CN206900502U - Wheel-track combined full ground anthropomorphic robot - Google Patents
Wheel-track combined full ground anthropomorphic robot Download PDFInfo
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- CN206900502U CN206900502U CN201720136573.6U CN201720136573U CN206900502U CN 206900502 U CN206900502 U CN 206900502U CN 201720136573 U CN201720136573 U CN 201720136573U CN 206900502 U CN206900502 U CN 206900502U
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Abstract
Wheel-track combined full ground anthropomorphic robot, including crawler belt, motor and wheel, crawler belt includes preceding crawler belt and rear crawler belt, and wheel includes front vehicle wheel and rear wheel, driven pulley and preceding crawler driving whell are provided with preceding crawler belt, the rear driving wheel of crawler belt first and rear crawler belt second driving wheel is provided with rear crawler belt.Compared with traditional caterpillar type robot, the mobility of the wheel-track combined robot of the utility model is increased significantly, and in the landform of relatively flat, robot is only moved with wheel, and crawler belt is hanging.Four wheels are equipped with motor, possess the powerful power of 4 wheel driven wheeled robot and speed.
Description
Technical field
Full landform robot field is the utility model is related to, new structure is specifically proposed to Track Type full ground anthropomorphic robot
And the wheel-track combined full ground anthropomorphic robot of innovative design is carried out to crawler belt.
Background technology
Full ground anthropomorphic robot is widely used in exploring, on military, disaster assistance now.His species is various, mainly has imitative
It is raw biped robot, wheeled robot, caterpillar type robot, hybrid（Wheel+crawler belt etc.）And special formula（It is snakelike etc.）Robot.
Compared to bionical sufficient class and wheeled robot, caterpillar type robot has higher landform adaptability.With hybrid and special formula
Compare, track structure is simple, control easily and cost is relatively low and speed faster.Therefore crawler belt is that full ground anthropomorphic robot is most normal
The action modes of use.It is understood that tank why can climb very steep slopes, wider moat, deepford, gram vertical wall wears marsh, crosses field,
Battlefield is galloped without being stopped, exactly because it has two special crawler belts.It can be seen that caterpillar type robot possesses the advantages of following：
1st, Area of bearing is big, under grounding pressure, is suitable for soft or muddy place operation, sink and spends small, rolling resistance
Small, off-road mobility can be good.
2nd, turning radius is minimum, it is possible to achieve pivot stud.
3rd, there is grouser on crawler belt supporting surface, should not skid, traction adhesion property is good, is advantageous to play larger tractive force.
4th, there is good Self-resetting and obstacle climbing ability, the robot with crawler belt arm can also be as legged mobile robot
Realize walking.
So the premium properties of crawler belt has substantially met the requirement of full ground anthropomorphic robot.
Caterpillar type robot can be divided into shape alterable machines people and position alterable machines people.
So-called shape variable-track robot, refer to that the configuration of crawler belt used in the robot can be according to orographic condition and work
Industry requirement is suitably changed.Fig. 1 show a kind of appearance schematic diagram of shape variable-track robot.The main body of the robot
Part is the variable crawler belt of two strips, is driven respectively by two main motors.When the speed of two crawler belts is identical, robot
Realize and advance or retreat movement；When the speed difference of two crawler belts, robot realizes divertical motion.When principal arm bar is around track frame
On axle rotation when, drive planetary gear rotate, so as to realize the different configuration of crawler belt, to adapt to different motions and operating environment
（See Fig. 2）.
So-called position variable-track robot, refer to the crawler type machine that crawler belt can change relative to the position of car body
Device people.The change of this position both can be one degree of freedom or two frees degree.Fig. 3 show one kind two
The free degree conjugates caterpillar robot, and each crawler belt can deflect around the horizontal axis and vertical axis of car body, so as to change robot
Overall configuration.The advantages of displacement caterpillar robot integrates caterpillar type robot and Omnibearing wheel type robot.When its shoe
Band along one degree of freedom direction conjugate when, available for climbing ladder and across irrigation canals and ditches（Fig. 4）；When its crawler belt is along another free degree
When direction conjugates, the omnibearing ambulation mode of car body can be achieved（See Fig. 5）.
By the extensive attention of various countries, the development of Track Type full ground anthropomorphic robot is it in weight for the research of full ground anthropomorphic robot
Weight.Either shape alterable machines people or position alterable machines people, it is all integrally relatively cumbersome without solving crawler belt humanoid robot
With mobility it is weaker the shortcomings that.Therefore the improvement to crawler belt humanoid robot on robot architecture and in robot control just seems
It is extremely important.Control of the utility model to robot is not made a search, and only the new scheme of the structure expansion to caterpillar robot is set
Meter, allows robot to possess stronger mobility and terrain adaptability.
