CN108942860A - Full landform self-moving robot platform - Google Patents
Full landform self-moving robot platform Download PDFInfo
- Publication number
- CN108942860A CN108942860A CN201810701201.2A CN201810701201A CN108942860A CN 108942860 A CN108942860 A CN 108942860A CN 201810701201 A CN201810701201 A CN 201810701201A CN 108942860 A CN108942860 A CN 108942860A
- Authority
- CN
- China
- Prior art keywords
- module
- gear
- wheel
- main processor
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The present invention relates to a kind of full landform self-moving robot platforms, using the walking mechanism of planet gear type.Device includes the instruction for being responsible for receiving host computer, is made decisions to the action of robot, and to the DSP main processor modules of ipc monitor module feedback information；For providing the power module of direct current 24V；Environment detection module for detection and rescue environment；For realizing the communication module between ipc monitor module and DSP main processor modules；For controlling robot actuating mechanism, the motor drive module of the movement walking of robot is realized；By wheel, the planetary gear module formed with the affixed gear of wheel, transition gear, centre-driven gear and tie-rod.Small volume of the present invention, flexibly and has good obstacle climbing ability at fast speed.
Description
Technical field
The present invention be related to it is a kind of can adapt to different terrain conditions automatically move platform, it is complete to concretely relate to one
Landform self-moving robot platform.
Background technique
In order to adapt to different orographic conditions, current robot platform generallys use caterpillar band type, however crawler belt is also deposited
It is difficult to adapt in the climbing ability of the limitation that many deficiencies, especially small scale robot platform are limited to volume and weight, crawler belt
More than the barrier of certain altitude, the application of automation platform is limited.
A kind of voluntarily platform of brand new is developed, technical problem urgently to be resolved is just become.
Summary of the invention
The present invention above-mentioned structures there are aiming at the problem that: the full landform self-moving robot for providing a kind of planet gear type is flat
Platform, using planet Stump-jump wheel as mobile member, small volume, flexible, fast speed simultaneously have good obstacle climbing ability, thus
The time that breaks the barriers is shortened, is improved work efficiency.Due to its special move mode, full landform self-moving robot platform
Caterpillar type robot can be replaced to execute task in most circumstances.
In order to solve the above-mentioned technical problem, the present invention is achieved through the following technical solutions: full landform self-moving robot is flat
Platform, including DSP main processor modules, power module, environment detection module, communication module, ipc monitor module, motor driven
Module and planetary gear module.The DSP main processor modules by control line respectively with environment detection module, communication module and electricity
The connection of machine drive module, drives or controls its work；DSP main processor modules are responsible for receiving the instruction of host computer, to robot
Action make decisions, and to ipc monitor module feedback information.The power module by direct current 24V battery group
At.The environment detection module includes visual sensor (CCD camera), temperature sensor, humidity sensor, gas sensing
Device is used for detection and rescue environment, in order to which rescue personnel further implements rescue plan.The communication module is for realizing upper
Communication between machine monitoring module and DSP main processor modules.The motor drive module be mainly robot actuating mechanism (i.e.
Motor) control, realize robot movement walking.The planetary gear module is by wheel, the affixed gear with wheel, transition tooth
Wheel, centre-driven gear, tie-rod composition.The shaft of its middle gear, transition gear and centre-driven gear is installed on tie-rod.
The rotation of motor driven centre-driven gear, and then transition gear is driven to rotate with it, the rotation driven gear of transition gear turns
Dynamic, since gear is fixed together with wheel, wheel is rotated with it, and the steering of final wheel and the steering of gear are consistent.
Wherein, the wheel count of the planetary gear module is three, at triangular arranged.
Wherein, there are four independent planetary gear module and two independent motor drive modules, two electricity for the platform tool
Machine drive module respectively drives two planetary gear modules.Other two planetary gear module is as idle pulley.
Wherein, the tie-rod is Y-shaped, and the angle of contiguous branch is 60 ° on Y shape.
The working method of above-mentioned full landform self-moving robot platform is as follows: the rotation of motor driven centre-driven gear, in turn
Transition gear is driven to rotate with it, the rotation of the rotation driven gear of transition gear, since gear is fixed together with wheel
, wheel rotates with it, and the steering of final wheel and the steering of gear are consistent；
Every group of planetary gear module at least one wheel hanging under steam；
When encountering barrier, tie-rod rotation enables hanging wheel clear the jumps.
Compared with prior art, the present invention has a following significant progress: small volume, flexibly and has fast speed
Good obstacle climbing ability improves passability to save through the time.Due to its special move mode, full landform is certainly
Row robot platform can replace caterpillar type robot to execute task under some disaster environments, not only ensure that operator's
Safety, and accurate information can be detected, help to complete task as early as possible.
