阅读说明：本技术 高精度开放式机器人移动载体及其高精度移动方法 (High-precision open type robot moving carrier and high-precision moving method thereof ) 是由 朱献涛 彭志源 于 2020-11-17 设计创作，主要内容包括：本发明提供高精度开放式机器人移动载体及其高精度移动方法,涉及机器人移动领域,包括承载板和机器人,本发明中承载板顶端固定连接有机器人,承载板的底端固定有移动组件；移动组件包括V型板,承载板底端在位于四周边角处固定有四个V型板,V型板的下方设置有支撑板,支撑板顶端固定有U型槽；V型板的一端套于U型槽内,并且V型板转动连接至U型槽处；V型板的倾斜侧壁处固定有支臂,支臂处设置有越障器材,越障器材套于支臂处；越障器材内穿插有齿轮,齿轮内套接有传动轴,传动轴穿插于支撑板处；可基于四个移动组件的动能分配,进而实现高精度移动时所需的灵活转向和快速机动要求。(The invention provides a high-precision open type robot moving carrier and a high-precision moving method thereof, which relate to the field of robot movement and comprise a bearing plate and a robot, wherein the top end of the bearing plate is fixedly connected with the robot, and the bottom end of the bearing plate is fixedly provided with a moving assembly; the moving assembly comprises V-shaped plates, four V-shaped plates are fixed at the positions of the peripheral corners at the bottom end of the bearing plate, a supporting plate is arranged below the V-shaped plates, and a U-shaped groove is fixed at the top end of the supporting plate; one end of the V-shaped plate is sleeved in the U-shaped groove, and the V-shaped plate is rotatably connected to the U-shaped groove; a support arm is fixed at the inclined side wall of the V-shaped plate, and obstacle crossing equipment is arranged at the support arm and sleeved at the support arm; a gear is inserted in the obstacle crossing device, a transmission shaft is sleeved in the gear, and the transmission shaft is inserted in the support plate; the dynamic energy distribution of the four moving assemblies can be based, and the flexible steering and quick maneuvering requirements required during high-precision moving are further met.)

1. Open robot of high accuracy removes carrier, including loading board (2) and robot (1), its characterized in that: the top end of the bearing plate (2) is fixedly connected with a robot (1), and the bottom end of the bearing plate (2) is fixedly provided with a moving assembly (3);

the moving assembly (3) comprises V-shaped plates (32), four V-shaped plates (32) are fixed at the positions of the peripheral corners of the bottom end of the bearing plate (2), a supporting plate (37) is arranged below the V-shaped plates (32), and a U-shaped groove is fixed at the top end of the supporting plate (37); one end of the V-shaped plate (32) is sleeved in the U-shaped groove, and the V-shaped plate (32) is rotatably connected to the U-shaped groove; a support arm (33) is fixed at the inclined side wall of the V-shaped plate (32), an obstacle crossing device (34) is arranged at the support arm (33), and the obstacle crossing device (34) is sleeved at the support arm (33); a gear (35) is inserted in the obstacle crossing device (34), a transmission shaft is sleeved in the gear (35), and the transmission shaft is inserted in the supporting plate (37); and a roller (36) is arranged between the supporting plate (37) and the obstacle crossing equipment (34), and the roller (36) is sleeved at the transmission shaft.

2. The high precision open robot mobile carrier of claim 1, wherein: a hydraulic mechanism (31) is arranged between the V-shaped plate (32) and the supporting plate (37), and the upper end and the lower end of the hydraulic mechanism (31) are rotatably connected to the V-shaped plate (32) and the supporting plate (37); an inserting channel is arranged at the supporting plate (37), and bearings are embedded into ports on two sides of the inserting channel; the transmission shaft is inserted into the bearing, the other end of the transmission shaft is provided with a driven gear, and the driven gear is sleeved at the transmission shaft; a driving gear (39) is arranged above the driven gear, a driving unit (38) is fixed at the top end of the supporting plate (37) on one side of the driving gear (39), and the driving unit (38) is connected to the driving gear (39) in a transmission manner; the driven gear is in meshed connection with the driving gear (39).

3. The high precision open robot mobile carrier of claim 1, wherein: the obstacle crossing equipment (34) comprises a through hole (341), a rack (342) and a fan-shaped obstacle crossing box (343), the through hole (341) penetrates through the circle center of the fan-shaped obstacle crossing box (343), the support arm (33) penetrates into the through hole (341), a fan-shaped groove is formed in the fan-shaped obstacle crossing box (343), the rack (342) is fixed to the upper edge of the fan-shaped groove, and the rack (342) is located above the gear (35).

