CN115503819A - Method and device for steering a robot - Google Patents

Abstract

The present application discloses a robot steering method and device, which are used to solve the technical problems of high power consumption and poor adaptability to the road environment in the existing robot steering method. The method includes: the robot steering device receives the steering signal sent by the robot controller; controls the gear steering structure to rotate according to the steering signal, so as to drive the rotation of the robot wheel, and then realize the robot steering; during the rotation process of the robot wheel, through multiple The connecting rod parallel structure absorbs the vibration transmitted by the wheels of the robot to prevent the robot from rolling over. The present application enhances the adaptability of the robot to the road environment through the above method, so that the robot can drive or turn on a smooth road or on a bumpy road, and at the same time reduce the power consumption of the robot turning.

Description

Method and device for steering a robot

technical field

The present application relates to the technical field of robot control, in particular to a robot steering method and device.

Background technique

Due to the disappearance of the demographic dividend, social needs have prompted mobile robots to gradually replace manpower and perform some simple and repetitive tasks.

At present, robots are widely used in complex road conditions such as outdoor roads and parks. In order to make robots adapt to various complex environments, people design a variety of steering methods for robots. The energy-consuming motor controls the rotation of the rotating joint to achieve the purpose of controlling the robot's steering, but the power consumption of this steering method is too large. At the same time, this method of controlling the robot's steering by rotating the joint is more suitable for smooth roads. It is easy to tilt or even fall.

Contents of the invention

The embodiments of the present application provide a robot steering method and device, which are used to solve the technical problems of high power consumption and poor adaptability to the road environment in the existing robot steering method.

On the one hand, the embodiment of the present application provides a robot steering method, the method includes: the robot steering device receives a steering signal sent from the robot controller; controls the gear steering structure to rotate according to the steering signal, so as to drive the wheel of the robot to rotate , and then realize the steering of the robot; during the rotation or running of the robot wheels, the vibration transmitted by the robot wheels is absorbed by the multi-link parallel structure, so as to prevent the robot from rolling over.

In one or more embodiments of the description of the present application, before the robot steering device receives the steering signal sent from the robot controller, the method further includes: the robot controller detecting whether the steering condition of the robot wheels is triggered; If so, generate the steering signal according to the steering condition; send the steering signal to the robot steering device.

In one or more embodiments of the description of the present application, the turning condition at least includes: there is an obstacle in front of the robot.

On the other hand, the embodiment of the present application also provides a robot steering device, which includes: a multi-link parallel structure connected to the robot wheel for absorbing the vibration transmitted by the robot wheel; a gear steering structure connected to the robot wheel The multi-link parallel structure is used to drive the robot wheel to rotate through the multi-link parallel structure.

In one or more embodiments of the description of the present application, the multi-link parallel structure includes: a rotating shaft, a first front swing arm, a second front swing arm, a first side swing arm, a second side swing arm, a first A rear swing arm and a second rear swing arm; wherein, the first front swing arm and the second front swing arm form a front swing arm link structure, and the first side swing arm and the second side swing arm Constitute a side swing arm link structure, the first rear swing arm and the second rear swing arm form a rear swing arm link structure; one end of the front swing arm link structure, the side swing arm link structure One end of the connecting rod structure of the front swing arm and one end of the connecting rod structure of the rear swing arm are connected to the rotating shaft, the other end of the connecting rod structure of the front swing arm, the other end of the connecting rod structure of the side swing arm and the connecting rod of the rear swing arm The other end of the rod structure is connected with the robot wheel, and is used to drive the robot wheel to rotate when the rotating shaft rotates, thereby realizing the steering of the robot.

In one or more embodiments of the description of the present application, the multi-link parallel structure further includes a hub flange; the hub flange is connected to the robot wheel, and is connected to the front swing arm link structure , the connecting rod structure of the side swing arm and the connecting rod structure of the rear swing arm, for connecting the connecting rod structure of the front swing arm, the connecting rod structure of the side swing arm and the connecting rod structure of the rear swing arm Driven to move up and down, and then drive the robot wheels to run up and down, so that the robot can run on bumpy roads.

