CN101746424B - Shape-changeable moving mechanism capable of driving salvation robot on multiple directions - Google Patents

Shape-changeable moving mechanism capable of driving salvation robot on multiple directions Download PDF

Info

Publication number
CN101746424B
CN101746424B CN2009102159721A CN200910215972A CN101746424B CN 101746424 B CN101746424 B CN 101746424B CN 2009102159721 A CN2009102159721 A CN 2009102159721A CN 200910215972 A CN200910215972 A CN 200910215972A CN 101746424 B CN101746424 B CN 101746424B
Authority
CN
China
Prior art keywords
crawler type
type mobile
mobile unit
symmetry
alteration
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.)
Expired - Fee Related
Application number
CN2009102159721A
Other languages
Chinese (zh)
Other versions
CN101746424A (en
Inventor
张勤
曲宁玺
王曼莉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
South China University of Technology SCUT
Original Assignee
South China University of Technology SCUT
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by South China University of Technology SCUT filed Critical South China University of Technology SCUT
Priority to CN2009102159721A priority Critical patent/CN101746424B/en
Publication of CN101746424A publication Critical patent/CN101746424A/en
Application granted granted Critical
Publication of CN101746424B publication Critical patent/CN101746424B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention relates to a shape-changeable moving mechanism capable of driving a salvation robot on multiple directions, which comprises a shape changing mechanism, a caterpillar moving mechanism, a connection mechanism of the caterpillar moving mechanism and the shape changing mechanism and a telescopic-type supporting rod mechanism. The shape changing mechanism consists of five surfaces, wherein each surface can be free to unfold, so the shape changing mechanism can be unfolded, folded and change the shapes according to the pavement situation; the five surfaces of the shape changing mechanism are respectively provided with a caterpillar moving unit, so when any surface of the robot is contacted with the ground, the robot can move; the caterpillar moving unit can rotate relatively to each surface of the shape changing mechanism, so the robot can freely change the moving direction so as to realize the multi-direction driving. The moving mechanism has the functions that the moving mechanism can climb up and down stairs, climb over barriers, be free from worrying about turnover and can get out of recesses, and the like; and the shape of the moving mechanism can be changed according to the pavement situation, and the quantity of the driving wheels can be selected according to the real pavement situation and the requirement of the driving power.

