CN101380978A - Shrimp-shaped six-wheel mobile robot - Google Patents
Shrimp-shaped six-wheel mobile robot Download PDFInfo
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- CN101380978A CN101380978A CNA2008101391469A CN200810139146A CN101380978A CN 101380978 A CN101380978 A CN 101380978A CN A2008101391469 A CNA2008101391469 A CN A2008101391469A CN 200810139146 A CN200810139146 A CN 200810139146A CN 101380978 A CN101380978 A CN 101380978A
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- steer motor
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Abstract
The invention relates to a shrimp-shaped six-wheeled moving robot which can fit for complex road conditions automatically, has stronger capacity for crossing obstacle and belongs to the mechanical field. The shrimp-shaped six-wheeled moving robot consists of a head part, an abdomen part, lateral wings and a tail part, and the shape likes a shrimp; the head part is articulated with the front wall of the abdomen part; the left lateral wing and the right lateral wing are respectively articulated with the left side and the right side of the abdomen part; the tail part is articulated with the back wall of the abdomen part; the head part is a four bar mechanism; the end of a connecting rod is equipped with a wheel which is driven by a drive motor and realizes the turning by a turning motor; each lateral wing is a parallelogram mechanism, and each parallelogram mechanism is provided with two legs; two wheels are respectively installed at the ends of the legs and are respectively driven by a drive motor; and the end of the abdomen part is equipped with a wheel which is driven by a drive motor and realizes the turning by a turning motor. The shrimp-shaped six-wheeled moving robot can cross the vertical stage 1.5 and 2 times higher than the diameter of the wheel, has stronger bearing capacity and higher mechanism efficiency and can make the turning movement with the gyration radius which is zero approximately.
Description
Technical field
That the present invention relates to is a kind of mobile robot, specifically is a kind of six wheel robots with strong obstacle climbing ability that can adapt to complex road condition automatically, belongs to mechanical field.
Background technology
At present, the application of Robotics is constantly expanded, and for example celestial body detecting, explosive investigation, salvage work etc. make the research of barrier-surpassing robot more and more obtain paying attention to.Research barrier-surpassing robot main objective is exactly to improve the obstacle climbing ability of robot, reduces the ROBOT CONTROL difficulty simultaneously.A lot of mobile robots, has certain obstacle climbing ability, but these mobile robots are difficult to cross the perpendicular steps that surpasses the wheel footpath in general, or obstacle climbing ability is stronger, but need initiatively obstacle detouring, can not crossing obstacle automatically, need finish identification to obstacle, judgement, decision-making etc., like this mobile robot's control system is had relatively high expectations, and travel efficiency is lower when complex road condition.
Find by literature search, the Chinese patent publication number is: 200520075351.5, the utility model patent name is called: the composite moving mechanism of independent barrier-surpassing robot, this patent comprises drive motor, reduction gear apparatus and movable parts and intelligence control system thereof: movable parts wherein is the Athey wheel of symmetric arrangement and car body both sides, each Athey wheel is made up of road wheel, auxiliary wheel, pivot arm, crawler belt, crawler belt supporting mechanism, road wheel and auxiliary wheel are installed in the two ends of pivot arm respectively, and crawler belt is coated on outside road wheel and the auxiliary wheel; Each pivot arm to left and right Athey wheel is driven by a pivot arm drive motor, and the road wheel of the forward and backward Athey wheel of each side is by a traction drive motor-driven; Road wheel, pivot arm are separately fixed on its transmission shaft, can do 360 degree rotations with axle.Multiple move modes such as that this utility model patent can adopt is wheeled, leg formula, crawler type travel on various complex road surfaces, and can directly change between the various move mode, and preceding hectare or back hectare also have self-recovering function.This independent barrier-surpassing robot obstacle climbing ability is stronger, but needs obstacle such as identification step during obstacle detouring, then before and after the control system control or some motion of left and right sides crawler belt crop rotation, could clear an obstacle, and obstacle detouring efficient is lower, the control system complexity, and can not make turning motion.