In one or more embodiments of the description of the present application, the multi-link parallel structure further includes a shock absorber; the shock absorber is connected to the rear swing arm link structure and the front swing arm link structure , for absorbing the vibrations transmitted by the robot wheels.

In one or more embodiments of the description of the present application, the shock absorber adopts a spring shock absorber or a hydraulic shock absorber.

In one or more embodiments of the description of the present application, the device further includes a bottom plate; the gear steering structure includes: an external toothed bearing, a pinion and a servo motor; the inner ring of the external toothed bearing is connected to the The bottom plate is connected, the outer ring is connected to the rotating shaft of the multi-link parallel structure, the pinion is connected to the servo motor, and is used to drive the external tooth shape through the pinion under the rotation of the servo motor. The bearing rotates, and then the rotation of the rotating shaft drives the rotation of the robot wheel.

In one or more embodiments of the description of the present application, the gear steering structure further includes a bearing; the inner ring of the bearing is connected to the rotating shaft of the multi-link parallel structure, and the outer ring is connected to the bottom plate to realize The connection between the multi-link parallel structure and the bottom plate.

The robot steering method and device provided in the embodiments of the present application realize the 360-degree steering of the robot through the gear steering structure. The gear hub flange and shock absorber absorb the vibration transmitted by the robot wheel when the robot is driving on a bumpy road, making the robot run more smoothly, and also enabling the robot to adapt to both smooth and bumpy roads, improving the robot's adaptability to the road environment , and there are three link structures in the multi-link parallel structure, which can drive the wheels of the robot to rotate under the rotation of the rotating shaft, provide force for the rotation of the wheels of the robot, and further reduce the power consumption of the motor.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

FIG. 1 is a flow chart of a robot steering method provided in an embodiment of the present application;

Fig. 2 is a side view of a robot steering device provided by an embodiment of the present application;

Fig. 3 is a front view of a robot steering device provided by an embodiment of the present application.

detailed description

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The technical solutions proposed in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a flow chart of a robot steering method provided by an embodiment of the present application. As shown in Figure 1, the steering method in the embodiment of the present application at least includes the following execution steps:

Step 101, the robot steering device receives the steering signal sent by the robot controller.

During the driving process of the robot, the robot controller will detect in real time whether the turning condition of the robot is triggered. In an example of the present application, the aforementioned turning condition at least includes obstacles on the driving path ahead of the robot.

When it is detected that the turning condition is triggered, a turning signal is generated according to the turning condition. In an example of the present application, the generated turning signal includes the rotation time of the motor, and the turning time can be determined by the robot controller according to the relationship between the robot and the obstacle ahead. The distance between them and the relationship between the motor rotation time and the wheel rotation angle are determined.

After generating the turning signal, the robot controller sends the turning signal to the robot steering device.

Step 102: Control the gear steering structure to rotate according to the steering signal, so as to drive the wheels of the robot to rotate.

After the robot steering device receives the steering signal, it controls the gear steering structure to rotate according to the steering signal, and then drives the robot wheels to rotate through the rotation of the gear steering structure to realize the robot steering.

Step 103 , during the rotation or running of the robot wheel, the vibration transmitted by the robot wheel is absorbed through the multi-link parallel structure.

If the robot is turning or driving on a bumpy road, the robot is very likely to generate vibration and encounter steering resistance. Therefore, a multi-link parallel structure is also designed in the robot steering device of the embodiment of the present application. The multi-link structure and device The function of the middle shock spring is to absorb the vibration generated by bumps. In addition, when the road is bumpy, the ground will be inclined, causing the tires to be subjected to a turning force generated by the ground. The function of the multi-link is to prevent this passive steering force, prevent the wheels from turning passively, and prevent the wheels from being out of control in this situation. Turn under the trend of turning. At the same time, the multi-link parallel structure can also help the gear steering structure to drive the wheels of the robot to turn, preventing the wheels from passively rotating, so as to further reduce the power consumption of the robot when turning.

The above is the method embodiment in the embodiment of the present application. Based on the same inventive concept, the embodiment of the present application also provides a robot steering device.