Description

The travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot
Technical field
The present invention relates to the travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot, belong to the advanced manufacturing technology field.
Background technology
Particularity in view of the robot for rescue applied environment must propose special requirement to its critical nature.The ability of walking under the abominable road conditions such as in order to make it can be competent at rescue work, it must have very strong locomitivity, and promptly must have can be such as ruins, and bumpy and small space are interior.And the most important part of giving these abilities of robot for rescue is exactly the travel mechanism of robot.Travel mechanism is the mobile vehicle of disaster relief robot.The travel mechanism of disaster relief robot should be able to adapt to various geographical environments, and has certain climbing ability and clear an obstacle ability.In addition, also need good attitude stability, requirements such as certain moving velocity and low energy consumption.The travel mechanism of existing robot for rescue mainly contains: no limb motion (is main with serpentine locomotion), and great-jump-forward, wheeled, leg formula, wheel leg type and crawler type etc.It is good that snake-shaped robot has stability of motion, the characteristics such as tractive force that the adaptation to the ground ability is strong and high, but multivariant control is difficult, and kinematic velocity is low; Obstacle or irrigation canals and ditches that hop robot can be jumped over and be several times as much as oneself height have stronger adaptive faculty to landform, but skip motion at first need overcome the self gravitation influence, and soar and the stage kinetics equation complicacy of contacting to earth, and balance is difficult to control; Wheeled robot has simple in structure, and is in light weight, wheeled rolling frictional resistance little with characteristics such as mechanical efficiency height, but cross irrigation canals and ditches, the ability of step; Legged mobile robot has the strong characteristics of adaptation to the ground ability, can cross big ditch and step, and its shortcoming is a poor stability, and speed is slow; The wheel leg type robot merges the landform adaptive capacity of leg formula mechanism and the high-speed and high-efficiency performance of wheeled mechanism, and its shortcoming is the structure relative complex; Caterpillar type robot landform adaptive capacity is strong, but will cross big ditch, and it is very big that the size of self will be done, and energy consumption is big.In the disaster scene of the accident; Because searching route is neither fixing very complicated again, all possibly there is the geometrical constraint of extruding in the space all directions, and do not have fixing restriction mode; This will cry for help and help robot must have multiple flexible movement mechanism, can adapt to different environment.
At present, domestic robot for rescue of having researched and developed various travel mechanisms.As: a kind of snake-shaped robot that drives by memory alloy spring, make all around, turning motion through heating, cooling memorial alloy drive machines people.This robot can not upper and lower step, can not pass through pit and big slightly irrigation canals and ditches (Xie Zhongning, Zhao Lijuan, the Sui Xin of size smoothly; Yuan Yuefeng, Han Xia, Bao Yuxin; Pan Hongge. a kind of snake-shaped robot. national patent property right office of the People's Republic of China (PRC), 02109369.5,2002.03.27.).The outstanding characteristics of " clever lizard " serial robot that Chinese Academy of Sciences's Shenyang Institute of Automation was released later in 2003 be adopt wheel-leg-crawler composite moving mechanism (Wang Chaoyue. China's dangerous school assignment robot is researched and developed and is made further progress. Robotics and application; 2005; 06:11-14; 18.), when climbing, stair climbing, obstacle detouring, robot adopts the crawler belt move mode; When smooth ground, robot adopts the wheel move mode.This robot can be selected different travel mechanisms according to road conditions, but can not realize multi-faceted moving.
The structure of the relief humanoid robot of shape variable/multi-faceted driving that the present invention proposes; Have the advantage of pedrail mechanism and snakelike mechanism concurrently, it can change the shape of its mechanism according to the on-the-spot situation of disaster; Realize multi-faceted moving, thus the walking on the abominable road surfaces such as competent rubble, ruins.The travel mechanism that lacks such relief humanoid robot at present.
Summary of the invention
The object of the present invention is to provide the travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot.Overcome the balance that exists in the existing mechanism effectively and be difficult to control, cross irrigation canals and ditches, the problems such as disaster relief scene that the ability of step, self size be big, be difficult to adapt to abominable road surface (rubble, ruins).
Realize that the present invention of foregoing invention purpose adopts following technical scheme:
The travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot; The coupling mechanism and the contraction type strut bar mechanism that comprise alteration of form mechanism, crawler type travel mechanism, crawler type travel mechanism and alteration of form mechanism; Said alteration of form mechanism comprises a longitudinal plane of symmetry and four sides that are distributed in around the longitudinal plane of symmetry, and four sides are connected with pivotal block on the longitudinal plane of symmetry through pivot respectively; The rotation around pivot is realized by corresponding driving motor individual drive in the drive motor group that is located on the longitudinal plane of symmetry in each side; Said crawler type travel mechanism comprises five identical crawler type mobile units; Each crawler type mobile unit comprises two drive motor, two crawler belts, track sprocket and crawler belt degree of tightness adjustment wheels; The track sprocket of each crawler belt mobile unit is respectively by corresponding driving motor individual drive in said two drive motor, with independent rotation and the rotation simultaneously that realizes two crawler belts on each crawler type mobile unit; The coupling mechanism of said crawler type travel mechanism and alteration of form mechanism comprises five connection units; Each connection unit comprises adapter shaft and drive motor; The center of the longitudinal plane of symmetry of said alteration of form mechanism connects with the center of crawler type mobile unit through the adapter shaft in the connection unit; Each crawler type mobile unit realizes that by the drive motor individual drive of cooresponding connection unit the crawler type mobile unit rotates with respect to the face of its bonded assembly alteration of form mechanism; Said contraction type strut bar mechanism comprises shrinks strut bar and is used to drive the flexible drive motor of strut bar; With said four sides in said contraction strut bar all is installed on the joining crawler type mobile unit in adjacent two sides; Shrink strut bar, be positioned on the crawler type mobile unit a side away from longitudinal plane of symmetry.
The travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot; The longitudinal plane of symmetry of said alteration of form mechanism is a square; Pivotal joint is passed through with this foursquare four edges respectively in four sides; Four sides and longitudinal plane of symmetry bonded assembly limit are called the base, the length on base all with equal the said foursquare length of side.
In the travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot; The shape of four sides is identical; In each side; The opposite side on base is a circular arc, is the center that the foursquare center of the length of side is called four sides with the base of four sides, and four equal green phases in center answer the adapter shaft in the connection unit to connect with the center of a crawler type mobile unit.
The travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, each crawler type mobile unit is connected through the adapter shaft in the connection unit with the center of the face of its place alteration of form mechanism.
In the travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot; The cube that shortens into when the travel mechanism of shape variable/multi-faceted driving relief humanoid robot; Be five faces of alteration of form mechanism when surrounding cube, said longitudinal plane of symmetry is positioned at cubical bottom surface.
In the travel mechanism of above-mentioned a kind of shape variable/multi-faceted driving relief humanoid robot, around the rotation of corresponding pivot, the angular range of rotation is 0 °~110 ° under corresponding motor drives in each side.
The present invention possesses following innovative point and advantage with respect to prior art:
1. adopt the track propulsion travel mechanism of shape variable, it is little, in light weight to have a volume, has the characteristics of snake-shaped robot and track propulsion robot concurrently.Each crawler belt is selected the drive motor number respectively by the motor individual drive according to pavement conditions, so just can save the energy; The revolution action realizes multi-faceted driving when also having realized simultaneously a plurality of crawler belt, makes it can be smooth, stably finishes the work.
2. can be according to condition of road surface; Open each face, change the shape of travel mechanism, all right and crawler belt part coordination; Be implemented in road conditions walking such as rubble, ruins: on level land and more smooth road, shape variable/multi-faceted driving relief humanoid robot shortens small cubes into and walks; Narrow, short place, according to the shape and the size of lane, travel mechanism's change shape is extended into slender type and passes through; On, shape variable when getting out of a predicament or an embarrassing situation/multi-faceted driving relief humanoid robot travel mechanism is can generate snakelike, and several crawler belts drive simultaneously, finish the work; The place that pit is arranged, when the travel mechanism of shape variable/multi-faceted driving relief humanoid robot supported the two ends, cave, driven caterpillar tracks was opened bearing surface, makes it from the cave, deviates from the pit; Throwing over barrier; Be not afraid of and tumble and overturn, no matter its which face contacts with ground, can both normally move, but need not return to walking surface, also can according to actual road surface situation with drive the number that power requires to select drive wheel, make it satisfying under the prerequisite that motion requires, save the energy.