Find by literature search, volume the 1st interim paper in March, 2005 " drive technology " the 19th " but the rugged surface of a kind of later-model passive adaptation six take turns moon roaming car ", its preceding portion mechanism mainly is made up of a four-bar mechanism and an electric drive wheel, the left and right sides is provided with two cover parallel-crank mechanisms respectively, between this parallel-crank mechanism and the main body by two other independently the parallel-crank mechanism that is fixed on the main body of a side be connected, between body and two side direction parallel-crank mechanisms, axle spring has been installed, afterbody is installed a trailing wheel, can adapt to concrete floor, the meadow, sand ground and muddy road surface, can finish and go upstairs, cross pit and inclination action such as advance, before the maximum perpendicular climbing height about 2 times of wheel diameter.But this six takes turns moon roaming car when on the body constant weight is arranged, can sink, and causes its load-carrying capacity deficiency, and this six takes turns the moon and roam car and can not turn.
Summary of the invention
The objective of the invention is to provides a kind of shrimp-shaped six-wheel mobile robot at deficiency of the prior art, can cross wheel diameter 1.5-2 perpendicular steps doubly, and load-carrying capacity is stronger, and mechanical efficiency is higher, can make turning motion.
The present invention is achieved by the following technical solutions, the present invention includes: head, belly, flank and four parts of afterbody, its connection mode is: head and belly are hinged, about two flanks be articulated in belly respectively, afterbody and belly are hinged.Wherein, head comprises: lack crank web, crank web coupling tunnel, bolt, head torsion spring, long crank web, link rod plate, connecting rod mounting blocks, steer motor adapter plate, steer motor, turn to sleeve, screw, L shaped back plate, drive motor, wheel.The crank web coupling tunnel is clamped at two short crank web at both ends circular hole places, and wherein an end forms revolute pair by the head contiguous block of bolt and belly, and the other end forms revolute pair by bolt and two connecting rods.The crank web coupling tunnel is clamped at two length of a film crank web at both ends circular hole places, and wherein an end forms revolute pair by another head contiguous block of bolt and belly, and the other end forms revolute pair by bolt and two link rod plates.The connecting rod mounting blocks is clamped in two link rod plate lower ends, and welding or bonding, connecting rod mounting blocks lower surface and welding of steer motor adapter plate or bonding.Steer motor is fixed by thread connection and steer motor adapter plate, and its output shaft passes the steer motor adapter plate.The turning sleeve jacket casing is on the steer motor output shaft, and by screw lock, weld or bonding its lower surface and L shaped back plate upper surface.Drive motor is fixed by thread connection and L shaped back plate, and its output shaft passes L shaped back plate, is fixedly connected with wheel.
Belly comprises: housing, case lid, head contiguous block, flank contiguous block, afterbody contiguous block.Case lid places on the housing, the head contiguous block is connected in the antetheca of housing by screw retention, four flank contiguous blocks are connected in the left and right sides of housing respectively by screw retention, every side is arranged two up and down, and the afterbody contiguous block is connected in the rear wall of housing by screw retention.
Flank comprises: bolt, cross rib, leg outside plate, leg inner panel, leg contiguous block, drive motor, wheel.Bolt passes the cross rib centre hole, is fixedly connected with the flank contiguous block centre hole of belly.Leg outside plate and leg inner panel are clamped an end of two cross ribs respectively, pass bolt and form revolute pair, and leg contiguous block and welding or bonding are clamped in its lower end; Drive motor is fixed by thread connection and leg outside plate, and its output shaft passes the leg outside plate, is fixedly connected with wheel, has formed one leg like this.Two legs and two cross ribs are formed a parallel-crank mechanism.