4. The high precision open robotic mobile carrier of claim 3, wherein: the obstacle crossing equipment (34) comprises an execution structure (344) and a trigger structure (345), the trigger structure (345) is fixed on the inner side of the fan-shaped obstacle crossing box (343) above the fan-shaped slot, and the trigger structure (345) penetrates through the rack (342); an executing structure (344) is arranged on the inner side of the fan-shaped obstacle crossing box (343) close to the inner wall, and the executing structure (344) is in signal connection with a triggering structure (345).

5. The high precision open robotic mobile carrier of claim 4, wherein: the triggering structure (345) comprises an elastic air bag (3451), an air flow sensor (3452) and an elastic rack (3453), the elastic air bag (3451) is fixed in the fan-shaped obstacle crossing box (343), the elastic rack (3453) is connected to the bottom end of the elastic air bag (3451), and the elastic rack (3453) alternately penetrates into the gap of the rack (342); the top end of the elastic air bag (3451) is connected with an air flow sensor (3452).

6. The high precision open robotic mobile carrier of claim 4, wherein: the executing structure (344) comprises a pneumatic structure (3441), a push plate (3442) and fins (3443), the pneumatic structure (3441) is fixed on the inner wall of the fan-shaped obstacle crossing box (343) on two sides of the triggering structure (345), the push plate (3442) is arranged in the fan-shaped obstacle crossing box (343) below the fan-shaped groove, the outer surface of the push plate (3442) is equally divided into a plurality of fins (3443), and the fins (3443) penetrate through the curved outer surface of the fan-shaped obstacle crossing box (343).

7. The high precision open robotic mobile carrier of claim 6, wherein: the telescopic rods at the two pneumatic structures (3441) are symmetrically connected to two ends of the push plate (3442), the curved outer surface of the fan-shaped obstacle crossing box (343) is provided with a plurality of strip-shaped slots in a penetrating manner, and the fins (3443) are inserted into the strip-shaped slots.

8. The high-precision moving method of a high-precision open robot moving carrier according to claim 1, characterized in that: the high-precision moving method of the high-precision open type robot moving carrier comprises the following steps:

1) the open type robot is divided into a roller moving mode and an obstacle crossing moving mode based on the road surface condition;

2) based on the rolling moving mode in 1), in the specific using process, the relative angle between the V-shaped plate and the supporting plate is mainly adjusted through a hydraulic mechanism, namely, when the roller contacts the ground, the obstacle crossing device is suspended, and at the moment, the high-precision moving and steering operation of the robot is realized through the kinetic energy transmission of the driving unit;

3) based on the obstacle crossing moving mode in 1), in the specific use process, the relative angle between the V-shaped plate and the supporting plate is mainly adjusted through a hydraulic mechanism, namely when the roller leaves the ground, the obstacle crossing equipment contacts the ground, and at the moment, the obstacle crossing equipment is supported in a splayed shape, so that the use purposes of obstacle crossing and standing in obstacle crossing of the robot are achieved in the kinetic energy transmission of the driving unit.

Technical Field

The invention relates to the field of robot movement, in particular to a high-precision open type robot moving carrier and a high-precision moving method thereof.

Background

The robot moving is a device for carrying the robot to move, can receive human commands, can run a pre-arranged program, and can carry the robot to move according to a principle outline action formulated by an artificial intelligence technology, so that the robot can reach a target place and execute a corresponding target task.

The mainstream moving mode of the open type robot is a wheel type moving method, the moving mode has great moving troubles when facing obstacle roads such as ridge slope, wet skid, muddy and the like, and in moving based on the wheel type moving method, when the robot passes through the roadblock, the friction force between a wheel body and the surface of the roadblock is insufficient, so that the use requirements of high-precision standing and the like at the roadblock position are difficult to realize, the use content is single, and the limitation is large.

Disclosure of Invention

The present invention is directed to a high-precision open type robot moving carrier and a high-precision moving method thereof, so as to solve the above-mentioned problems.

