1. A mecanum wheel-based robot, comprising:

a cross beam;

the telescopic unit is fixedly connected to the opposite side surfaces of the two cross beams and used for realizing the distance change of the two cross beams in the horizontal direction;

the leg units are connected with the side face of the cross beam through a first steering engine and are symmetrically arranged on two sides of the cross beam at intervals, and the leg units are provided with hip joints, leg parts and knee joints of legs of a human body so as to realize the freedom degrees in multiple directions;

the first driving unit is fixed at the bottom end of the leg unit;

the Mecanum wheel is sleeved on an output shaft of the first driving unit, and the first driving unit is used for driving the Mecanum wheel to move;

the control unit is arranged on the cross beam and used for controlling the degree of freedom of the leg unit, the Mecanum wheel movement and the telescopic unit;

and the power supply module is fixed on the cross beam and is electrically connected with the control unit.

2. A mecanum wheel-based robot as claimed in claim 1, wherein the telescopic unit is a scissor-type structure, the scissor-type structure comprises a bracket, at least four support arms, a plurality of pins and a second driving unit, the bracket is respectively fixed on the opposite sides of the two cross beams, and the inner sides of the bracket are provided with sliding grooves with guiding function;

every two the support arm is a pair of, includes two pairs at least the support arm sets up alternately, and the crosspoint passes through pin joint, every the tip at the spout is fixed to the one end of support arm, and the other end passes through the pin sets up in the spout, sets up fixed second drive unit on the pin at support arm crosspoint, second drive unit is used for exerting power to the pin to realize the increase of a pair of support arm angle of alternately setting or reduce.

3. A mecanum wheel based robot as claimed in claim 2, wherein the second drive unit includes a stepper motor, a lead screw and at least one lead screw nut, the stepper motor is fixed to the first pin, the lead screw is connected to an output shaft of the stepper motor, the lead screw nut is threadedly connected to the lead screw, the lead screw nut is fixed to the second pin;

the first pin is a pin at the intersection of any one pair of the two pairs of support arms, and the second pin is a pin at the intersection of the other pair of support arms.

4. A mecanum wheel based robot as claimed in claim 3, wherein the robot includes four sets of leg units, each of the end sides of the cross beams having a set of leg units provided by a first steering engine, the leg units including: the first steering engine, the second steering engine, the third steering engine, the first U-shaped frame, the second U-shaped frame, the third U-shaped frame, the fourth U-shaped frame, the first leg shaft and the second leg shaft are fixed on the side face of the end part of the cross beam, one end of the first steering engine is fixed on the first U-shaped frame, the other end of the first steering engine is fixed on the second U-shaped frame, the third U-shaped frame is in cross connection with the second U-shaped frame, the third U-shaped frame is fixedly connected with the second steering engine, and therefore a hip joint of the leg unit is formed;

the top end of the first leg shaft is fixedly connected with the second steering engine, the bottom end of the first leg shaft is fixedly connected with the third steering engine, the third steering engine is fixedly connected onto a fourth U-shaped frame, the fourth U-shaped frame is fixed to the top end of the second leg shaft, and a second driving unit is fixed to the bottom end of the second leg shaft.

5. A mecanum wheel-based robot as recited in claim 1, wherein the mecanum wheel includes a hub axle and a roller, the hub axle being coupled to the first drive unit.

6. A Mecanum wheel based robot as claimed in claim 1 or 5, wherein the first drive unit is a gear motor.

7. The mecanum wheel-based robot of claim 4, wherein the first drive unit, the stepper motor, the first steering engine, the second steering engine, and the third steering engine are electrically connected to the second control unit, respectively.

Background

With the continuous development of the robot technology, a plurality of detection robots can be divided into a wheel type robot, a leg type robot and a crawler type robot according to different motion modes. Due to limitations of crawler, wheeled and legged single-walking modes, the compound walking mode has been widely paid attention to and researched by many researchers and research institutions.