Detailed description of the invention
Fig. 1 is the system block diagram of the embodiment of the present invention；
Fig. 2 is the model simplification figure of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of planetary gear module in Fig. 2；
In figure: DSP main processor modules 1, power module 2, environment detection module 3, communication module 4, ipc monitor module 5,
Motor drive module 6, planetary gear module 7, motor 8, wheel 9, gear 10, transition gear 11, centre-driven gear 12, tie-rod 13
Composition.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The full landform self-moving robot platform of the present embodiment has system architecture as shown in Figure 1, including DSP main processor modules
1, power module 2, environment detection module 3, communication module 4, ipc monitor module 5, motor drive module 6 and planetary gear module
7.The DSP main processor modules 1 by control line respectively with environment detection module 3, communication module 4 and motor drive module 6
Connection, drives or controls its work；DSP main processor modules 1 are responsible for receiving the instruction of host computer, make to the action of robot
Decision, and to 5 feedback information of ipc monitor module.The power module 2 is made of the battery of direct current 24V.The ring
Border detecting module 3 includes visual sensor (CCD camera), temperature sensor, humidity sensor, gas sensor, for visiting
Rescue environment is surveyed, in order to which rescue personnel further implements rescue plan.The communication module 4 is for realizing ipc monitor mould
Communication between block 5 and DSP main processor modules 1.The motor drive module 6 is mainly robot actuating mechanism (i.e. motor
8) the movement walking of robot is realized in control.
As shown in Fig. 2, entire voluntarily platform includes four groups of planetary gear modules, therein two are respectively driven by two motors
Group.
As shown in figure 3,9 quantity of wheel of each planetary gear module 7 is three, at triangular arranged.The planet
Module 7 is taken turns to be made of wheel 9, the gear 10 affixed with wheel 9, transition gear 11, centre-driven gear 12 and tie-rod 13.Wherein
Gear 10, transition gear 11, the shaft of centre-driven gear 12 are installed on tie-rod 13.Motor 8 drives centre-driven gear
12 rotations, and then transition gear 11 is driven to rotate with it, the rotation of the rotation driven gear 10 of transition gear 11, due to gear 10
It is to be fixed together with wheel 9, wheel 9 rotates with it, and the steering of final wheel 9 is consistent with the steering of gear 12.
In use, the system includes being responsible for receiving the instruction of host computer, make decisions to the action of robot, and upwards
The DSP main processor modules of position machine monitoring module feedback information；For providing the power module of direct current 24V；For detection and rescue
The environment detection module of environment；For realizing the communication module between ipc monitor module and DSP main processor modules；For
Robot actuating mechanism is controlled, realizes the motor drive module of the movement walking of robot；By wheel and the affixed tooth of wheel
The planetary gear module that wheel, transition gear, centre-driven gear and tie-rod form.
The present invention provides a kind of completely new thinking and method for the walking mechanism of robot, implements the technical solution
Method and approach it is very much, the above is only the preferred embodiments provided in an illustrative manner.Those skilled in the art can be
Many changes are expected in the case where without departing from the present invention, are changed and are substituted.It should be appreciated that can be with during practicing the present invention
Using the various alternative solutions to embodiments of the invention described herein.Appended claims are intended to limit model of the invention
It encloses, and therefore covers the method and structure in the range of these claims and its equivalent item.What is be not known in the present embodiment is each
The available prior art of component part is realized.
Claims (4)
1. a kind of full landform self-moving robot platform, it is characterised in that: including DSP main processor modules, power module, environment is visited
Survey module, communication module, ipc monitor module, motor drive module and planetary gear module；
The DSP main processor modules are connected with environment detection module, communication module and motor drive module respectively by control line
It connects, the DSP main processor modules are used to receive the instruction of host computer, make decisions to the action of robot, and to upper
Machine monitoring module feedback information；
The environment detection module includes visual sensor, temperature sensor, humidity sensor and gas sensor, for detecting
Rescue environment；
The communication module is for realizing the communication between ipc monitor module and DSP main processor modules；
The planetary gear module is made of wheel, gear, transition gear, centre-driven gear and tie-rod, middle gear and wheel
It is fixedly connected, the shaft of gear, transition gear and centre-driven gear is installed on tie-rod.
2. full landform self-moving robot platform according to claim 1, it is characterised in that: there are four independent for the platform tool
Planetary gear module and two independent motor drive modules, two motor drive modules respectively drive two planetary gear modules.
3. full landform self-moving robot platform according to claim 1, it is characterised in that: the tie-rod is Y-shaped, on Y shape
The angle of contiguous branch is 60 °.