Description of drawings
Fig. 1 is the constitution diagram that the travel mechanism of shape variable/multi-faceted driving relief humanoid robot is contracted to hour;
Fig. 2 is the constitution diagram of travel mechanism's full expand of shape variable/multi-faceted driving relief humanoid robot;
Fig. 3 is that the travel mechanism of shape variable/multi-faceted driving relief humanoid robot gets into the scheme drawing in narrow place;
Fig. 4, Fig. 5, Fig. 6 are the travel mechanism of shape variable/multi-faceted driving relief humanoid robot tumble, overturn in the place that drop the is arranged scheme drawings of continued cruising;
Fig. 7 is that the scheme drawing of step is climbed by the travel mechanism of shape variable/multi-faceted driving relief humanoid robot in moving process;
Fig. 8 is a scheme drawing of crossing over irrigation canals and ditches in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot;
Fig. 9 is the scheme drawing that from pit, comes out in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot.
Figure 10 is the scheme drawing when climbing the slope in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot.
Figure 11 is the scheme drawing from the back-off recovering state to cruising in travel mechanism's moving process of shape variable/multi-faceted driving relief humanoid robot.
The specific embodiment
Connect the accompanying drawing and the specific embodiment below content of the present invention is done further detailed description.
The progressive more below travel mechanism of describing a kind of shape variable of the present invention/multi-faceted driving relief humanoid robot, four sides are connected with pivotal block on the longitudinal plane of symmetry through pivot respectively; The rotation around pivot is realized by corresponding driving motor individual drive in the drive motor group that is located on the longitudinal plane of symmetry in each side, launches as required, closes, change shape; Said crawler type travel mechanism comprises five identical crawler type mobile units; Each crawler type mobile unit comprises two drive motor, two crawler belts, track sprocket and crawler belt degree of tightness adjustment wheels; Wherein every crawler belt can be realized moving and rotating of mechanism by the motor individual drive through two track speed differences; The coupling mechanism of said crawler type travel mechanism and alteration of form mechanism comprises five connection units; Each connection unit comprises bindiny mechanism and drive motor; The center of the longitudinal plane of symmetry of said alteration of form mechanism connects with the center of crawler type mobile unit through the bindiny mechanism in the connection unit, and bindiny mechanism is installed on 5 faces of alteration of form mechanism, and an end links to each other with crawler belt travel mechanism; Through attachment face; The other end links to each other with drive motor, and each bindiny mechanism makes the crawler belt travel mechanism that is installed on each face by the motor independent drive; Can rotate with respect to this face, realize the shape variable/walking of multi-faceted driving relief humanoid robot on any direction of road surface; Said contraction type strut bar mechanism comprises strut bar and drive motor group, is positioned on the connecting panel of panel and crawler type mobile unit of alteration of form mechanism, and auxiliary alteration of form mechanism of this mechanism accomplishes rotary movement.Each crawler type mobile unit has sufficient reasonable space in mobile and rotating process, adjacent crawler type mobile unit can not bump and conflict.
Referring to Fig. 1, Fig. 2, the structure of the travel mechanism of a kind of shape variable/multi-faceted driving relief humanoid robot comprises: the coupling mechanism 3 and the contraction type strut bar mechanism 4 of alteration of form mechanism 1, crawler type travel mechanism 2, crawler type travel mechanism 2 and alteration of form mechanism.Wherein alteration of form mechanism is by longitudinal plane of symmetry 5, side (comprising first side 6, second side 7, the 3rd side 8, the 4th side 9), and pivot (10,11,12,13) and drive motor group (501,502,503,504) thereof are formed.First side 6, second side 7, the 3rd side 8, the 4th side 9 respectively with longitudinal plane of symmetry 5 through pivot (10; 11,12,13) link to each other; Each side is by corresponding driving motor individual drive in the drive motor group that is located on the longitudinal plane of symmetry; Realization makes five faces can independently open or close change shape around the rotation of pivot as required.Said crawler type travel mechanism 2 comprises five identical crawler type mobile units.Each crawler type mobile unit comprises that each crawler type mobile unit comprises two drive motor, two crawler belts, track sprocket (21,19,23) and