Most of the existing detection robots are developed based on the number of fixed components and have fixed freedom, so that the structure and the function of the detection robot cannot be changed in the working process, and the adaptability of the detection robot is poor when the detection robot is confronted with unknown difficulty. When detecting a strange area, people can encounter various environmental problems and urgently need to solve the problems step by step, if people encounter a narrow passageway, if the size of the passageway is smaller than the height and the width of the robot, the steel body of the robot cannot pass through the narrow passageway at all; in addition, the wheel type robot has the characteristics of high efficiency and flexibility, but the wheel type robot cannot cross obstacles under the condition of complex external roads, but if the wheel type robot is adopted, although the wheel type robot has strong obstacle crossing capability, the wheel type robot has low efficiency, and the working requirement of people cannot be met; the wheel type robot and the leg type robot are combined simply by the existing person, although the trafficability of the robot to a complex road surface is high, the turning capability and the turning capability of the robot are poor, the sensitivity is poor in general, and the working efficiency still does not meet the detection requirements of the people.

Disclosure of Invention

Aiming at the technical defects of the existing detection type robot, the invention provides a telescopic robot based on Mecanum wheels, which can realize the free extension of the robot in the width direction, the leg unit of the robot has the freedom degrees in the directions of hip joints, knees and the like of a human body, and the Mecanum wheels are also arranged at the lower part of the leg unit, so that the robot can transversely move and can rotate 360 degrees in the motion process and rapidly move towards any direction of the leg unit, the robot has stronger turning capability and turning capability, the sensitivity of the motion process of the robot is improved, and the detection requirement of people is met.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a mecanum wheel-based robot, comprising:

a cross beam;

the telescopic unit is fixedly connected to the opposite side surfaces of the two cross beams and used for realizing the distance change of the two cross beams in the horizontal direction;

the leg units are connected with the side face of the cross beam through a first steering engine and are symmetrically arranged on two sides of the cross beam at intervals, and the leg units are provided with hip joints, leg parts and knee joints of legs of a human body so as to realize the freedom degrees in multiple directions;

the first driving unit is fixed at the bottom end of the leg unit;

the Mecanum wheel is sleeved on an output shaft of the first driving unit, and the first driving unit is used for driving the Mecanum wheel to move;

the control unit is arranged on the cross beam and used for controlling the degree of freedom of the leg unit, the Mecanum wheel movement and the telescopic unit;

and the power supply module is fixed on the cross beam and is electrically connected with the control unit.

Furthermore, the telescopic unit is of a scissor-fork type structure, the scissor-fork type structure comprises a support, at least four support arms, a plurality of pins and a second driving unit, the support is respectively fixed on the opposite side surfaces of the two beams, and sliding grooves with guiding functions are arranged on the inner sides of the support;

every two the support arm is a pair of, includes two pairs at least the support arm sets up alternately, and the crosspoint passes through pin joint, every the tip at the spout is fixed to the one end of support arm, and the other end passes through the pin sets up in the spout, sets up fixed second drive unit on the pin at support arm crosspoint, second drive unit is used for exerting power to the pin to realize the increase of a pair of support arm angle of alternately setting or reduce.

Furthermore, the second driving unit comprises a stepping motor, a screw rod and at least one screw rod nut, the stepping motor is fixed on the first pin, the screw rod is connected with an output shaft of the stepping motor, the screw rod nut is in threaded connection with the screw rod, and the screw rod nut is fixed on the second pin;

the first pin is a pin at the intersection of any one pair of the two pairs of support arms, and the second pin is a pin at the intersection of the other pair of support arms.

Further, the robot includes four sets of leg units, every the tip side of crossbeam all sets up a set of leg unit through first steering wheel, leg unit includes: the first steering engine, the second steering engine, the third steering engine, the first U-shaped frame, the second U-shaped frame, the third U-shaped frame, the fourth U-shaped frame, the first leg shaft and the second leg shaft are fixed on the side face of the end part of the cross beam, one end of the first steering engine is fixed on the first U-shaped frame, the other end of the first steering engine is fixed on the second U-shaped frame, the third U-shaped frame is in cross connection with the second U-shaped frame, the third U-shaped frame is fixedly connected with the second steering engine, and therefore a hip joint of the leg unit is formed;

the top end of the first leg shaft is fixedly connected with the second steering engine, the bottom end of the first leg shaft is fixedly connected with the third steering engine, the third steering engine is fixedly connected onto a fourth U-shaped frame, the fourth U-shaped frame is fixed to the top end of the second leg shaft, and a second driving unit is fixed to the bottom end of the second leg shaft.

