The invention discloses a robot based on Mecanum wheels. The robot comprises cross beams; telescopic units fixedly connected to the opposite side faces of the two cross beams and used for achieving the distance change of the two cross beams in the horizontal direction; leg units connected to the side faces of the cross beams through first steering engines and symmetrically arranged at the ends of the cross beam at intervals, wherein the leg units are provided with hip joints, legs and knee joints of the human body so as to achieve freedom degrees in multiple directions; first driving units fixed to the bottom ends of the leg units; the Mecanum wheels arranged on output shafts of the first driving units in a sleeving mode, wherein the first driving units are used for driving the Mecanum wheels to move; a control unit arranged on the cross beams and used for controlling the freedom degrees of the leg units, the Mecanum wheel movement and the telescopic units; and a power supply module fixed to the cross beams and electrically connected with the control unit. The robot has the functions of a wheeled robot and a legged robot at the same time, the sensitivity of the robot in the movement process is improved, and therefore the detection requirement is met.
本发明公开了一种基于麦克纳姆轮的机器人,包括:横梁;伸缩单元,固连于两个横梁的相对侧面,用于实现两个横梁在水平方向上的距离变化;腿部单元,通过第一舵机连接与横梁的侧面,且对称间隔布置于横梁的端部,腿部单元具有人体的髋关节、腿部、膝关节,以实现多个方向的自由度;第一驱动单元,固定在腿部单元的底端;麦克纳姆轮,套设在第一驱动单元的输出轴,第一驱动单元用于驱动麦克纳姆轮移动;控制单元,设置在横梁上,用于控制腿部单元的自由度、麦克纳姆轮移动和伸缩单元;电源模块,固定在横梁上,电源模块与控制单元电连接。本发明的机器人同时具有轮式机器人和腿式机器人的功能,提高了其运动过程的灵敏性,从而达到探测的要求。
Robot based on Mecanum wheels
一种基于麦克纳姆轮的机器人
2021-09-17
Patent
Electronic Resource
Chinese