crawler belt degree of tightness adjustment wheels (24,26,28).Every crawler belt both can rotate by motor-driven simultaneously, again can independent rotation, can realize the moving and rotating of travel mechanism of shape variable/multi-faceted driving relief humanoid robot through two track speed differences.On five faces of alteration of form mechanism, through coupling mechanism crawler type travel mechanism is installed respectively; Each coupling mechanism is by the motor individual drive; Make crawler type travel mechanism can arbitrarily angledly rotate, and then change the sense of motion of shape variable/multi-faceted driving relief humanoid robot with respect to its attachment face.Shrink strut bar (401,402) all installing, shrink strut bar (401,402) and be positioned on the crawler type mobile unit a side away from longitudinal plane of symmetry 5 with the 3rd side 8 and the 4th side 9 joining crawler type mobile units.
Referring to Fig. 3, the travel mechanism of the shape variable that the present invention proposes/multi-faceted driving relief humanoid robot can get into narrow place, space (less like the entrance, in the bigger collapsed house in inner space etc.).At this moment; Shape and size according to lane; (controller has for existing machine the controller that is used to control alteration of form mechanism 1 in the control system of shape variable/multi-faceted driving relief humanoid robot per capita; This part does not belong to technical matters to be solved of the present invention) according to the order of motion controller; Make drive motor 501,502,503,504 in the alteration of form mechanism 1 control the angle that launch first side 6, second side 7, the 3rd side 8, the 4th side 9 respectively, to realize change shape; Simultaneously, controller makes drive motor drives adapter shaft 301 rotations of each connection unit in the coupling mechanism 3 according to the order of motion controller, drives the rotation of crawler type mobile unit, and is consistent to realize the crawler belt direction in each crawler type mobile unit.Then by being used to control the order of controller that the crawler type mobile unit moves in the control system according to motion controller; Make the drive motor drives crawler belt (14,15,16,17,18) of the crawler type mobile unit on longitudinal plane of symmetry 5, first side 6, second side 7, the 3rd side 8, the 4th side 9, make it pass through narrow place.At this moment, as required, can drive longitudinal plane of symmetry 5, first side 6,8 three faces in the 3rd side, also can drive five faces.
Referring to Fig. 4, Fig. 5, Fig. 6, the shape variable that the present invention proposes/travel mechanism of multi-faceted driving relief humanoid robot is not afraid of and tumbles upset.As shown in Figure 4; On the longitudinal plane of symmetry 5 of the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot, first side 6, second side 7, the 3rd side 8, the 4th side 9 track driving mechanism is installed all; The local overturning of drop is arranged from step etc.; No matter which face of five faces contacts with ground; Be used to control the order of the controller of alteration of form mechanism 1 according to motion controller in the control system by shape variable/multi-faceted driving relief humanoid robot, make the drive motor drives adapter shaft rotation of the connection unit on this face, drive crawler type mobile unit rotates to and is easy to travel direction; Control the order of controller that the crawler type mobile unit moves by being used in the control system then according to motion controller; Make with face that ground contacts on the crawler type mobile unit in this crawler type mobile unit of drive motor control in caterpillar drive, make the travel mechanism of shape variable/multi-faceted driving relief humanoid robot can continue cruising, need not return to movable posture.As shown in Figure 5, even have the local overturning of drop to become posture shown in Figure 5 from step etc., the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot also can cruising.As shown in Figure 6; If longitudinal plane of symmetry 5 is last; The side of crawler belt (15,16,17,18) contacts with ground; Crawler type mobile unit on first side 6, second side 7, the 3rd side 8, the 4th side 9 is rotated to be easy to travel direction, driven caterpillar tracks (15,16,17,18) again, thus make the travel mechanism of shape variable/multi-faceted driving relief humanoid robot can cruising.
Referring to Fig. 7, the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot can upper and lower step.This moment, travel mechanism can be launched into snakelike; Control of the order of the controller of alteration of form mechanism 1 by being used in the control system according to motion controller; Make drive motor 502,504 control second side 7 in the alteration of form mechanism 1, the angle that launch the 4th side 9; Make the drive motor drives adapter shaft rotation in the connection unit on longitudinal plane of symmetry 5, second side 7, the 4th side 9 simultaneously; Thereby controlling cooresponding crawler type mobile unit rotates to and is easy to travel direction; Being used in the control system controlled the instruction according to motion controller of controller that the crawler type mobile unit moves then, makes the drive motor drives crawler belt of the crawler type mobile unit on longitudinal plane of symmetry 5, second side 7, the 4th side 9, can finish the work.
