CN115384656B - A multi-degree-of-freedom robot walking mechanism - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom robot walking mechanism, which comprises: the walking chassis, the drive wheel structure is installed to walking chassis inside one side, and the inside opposite side of walking chassis installs first steering wheel structure and second steering wheel structure respectively, and infrared sensor, obstacle avoidance sensor are installed to the front end spiro union respectively on walking chassis simultaneously to the fixing base is installed through the spiro union in the top of walking chassis, the surface and the picking robot fixed connection of fixing base. When the device runs, the trolley defaults to turn to the left when the obstacle avoidance sensor detects an obstacle, and turns to the other side without the obstacle when only one side of the infrared sensor detects the obstacle; when all sensors no longer detect the obstacle after turning, the trolley resumes straight movement, and the purpose of obstacle avoidance on the obstacle can be achieved.

Description

A multi-degree-of-freedom robot walking mechanism

technical field

The invention relates to the field of picking robots, in particular to a multi-degree-of-freedom robot walking mechanism.

Background technique

Blueberries have good health effects, can delay memory loss and prevent heart disease; in addition, they can also improve eyesight and prevent colon cancer. They are regarded as "super fruits" and have broad market prospects; Blueberries are susceptible to pests and diseases, especially fungal diseases, bacterial diseases and nematodes. For the prevention and control of pests and diseases, the traditional artificial spraying method is basically adopted in China. Unsafe factors and uneven spraying; in order to eliminate these disadvantages, it is an inevitable trend to use spraying robots for pest control; the spraying robot is mainly composed of a control part and a walking mechanism; when the walking mechanism is moving, it cannot avoid obstacles. Hitting an obstacle prevents it from moving.

Contents of the invention

In order to make up for the gap in the market, the invention provides a multi-degree-of-freedom robot walking mechanism.

The purpose of the present invention is to provide a multi-degree-of-freedom robot walking mechanism to solve the problems raised in the above-mentioned background technology.

In order to achieve the above object, the present invention provides the following technical solutions: a multi-degree-of-freedom robot walking mechanism, comprising:

Walking chassis, one side of the walking chassis is equipped with a driving wheel structure, and the other side of the walking chassis is installed with a first steering wheel structure and a second steering wheel structure, and at the same time, the front end of the walking chassis is screwed and installed with infrared The sensor, the obstacle avoidance sensor, and the top of the walking chassis are screwed with a fixed seat, and the surface of the fixed seat is fixedly connected with the picking robot;

Drive wheel structure, the rear wheel of the drive wheel structure is installed on the rear axle, and two groups of driven sprockets are installed on the rear axle, and the installation frame is screwed and installed on the walking chassis, and the inside of the installation frame is passed through The base is equipped with a brushless motor, and the output shaft of the brushless motor is fixedly connected with the drive sprocket;

The first steering wheel structure, the front wheel on the first steering wheel structure and the front axle are movably connected by bearings, and the end of the front axle away from the front wheel is welded and fixed to the adjustment gear, and the adjustment gear is installed on the installation shaft , and the installation shaft is movably installed in the inside of the traveling chassis through the bearing, and the driving motor is installed in the inside of the traveling chassis through the frame.

Further, the driving wheel structure includes a rear wheel, a driven sprocket, a chain, a mounting frame, a brushless motor, a driving sprocket, and a rear axle, and the brushless motor is provided with two groups inside the mounting frame, two groups The brushless motor works synchronously, and the driven sprocket and the driving sprocket are driven by a chain.

Further, the first steering wheel structure includes a guide rail, a driving motor, a driving gear, a front wheel, a front axle, an adjustment gear, a mounting shaft, a connecting rod, a guide block and an opening, and the first steering wheel structure is connected to the second steering wheel structure. The composition structure of steering wheel structure is consistent.

Further, the adjustment gear is arranged horizontally with the drive gear, and the size of the adjustment gear is adapted to the drive gear, and at the same time, the adjustment gear is meshed with the drive gear.

Further, the guide rail is fixedly welded inside the walking chassis, and the right end of the guide rail is arranged in an arc shape, while the size of the guide block matches the size of the guide rail, and the end of the guide block is slidably arranged on the guide rail internal.

Further, a connecting rod is welded and fixed on the upper left side of the adjusting gear, and the connecting rod is an "L"-shaped structure made of metal material, and the end of the connecting rod far away from the adjusting gear is fixedly connected to the guide block.

Further, openings are opened on both side walls of the bottom of the walking chassis, and front axles are interspersed inside the openings. The front axles are arranged in two groups, and the front axles are driven and transmitted through the driving gear and the adjusting gear.

Further, the infrared sensor and the obstacle avoidance sensor adopt a combination mode of crossing and obstacle avoidance, and the infrared rays emitted by the two sets of infrared sensors are arranged in a crossing manner, and the two sets of infrared sensors have a symmetrical structure with respect to the obstacle avoidance sensor.