Fig. 2 is a side view of a robot steering device provided in an embodiment of the present application, and Fig. 3 is a front view of a robot steering device provided in an embodiment of the present application. As shown in Figures 2 and 3, the robot steering device includes: a base plate 1, a rotating shaft 2, a bearing 3, a servo motor 4, an external toothed bearing 5, a pinion 6, a first side swing arm 7, a second side swing arm 8, Robot wheel 9, first rear swing arm 10, second rear swing arm 11, first front swing arm 12, second front swing arm 13, gear hub flange 14 and shock absorber 15; wherein, rotating shaft 2, first Side swing arm 7, second side swing arm 8, wheel 9, first rear swing arm 10, second rear swing arm 11, first front swing arm 12, second front swing arm 13, gear hub flange 14 and reducer Vibrator 15 forms a multi-link parallel structure, and bearing 3, servo motor 4, external toothed bearing 5 and pinion 6 form a gear steering structure.

It can be seen from Figure 2 that the multi-link parallel structure is connected with the robot wheel 9, which can absorb the vibration transmitted by the robot wheel 9; the gear steering structure is connected with the multi-link parallel structure, and is used to drive the robot wheel 9 through the multi-link parallel structure. turn.

Further, in the multi-link parallel structure, the first front swing arm 12 and the second front swing arm 13 form the front swing arm link structure, and the first side swing arm 7 and the second side swing arm 8 form the side swing arm link structure. structure, the first rear swing arm 10 and the second rear swing arm 11 constitute the rear swing arm link structure, and one end of the front swing arm link structure, one end of the side swing arm link structure and the rear swing arm link structure One end is all connected with the rotating shaft 2, the other end of the front swing arm link structure, the other end of the side swing arm link structure and the other end of the rear swing arm link structure are all connected with the robot wheel 9 for the rotation of the rotating shaft 2 When driving the robot wheel 9 to rotate, and then realize the robot turning.

Simultaneously, gear hub flange 14 is connected with robot wheel 9, and in an example of the present application, gear hub flange 14 and robot wheel 9 can be fixedly connected, and front swing arm link structure, side swing arm link structure simultaneously structure and the rear swing arm link structure, used to move up and down under the drive of the front swing arm link structure, side swing arm link structure and rear swing arm link structure, and then drive the robot wheel 9 to run up and down, realizing the robot Driving on bumpy roads. That is to say, the multi-link structure can make the hub flange 14 vertically move up and down, thereby realizing the up and down vibration of the robot wheel 9 when the road surface is bumpy, and improving the road environment adaptability of the robot.

At the same time, the shock absorber 15 in the multi-link parallel structure can be made of two shock absorbers, one of which is connected with the rear swing arm link structure, and the other is connected with the front swing arm link structure. Robot absorbs the vibration that robot wheel 9 transmits when passing bumpy road surface, makes robot run more stable.

In an example of the present application, the shock absorber 15 may be a spring shock absorber, a hydraulic shock absorber or a hydraulic spring shock absorber.

Furthermore, in the gear steering structure, the inner ring of the bearing 3 is fixedly connected to the rotating shaft 2 of the multi-link parallel structure by bolts, and the outer ring is fixedly connected to the bottom plate 1 by bolts, so as to realize the fixing of the multi-link parallel structure and the bottom plate 1 connect.

At the same time, the outer toothed bearing 5 is a bearing whose outer ring is processed into a gear. The inner ring and the base plate 1 are fixedly connected by bolts, the outer ring and the rotating shaft 2 are fixedly connected by bolts, the pinion 6 is connected to the servo motor 4, and the servo motor 4 To provide driving force for steering, after the servo motor 4 receives the steering signal, the servo motor 4 rotates to drive the pinion gear 6 to rotate, and through gear meshing, it drives the outer ring gear of the externally toothed bearing 5 to rotate, thereby driving the rotating shaft 2 to rotate, and then Realize the in-situ 360 ° turning of robot wheel 9.

In addition, in an example of the present application, the gear steering structure can also be a synchronous pulley steering structure, and the external toothed bearing and the pinion can be replaced by a synchronous pulley structure after adjusting the center distance. Then, the servo motor is connected with the small synchronous pulley for receiving the steering signal from the robot controller to control the rotation of the small synchronous pulley according to the rotation time in the steering signal; the small synchronous pulley is connected with the large synchronous pulley through the synchronous belt , under the drive of the servo motor, the rotation of the small synchronous pulley can drive the rotation of the synchronous belt, and the rotation of the synchronous belt can drive the rotation of the large synchronous pulley.