Referring to Fig. 8, the nullah (like the house collapse that is caused by disasters such as earthquakes, furniture overturning, the irrigation canals and ditches that crack, ground etc. form) above self size can be crossed by the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot.Snakelike or the arch according to the actual conditions generate can be crossed the irrigation canals and ditches above self size.When travel mechanism's generate of this shape variable/multi-faceted driving relief humanoid robot is snakelike; Being used in the control system controlled the order of the controller of alteration of form mechanism 1 according to motion controller; Make drive motor 502,504 control second side 7 in the alteration of form mechanism 1, the angle that launch the 4th side 9; Simultaneously control the instruction of controller that the crawler type mobile unit moves according to motion controller by being used in the control system; Make the drive motor drives crawler belt of the crawler type mobile unit on longitudinal plane of symmetry 5, second side 7, the 4th side 9, contact with ground and go; When the generate arch of this shape variable/multi-faceted driving relief humanoid robot; Select second side 7, the 4th side 9 or first side 6, the 3rd side 8; Under these two kinds different face array modes, longitudinal plane of symmetry 5 is elevated, the contact of discord ground; So need not drive longitudinal plane of symmetry 5, so just can energy savings.
Referring to Fig. 9, the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot can come out from pit if be absorbed in pit.At this moment, according to the actual conditions at scene, select one of longitudinal plane of symmetry 5, second side 7, the 4th side 9 or longitudinal plane of symmetry 5, first side 6, the 8 two kinds of face array modes in the 3rd side.At first control the instruction of controller that the crawler type mobile unit moves according to motion controller by being used in the control system; Make the drive motor drives adapter shaft rotation in the connection unit; Thereby control crawler type mobile unit rotates to it and is easy to travel direction; Control of the order of the controller of alteration of form mechanism 1 by being used in the control system again according to motion controller; Drive motor 502,504 or 501,503 controls, second side 7 in the alteration of form mechanism 1, the 4th side 9 or first side 6, the 3rd side 8 are launched; Support the two ends of pit; Control simultaneously the drive motor of the crawler type mobile unit on controller drives that the crawler type mobile unit moves second side 7, the 4th side 9 or first side 6, the 3rd side 8, drive the crawler belt on the side, it is come out from pit by being used in the control system of shape variable/multi-faceted driving relief humanoid robot.
Referring to Figure 10, the travel mechanism of this shape variable/multi-faceted driving relief humanoid robot has the certain climbing ability.In when climbing, for avoiding the too high overturning of center of gravity, all launch the longitudinal plane of symmetry of the alteration of form mechanism 1 of this travel mechanism 5, first side 6, second side 7, the 3rd side 8, the 4th side 9, makes the center-of-gravity position reduction.Can also select the driven caterpillar tracks number this moment according to gradient size and propulsive effort requirement.Promptly controlling controller that the crawler type mobile unit moves by being used in the control system makes three faces (longitudinal plane of symmetry 5, first side 6, the 3rd side 8 or longitudinal plane of symmetry 5, second side 7, the 4th side 9) go up the drive motor drives crawler belt of crawler type mobile unit according to the instruction of motion controller; Also can make five faces (longitudinal plane of symmetry 5, first side 6, second side 7, the 3rd side 8, the 4th side 9) go up the drive motor drives crawler belt of crawler type mobile unit, guarantee that it passes through the slope reposefully.
Referring to Figure 11; If the longitudinal plane of symmetry 5 of alteration of form mechanism 1 up; The crawler belt side of the crawler type mobile unit on first side 6, second side 7, the 3rd side 8, the 4th side 9 contacts with ground; The travel mechanism that is shape variable/multi-faceted driving relief humanoid robot becomes the back-off state on the ground, if return to the normal walking state, this travel mechanism can utilize control system to drive the drive motor of contraction type strut bar mechanism 4; Thereby the strut bar (401 or 402) on the driven caterpillar tracks formula mobile unit side; Stretch out a strut bar (401 or 402), support a side of travel mechanism, simultaneously control the crawler belt that controller that the crawler type mobile unit moves makes the drive motor drives of the crawler type mobile unit on the 3rd side 8 or the 4th side 9 contact with ground according to the instruction of motion controller by being used in the control system; Can make robot be turned to normal condition, i.e. longitudinal plane of symmetry 5 and ground state of contact.