Afterbody comprises: tailgate, afterbody torsion spring, tailgate contiguous block, steer motor adapter plate, steer motor, turn to sleeve, screw, L shaped back plate, drive motor, wheel.There is 1/4th rounded corner the upper end of two tailgates, and the afterbody contiguous block in the belly is clamped in two tailgates upper end, and by bolted splice, the afterbody torsion spring set is sandwiched in the middle of the afterbody contiguous block in the belly on bolt; The tailgate contiguous block is clamped in two tailgate lower ends, and welding or bonding.Tailgate contiguous block and welding of steer motor adapter plate or bonding, steer motor is fixed by thread connection and steer motor adapter plate, its output shaft passes the steer motor adapter plate, the turning sleeve jacket casing is on the steer motor output shaft, by screw lock, its lower surface and welding of L shaped back plate upper surface or bonding.Drive motor is fixed by thread connection and L shaped back plate, and its output shaft passes L shaped back plate, is fixedly connected with wheel.
When the present invention uses, when needing robot to walk forward, steer motor before and after need closing, and the drive wheel direction that makes head, afterbody is a fore-and-aft direction, this moment is as long as drive six drive motor simultaneously, six wheels can move ahead with identical speed, are running into when being no more than obstacle more than 2 times of wheel footpath, and robot can adapt to road conditions and clear an obstacle automatically.When the needs cw turns to, halt earlier, the steer motor of drive head and afterbody all rotates counterclockwise 90 °, and the afterbody steer motor stops operating after rotating counterclockwise 90 °; Oppositely (along direction of retreat) driving of two drive motor of right flank then, other drive motor driving directions are constant, and then the entire machine people realizes that cw approximate zero radius turns to.
Compared with prior art, the present invention has realized crossing obstacle automatically, simplified control system greatly, and can realize the utilization of turning.This shrimp-shaped six-wheel mobile robot can be crossed the perpendicular steps of about 2 times of wheel diameters, has very strong obstacle climbing ability, particularly afterbody and belly are hinged, and make afterbody compress ground-surface trend by the afterbody torsion spring, this structure afterbody when obstacle detouring lifts obstacle detouring easily, can not become robot obstacle detouring difficulty the best part, and after obstacle crossed, afterbody can recover original state under the effect of afterbody torsion spring.
Description of drawings
Fig. 1 structural representation of the present invention
Fig. 2 head scheme drawing one of the present invention
Fig. 3 head scheme drawing two of the present invention
Fig. 4 belly scheme drawing of the present invention (exploded view)
Fig. 5 flank scheme drawing of the present invention (confined explosion)
Fig. 6 afterbody scheme drawing of the present invention
Fig. 7 the present invention moves ahead and shows conceptual scheme
Fig. 8 cw approximate zero of the present invention semidiameter turn conceptual scheme
The specific embodiment
As shown in Figure 1, the present invention includes: head 1, belly 2, flank 3 and 4 four parts of afterbody, its connection mode is: head 1 is hinged with belly 2, about two flanks 3 be articulated in belly 2 respectively, afterbody 4 is hinged with belly 2.Wherein, head 1 comprises: lack crank web 8, crank web coupling tunnel 7, bolt 6, head torsion spring 5, long crank web 9, link rod plate 10, connecting rod mounting blocks 11, steer motor adapter plate 13, steer motor 12, turn to sleeve 14, screw 15, L shaped back plate 16, drive motor 18, wheel 17.Crank web coupling tunnel 7 is clamped at two short crank web 8 at both ends circular hole places, and wherein an end is by the head contiguous block formation revolute pair of bolt 6 with belly, and the other end forms revolute pairs by bolt 6 and two connecting rods 10.Crank web coupling tunnel 7 is clamped at two length of a film crank webs, 9 at both ends circular hole places, and wherein an end forms revolute pair by another head contiguous block of bolt and belly, and the other end forms revolute pair by bolt 6 and two link rod plates 10.Connecting rod mounting blocks 11 sides are clamped in two link rod plate 10 lower ends, and welding or bonding, connecting rod mounting blocks 11 lower surfaces and 13 welding of steer motor adapter plate or bonding.Steer motor 12 is fixing by thread connection and steer motor adapter plate 13, and its output shaft passes steer motor adapter plate 13.Turn to sleeve 14 to be enclosed within on the steer motor output shaft, by screw 15 lockings, its lower surface and welding of L shaped back plate 16 upper surfaces or bonding.Drive motor 18 is fixing by thread connection and L shaped back plate 16, and its output shaft passes L shaped back plate 16, is fixedly connected with wheel 17.
Claims (2)
1, a kind of shrimp-shaped six-wheel mobile robot, comprise: head (1), belly (2), flank (3) and (4) four parts of afterbody, its head (1) is hinged with belly (2), about two flanks (3) be articulated in belly (2) respectively, afterbody (4) is hinged with belly (2), it is characterized in that: crank web coupling tunnel (7) is clamped at two short crank webs (8) at both ends circular hole place in the head (1), wherein an end is by the head contiguous block formation revolute pair of bolt (6) with belly, and the other end forms revolute pair by bolt (6) and two connecting rods (10); Crank web coupling tunnel (7) is clamped at two length of a film crank web (9) at both ends circular hole places, and wherein an end forms revolute pair by another head contiguous block of bolt and belly, and the other end forms revolute pair by bolt (6) and two link rod plates (10); Connecting rod mounting blocks (11) side is clamped in two link rod plates (10) lower end, and welding or bonding, connecting rod mounting blocks (11) lower surface and steer motor adapter plate (13) welding or bonding.Steer motor (12) is fixing by thread connection and steer motor adapter plate (13), and its output shaft passes steer motor adapter plate (13); Turn to sleeve (14) to be enclosed within on the steer motor output shaft, by screw (15) locking, its lower surface and welding of L shaped back plate (16) upper surface or bonding; Drive motor (18) is fixing by thread connection and L shaped back plate (16), and its output shaft passes L shaped back plate (16), is fixedly connected with wheel (17).
2, shrimp-shaped six-wheel mobile robot according to claim 1 is characterized in that its afterbody (4) comprising: tailgate (32), afterbody torsion spring (31), tailgate contiguous block (33), steer motor adapter plate (13), steer motor (12), turn to sleeve (14), screw (15), L shaped back plate (16), drive motor (18), wheel (17); There is 1/4th rounded corner the upper end of two tailgates (32), the afterbody contiguous block (23) in the belly (2) is clamped in two tailgates (32) upper end, hinged by bolt (30), afterbody torsion spring (31) is enclosed within on the bolt (30), is sandwiched in afterbody contiguous block (23 centres in the belly (2); Tailgate contiguous block (33) is clamped in two tailgates (32) lower end, and welding or bonding; Tailgate contiguous block (33) lower surface and steer motor adapter plate (13) welding or bonding, steer motor (12) is fixing by thread connection and steer motor adapter plate (13), its output shaft passes steer motor adapter plate (13), turning sleeve jacket casing (14) is on the steer motor output shaft, by screw (15) locking, its lower surface and welding of L shaped back plate (16) upper surface or bonding; Drive motor (18) is fixing by thread connection and L shaped back plate (16), and its output shaft passes L shaped back plate (16), is fixedly connected with wheel (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101391469A CN101380978A (en) | 2008-08-08 | 2008-08-08 | Shrimp-shaped six-wheel mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101391469A CN101380978A (en) | 2008-08-08 | 2008-08-08 | Shrimp-shaped six-wheel mobile robot |
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| CN101380978A true CN101380978A (en) | 2009-03-11 |
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| CNA2008101391469A Pending CN101380978A (en) | 2008-08-08 | 2008-08-08 | Shrimp-shaped six-wheel mobile robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN102673668A (en) * | 2012-05-14 | 2012-09-19 | 浙江工业大学 | Turning mechanism of four-legged walking machinery |
| CN102700642A (en) * | 2012-05-14 | 2012-10-03 | 浙江工业大学 | Quadruped walking machine capable of turning |
| CN103448831A (en) * | 2013-09-16 | 2013-12-18 | 北京交通大学 | Obstacle-crossing carrying robot |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
| CN106976496A (en) * | 2017-05-05 | 2017-07-25 | 山东大学 | A kind of balance telescoping mechanism and the balance car comprising it |
| CN107380256A (en) * | 2017-07-24 | 2017-11-24 | 上海精虹新能源科技有限公司 | The steering traffic control method of driven plate transport vehicle |
| CN107380297A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | Deform the full landform robot running gear of pleiotaxy |
| CN107571930A (en) * | 2017-09-22 | 2018-01-12 | 北京林业大学 | A kind of wheel leg type barrier-exceeding vehicle |
| FR3055256A1 (en) * | 2016-08-31 | 2018-03-02 | Universite Pierre Et Marie Curie | COMPLIANT AUTONOMOUS VEHICLE AND CONTROL METHOD THEREOF |
| CN107757748A (en) * | 2017-10-11 | 2018-03-06 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| CN110371206A (en) * | 2019-08-13 | 2019-10-25 | 浙江大学 | A kind of six-wheel mobile robot multi link walking mechanism |
| CN110510026A (en) * | 2019-08-16 | 2019-11-29 | 东南大学 | A kind of independent vehicle frame forearm aiding overpass obstacle chassis based on Mecanum wheel |
| CN113460335A (en) * | 2021-08-13 | 2021-10-01 | 吉林大学 | Active suspension type planet vehicle climbing method |
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2008
- 2008-08-08 CN CNA2008101391469A patent/CN101380978A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN102673668A (en) * | 2012-05-14 | 2012-09-19 | 浙江工业大学 | Turning mechanism of four-legged walking machinery |
| CN102700642A (en) * | 2012-05-14 | 2012-10-03 | 浙江工业大学 | Quadruped walking machine capable of turning |
| CN102673668B (en) * | 2012-05-14 | 2014-03-26 | 浙江工业大学 | Turning mechanism of four-legged walking machinery |
| CN102700642B (en) * | 2012-05-14 | 2014-03-26 | 浙江工业大学 | Quadruped walking machine capable of turning |
| CN103448831A (en) * | 2013-09-16 | 2013-12-18 | 北京交通大学 | Obstacle-crossing carrying robot |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
| FR3055256A1 (en) * | 2016-08-31 | 2018-03-02 | Universite Pierre Et Marie Curie | COMPLIANT AUTONOMOUS VEHICLE AND CONTROL METHOD THEREOF |
| WO2018042131A1 (en) * | 2016-08-31 | 2018-03-08 | Université Pierre et Marie Curie | Compliant autonomous vehicle and method for controlling same |
| CN106976496A (en) * | 2017-05-05 | 2017-07-25 | 山东大学 | A kind of balance telescoping mechanism and the balance car comprising it |
| CN106976496B (en) * | 2017-05-05 | 2022-12-13 | 山东大学 | Balanced telescopic machanism and contain its balance car |
| CN107380256A (en) * | 2017-07-24 | 2017-11-24 | 上海精虹新能源科技有限公司 | The steering traffic control method of driven plate transport vehicle |
| CN107380297A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | Deform the full landform robot running gear of pleiotaxy |
| CN107380297B (en) * | 2017-09-06 | 2023-09-05 | 钦州学院 | Deformed multi-wheel type all-terrain robot walking mechanism |
| CN107571930A (en) * | 2017-09-22 | 2018-01-12 | 北京林业大学 | A kind of wheel leg type barrier-exceeding vehicle |
| CN107757748A (en) * | 2017-10-11 | 2018-03-06 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| CN107757748B (en) * | 2017-10-11 | 2024-04-09 | 深圳市普渡科技有限公司 | Steering wheel device of robot |
| CN110371206A (en) * | 2019-08-13 | 2019-10-25 | 浙江大学 | A kind of six-wheel mobile robot multi link walking mechanism |
| CN110510026A (en) * | 2019-08-16 | 2019-11-29 | 东南大学 | A kind of independent vehicle frame forearm aiding overpass obstacle chassis based on Mecanum wheel |
| CN113460335A (en) * | 2021-08-13 | 2021-10-01 | 吉林大学 | Active suspension type planet vehicle climbing method |
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Open date: 20090311 |