Further, the infrared sensor, the obstacle avoidance sensor and the core control module installed inside the walking chassis are composed together to form the obstacle avoidance system of the robot walking mechanism, and the core control module is electrically connected with the drive motor, and the core control module adopts Arduino yun Control chip, the core of the chip is ATmega32u4 single-chip microcomputer, and comes with embedded Linux machine.

Compared with the prior art, the beneficial effect of the present invention is: when the device is moving, when the obstacle avoidance sensor detects an obstacle, the car turns to the left by default; when only one side of the infrared sensor detects an obstacle, the car turns to no Turn to the other side of the obstacle; after turning, when all the sensors no longer detect the obstacle, the car will go straight and avoid the obstacle.

Description of drawings

Fig. 1 is the front schematic diagram of structure of the present invention;

Fig. 2 is the A-A sectional schematic diagram in Fig. 1 of structure of the present invention;

Fig. 3 is the side view of Fig. 1 of structure of the present invention;

Fig. 4 is a synchronous steering schematic diagram of the first steering wheel structure and the second steering wheel structure of the structure of the present invention;

Fig. 5 is the first steering wheel structure schematic diagram of structure of the present invention;

Fig. 6 is the top view of Fig. 1 of structure of the present invention;

Fig. 7 is the overall device schematic diagram of structure of the present invention;

Fig. 8 is a logic block diagram of the obstacle avoidance system of the structure of the present invention.

In the figure: 1, walking chassis; 2, driving wheel structure; 21, rear wheel; 22, driven sprocket; 23, chain; 24, installation frame; 25, brushless motor; 26, driving sprocket; 27, rear Shaft rod; 3, first steering wheel structure; 30, guide rail; 31, driving motor; 32, driving gear; 33, front wheel; 34, front axle; 35, adjusting gear; 36, installation shaft; 37, connecting rod ; 38, guide block; 39, opening; 4, second steering wheel structure; 5, picking robot; 6, fixed seat; 7, infrared sensor; 8, obstacle avoidance sensor.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Specific embodiment one: please refer to Fig. 1-8, the present invention provides a technical solution: a multi-degree-of-freedom robot walking mechanism, including: a walking chassis 1, a driving wheel structure 2 and a first steering wheel structure 3;

One side of the walking chassis 1 is equipped with a driving wheel structure 2, and the other side of the walking chassis 1 is installed with a first steering wheel structure 3 and a second steering wheel structure 4, and the front end of the walking chassis 1 is screwed and installed respectively. Infrared sensor 7, obstacle avoidance sensor 8, and the top of walking chassis 1 is installed with fixed seat 6 by screw connection, and the surface of fixed seat 6 is fixedly connected with picking robot 5;

The rear wheel 21 of the driving wheel structure 2 is installed on the rear axle bar 27, and two groups of driven sprockets 22 are installed on the rear axle bar 27, and the mounting frame 24 is screwed and installed on the walking chassis 1 simultaneously, and the mounting frame 24 A brushless motor 25 is installed inside through the frame, and the output shaft of the brushless motor 25 is fixedly connected with the driving sprocket 26;

The front wheel 33 on the first steering wheel structure 3 is movably connected with the front axle 34 by a bearing, and the end of the front axle 34 away from the front wheel 33 is welded and fixed with the adjustment gear 35, and the adjustment gear 35 is installed on the installation shaft 36 , and the mounting shaft 36 is movably installed in the inside of the traveling chassis 1 through bearings, and the driving motor 31 is installed in the inside of the traveling chassis 1 by a support.

Working principle: when in use, the picking robot 5 can be moved and transported through the walking mechanism, the switch of the brushless motor 25 is started, the output shaft of the brushless motor 25 drives the driving sprocket 26 to rotate, and the driving sprocket 26 The driven sprocket 22 is driven to rotate by the chain 23 to drive and move the device, and the first steering wheel structure 3 and the second steering wheel structure 4 are used to steer the mobile device.

Embodiment 2: This embodiment is a further limitation of Embodiment 1. The driving wheel structure 2 includes a rear wheel 21, a driven sprocket 22, a chain 23, a mounting frame 24, a brushless motor 25, a driving sprocket 26 and a rear wheel. There are two groups of shaft rods 27 and brushless motors 25 inside the mounting frame 24 . The two groups of brushless motors 25 work synchronously, and the driven sprocket 22 and the driving sprocket 26 are driven by the chain 23 .

As shown in Figure 1: two groups of brushless motors 25 work synchronously, and the rear shaft rod 27 can be driven to rotate by two groups of driving sprocket wheels 26, chain 23 and driven sprocket wheel 22, so as to realize the rotation work of the rear wheel 21. drive and move;

The power source of the walking device is a permanent magnet DC brushless motor 25, which has the following characteristics: it adopts electronic commutation, has a simple structure, good heat dissipation, is not easy to lose steps and shocks, and is convenient for speed regulation and control. Fully meet the design requirements of the walking mechanism.

Embodiment 3: This embodiment is a further limitation of Embodiment 1. The first steering wheel structure 3 includes a guide rail 30, a drive motor 31, a drive gear 32, a front wheel 33, a front axle 34, an adjustment gear 35, and a mounting shaft. 36, a connecting rod 37, a guide block 38 and an opening 39, and the composition structure of the first steering wheel structure 3 and the second steering wheel structure 4 is consistent.

As shown in Figure 1-4: the working principle of the first steering wheel structure 3 is: start the switch of the drive motor 31, the output shaft of the drive motor 31 drives the drive gear 32 to rotate, the drive gear 32 drives the adjustment gear 35 to rotate, and the adjustment gear 35 The front wheel 33 is driven and tilted by the front axle 34 to realize the steering work of the running gear.

Embodiment 4: This embodiment is a further limitation of Embodiment 3. The adjustment gear 35 and the drive gear 32 are arranged horizontally, and the size of the adjustment gear 35 and the drive gear 32 are matched, and the adjustment gear 35 meshes with the drive gear 32 at the same time. connect.

The adjustment gear 35 is meshed with the drive gear 32 , and the driving rotation of the adjustment gear 35 can be realized by driving the drive motor 31 .

Embodiment 5: This embodiment is a further limitation of Embodiment 3. The guide rail 30 is fixedly welded on the inside of the walking chassis 1, and the right side end of the guide rail 30 is arc-shaped, and the guide block 38 is connected to the guide rail simultaneously. The size of the rail 30 is matched, and the end of the guide block 38 is slidably disposed inside the guide rail 30 .

As shown in Figure 1-2: the guide block 38 is adapted to the size of the guide rail 30, and the end of the guide block 38 is slidably arranged inside the guide rail 30, and the adjustment gear 35 drives the front wheel 33 to tilt through the front axle 34 At the same time, the end of the guide block 38 is slidably arranged in the inside of the guide rail 30, which can limit and guide the adjustment gear 35 when rotating, so as to avoid the adjustment gear 35 from tilting.

Embodiment 6: This embodiment is a further limitation of Embodiment 4. The upper left side of the adjustment gear 35 is welded and fixed with a connecting rod 37, and the connecting rod 37 is an "L"-shaped structure made of metal material. At the same time, the connecting rod 37 One end away from the adjusting gear 35 is fixedly connected with the guide block 38 .

As shown in Figure 1-2: the connecting rod 37 is an "L"-shaped structure made of metal material. When the adjustment gear 35 is rotating, the guide block 38 on it is slidably arranged inside the guide rail 30 to ensure the rotation. The stability of the structure when turning.

Embodiment 7: This embodiment is a further limitation of Embodiment 1. Openings 39 are provided on both side walls of the bottom of the walking chassis 1, and front axles 34 are interspersed inside the openings 39, and the front axles 34 are arranged in two groups. , and the front axle 34 is driven and transmitted through the drive gear 32 and the adjustment gear 35 .

As shown in Figure 1-3: the walking drive of the device adopts the chain transmission method; compared with the gear, the chain transmission cannot maintain a constant instantaneous transmission ratio, but its manufacturing and installation accuracy requirements are low, and the cost is also low. For long-distance transmission, its structure is much lighter than gear transmission. The formula for calculating the gear ratio of the driving and driven sprockets is as follows:

In the formula, v-moving speed of walking mechanism (km/h);

r- hub radius (m);

n- brushless DC motor speed (r/min);

z ₁ , z ₂ - the number of teeth of the driven sprocket.

The gear ratio of the leading and driven sprockets can be obtained by measuring the speed of the traveling mechanism, the radius of the hub, and the rotational speed of the brushless motor.

Embodiment 8: This embodiment is a further limitation of Embodiment 1. The infrared sensor 7 and the obstacle avoidance sensor 8 adopt a combination of crossing and obstacle avoidance, and the infrared rays emitted by the two sets of infrared sensors 7 are set in a crossing manner. The group of infrared sensors 7 has a symmetrical structure with respect to the obstacle avoidance sensor 8 .

When the device is moving, when the obstacle avoidance sensor 8 detects an obstacle, the car turns to the left by default; when only one side of the infrared sensor 7 detects an obstacle, the car turns to the other side without obstacles; after turning, when all sensors When obstacles are no longer detected, the car resumes going straight.