Claims (2)

1. the travel mechanism of humanoid robot is succoured in shape variable/multi-faceted driving; It is characterized in that comprising the coupling mechanism (3) and the contraction type strut bar mechanism (4) of alteration of form mechanism (1), crawler type travel mechanism (2), crawler type travel mechanism (2) and alteration of form mechanism (1); Said alteration of form mechanism (1) comprises a longitudinal plane of symmetry (5) and is distributed in four sides (6,7,8,9) around the longitudinal plane of symmetry, and four sides all are connected with pivotal block on the longitudinal plane of symmetry through pivot (10,11,12,13); The rotation around pivot is realized by corresponding driving motor individual drive in the drive motor group (501,501,503,504) that is located on the longitudinal plane of symmetry in each side; Said crawler type travel mechanism (2) comprises five identical crawler type mobile units; Each crawler type mobile unit comprises two drive motor, two crawler belts (16), track sprocket (21) and crawler belt degree of tightness adjustment wheels (26); The track sprocket of each crawler type mobile unit is respectively by corresponding driving motor individual drive in said two drive motor, with independent rotation and the rotation simultaneously that realizes two crawler belts on each crawler type mobile unit; Said crawler type travel mechanism (2) comprises five connection units with the coupling mechanism (3) of alteration of form mechanism (1); Each connection unit comprises adapter shaft (301) and drive motor; The center of the longitudinal plane of symmetry (5) of said alteration of form mechanism (1) connects with the center of crawler type mobile unit through the adapter shaft (301) in the connection unit; Each crawler type mobile unit realizes that by the drive motor individual drive of cooresponding connection unit the crawler type mobile unit rotates with respect to the face of its bonded assembly alteration of form mechanism (1); Said contraction type strut bar mechanism (4) comprises shrinks strut bar (401,402) and is used to drive the flexible drive motor of strut bar; With said four sides in said contraction strut bar (401 all is installed on the joining crawler type mobile unit in adjacent two sides (8,9); 402); Shrink strut bar (401,402) and be positioned on the crawler type mobile unit a side away from longitudinal plane of symmetry (5); The longitudinal plane of symmetry (5) of said alteration of form mechanism (1) is a square; Four sides (6,7,8,9) are connected through pivot (10,11,12,13) with this foursquare four edges respectively; Four sides (6,7,8,9) are called the base with longitudinal plane of symmetry (5) bonded assembly limit, and the length on base is equal to the said foursquare length of side; The shape of four sides (6,7,8,9) is identical; In each side; The opposite side on base is a circular arc; With the base of four sides is the center that the foursquare center of the length of side is called four sides, and the equal green phase in the center of four sides answers the adapter shaft in the connection unit to connect with the center of a crawler type mobile unit; Each crawler type mobile unit is connected through the adapter shaft in the connection unit (301) with the center of the face of its place alteration of form mechanism (1); The travel mechanism that succours humanoid robot when shape variable/multi-faceted driving shortens cube into, and when promptly five faces of alteration of form mechanism (1) surrounded cube, said longitudinal plane of symmetry was positioned at cubical bottom surface.
2. the travel mechanism of a kind of shape variable according to claim 1/multi-faceted driving relief humanoid robot is characterized in that each side drives down around the corresponding pivot rotation in corresponding motor, and the angular range of rotation is 0 °~110 °.
CN2009102159721A 2009-12-31 2009-12-31 Shape-changeable moving mechanism capable of driving salvation robot on multiple directions Expired - Fee Related CN101746424B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009102159721A CN101746424B (en) 2009-12-31 2009-12-31 Shape-changeable moving mechanism capable of driving salvation robot on multiple directions

