CN101723001A - Caterpillar mobile robot platform - Google Patents
Caterpillar mobile robot platform Download PDFInfo
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- CN101723001A CN101723001A CN200910152749A CN200910152749A CN101723001A CN 101723001 A CN101723001 A CN 101723001A CN 200910152749 A CN200910152749 A CN 200910152749A CN 200910152749 A CN200910152749 A CN 200910152749A CN 101723001 A CN101723001 A CN 101723001A
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Abstract
The invention relates to a caterpillar mobile robot platform, which comprises a robot structure and a control system, and is characterized in that the robot structure adopts a four caterpillar structure, the four caterpillar structure comprises four tracks, a drive mechanism and a robot body, wherein two tracks are fixed on the two sides of the robot body respectively, and the power ends of the other two tracks are coaxial with one end of the former two tracks and coaxial with an output shaft of the drive mechanism respectively, the driven ends of the other two tracks are suspended, the drive mechanism is fixed in the robot body and connected with the drive shafts of the four tracks, the drive mechanism comprises a rotary-arm rotation gear and a plurality of DC servo motors, the plurality of DC servo motors drive planetary gearboxes A1 and A2 and gears Z1, Z2 and Z3, and also drive the rotary-arm rotation gear by two pairs of bevel gears. The caterpillar mobile robot platform has a simple structure, can adapt to various road conditions and run smoothly.
Description
Technical field:
The present invention relates to caterpillar mobile robot platform.
Background technology
The mobile robot is a system ensemble that integrates multiple functions such as environment sensing, dynamic decision and planning, behavior control and execution.Caterpillar mobile robot is different from general wheeled mobile robot, and it can be by the landform of various complexity, and can be operated under the rugged environment, replaces the people to finish carrying out some having dangerous work.Therefore, the research caterpillar mobile robot has great importance
The machine people that cries can replace the people to execute the task in dangerous, abominable or the untouchable environment of people, finish work such as scouting, patrol, warning, anti-terrorism, explosive, scientific investigation and sampling, thereby reduce personal casualty danger, require assistance, fields such as scientific investigation, military affairs have huge using value.
External about the nineties in last century, the machine of the autonomous half Autonomous Control people that cries is carried out systematic study, obtained great successes.Influential is packbot robot, the talon robot of the development of American I robot company, these two kinds of robots successfully are applied to the war in Iraq and Afghan War, in addition, the HeliosVII robot of Britain su-per-wheelbarrow robot, Japan also shows unique characteristics.Domestic small-sized caterpillar belt device people is studied started late, and also obtained research in recent years.External complex structure, the cost height.
Summary of the invention
In order to overcome above-mentioned defective, the purpose of this invention is to provide caterpillar mobile robot platform.
To achieve these goals, the present invention adopts following technical scheme:
Caterpillar mobile robot platform, it comprises robot architecture and control system, the robot architecture adopts four track structures, four track structures comprise four crawler belts, driver train, body, article two, the both sides of the fixing respectively body of crawler belt, in addition the power end of two crawler belts is coaxial and be that the output shaft of driver train is coaxial with an end of preceding two crawler belts respectively, its driven end is unsettled, driver train is internal body and be connected with the transmission shaft of four crawler belts fixedly, driver train comprises the flip-arm rotating mechanism, many DC servo motor, many DC servo motor drive planetary reduction gear A1, A2, with gear Z1, Z2, Z3, and by the moving flip-arm rotating mechanism of 2 pairs of umbrella cingulums.
Terrace part on the above-mentioned body is used to set up various reconnaissance devices, robotic device.
Robot mainly contains two major parts in control system and forms
One, hardware system, comprise that various electronic inductors, DC servo motor, motor driver, demoder, central controller, radio station form, central controller connects DC servo motor by demoder control motor driver motor driver, central controller connects electronic inductor, electronic inductor such as ultrasonic detector, infrared inductor, thermal detector, imageing sensor.
Two, software system are shaken control operation interface image and are shown, the interface comprises that ambient image shows, robot ambulation speed shows, electric current and voltage shows and various detection data.
Principle of work is as follows: when DC servo motor M3 rotates, drive Z2, Z3 synchronously by gear Z1, also synchronous initiation of retarder A1, A2 rotates output shaft by the umbrella tooth at last, drives the flip-arm rotating mechanism.
This structure is compared traditional speed reduction gearing following advantage:
The load of 1, bearing can be a lot of greatly, because stressed synchronously by 2 retarders.
2, the volume of retarder dwindles greatly, and it is the retarder formation of two Φ 52 to compare traditional structure, and traditional retarder will reach identical retarder formation for Φ 80 of load-carrying capacity needs.This has very big benefit to the robot narrow space.
3, overall length shortens greatly, because this mechanism is in line motor and retarder by gear side by side.
The present invention is simple in structure, can adapt to various road conditions, travels steadily.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is for being integral structure scheme drawing of the present invention;
Fig. 3 is the transmission device of caterpillar robot;
Fig. 4 is a partly diagram of circuit of hardware
Fig. 5 is a upset scheme drawing of the present invention.