Further, the mecanum wheel includes a hub shaft connected with the first driving unit and a roller.

Further, the first driving unit is a speed reduction motor.

Further, first drive unit, step motor, first steering wheel, second steering wheel, third steering wheel respectively with second the control unit electric connection.

Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:

the robot can freely extend in width by adopting the telescopic units, and if the robot encounters a narrow passageway in detection, the width of the robot can be adjusted according to the size of the passageway, so that the robot can smoothly pass through the narrow passageway; the robot is symmetrically provided with at least two groups of leg units, and the lower parts of the leg units are also provided with wheel type structures, so that the leg type movement and the wheel type movement can be switched mutually, the robot has the characteristics of high efficiency and flexibility, and can cross various obstacles under the condition of complex external roads to improve the trafficability of the robot; the leg unit has the freedom degrees in the directions of hip joints, knees and the like of a human body, can simulate the contraction and extension of legs of the human body in the height direction, and the wheel type structure is a Mecanum wheel which can enable the robot to move transversely in the motion process and also rotate 360 degrees and move towards any direction quickly, so that the robot has strong turning capacity and turning capacity, the sensitivity of the motion process of the robot is improved, and the detection requirement is met.

Drawings

FIG. 1 is a schematic diagram of a robot based on Mecanum wheels according to the present invention;

FIG. 2 is a schematic structural view of a telescopic unit according to the present invention;

FIG. 3 is a schematic view of the structure of a leg unit according to the present invention;

FIG. 4 is a schematic diagram of a Mecanum wheel of the present invention;

FIG. 5 is a schematic diagram of a robot based on Mecanum wheels in a contracted state;

fig. 6 is a diagram illustrating an extended configuration of the robot based on mecanum wheels according to the present invention.

Description of reference numerals: 1-a telescopic unit; 101-a beam; 102-a first U-shaped frame; 103 a support arm; 104-a stepper motor; 105-a screw rod; 106-screw nut; 107-a scaffold; 108-fixed pins; 109-a first pin; 110-a sliding pin; 111-a second pin; 2-a leg unit; 201-a first steering engine; 202-a second U-shaped frame; 203-a third U-shaped frame; 204-a second steering engine; 205-a first leg axis; 206-a third steering engine; 207-fourth U-shaped frame; 208-a second leg axis; 209-a reduction motor; 3-Mecanum wheels; 301-a roller; 302-hub axle.

Detailed Description

The robot based on mecanum wheels according to the present invention will be described in detail with reference to the accompanying drawings and embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims.

Referring to fig. 1-4, a mecanum wheel-based robot comprising: a cross beam 101; the telescopic units are fixedly connected to opposite side surfaces of the two cross beams 101 and used for realizing distance change of the two cross beams 101 in the horizontal direction; the leg units are connected with the side face of the cross beam 101 through a first steering engine 201 and are symmetrically arranged on two sides of the cross beam 101 at intervals, and the leg units are provided with hip joints, legs and knees of legs of a human body so as to realize freedom degrees in multiple directions; the first driving unit is fixed at the bottom end of the leg unit; the Mecanum wheel 3 is sleeved on an output shaft of the first driving unit, and the first driving unit is used for driving the Mecanum wheel 3 to move; a control unit provided on the cross beam 101 for controlling the degree of freedom of the leg unit, the movement of the mecanum wheels 3, and the telescoping unit; and the power supply module is fixed on the cross beam 101 and is electrically connected with the control unit.