In order to solve the technical problems, the invention adopts the following technical scheme: open robot of high accuracy removes carrier, including loading board and robot, its characterized in that: the top end of the bearing plate is fixedly connected with a robot, and the bottom end of the bearing plate is fixedly provided with a moving assembly;

the moving assembly comprises V-shaped plates, four V-shaped plates are fixed at the positions of the peripheral corners at the bottom end of the bearing plate, a supporting plate is arranged below the V-shaped plates, and a U-shaped groove is fixed at the top end of the supporting plate; one end of the V-shaped plate is sleeved in the U-shaped groove, and the V-shaped plate is rotatably connected to the U-shaped groove; a support arm is fixed on the inclined side wall of the V-shaped plate, and obstacle crossing equipment is arranged on the support arm and sleeved at the support arm; a gear is inserted in the obstacle crossing equipment, a transmission shaft is sleeved in the gear, and the transmission shaft is inserted in the support plate; and a roller is arranged between the supporting plate and the obstacle crossing equipment and is sleeved on the transmission shaft.

Preferably, a hydraulic mechanism is arranged between the V-shaped plate and the support plate, and the upper end and the lower end of the hydraulic mechanism are rotatably connected to the V-shaped plate and the support plate; an inserting channel is arranged at the supporting plate, and bearings are embedded into ports on two sides of the inserting channel; the transmission shaft is inserted into the bearing, the other end of the transmission shaft is provided with a driven gear, and the driven gear is sleeved at the transmission shaft; a driving gear is arranged above the driven gear, a driving unit is fixed at the top end of the supporting plate on one side of the driving gear, and the driving unit is in transmission connection with the driving gear; the driven gear is in meshed connection with the driving gear.

Preferably, the obstacle crossing equipment comprises a through hole, a rack and a fan-shaped obstacle crossing box, the through hole penetrates through the center of the fan-shaped obstacle crossing box, the support arm penetrates through the through hole, a fan-shaped groove is formed in the fan-shaped obstacle crossing box, the rack is fixed to the upper edge of the fan-shaped groove, and the rack is located above the gear.

Preferably, the obstacle crossing equipment comprises an execution structure and a triggering structure, the triggering structure is fixed on the inner side of the fan-shaped obstacle crossing box above the fan-shaped slot, and the triggering structure is inserted into the rack; the inner side of the fan-shaped obstacle crossing box is provided with an execution structure close to the inner wall, and the execution structure and the trigger structure are in signal connection.

Preferably, the triggering structure comprises an elastic air bag, an airflow sensor and an elastic rack, the elastic air bag is fixed in the fan-shaped obstacle crossing box, the bottom end of the elastic air bag is connected with the elastic rack, and the elastic rack alternately penetrates into a gap of the rack; the top end of the elastic air bag is connected with an airflow sensor.

Preferably, the executive structure comprises a pneumatic structure, a push plate and fins, the pneumatic structure is fixed on the inner wall of the fan-shaped obstacle crossing box at the two sides of the trigger structure, the push plate is arranged in the fan-shaped obstacle crossing box below the fan-shaped groove, the outer surface of the push plate is connected with the fins in an equal dividing mode, and the fins penetrate through the curved outer surface of the fan-shaped obstacle crossing box.

Preferably, two pneumatic structure department telescopic link symmetric connection is to the both ends of push pedal, fan-shaped curved surface department of hindering the box more has a plurality of bar trench of equal penetration, the fin alternates in the bar trench.

The high-precision moving method of the high-precision open type robot moving carrier is characterized in that: the high-precision moving method of the high-precision open type robot moving carrier comprises the following steps:

1) the open type robot is divided into a roller moving mode and an obstacle crossing moving mode based on the road surface condition;

2) based on the rolling moving mode in 1), in the specific using process, the relative angle between the V-shaped plate and the supporting plate is mainly adjusted through a hydraulic mechanism, namely, when the roller contacts the ground, the obstacle crossing device is suspended, and at the moment, the high-precision moving and steering operation of the robot is realized through the kinetic energy transmission of the driving unit;

3) based on the obstacle crossing moving mode in 1), in the specific use process, the relative angle between the V-shaped plate and the supporting plate is mainly adjusted through a hydraulic mechanism, namely when the roller leaves the ground, the obstacle crossing equipment contacts the ground, and at the moment, the obstacle crossing equipment is supported in a splayed shape, so that the use purposes of obstacle crossing and standing in obstacle crossing of the robot are achieved in the kinetic energy transmission of the driving unit.

The invention has the beneficial effects that:

1. the invention combines the rolling movement and the obstacle crossing movement, namely, the relative angle between the V-shaped plate and the supporting plate is adjusted by the hydraulic mechanism in the using process, so that the roller and the obstacle crossing equipment can be alternately used based on the road surface condition.

2. According to the invention, the four moving assemblies are driven by the independent driving mechanism, namely, the robot moves forwards, backwards and turns, and the requirements of flexible turning and quick maneuvering required during high-precision moving can be further met based on kinetic energy distribution of the four moving assemblies.