The specific embodiment
Further specify below in conjunction with accompanying drawing:
Shown in Fig. 1～3, it comprises robot architecture 1 and control system, the robot architecture adopts four track structures, four track structures comprise four crawler belts 1, driver train 3, body 2, article two, the both sides of the fixing respectively body of crawler belt 1, in addition the power end of two crawler belts 1 is coaxial and be that the output shaft of driver train 3 is coaxial with an end of preceding two crawler belts 1 respectively, its driven end 4 is unsettled, driver train 3 fixedly body 1 is inner and be connected with the transmission shaft of four crawler belts 1, terrace part on the body 1 is used to set up various reconnaissance devices, equipment such as manipulator, driver train 3 comprises flip-arm rotating mechanism 7, many DC servo motor 5, many DC servo motor 5 drive planetary reduction gear A1, A2, with gear Z1, Z2, Z3, and by the moving flip-arm rotating mechanism 7 of 2 pairs of umbrella cingulums.
Robot mainly contains two major parts in control system and forms
One, hardware system, as shown in Figure 4, hardware system comprises that various electronic inductors, DC servo motor, motor driver, demoder, central controller, radio station form, central controller is controlled DC servo motor by demoder, DC servo motor connects motor driver, radio station, inductor such as ultrasonic detector, infrared inductor, thermal detector, imageing sensor.
Two, software system are shaken control operation interface image and are shown, the interface comprises that ambient image shows, robot ambulation speed shows, electric current and voltage shows and various detection data.
Operation under complexity, circumstances not known condition, robot needs multiple motor function physique structure variation function to conform, change needs according to motor function of robot (as obstacle detouring, stride functions such as ditch, up/down steps) and body, sum up following 6 kinds of robot typical motion attitudes, as shown in Figure 5.
Robot at first launches two flanks simultaneously, makes it to be supported on the obstacle, drives the body interior DC machine then simultaneously, make main body under the support of crawler belt, the both sides flip-arm rotates relatively, thereby plays tall, and last robot is finished the process of crossing by the reach of flip-arm crawler belt.
Claims (3)
1. caterpillar mobile robot platform, it comprises robot architecture and control system, it is characterized in that the robot architecture adopts four track structures, four track structures comprise four crawler belts, driver train, body, article two, the both sides of the fixing respectively body of crawler belt, in addition the power end of two crawler belts is coaxial and be that the output shaft of driver train is coaxial with an end of preceding two crawler belts respectively, its driven end is unsettled, driver train is internal body and be connected with the transmission shaft of four crawler belts fixedly, driver train comprises the flip-arm rotating mechanism, many DC servo motor, many DC servo motor drive planetary reduction gear A1, A2, with gear Z1, Z2, Z3, and by the moving flip-arm rotating mechanism of 2 pairs of umbrella cingulums.
2. caterpillar mobile robot platform according to claim 1 is characterized in that: the terrace part on the body is used to set up various reconnaissance devices, robotic device.
3. caterpillar mobile robot platform according to claim 1, it is characterized in that: hardware system, comprise that various electronic inductors, DC servo motor, motor driver, demoder, central controller, radio station form, central controller connects DC servo motor by demoder control motor driver motor driver, central controller connects electronic inductor, electronic inductor such as ultrasonic detector, infrared inductor, thermal detector, imageing sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910152749A CN101723001A (en) | 2009-09-28 | 2009-09-28 | Caterpillar mobile robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910152749A CN101723001A (en) | 2009-09-28 | 2009-09-28 | Caterpillar mobile robot platform |
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| Publication Number | Publication Date |
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| CN101723001A true CN101723001A (en) | 2010-06-09 |
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| CN200910152749A Pending CN101723001A (en) | 2009-09-28 | 2009-09-28 | Caterpillar mobile robot platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102887181A (en) * | 2012-06-21 | 2013-01-23 | 西安交通大学 | Swinging arm drive device for tracked robot |
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN105500364A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Hygiene and epidemic prevention monitoring and rescue robot |
| CN107727738A (en) * | 2017-09-29 | 2018-02-23 | 烟台工程职业技术学院 | A kind of electrical equipment of the deterioration of detection part |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
| CN112849009A (en) * | 2021-02-25 | 2021-05-28 | 中国人民解放军国防科技大学 | Shared transport robot system |
-
2009
- 2009-09-28 CN CN200910152749A patent/CN101723001A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102887181A (en) * | 2012-06-21 | 2013-01-23 | 西安交通大学 | Swinging arm drive device for tracked robot |
| CN102887181B (en) * | 2012-06-21 | 2015-05-27 | 西安交通大学 | Swinging arm drive device for tracked robot |
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN104787133B (en) * | 2015-03-30 | 2017-07-14 | 上海合时智能科技有限公司 | A kind of upset arm mechanism suitable for wheel-track combined chassis |
| CN105500364A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Hygiene and epidemic prevention monitoring and rescue robot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN108216400B (en) * | 2016-12-21 | 2019-10-25 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN107727738A (en) * | 2017-09-29 | 2018-02-23 | 烟台工程职业技术学院 | A kind of electrical equipment of the deterioration of detection part |
| CN107727738B (en) * | 2017-09-29 | 2020-06-09 | 烟台工程职业技术学院 | Electrical device for detecting deterioration of component |
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
| CN112849009A (en) * | 2021-02-25 | 2021-05-28 | 中国人民解放军国防科技大学 | Shared transport robot system |
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Application publication date: 20100609 |