Furthermore, the telescopic unit is a scissor-fork type structure, the scissor-fork type structure comprises a support 107, at least four support arms 103, a plurality of pins and a second driving unit, the support 107 is respectively fixed on the opposite side surfaces of the two cross beams 101, and sliding grooves with guiding function are arranged on the inner sides of the support 107;

every two support arms 103 are a pair, at least two pairs are included, in this embodiment, the two pairs include four support arms 103, every two support arms 103 are arranged in a crossed manner, the crossing points are connected through pins, the pin at the crossing point of one pair of support arms 103 is a first pin 109, the pin at the crossing point of the other pair of support arms 103 is a second pin 111, one end of each support arm 103 is fixed at the end of the sliding groove through a fixed pin 108, the other end of each support arm is arranged in the sliding groove through a sliding pin 110, a second driving unit is fixed on the first pin 109, and the second driving unit is used for applying power to the first pin 109 so as to increase or decrease the angle of the pair of support arms 103 arranged in a crossed manner.

Further, the second driving unit includes a stepping motor 104, a lead screw 105, and at least one lead screw nut 106, in this embodiment, a lead screw nut 106 is included, the stepping motor 104 is fixed on a first pin 109, the lead screw 105 is connected with an output shaft of the stepping motor 104, the lead screw nut 106 is in threaded connection with the lead screw 105, and the lead screw nut 106 is fixed on a second pin 111.

The stepping motor 104 drives the screw rod 105 to rotate, so as to drive the screw rod nut 106 to move on the screw rod 105, so that the second pin 111 moves, and further all the support arms 103 are driven to move in the sliding grooves, so that the beams 101 on two sides of the robot move in the horizontal direction.

Further, the robot includes four sets of leg units, and the tip side of every crossbeam 101 all sets up a set of leg unit through first steering wheel 201, and every leg unit includes: a first steering engine 201, a second steering engine 204, a third steering engine 206, a first U-shaped frame 102, a second U-shaped frame 202, a third U-shaped frame 203, a fourth U-shaped frame 207, a first leg shaft 205 and a second leg shaft 208, wherein the first U-shaped frame 102 is fixed on the side face of the end part of the cross beam 101, one end of the first steering engine 201 is fixed on the first U-shaped frame 102, the other end of the first steering engine is fixed on the second U-shaped frame 202, the third U-shaped frame 203 is in cross connection with the second U-shaped frame 202, and the third U-shaped frame 203 is fixedly connected with the second steering engine 204 to form a hip joint of a leg unit;

the top end of the first leg shaft 205 is fixedly connected with a second steering engine 204, the bottom end of the first leg shaft is fixedly connected with a third steering engine 206, the third steering engine 206 is fixedly connected to a fourth U-shaped frame 207, the fourth U-shaped frame 207 is fixed at the top end of the second leg shaft 208, and the bottom end of the second leg shaft 208 is fixed with a second driving unit.

Referring to fig. 5-6, the second 204 and third 206 steering engines of the leg units rotate clockwise, so that the included angle between the first 205 and second 208 leg shafts is reduced, thereby lowering the height of the robot; the second steering engine 204 and the third steering engine 206 rotate counterclockwise, so that the included angle between the first leg shaft 205 and the second leg shaft 208 is increased, and the height of the robot is increased;

further, the mecanum wheel 3 includes a hub shaft 302 and a roller 301, the hub shaft 302 is connected to a first driving unit, which is a reduction motor 209.

Hub axle 302 is the body support 107 of the entire mecanum wheel 3 and rollers 301 are drums mounted on the hub. The present embodiment uses a 45 ° angle between the hub axle 302 of the mecanum wheel 3 and the axis of rotation of the roller 301. The mecanum wheels 3 are typically used in groups of four, two left-handed wheels and two right-handed wheels. The left-hand wheel and the right-hand wheel are in chiral symmetry and adopt an O-rectangular installation form. Wherein O denotes a pattern formed by the rollers 301 in ground contact with the four mecanum wheels 3; the rectangle refers to the shape enclosed by the contact points of the four mecanum wheels 3 with the ground. Mecanum wheels 3 have their wheels AB in mirror image relationship to each other, and if wheel a can move diagonally forward left and backward right, wheel B will move diagonally forward right and backward left. Velocity is orthogonally resolvable, then the a-wheel can be resolved into an axial leftward, and a vertical axial forward velocity component; or axially to the right and vertically axially rearward velocity components. Therefore, the speed component of the wheel B and the wheel A are in mirror image, so that the telescopic wheel-legged robot based on the Mecanum wheel 3 can move in all directions.