Moreover, the large synchronous pulley is also connected with the rotating shaft to control the rotation of the rotating shaft, thereby realizing 360° turning of the robot wheel in situ.

It can be seen from the above that the multi-link parallel structure in the embodiment of the present application can not only meet the needs of the robot to drive on bumpy roads, enhance the adaptability of the robot to the road environment, but also can cooperate with the gear steering structure. Next, the robot wheels are driven to turn, further reducing the power consumption of the robot steering.

Each embodiment in the present application is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, please refer to part of the description of the method embodiment.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (10)

1. A robot steering method, characterized in that the method comprises: The robot steering device receives the steering signal sent from the robot controller; Control the gear steering structure to rotate according to the steering signal, so as to drive the wheels of the robot to rotate, and then realize the steering of the robot; During the rotation or running of the robot wheels, the vibration transmitted by the robot wheels is absorbed by the multi-link parallel structure, so as to prevent the robot from rolling over. 2. A kind of robot steering method according to claim 1, characterized in that, before the robot steering device receives the steering signal sent from the robot controller, the method further comprises: The robot controller detects whether the steering condition of the robot wheels is triggered; if so, generating the turn signal according to the turn condition; sending the steering signal to the robot steering device. 3 . The robot steering method according to claim 1 , wherein the steering conditions at least include: there are obstacles in front of the robot. 4 . 4. A robot steering device, used to implement a robot steering method according to claims 1-3, characterized in that the device comprises: A multi-link parallel structure connected to the robot wheel for absorbing the vibration transmitted by the robot wheel; The gear steering structure is connected with the multi-link parallel structure, and is used to drive the robot wheels to rotate through the multi-link parallel structure. 5. A robot steering device according to claim 4, wherein the multi-link parallel structure comprises: a rotating shaft, a first front swing arm, a second front swing arm, a first side swing arm, a second side swing arm, first rear swing arm and second rear swing arm; wherein, The first front swing arm and the second front swing arm form a front swing arm link structure, the first side swing arm and the second side swing arm form a side swing arm link structure, and the first The rear swing arm and the second rear swing arm form a rear swing arm link structure; One end of the front swing arm link structure, one end of the side swing arm link structure and one end of the rear swing arm link structure are all connected to the rotating shaft, and the other end of the front swing arm link structure , the other end of the side swing arm link structure and the other end of the rear swing arm link structure are connected to the robot wheel, and are used to drive the robot wheel to rotate when the rotating shaft rotates, thereby realizing The robot turns. 6. A robot steering device according to claim 5, characterized in that, the multi-link parallel structure further comprises a gear hub flange; The gear hub flange is connected with the robot wheel, and is connected with the front swing arm link structure, the side swing arm link structure and the rear swing arm link structure, and is used for swinging in the front The arm link structure, the side swing arm link structure and the rear swing arm link structure are driven to move up and down, and then drive the robot wheels to run up and down, so that the robot can drive on bumpy roads. 7. A kind of robot steering device according to claim 5, is characterized in that, described multi-link parallel structure also comprises shock absorber; The shock absorber is connected with the rear swing arm link structure and the front swing arm link structure, and is used for absorbing the vibration transmitted by the robot wheel. 8. A robot steering device according to claim 7, wherein the shock absorber is a spring shock absorber or a hydraulic shock absorber. 9. A robot steering device according to claim 4, characterized in that, the device also includes a bottom plate; the gear steering structure includes: an external toothed bearing, a pinion and a servo motor; The inner ring of the external toothed bearing is connected to the bottom plate, the outer ring is connected to the rotating shaft of the multi-link parallel structure, and the pinion is connected to the servo motor for rotation of the servo motor. , the pinion gear drives the external toothed bearing to rotate, and the rotation of the rotating shaft drives the robot wheel to rotate. 10. A robot steering device according to claim 9, wherein the gear steering structure further comprises a bearing; The inner ring of the bearing is connected to the rotating shaft of the multi-link parallel structure, and the outer ring is connected to the bottom plate, so as to realize the connection between the multi-link parallel structure and the bottom plate.

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