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009102159721A CN101746424B (en) 2009-12-31 2009-12-31 Shape-changeable moving mechanism capable of driving salvation robot on multiple directions

Publications (2)

Publication Number Publication Date
CN101746424A CN101746424A (en) 2010-06-23
CN101746424B true CN101746424B (en) 2012-10-31

Family

ID=42474198

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009102159721A Expired - Fee Related CN101746424B (en) 2009-12-31 2009-12-31 Shape-changeable moving mechanism capable of driving salvation robot on multiple directions

Country Status (1)

Country Link
CN (1) CN101746424B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102700636A (en) * 2012-05-30 2012-10-03 上海大学 Crawler drive device capable of assisting search and rescue equipment in entering interiors of ruins or pipes
CN103507869A (en) * 2012-06-29 2014-01-15 新昌县冠阳技术开发有限公司 Special type searching and rescuing robot capable of moving laterally
CN103754280B (en) * 2014-01-24 2016-03-02 哈尔滨工业大学 Overturn-preventing surrounding crawler-type mobile mechanism
CN104554501A (en) * 2015-01-07 2015-04-29 上海大学 Crawler type drive device for narrow and small space
CN105835968A (en) * 2016-05-27 2016-08-10 河北工业大学 All-dimensional caterpillar band moving platform structure
CN106043427A (en) * 2016-06-24 2016-10-26 伍锡如 Multi-caterpillar-band type all-directional mobile platform
CN105919505B (en) * 2016-06-29 2019-08-16 洛阳圣瑞智能机器人有限公司 A kind of glass cleaning machine people and method
CN110304161B (en) * 2019-06-03 2020-10-16 北京建筑大学 Deformable crawler-type walking device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1994804A (en) * 2006-12-21 2007-07-11 浙江大学 Wheel, leg, bounce mechanism combined mobile robot
CN200985053Y (en) * 2006-12-21 2007-12-05 浙江大学 Wheel legs bouncing composite moving robot based on group working
CN201140734Y (en) * 2007-11-19 2008-10-29 北京交通大学 Mobile robot with combined step-wheel-footstep

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1994804A (en) * 2006-12-21 2007-07-11 浙江大学 Wheel, leg, bounce mechanism combined mobile robot
CN200985053Y (en) * 2006-12-21 2007-12-05 浙江大学 Wheel legs bouncing composite moving robot based on group working
CN201140734Y (en) * 2007-11-19 2008-10-29 北京交通大学 Mobile robot with combined step-wheel-footstep

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
WANG Xiao-Hong etc..Motion Control for Rescue Robot Based on PC104 and CPLD.《2009 International Conference on Industrial Mechatronics and Automation》.2009,317-320. *
余晓鑫,王孝洪,田联房,张 勤等.基于PC104单板微机和FPGA的救援救助.《制造业自动化》.2009,95-97,162. *

Also Published As

Publication number Publication date
CN101746424A (en) 2010-06-23

Similar Documents

Publication Publication Date Title
CN101746424B (en) Shape-changeable moving mechanism capable of driving salvation robot on multiple directions
CN105667622B (en) It is a kind of to have the six of three sections of bodies to take turns sufficient formula mobile robots
US9004200B2 (en) Mobile robot with hybrid traction and mobility mechanism
JP2020528832A (en) Construction method of parallel series connection walking robot and its parallel series connection walking robot
CN207045490U (en) A kind of spherical Bian Bao robots
CN101870311B (en) Nine-degree of freedom four-footed simulating crawling robot
CN108327812A (en) A kind of more walking manner leg-wheel robots
CN101695833B (en) Vane wheel type snake-like robot
CN207089614U (en) Underwater robot and amphibious robot
CN201140734Y (en) Mobile robot with combined step-wheel-footstep
CN107529434A (en) Crawler-type mobile mechanism
CN101704416A (en) Lunar vehicle
CN101125564A (en) Six-wheel/leg hemispherical outer casing detecting robot
CN201120914Y (en) Six-wheel/leg hemi-spherical outer shell detecting robot
CN108910088A (en) Land walking integrated robot
CN107116980A (en) Amphibious robot and amphibious reconnaissance system
CN110293543A (en) A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint
CN201800805U (en) Changeable-shape and multidirectional-drive type moving mechanism for rescue robot
CN202098477U (en) Symmetrical bionic six-feet walking device
JP2018532638A (en) Chassis with wheeled walking movement mechanism for moving on various support surfaces
CN101157372A (en) A step wheel combined mobile robot
CN201105774Y (en) Novel wall-climbing robot mechanism
CN108909873A (en) Land the leg formula inspecting robot separated with walking function
WO2011055154A2 (en) Mobile emergency bridge
CN102114879B (en) Biped walking four-bar mechanism

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20121031

Termination date: 20151231

EXPY Termination of patent right or utility model