Utility model content
（One）The technical problem of solution
In view of the shortcomings of the prior art, the utility model provides wheel-track combined full ground anthropomorphic robot, makes robot same
The characteristics of Shi Yongyou caterpillar type robots and wheeled robot, so as to allow robot to possess stronger mobility and landform is fitted
Ying Xing.
（Two）Technical scheme
To realize that above-mentioned drying efficiency is high and the good purpose of drying effect, the utility model provide following technical scheme：Wheel
Track combined full ground anthropomorphic robot, including crawler belt, motor and wheel, it is characterised in that the crawler belt include preceding crawler belt and
Crawler belt afterwards, the wheel includes front vehicle wheel and rear wheel, driven pulley and preceding crawler driving whell is provided with the preceding crawler belt, described
The rear driving wheel of crawler belt first and rear crawler belt second driving wheel is provided with crawler belt afterwards, the driven pulley is arranged in first rotating shaft,
The first rotating shaft connects with forebay, the preceding crawler driving whell be arranged on the second rotating shaft on, the second rotating shaft outer end and
Front vehicle wheel connects, and the second rotating shaft inner end connects with forebay；The driving wheel of crawler belt first is arranged in the 3rd rotating shaft after described, described
3rd rotating shaft connects with afer bay, it is described after crawler belt second driving wheel be arranged in the 4th rotating shaft, the 4th rotating shaft outer end and
Rear wheel connects, and the 4th rotating shaft inner end connects with afer bay；The first contiguous block is connected with above the forebay, described first connects
Connect and the 5th rotating shaft is provided with block, the second contiguous block is installed on the afer bay, second contiguous block is U-shape structure and set
It is equipped with the through hole to be cooperated with the 5th rotating shaft；The preceding crawler driving whell, the driving wheel of rear crawler belt first and rear crawler belt second drive
Driving wheel is driven by motor, and the motor is arranged on forebay and afer bay.
Preferably, front jockey wheel support frame and rear guiding wheeling supporting frame, institute are also equipped with the forebay and afer bay
State front jockey wheel support frame and the rear wheeling supporting frame that is oriented to is separately installed with front jockey wheel and rear directive wheel.
Preferably, the quantity of the front jockey wheel and rear directive wheel is two.
（Three）Beneficial effect
Compared with prior art, the utility model provides wheel-track combined full ground anthropomorphic robot, possesses following beneficial to effect
Fruit：
1 compares with traditional caterpillar type robot, and the mobility of the wheel-track combined robot of the utility model has significantly
Improve, in the landform of relatively flat, robot is only moved with wheel, and crawler belt is hanging.Four wheels are equipped with motor,
Possess the powerful power of 4 wheel driven wheeled robot and speed.
2nd, the utility model is suitable as exploring robot.Robot architecture can be amplified to bigger specification, load more
More detection equipments, using the motor of high-power, the expansion of robot crawler belt and wheel is in face of usual step and rank
Ladder can be more handy.The robot of the pure crawler belt of work ratio of motor will height, speed also gets a promotion and more
Add peace and quiet.It is so more advantageous than wheeled robot and caterpillar type robot as exploring robot.
Brief description of the drawings
Fig. 1 is shape variable-track robot schematic diagram；
Fig. 2 is the adjustment schematic diagram that shape variable-track robot is carried out for adaptation to the ground；
Fig. 3 is position variable-track robot schematic diagram；
Fig. 4 is that position variable-track robot crosses ladder and crosses over groove schematic diagram；
Fig. 5 is position variable-track robot omnibearing action modes schematic diagram；
Fig. 6 is the wheel-track combined full landform robot architecture layout of the utility model；
Fig. 7 is robot side view；
Fig. 8 is robot force analysis schematic diagram on the slope；
Fig. 9 is that step procedure chart is ascended by robot；
Figure 10 is that step process figure is ascended by robot；
Figure 11 is that groove schematic diagram is crossed over by robot；
Figure 12 is the utility model graphics.