4. the working method of full landform self-moving robot platform according to claim 1, it is characterised in that: in motor driven
The rotation of heart sliding tooth wheel, and then transition gear is driven to rotate with it, the rotation of the rotation driven gear of transition gear, due to gear
It is to be fixed together with wheel, wheel rotates with it, and the steering of final wheel and the steering of gear are consistent；
Every group of planetary gear module at least one wheel hanging under steam；
When encountering barrier, tie-rod rotation enables hanging wheel clear the jumps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810701201.2A CN108942860A (en) | 2018-06-29 | 2018-06-29 | Full landform self-moving robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810701201.2A CN108942860A (en) | 2018-06-29 | 2018-06-29 | Full landform self-moving robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942860A true CN108942860A (en) | 2018-12-07 |
Family
ID=64484101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810701201.2A Pending CN108942860A (en) | 2018-06-29 | 2018-06-29 | Full landform self-moving robot platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942860A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623880A (en) * | 2018-12-18 | 2019-04-16 | 北京季融网络科技有限公司 | A kind of cooperation robot based on human body proximity sensor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106256669A (en) * | 2015-06-18 | 2016-12-28 | 江苏元中直流微电网有限公司 | Detect little automobile-used planet gear type from buffering efficient obstacle crossing device |
| CN207089475U (en) * | 2017-06-21 | 2018-03-13 | 北方智能装备有限公司 | Full landform crusing robot |
| CN108098734A (en) * | 2017-12-19 | 2018-06-01 | 南京文正知识产权代理有限公司 | A kind of warehouse mechanical arm that adjusting is moved based on Internet of Things |
| CN108116522A (en) * | 2017-12-26 | 2018-06-05 | 郑州欧尚德电子技术有限公司 | A kind of kinematic system for climbing robot |
| EP3338963A1 (en) * | 2016-12-23 | 2018-06-27 | LG Electronics Inc. -1- | Guide robot |
-
2018
- 2018-06-29 CN CN201810701201.2A patent/CN108942860A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106256669A (en) * | 2015-06-18 | 2016-12-28 | 江苏元中直流微电网有限公司 | Detect little automobile-used planet gear type from buffering efficient obstacle crossing device |
| EP3338963A1 (en) * | 2016-12-23 | 2018-06-27 | LG Electronics Inc. -1- | Guide robot |
| CN207089475U (en) * | 2017-06-21 | 2018-03-13 | 北方智能装备有限公司 | Full landform crusing robot |
| CN108098734A (en) * | 2017-12-19 | 2018-06-01 | 南京文正知识产权代理有限公司 | A kind of warehouse mechanical arm that adjusting is moved based on Internet of Things |
| CN108116522A (en) * | 2017-12-26 | 2018-06-05 | 郑州欧尚德电子技术有限公司 | A kind of kinematic system for climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623880A (en) * | 2018-12-18 | 2019-04-16 | 北京季融网络科技有限公司 | A kind of cooperation robot based on human body proximity sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101774170B (en) | Nuclear power plant working robot and control system thereof | |
| CN106394715A (en) | Omnidirectional moving wheel type robot platform and control method | |
| CN104996018B (en) | Multi-purpose unmanned agricultural operation robot platform | |
| EP3875229B1 (en) | Whole body manipulation on a legged robot using dynamic balance | |
| CN109917786A (en) | A kind of robot tracking control and system operation method towards complex environment operation | |
| CN109515655A (en) | A kind of multi-functional six crawler types underwater robot | |
| CN105980948A (en) | Method for setting travel path of autonomous travel work vehicle | |
| CN107544483A (en) | A kind of controlling of path thereof and device | |
| CN101948011A (en) | Hexapod universal walking multifunctional moonshot robot | |
| CN107097228A (en) | Autonomous traveling robot system | |
| CN110271965B (en) | Tower crane robot | |
| CN102754538A (en) | Robot for multi-span greenhouse | |
| CN107521572A (en) | Autonomous type life detection robot | |
| CN105874947B (en) | A kind of greenhouse 3D agricultural machinery working platform | |
| CN206696701U (en) | Endless-track vehicle remote control and automated driving system based on internet | |
| CN106314577A (en) | Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot | |
| CN108415460A (en) | A kind of combination separate type rotor and sufficient formula moving operation machine people concentration-distributed control method | |
| CN110453749A (en) | A kind of hydraulic crawler excavator intelligent excavating system and control method | |
| CN101537613A (en) | Open-architecture mobile robot system | |
| CN108942860A (en) | Full landform self-moving robot platform | |
| CN110154049A (en) | A kind of wheeled workshop patrol robot | |
| CN108908279A (en) | Rescuing robot for fire control | |
| CN105739521B (en) | A kind of system and method agricultural robot traction and powered | |
| US10556630B1 (en) | Friction drive system and methods for use | |
| CN108556939A (en) | A kind of full landform movement sniffing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181207 |
|
| RJ01 | Rejection of invention patent application after publication |