizing the translation of the mechanical arm 1 on a plane parallel to the mechanical arm 1.
[0071] Furthermore, one end of the deformable wheel assembly 303 inside the chassis 3 is set on the aluminum alloy frame of the chassis 3, and the other end is set with the deformable wheel assembly 301 and the deformable wheel power drive motor 302, totaling four pairs of structures.
[0072] Furthermore, one end of the suspension system fixing plate 305 is also set on the aluminum alloy frame of the chassis 3, and the other end is provided with a motor sleeve 307. The linked suspension control motor 306 is provided inside the motor sleeve 307. The main shaft part is respectively provided with a flange bearing 309, a suspension turntable plate 310, a turntable support ring 313, a suspension turntable plate 310, a flange bearing 309, a bearing inner ring pressure plate 316, a movable internal threaded part 317 and a fixed external threaded part 318 from bottom to top. Among them, the outer rings of two flange bearings 309 are in contact with the suspension turntable plate 310, which are movable ends; the inner rings of the two flange bearings 309 are in contact with the boss of the motor sleeve 307 and the bearing inner ring pressure plate 316 respectively, which are fixed ends; the sleeve bolt 308 is a bolt with an optical axis at the end, and the bolt part is used to tighten the upper and lower suspension turntable plates 310, and the protruding parts of the optical axes at the ends of the three sleeve bolts 308 are used to cooperate with the three circular holes on the outer ring of the movable internal threaded part 317, restricting the movable internal threaded part 317 to move only up and down; the fixed external threaded part 318 is arranged on the rotating shaft of the linkage suspension control motor 306, which can realize the rotation function. When the linked suspension control motor 306 rotates, it drives the fixed externally threaded member 318 to rotate along with it. The movable internally threaded member 317 cooperates with the fixed externally threaded member 318 to convert the rotational motion into the upward and downward translation of the movable internally threaded member 317. When the movable internally threaded member 317 moves downward, its protruding portion contacts the outer ring of the flange bearing 309. At this time, the suspension system contacts both the inner and outer rings of the flange bearing 309, preventing the suspension turntable plate 310 from rotating, thus achieving the locking function. Similarly, when the linked suspension control motor 306 rotates in the opposite direction, the movable internally threaded member 317 moves upward, and its protruding portion no longer contacts the outer ring of the flange bearing 309, thus achieving the release of the entire linked suspension system.
[0073] Furthermore, the fixed end of the deforming motor 3015 is arranged on the deforming wheel fixing member 3012, and the movable end of the deforming motor 3015 is arranged on the deforming wheel rotating member 3016. At the same time, the deforming wheel fixing member 3012 and the deforming wheel disc 3013 are connected via the deforming wheel driving member 3014, and bearings are provided at the connection points. The slip ring 3011 is arranged in the groove of the deforming wheel fixing member 3012, and its function is to solve the problem of wire entanglement during the degree of rotation. The deforming wheel rotating member 3016, the deforming wheel disc 3013, the deforming wheel driving member 3014 and the deforming motor 3015 together form a parallelogram connecting rod structure. When the deforming motor 3015 rotates, the deforming wheel disc 3013 is expanded through the connecting rod structure, realizing the deformation process of the deforming wheel assembly 301. Similarly, when the deforming motor 3015 rotates in the opposite direction, the deforming wheel disc 3013 contracts and returns to its initial position.
[0074] When faced with unstructured and complex environments, the robot can perform various actions, such as opening or closing the linked suspension system and deploying or retracting its deformable wheels, to improve terrain maneuverability. This gives the robot greater terrain adaptability and allows it to operate in a variety of complex environments. The following further explains some of these scenarios.
[0075] Slope scenario: When the road ahead is a full slope, the linkage suspension control motor 306 rotates to lock the linkage suspension system. In this case, the chassis 3 has an independent suspension, which provides better stability when negotiating the slope.
[0076] Narrow slope scenario: For comparison, the linkage suspension system is shown with the system turned on and off. When the linkage suspension system is turned off, the left front wheel of chassis 3 contacts the slope, and the right front wheel is suspended in the air, making chassis 3 unstable. When the linkage suspension system is turned on, the left front wheel of chassis 3 contacts the slope. The contact force causes the shock absorber 312 of the left front wheel to move in the rearward direction of chassis 3, driving the left suspension turntable plate 310 to rotate counterclockwise, which in turn drives the linkage link 315 to move along the right side of chassis 3, thereby driving the right suspension turntable plate 310 to rotate counterclockwise. The feedback to the whole chassis 3 is manifested as a tilt toward the right rear direction. At this time, all four wheels are in contact with the ground, ensuring the stable passability of chassis 3.
[0077] Staircase scenario: The linked suspension system is disabled, and the vehicle operates similarly to the slope scenario. The two front deformation motors 3015 rotate through the connecting rod structure, deploying the deformation wheel blades 3013, thus deforming the deformation wheel assembly 301. Rotating the deformation wheel power drive motor 302 now provides forward momentum to the chassis 3, causing the deformation wheel assembly 301 to rotate and climb the stairs.