In figure：Crawler belt first drives behind crawler belt, 3 front vehicle wheels, 4 rear wheels, 5 motors, 6 driven pulleys, 7 behind crawler belt, 2 before 1
Driving wheel, 8 forebays, 9 afer bays, 10 first rotating shafts, 11 second rotating shafts, 12 dynamic dividing plates, 13 the 3rd rotating shafts, 14 first contiguous blocks,
It is oriented to after being oriented to wheeling supporting frame, 19 front jockey wheels, 20 behind 15 second contiguous blocks, 16 the 5th rotating shafts, 17 front jockey wheel support frames, 18
The driving wheel of crawler belt second behind crawler driving whell, 22 before wheel, 21.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Refer to Fig. 6-12, wheel-track combined full ground anthropomorphic robot, including crawler belt, motor 5 and wheel, the crawler belt
Including preceding crawler belt 1 and rear crawler belt 2, the wheel includes front vehicle wheel 3 and rear wheel 4, and the He of driven pulley 6 is provided with the preceding crawler belt
Preceding crawler driving whell 21, is provided with rear the first driving wheel of crawler belt 7 and the second driving wheel of rear crawler belt 22 in crawler belt after described, it is described from
Driving wheel is arranged in first rotating shaft 10, and the first rotating shaft and forebay 8 connect, and the preceding crawler driving whell is arranged on second turn
On axle 11, the second rotating shaft outer end and front vehicle wheel 3 connect, and the second rotating shaft inner end connects with forebay；Crawler belt first after described
Driving wheel is arranged in the 3rd rotating shaft 12, and the 3rd rotating shaft and afer bay 9 connect, and the rear driving wheel of crawler belt second is arranged on
In 4th rotating shaft 13, the 4th rotating shaft outer end connects with rear wheel, and the 4th rotating shaft inner end connects with afer bay；The forebay
The first contiguous block 14 is connected with above, the 5th rotating shaft 16 is provided with first contiguous block, and is provided with the afer bay
Two contiguous blocks 15, second contiguous block are U-shape structure and are provided with the through hole to be cooperated with the 5th rotating shaft；The preceding crawler belt
Driving wheel, the driving wheel of rear crawler belt first and the driving wheel of rear crawler belt second are driven by motor, the motor installation
On forebay and afer bay.
Preferably, front jockey wheel support frame 17 and rear guiding wheeling supporting frame are also equipped with the forebay and afer bay
18, the front jockey wheel support frame and the rear wheeling supporting frame that is oriented to are separately installed with front jockey wheel 19 and rear directive wheel 20.
Embodiment 1：
Ascend slope
When the utility model moves on the slope, its stressing conditions as shown in figure 8, when robot at the uniform velocity travels or is static,
Its tractive force is
F=Gsin α
If maximum static friction factor is μ 0, then maximum static friction force is
Fmax =μ0Gcosα
As F≤Fmax, robot energy smooth-ride；
Work as F>During Fmax, robot will slide under the influence of gravity, the robot moved in different medium, if known
The road medium coefficient of maximum static friction, the then ruling grade that robot can advance are
αmax =arctan μ0
Peak acceleration is during climbing
max =(μ0cosα-sin α)g
By above-mentioned analysis, it can determine that some abrupt slopes whether can according to the situation of robot wheel and motion ground
Safety is climbed, and according to the gradient and the characteristic of motor, determines its motion process peak acceleration and the rapidity on abrupt slope of climbing.
If there is the phenomenon of wheel-slip, steering wheel can be adjusted and push previous section crawler belt until contacting slope, increase frictional force.
Embodiment 2：
Ascend step
Previous section crawler belt of the present utility model be under normal circumstances have it is certain to vertical angle, before step is less than robot
Duan Shi, robot can be crossed directly.When step is higher, robot to cross process status as shown in Figure 9.Carried out before robot
It is initial attitude when across step that band, which lifts, using the morphogenetic preceding angle of attack of the appearance, robot can be made to cross over higher than wheel
The obstacle of sub- height, obstacle climbing ability greatly improve.Among the environment of the change residing for full ground anthropomorphic robot, stair are to machine
It is one of more difficult task for device people.The process of stair activity is actually the process of the continuous leaping over obstacles of robot.
In addition to robot power itself, the key factor that influences robot stair activity be torque size and stair it is specific
Parameter.Robot provides larger torque as a result of controlled motor and big standard steering wheel, it is ensured that robot is upstairs
Initial attitude when terraced and ascend process.Crawler belt pushes before steering wheel can control, and increase and effective contact length of stair, protects
Demonstrate,prove stable motion during its stair activity.Figure 10 is a series of actions sequence when the utility model climbs up and over stair.