Embodiment 9: This embodiment is a further limitation of Embodiment 1. The infrared sensor 7, the obstacle avoidance sensor 8 and the core control module installed inside the walking chassis 1 are combined to form the obstacle avoidance system of the robot walking mechanism, and the core control The module is electrically connected with the driving motor 31, and the core control module adopts the Arduino yun control chip. The core of the chip is an ATmega32u4 single-chip microcomputer, and it has an embedded Linux machine.

When the two sensors detect an obstacle, the car turns to the direction where no obstacle is detected; when all three sensors detect an obstacle, that is, the car encounters a corner or a large obstacle in front, then the car switches to the sharp turn mode , the car turns left on the spot by default. If the sensor no longer detects obstacles during a sharp turn, it means that the obstacle has turned to the right side of the car, and the car switches to forward mode and resumes going straight.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (4)

1. A multiple degree of freedom robot walking mechanism comprising:

the device comprises a walking chassis (1), wherein a driving wheel structure (2) is arranged on one side of the inside of the walking chassis (1), a first steering wheel structure (3) and a second steering wheel structure (4) are respectively arranged on the other side of the inside of the walking chassis (1), an infrared sensor (7) and an obstacle avoidance sensor (8) are respectively and spirally connected with the front end of the walking chassis (1), a fixing seat (6) is arranged at the top of the walking chassis (1) through the spiral connection, and the surface of the fixing seat (6) is fixedly connected with a picking robot (5);

the driving wheel structure (2), a rear wheel (21) of the driving wheel structure (2) is arranged on a rear shaft lever (27), two groups of driven chain wheels (22) are arranged on the rear shaft lever (27), meanwhile, a mounting frame (24) is arranged on the walking chassis (1) in a threaded connection mode, a brushless motor (25) is arranged in the mounting frame (24) through a machine base, and an output shaft of the brushless motor (25) is fixedly connected with a driving chain wheel (26);

the front wheel (33) and the front shaft (34) on the first steering wheel structure (3) are movably connected through a bearing, one end, far away from the front wheel (33), of the front shaft (34) is welded and fixed with the adjusting gear (35), meanwhile, the adjusting gear (35) is mounted on the mounting shaft (36), the mounting shaft (36) is movably mounted in the walking chassis (1) through the bearing, and the driving motor (31) is mounted in the walking chassis (1) through the base;

the first steering wheel structure (3) comprises a guide rail (30), a driving motor (31), a driving gear (32), a front wheel (33), a front shaft (34), an adjusting gear (35), a mounting shaft (36), a connecting rod (37), a guide block (38) and an opening (39), and the first steering wheel structure (3) and the second steering wheel structure (4) are consistent in composition structure; the adjusting gear (35) is horizontally arranged with the driving gear (32), the size of the adjusting gear (35) is matched with that of the driving gear (32), and the adjusting gear (35) is meshed with the driving gear (32); the guide rail (30) is fixedly welded in the walking chassis (1), the right end part of the guide rail (30) is in arc-shaped arrangement, meanwhile, the guide block (38) is matched with the guide rail (30) in size, and the end part of the guide block (38) is arranged in the guide rail (30) in a sliding manner; the left upper side of the adjusting gear (35) is welded and fixed with a connecting rod (37), the connecting rod (37) is of an L-shaped structure made of metal materials, and one end of the connecting rod (37) far away from the adjusting gear (35) is fixedly connected with a guide block (38); the two side walls of the bottom of the walking chassis (1) are provided with openings (39), front shafts (34) are inserted into the openings (39), the front shafts (34) are arranged in two groups, and the front shafts (34) are driven and transmitted through driving gears (32) and adjusting gears (35).

2. A multiple degree of freedom robot walking mechanism according to claim 1, wherein: the driving wheel structure (2) comprises a rear wheel (21), a driven sprocket (22), a chain (23), a mounting frame (24), a brushless motor (25), a driving sprocket (26) and a rear shaft rod (27), wherein two groups of brushless motors (25) are arranged in the mounting frame (24), the two groups of brushless motors (25) work synchronously, and the driven sprocket (22) and the driving sprocket (26) are in transmission through the chain (23).

3. A multiple degree of freedom robot walking mechanism according to claim 1, wherein: the infrared sensors (7) and the obstacle avoidance sensors (8) adopt a mode of combining intersecting obstacle avoidance, infrared light emitted by the two groups of infrared sensors (7) is arranged in an intersecting mode, and meanwhile, the two groups of infrared sensors (7) are of symmetrical structures relative to the obstacle avoidance sensors (8).

4. A multiple degree of freedom robot walking mechanism according to claim 1, wherein: the infrared sensor (7), the obstacle avoidance sensor (8) and the core control module installed inside the walking chassis (1) form an obstacle avoidance system of the robot walking mechanism, the core control module is electrically connected with the driving motor (31), meanwhile, the core control module adopts an Arduino yun control chip, and the core of the chip is an ATmega32u4 singlechip and is provided with an embedded Linux machine.