Further, the speed reduction motor 209, the stepping motor 104, the first steering engine 201, the second steering engine 204, and the third steering engine 206 are electrically connected to the control unit, respectively.

Referring to fig. 1-6, the robot has two different operation modes, the first mode is that in the operation state of the wheeled robot, the robot can adjust the pose according to the real-time situation, the scissor structure at the top of the robot body is adjusted according to the width requirement of the robot required by the actual situation, the stepping motor 104 fixed on the first pin 109 rotates clockwise to drive the lead screw 105 to operate towards the same direction, at the moment, the lead screw 105 pulls the lead screw nut 106 fixed by the second pin 111, so that the sliding ends of all the support arms 103 move towards the center in the sliding groove through the pins, and the beams 101 at the two sides of the robot contract inwards to narrow the width of the robot; when the stepping motor 104 on the first pin 109 rotates counterclockwise to drive the lead screw 105 to move in the same direction, at this time, the lead screw 105 pulls the lead screw nut 106 fixed by the second pin 111, so that the sliding ends of all the support arms 103 move to both sides in the sliding chute through the pins, thereby reaching the purpose that the cross beams 101 at both sides of the robot extend to the outside, and increasing the width of the robot.

In terms of height, the second steering engine 204 and the third steering engine 206 of the leg unit rotate clockwise, so that the included angle between the first leg shaft 205 and the second leg shaft 208 is reduced, and the height of the robot is reduced; the second steering engine 204 and the third steering engine 206 rotate counterclockwise, so that the included angle between the first leg shaft 205 and the second leg shaft 208 is increased, and the height of the robot is increased.

After the pose of the robot is adjusted, except that the first steering engine 201 on the cross beam 101 works normally to adjust the direction, the second steering engine 204, the third steering engine 206 and the stepping motor 104 are all locked, the speed reducing motor 209 works, the Mecanum wheel 3 connected with the hub shaft 302 and the speed reducing motor 209 works, the hub shaft 302 of the Mecanum wheel 3 and the rotating shaft of the roller 301 form an angle of 45 degrees, the four Mecanum wheels 3 are combined and used in an O-rectangle mode, when the four Mecanum wheels 3 rotate forwards, the AB wheels can offset the axial speed, only the forward speed is left, and the robot can move forwards and cannot deviate. The same reason is also true for the backward movement, if when the wheel a rotates forward and the wheel B rotates backward, the forward and backward speeds are offset, and only the leftward speed remains, so that the robot can move leftward; on the contrary, if the wheel A rotates reversely and the wheel B rotates forwards, the robot can translate rightwards; the left wheel of the robot rotates forwards, the right wheel rotates backwards, and therefore the robot can rotate rightwards, and otherwise, the robot can rotate leftwards. All-round motion equipment based on mecanum wheel 3 technique can realize the motion modes such as advancing, sideslip, diagonal, rotation and combination to make scalable wheel-legged robot based on mecanum wheel 3 can the omnidirectional movement.

The second is that under bad road conditions or when crossing obstacles, the stepping motor 104 and the deceleration motor 209 are locked, the first steering engine 201 at the top of the four groups of leg units works, so that the leg units can swing transversely relative to the cross beam 101, and because the second U-shaped frame 202 and the third U-shaped frame 203 are in cross connection and the third U-shaped frame 203 is also provided with the second steering engine 204, the position can not only swing transversely but also swing longitudinally, and is similar to a hip joint of a human body. The second steering engine 204 is connected with the top end of the first leg shaft 205 to form a thigh of the robot, and at the moment, the robot can complete leg lifting. The bottom end of the first leg shaft 205 is connected with a third steering engine 206, which is similar to a knee joint of a human body, so that the first leg shaft 205 and the second leg shaft 208 can both swing longitudinally, and then the crossing action is completed, and the Mecanum wheel 3 lands on the ground to complete crossing and pass through obstacles.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.