Embodiment 3：
Across groove
Robot is always wanted in the motion process of robot can cross over broader groove, but design size is often
Limit the width that can cross over groove of robot.As can be seen from Figure 11, groove, the length of groove smoothly to be crossed over
Degree is less than robot swinging arm and the contact length on ground.When the length of groove is more than the length of swing arm, now reform into
The process of up/down steps.
The utility model proposes a kind of wheel combined mobile robot of multi-movement states, complete to its moving structure
Design and Virtual assemble, analyze its obstacle crossing function, obtain as drawn a conclusion:The robot of institute's utility model has good
Kinetic characteristic, strengthen its road under unstructured moving grids by property using front and rear swing arm structure, can be widely applied to
The detection of hazardous environment, the task operating mode such as scout, get rid of the danger.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (3)
1. wheel-track combined full ground anthropomorphic robot, including crawler belt, motor and wheel, it is characterised in that the crawler belt includes
Preceding crawler belt and rear crawler belt, the wheel include front vehicle wheel and rear wheel, and driven pulley is provided with the preceding crawler belt and preceding crawler belt drives
Driving wheel, is provided with the rear driving wheel of crawler belt first and rear crawler belt second driving wheel in crawler belt after described, the driven pulley is arranged on the
In one rotating shaft, the first rotating shaft is connected with forebay, and the preceding crawler driving whell is arranged in the second rotating shaft, described second turn
Axle outer end connects with front vehicle wheel, and the second rotating shaft inner end connects with forebay；The driving wheel of crawler belt first is arranged on the 3rd turn after described
On axle, the 3rd rotating shaft is connected with afer bay, and the rear driving wheel of crawler belt second is arranged in the 4th rotating shaft, described 4th turn
Axle outer end connects with rear wheel, and the 4th rotating shaft inner end connects with afer bay；The first contiguous block, institute are connected with above the forebay
State and the 5th rotating shaft is provided with the first contiguous block, the second contiguous block is installed on the afer bay, second contiguous block is U-shaped
Structure and be provided with the 5th rotating shaft cooperate through hole；The preceding crawler driving whell, the driving wheel of rear crawler belt first and rear shoe
The driving wheel of band second is driven by motor, and the motor is arranged on forebay and afer bay.
2. wheel-track combined full ground anthropomorphic robot according to claim 1, it is characterised in that：The forebay and afer bay
On be also equipped with front jockey wheel support frame and it is rear be oriented to wheeling supporting frame, the front jockey wheel support frame and rear be oriented to wheeling supporting frame point
Front jockey wheel and rear directive wheel are not installed.
3. wheel-track combined full ground anthropomorphic robot according to claim 2, it is characterised in that：The front jockey wheel is led with after
It it is two to the quantity of wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720136573.6U CN206900502U (en) | 2017-02-15 | 2017-02-15 | Wheel-track combined full ground anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720136573.6U CN206900502U (en) | 2017-02-15 | 2017-02-15 | Wheel-track combined full ground anthropomorphic robot |
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| Publication Number | Publication Date |
|---|---|
| CN206900502U true CN206900502U (en) | 2018-01-19 |
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ID=61294523
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720136573.6U Expired - Fee Related CN206900502U (en) | 2017-02-15 | 2017-02-15 | Wheel-track combined full ground anthropomorphic robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206900502U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639168A (en) * | 2018-06-27 | 2018-10-12 | 高境远 | Full landform moves sniffing robot |
| CN109131613A (en) * | 2018-10-12 | 2019-01-04 | 安徽工程大学 | A kind of full landform transportation robot and its control method |
| CN110450867A (en) * | 2019-08-03 | 2019-11-15 | 杨声杰 | Carry out set moving device |
| CN110758581A (en) * | 2019-11-11 | 2020-02-07 | 北京机电工程研究所 | Omnidirectional all-terrain mobile platform |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
-
2017
- 2017-02-15 CN CN201720136573.6U patent/CN206900502U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639168A (en) * | 2018-06-27 | 2018-10-12 | 高境远 | Full landform moves sniffing robot |
| CN109131613A (en) * | 2018-10-12 | 2019-01-04 | 安徽工程大学 | A kind of full landform transportation robot and its control method |
| CN110450867A (en) * | 2019-08-03 | 2019-11-15 | 杨声杰 | Carry out set moving device |
| CN110758581A (en) * | 2019-11-11 | 2020-02-07 | 北京机电工程研究所 | Omnidirectional all-terrain mobile platform |
| CN110758581B (en) * | 2019-11-11 | 2021-06-11 | 北京机电工程研究所 | Omnidirectional all-terrain mobile platform |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180119 Termination date: 20190215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |