CN101716884B - Mobile robot suitable for complicated ground - Google Patents
Mobile robot suitable for complicated ground Download PDFInfo
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- CN101716884B CN101716884B CN2009100733228A CN200910073322A CN101716884B CN 101716884 B CN101716884 B CN 101716884B CN 2009100733228 A CN2009100733228 A CN 2009100733228A CN 200910073322 A CN200910073322 A CN 200910073322A CN 101716884 B CN101716884 B CN 101716884B
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- gear
- straight gear
- helical wheel
- straight
- revolute pair
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Abstract
The invention relates to a mobile robot suitable for a complicated ground. A helical gear Z6 is mutually meshed with a helical gear Z7 to transmit the torque of a motor Y to a differential gear train comprising a straight gear Z1, a straight gear Z2, a straight gear Z3, a straight gear Z4, a straight gear Z5 and a tie bar H which are mutually meshed to drive four bull wheels, and helical gears Z8 are mutually meshed to transmit the torque of the motor Y to the other differential gear train comprising a tie bar H1, a helical gear Z9, a helical gear Z10, a helical gear Z11, a helical gear Z12 and a helical gear Z13 which are mutually meshed through an L universal joint to drive two pony wheels. The two differential gear trains are mutually matched, and the rear differential gear train can provide power support when the front differential gear train is in trouble, thus the ground adaptive capacity of the mobile robot is enhanced.
Description
(1) technical field
The present invention relates to a kind of mobile robot's structure, a kind of specifically robot architecture who is applicable to complicated ground.
(2) background technology
The world today, mobile robot's research and development more and more receives extensive concern, particularly is applicable to the ground-surface mobile robot of dwelling more.The mobile robot shows strength in every field such as ocean, military affairs, space flight, service, amusement, its development prospect is limitless.To mobile robot's development, study a kind of focus that amphibious ground-surface mobile robot will become each side research that is adapted to.The running mechanism that is adapted to the mobile robot of amphibious ground just becomes research mobile robot's emphasis.Amphibious robot roughly is divided into leg formula amphibious robot and snakelike amphibious robot at present.
The amphibious cross-country robot Rhex that for example comes from boston, u.s.a dynam engineering is real amphibious machine people and can adapts to any landform, confirms that tentatively RHex possibly be the work that is used for the military surveillance aspect.The moving structure of robot RHex is six semicircular ring between wheel and pin, and it is very ingenious that the designer arranges, and combines wheeled construction with pin formula structure, respectively get the chief in walking and obstacle detouring balance the maneuvering performance of RHex.
But in the time of in it gets into water, six legs of Rhex changed into the plate of six picture fins.Rhex just can swim moving as fish like this.Also having the towser transfer robot equally also is to come from Boston dynam engineering, adopts simulation of human body to learn.So just can't realize that it is adapted to amphibious ground fully.
(3) summary of the invention
The present invention has designed and a kind ofly can be applicable to complicated ground, particularly is applicable to a kind of mobile robot who is applicable to complicated ground of the complicated ground that high low head is big.
The objective of the invention is to realize like this: it comprises motor, it is characterized in that motor passes through transmission device and is connected with first differential gear train; Motor is connected with second differential gear train through a universal coupling again; Wherein second differential gear train connects two wheels, and first differential gear train connects four wheels.
The present invention can also comprise:
1, consisting of of said first differential gear train: the 5th straight gear Z5 and the 4th straight gear Z4 external toothing; The 5th straight gear Z5 is captiveed joint with two wheels through adapter shaft; And adapter shaft and frame composition revolute pair, the first tie-rod H and frame are formed revolute pair, and the 4th straight gear Z4 and first tie-rod are formed revolute pair; The 4th straight gear Z4 and the 3rd straight gear Z3 external toothing; The 3rd straight gear Z3 is captiveed joint with the second straight gear Z2, and the chain extension bar of the first tie-rod H and the 3rd straight gear Z3, the second straight gear Z2 is formed revolute pair, and the first straight gear Z1 is captiveed joint with two wheels through adapter shaft; And adapter shaft and frame composition revolute pair, the first straight gear Z1 and the second straight gear Z2 external toothing.
2, consisting of of said second differential gear train: the 8th helical wheel Z8 and the 9th helical wheel Z9 external toothing; The 9th helical wheel Z9 is connected with the 11 helical wheel Z11 through the rectangle second tie-rod H1; The 11 helical wheel Z11 and the second tie-rod H1 form revolute pair; The tenth helical wheel Z10 is captiveed joint with a steamboat through adapter shaft and axle is formed revolute pair respectively with frame and the 9th helical wheel Z9, and the 12 helical wheel Z12 is through adapter shaft captive joint one steamboat and axle and frame composition revolute pair.
3, motor links to each other with the center gear of first differential gear train through gear.
Usefulness of the present invention: motor drives the 13 helical wheel transmission; The 13 helical wheel drives the 6th helical wheel transmission, and the propulsion source of electrical motor is given the differential gear train that is made up of first straight gear, second straight gear, the 3rd straight gear, the 4th straight gear, the 5th straight gear and first tie-rod through the 6th helical wheel transmission like this; The propulsion source of electrical motor passes to the 9th helical wheel, the tenth helical wheel, the 11 helical wheel and the 12 helical gear differential gear train through the 7th helical wheel and universal coupling.Run into complicated ground; Universal coupling can reach the angle of pitch of maximum 45 degree; And can make electrical motor is that the differential gear train of back provides propulsion source; Strengthened obstacle climbing ability and the motion in water route on mobile robot's land greatly, it is electrical motor that such mechanism has only an actuator, and the mobile robot of assurance can adapt to complicated ground.
(4) description of drawings
Fig. 1 mobile robot's fundamental diagram.
(5) specific embodiment
This embodiment of Fig. 1 is meshing with each other by straight gear Z1, straight gear Z2, straight gear Z3, straight gear Z4, straight gear Z5, tie-rod H, straight gear Z1 and straight gear Z2; Straight gear Z2 and straight gear Z3 are fixedly linked through a root system; They have unequal angular velocity; Straight gear Z3 and straight gear Z5 are meshing with each other through straight gear Z4; Around the geometrical axis revolution of himself, the geometrical axis of himself turns round around fixed axis with member H again simultaneously on the one hand for straight gear Z1, straight gear Z4, and straight gear Z1, straight gear Z2, straight gear Z3, straight gear Z4, straight gear Z5 and tie-rod H constitute differential gear train; The propulsion source of electrical motor is given the differential gear train that is made up of straight gear Z1, straight gear Z2, straight gear Z3, straight gear Z4, straight gear Z5 and tie-rod H through helical wheel Z6 transmission like this, and this differential gear train drives four bull wheels.Helical wheel Z8, helical wheel Z9, helical wheel Z10, helical wheel Z11 and helical wheel Z12 constitute differential gear train equally, and this differential gear train drives two steamboats.Motor drives helical wheel Z13 transmission; Helical wheel Z13 drives helical wheel Z6 transmission; The propulsion source of electrical motor passes to the differential gear train of helical wheel Z9, helical wheel Z10, helical wheel Z11 and helical wheel Z12 through helical wheel Z7 and universal coupling L, and this differential gear train drives two steamboats.Because helical wheel Z7, Z8 connect through universal coupling; Run into complicated ground; Universal coupling L can reach the angle of pitch of maximum 45 degree, and can to make electrical motor be that the differential gear train of back provides propulsion source, has strengthened obstacle climbing ability and the motion in water route on mobile robot's land greatly; It is electrical motor that such mechanism has only an actuator, and the mobile robot of assurance can adapt to complicated ground.
Claims (2)
1. mobile robot who is applicable to complicated ground, it comprises motor, it is characterized in that motor passes through transmission device and is connected with first differential gear train; Motor is connected with second differential gear train through a universal coupling again; Wherein second differential gear train connects two wheels, and first differential gear train connects four wheels;
Consisting of of said first differential gear train: the 5th straight gear (Z5) and the 4th straight gear (Z4) external toothing; The 5th straight gear (Z5) is captiveed joint with two wheels through adapter shaft; And adapter shaft and frame composition revolute pair, first tie-rod (H) is formed revolute pair with frame, and the 4th straight gear (Z4) is formed revolute pair with first tie-rod; The 4th straight gear (Z4) and the 3rd straight gear (Z3) external toothing; The 3rd straight gear (Z3) is captiveed joint with second straight gear (Z2), and the chain extension bar of the first tie-rod H and the 3rd straight gear (Z3), second straight gear (Z2) is formed revolute pair, and first straight gear (Z1) is captiveed joint with two wheels through adapter shaft; And adapter shaft and frame composition revolute pair, first straight gear (Z1) and second straight gear (Z2) external toothing;
Consisting of of said second differential gear train: the 8th helical wheel (Z8) and the 9th helical wheel (Z9) external toothing; The 9th helical wheel (Z9) is connected with the 11 helical wheel (Z11) through rectangle second tie-rod (H1); The 11 helical wheel (Z11) is formed revolute pair with second tie-rod (H1); The tenth helical wheel (Z10) is captiveed joint with a steamboat through adapter shaft and axle is formed revolute pair respectively with frame and the 9th helical wheel (Z9), and the 12 helical wheel (Z12) is through adapter shaft captive joint one steamboat and axle and frame composition revolute pair.
2. a kind of mobile robot who is applicable to complicated ground according to claim 1 is characterized in that: motor links to each other with the center gear of first differential gear train through gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100733228A CN101716884B (en) | 2009-12-02 | 2009-12-02 | Mobile robot suitable for complicated ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100733228A CN101716884B (en) | 2009-12-02 | 2009-12-02 | Mobile robot suitable for complicated ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101716884A CN101716884A (en) | 2010-06-02 |
| CN101716884B true CN101716884B (en) | 2012-07-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100733228A Expired - Fee Related CN101716884B (en) | 2009-12-02 | 2009-12-02 | Mobile robot suitable for complicated ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101716884B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033008A (en) * | 2007-04-25 | 2007-09-12 | 哈尔滨工业大学 | Four-wheel or six-wheel differential-torsion rod spring suspension type vehicle-carrying mechanism |
| CN101224706A (en) * | 2008-01-25 | 2008-07-23 | 中国农业大学 | Differential drive running gear |
| CN101234598A (en) * | 2008-02-29 | 2008-08-06 | 中国农业大学 | Double power driven walking mechanism |
| CN101323256A (en) * | 2008-07-10 | 2008-12-17 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN101544187A (en) * | 2009-05-06 | 2009-09-30 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
-
2009
- 2009-12-02 CN CN2009100733228A patent/CN101716884B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033008A (en) * | 2007-04-25 | 2007-09-12 | 哈尔滨工业大学 | Four-wheel or six-wheel differential-torsion rod spring suspension type vehicle-carrying mechanism |
| CN101224706A (en) * | 2008-01-25 | 2008-07-23 | 中国农业大学 | Differential drive running gear |
| CN101234598A (en) * | 2008-02-29 | 2008-08-06 | 中国农业大学 | Double power driven walking mechanism |
| CN101323256A (en) * | 2008-07-10 | 2008-12-17 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN101544187A (en) * | 2009-05-06 | 2009-09-30 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101716884A (en) | 2010-06-02 |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120711 Termination date: 20171202 |
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| CF01 | Termination of patent right due to non-payment of annual fee |