3. The robot uses a plurality of groups of fins to contact the road surface, namely when fixed-point standing is needed in the obstacle crossing process, the kinetic energy transmission between the gear and the rack is locked by the driving unit, so that the plurality of groups of fins contact the road surface, and further a plurality of groups of friction forces are obtained, so that the robot can perform fixed-point standing in the obstacle crossing process, and further the high-precision fixed-point requirement of facing the obstacle road surface when moving at high precision is met.

Drawings

FIG. 1 is a schematic structural diagram of a high-precision open type robot moving carrier according to the present invention;

FIG. 2 is a schematic view of a moving assembly according to the present invention;

FIG. 3 is a schematic view of the obstacle crossing apparatus of the present invention;

FIG. 4 is a schematic cross-sectional view of the obstacle crossing apparatus of the present invention;

FIG. 5 is a schematic diagram of a trigger architecture and an execution architecture according to the present invention;

reference numerals: 1. a robot; 2. a carrier plate; 3. a moving assembly; 31. a hydraulic mechanism; 32. a V-shaped plate; 33. a support arm; 34. obstacle crossing equipment; 35. a gear; 36. a roller; 37. a support plate; 38. a drive unit; 39. a driving gear; 341. perforating; 342. a rack; 343. a fan-shaped obstacle crossing box; 344. an execution structure; 345. a trigger structure; 3441. a pneumatic structure; 3442. pushing the plate; 3443. a fin; 3451. an elastic air bag; 3452. an airflow sensor; 3453. an elastic rack.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easily understood, the invention is further described below with reference to the specific embodiments and the attached drawings, but the following embodiments are only the preferred embodiments of the invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.

Specific embodiments of the present invention are described below with reference to the accompanying drawings.

Example 1

As shown in fig. 1-2, the high-precision robot moving carrier comprises a bearing plate 2 and a robot 1, wherein the top end of the bearing plate 2 is fixedly connected with the robot 1, and the bottom end of the bearing plate 2 is fixedly provided with a moving assembly 3;

the moving assembly 3 comprises a V-shaped plate 32, four V-shaped plates 32 are fixed at the bottom end of the bearing plate 2 at the peripheral corners, a supporting plate 37 is arranged below the V-shaped plate 32, and a U-shaped groove is fixed at the top end of the supporting plate 37; one end of the V-shaped plate 32 is sleeved in the U-shaped groove, and the V-shaped plate 32 is rotatably connected to the U-shaped groove; a support arm 33 is fixed at the inclined side wall of the V-shaped plate 32, an obstacle crossing device 34 is arranged at the support arm 33, and the obstacle crossing device 34 is sleeved at the support arm 33; a gear 35 is inserted in the obstacle crossing device 34, a transmission shaft is sleeved in the gear 35, and the transmission shaft is inserted in the supporting plate 37; a roller 36 is arranged between the supporting plate 37 and the obstacle crossing device 34, and the roller 36 is sleeved at the transmission shaft.

A hydraulic mechanism 31 is arranged between the V-shaped plate 32 and the supporting plate 37, and the upper end and the lower end of the hydraulic mechanism 31 are rotatably connected to the V-shaped plate 32 and the supporting plate 37; an inserting channel is arranged at the supporting plate 37, and bearings are embedded into ports on two sides of the inserting channel; the transmission shaft is inserted into the bearing, the other end of the transmission shaft is provided with a driven gear, and the driven gear is sleeved at the transmission shaft; a driving gear 39 is arranged above the driven gear, a driving unit 38 is fixed on one side of the driving gear 39 and positioned at the top end of the supporting plate 37, and the driving unit 38 is connected to the driving gear 39 in a transmission manner; the driven gear is in meshed connection with the driving gear 39.

In the embodiment, the robot 1 is divided into a roller moving mode and an obstacle crossing moving mode based on the road surface condition, wherein in the rolling moving mode, in the specific use process, the relative angle between the V-shaped plate 32 and the support plate 37 is mainly adjusted through the hydraulic mechanism 31, namely, when the roller 36 contacts the ground, the obstacle crossing device 34 is suspended, and at the moment, the high-precision moving and steering operation of the robot 1 is realized through the kinetic energy transmission of the driving unit 38; in the specific use process of the obstacle crossing moving mode, the relative angle between the V-shaped plate 32 and the supporting plate 37 is mainly adjusted through the hydraulic mechanism 31, namely when the roller 36 leaves the ground, the obstacle crossing equipment 34 contacts the ground, and the obstacle crossing equipment 34 is supported in a splayed shape at the moment, so that the use purposes of obstacle crossing and standing in obstacle crossing of the robot 1 are achieved in the kinetic energy transmission of the driving unit 38.