[0078] Narrow Step Scenario: Activate the linked suspension system and operate as in the narrow slope scenario. The left front deformation motor 3015 then rotates through the connecting rod structure, deploying the deformation wheel blades 3013 and deforming the deformation wheel assembly 301. The deformation wheel power drive motor 302 then rotates, providing forward momentum to the chassis 3, causing the deformation wheel assembly 301 to rotate and climb the step. At this point, due to the activated linked suspension, the chassis 3 still maintains simultaneous contact with the ground on all four wheels, greatly enhancing its stability.
[0079] This paper mainly studies the passability of unstructured complex terrain, proposes the structure of deformable Mecanum wheels and a linkage suspension system, and realizes the operation of an omnidirectional adaptive working robot in complex environments.
[0080] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims
1. An omnidirectional adaptive working robot, comprising a chassis and four sets of Mecanum wheels mounted on the chassis, characterized in that: Also includes: Four sets of wheel deformation mechanisms are connected to the four sets of Mecanum wheels in a one-to-one correspondence, and are used to independently control the inward contraction or outward expansion of the wheel blades of each Mecanum wheel set; a suspension linkage mechanism connecting the four Mecanum wheels of the chassis, the suspension linkage mechanism having a linkage state and a locked state; in the linkage state, the four Mecanum wheels are linked to each other so that the chassis adapts to terrain changes; in the locked state, the suspension state of each Mecanum wheel is fixed; The wheel deformation mechanism and the suspension linkage mechanism cooperate to enhance the robot's terrain adaptability.
2. The omnidirectional adaptive working robot according to claim 1, characterized in that: The wheel set deformation mechanism comprises a deformation motor (3015), a deformation wheel fixing part (3012), a deformation wheel rotating part (3016), a deformation wheel wheel piece (3013) and a deformation wheel driving part (3014); The fixed end of the deformation motor (3015) is mounted on the deformation wheel fixing member (3012), and the movable end is connected to the deformation wheel rotating member (3016); the deformation wheel blade (3013) is hinged to the deformation wheel fixing member (3012) via the deformation wheel driving member (3014), and a bearing is provided at the hinged joint; The deforming wheel rotating component (3016), the deforming wheel blade (3013), the deforming wheel driving component (3014) and the deforming wheel fixing component (3012) form a parallelogram connecting rod structure, so that when the deforming motor (3015) is driven, the deforming wheel blade (3013) is controlled to expand or contract.
3. The omnidirectional adaptive working robot according to claim 2, characterized in that: It also includes a slip ring (3011); the slip ring (3011) is embedded in the groove of the deformation wheel fixing member (3012) and is used to eliminate the entanglement of the wires when the deformation wheel rotates.
4. The omnidirectional adaptive working robot according to claim 1, characterized in that: The suspension linkage mechanism comprises a linkage suspension control motor (306), a movable internal threaded member (317), a fixed external threaded member (318), a suspension turntable plate (310), and a linkage connecting rod (315); The suspension turntable plate (310) is connected to the chassis via a flange bearing (309), and the linkage suspension control motor (306) drives the fixed external threaded part (318) to rotate, causing the movable internal threaded part (317) to move in a vertical direction; when the movable internal threaded part (317) moves downward to press the outer ring of the flange bearing (309), the suspension turntable plate (310) is locked; when the movable internal threaded part (317) moves upward to disengage from the flange bearing (309), the suspension turntable plate (310) rotates freely.
5. The omnidirectional adaptive working robot according to claim 4, characterized in that: The vertical movement of the movable internal threaded part (317) is constrained by the sleeve bolt (308); the optical axis at the end of the sleeve bolt (308) cooperates with the circular hole of the outer ring of the movable internal threaded part (317), limiting it to only being able to move up and down.
6. The omnidirectional adaptive working robot according to claim 4, characterized in that: The suspension turntable plate (310) is connected to the suspension turntable plates of other wheel sets via a linkage link (315), so that the displacement of the shock absorber (312) of a single wheel set drives the other wheel sets to tilt synchronously via the linkage link (315).
7. The omnidirectional adaptive working robot according to claim 1, characterized in that: It also includes a mechanical arm (1) and a connecting shaft (2); the connecting shaft (2) connects the mechanical arm (1) and the chassis, providing the mechanical arm (1) with a degree of freedom of rotation around a plane perpendicular to the chassis.
8. The omnidirectional adaptive working robot according to claim 7, characterized in that: The robotic arm (1) includes a lifting mechanism and a parallelogram linkage mechanism; the lifting mechanism includes a lifting drive motor (102), a lifting screw (105) and a lifting slide rail (110); the lifting drive motor (102) drives the lifting screw (105), so that the lifting screw nut (104) drives the robotic arm base (109) to move vertically along the lifting slide rail (110).
9. The omnidirectional adaptive working robot according to claim 8, characterized in that: The parallelogram linkage mechanism includes a first parallelogram configuration and a second parallelogram configuration; the first parallelogram configuration is composed of a robot arm (111), a robot arm rocker (118), a robot arm (114) and a robot arm transmission connecting rod (112); the second parallelogram configuration is composed of a robot arm (114), a robot arm connecting rod (115), a triangular turntable (116) and a robot arm end clamp (113); the robot arm drive motor (117) drives the robot arm (111), and the robot arm drive motor (119) drives the robot arm rocker (118), so that the end clamp (113) moves in a plane parallel to the robot arm.
10. The omnidirectional adaptive working robot according to claim 1, characterized in that: It also includes a protective frame (4) which is arranged around the chassis and is used to protect against external scratches during operation.