In this embodiment, the four moving assemblies 3 are all driven by a single driving mechanism, that is, the robot 1 moves forward, backward and turns, and the purposes of flexible turning and quick maneuvering required during high-precision movement can be achieved based on the kinetic energy distribution of the four moving assemblies 3.

In this embodiment, the movement selection of the robot 1 is expanded by setting the roller movement mode and the obstacle crossing movement mode according to the specific conditions of the road surface, so that the problem of limited movement caused by a single movement option is avoided.

Example 2

As shown in fig. 3, the obstacle crossing device 34 of the high-precision robot moving carrier includes a through hole 341, a rack 342, and a fan-shaped obstacle crossing box 343, the through hole 341 penetrates through the center of the fan-shaped obstacle crossing box 343, the support arm 33 penetrates through the through hole 341, a fan-shaped slot is provided at the fan-shaped obstacle crossing box 343, the rack 342 is fixed at the upper edge of the fan-shaped slot, and the rack 342 is located above the gear 35.

In this embodiment, in the obstacle crossing moving mode, the moving form of the robot 1 is in a creeping shape, that is, when the gear 35 is engaged and connected to the rack 342, the fan-shaped obstacle crossing box 343 is rotated relative to the road surface based on the kinetic energy released by the driving unit 38; in the rotating process, the four obstacle crossing devices 34 are subjected to ground contact and suspension adjustment through the hydraulic mechanism 31, and then under the repeated adjustment of the corresponding hydraulic mechanism 31, the four obstacle crossing devices 34 are repeatedly alternated between suspension and ground contact, and the alternating process is the process of crawling movement of the robot 1.

Example 3

As shown in fig. 4-5, the high-precision robot moves the carrier, the obstacle crossing apparatus 34 includes an executing structure 344 and a triggering structure 345, the triggering structure 345 is fixed on the inner side of the fan-shaped obstacle crossing box 343 above the fan-shaped slot, and the triggering structure 345 is inserted into the rack 342; an actuating structure 344 is disposed on the inner side of the fan-shaped obstacle crossing box 343 near the inner wall, and the actuating structure 344 is in signal connection with a trigger structure 345.

The triggering structure 345 comprises an elastic air bag 3451, an air flow sensor 3452 and an elastic rack 3453, the elastic air bag 3451 is fixed in the fan-shaped obstacle crossing box 343, the elastic rack 3453 is connected to the bottom end of the elastic air bag 3451, and the elastic rack 3453 alternately penetrates into the gap of the rack 342; an airflow sensor 3452 is connected to the tip of the elastic bag 3451.

The executing structure 344 comprises a pneumatic structure 3441, a push plate 3442 and fins 3443, the pneumatic structure 3441 is fixed on the inner wall of the fan-shaped obstacle crossing box 343 on both sides of the triggering structure 345, the push plate 3442 is arranged in the fan-shaped obstacle crossing box 343 below the fan-shaped slots, the outer surface of the push plate 3442 is equally divided into a plurality of fins 3443, and the fins 3443 penetrate through the curved outer surface of the fan-shaped obstacle crossing box 343.

In this embodiment, the gear 35 is engaged with the rack 342, and when the elastic rack 3453 is alternatively inserted into the rack 342, the gear 35 extrudes the elastic rack 3453, the deformation generated during the extrusion process is shown to the elastic air bag 3451, and after the elastic air bag 3451 is stressed, the airflow change generated during the deformation is discharged from the airflow sensor 3452, and then the executing structure 344 is expanded relative to the fan-shaped obstacle crossing box 343 in the signal transmission of the electronic control unit, and the executing structure 344 is used to replace the roller 36 to contact the ground after the expansion, so as to achieve the obstacle crossing purpose of the road surface.

In this embodiment, multiple sets of fins 3443 are used to contact the road surface, that is, when the robot needs to perform fixed-point standing in the obstacle crossing process, the driving unit 38 locks the kinetic energy transmission between the gear 35 and the rack 342, so that the multiple sets of fins 3443 contact the road surface, and then multiple sets of friction forces are obtained, so that the robot 1 can perform fixed-point standing in the obstacle crossing process, and further meet the high-precision fixed-point requirement facing the obstacle road surface when moving with high precision.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.