CN101850792A - Universal tracked mobile platform for military robot - Google Patents
Universal tracked mobile platform for military robot Download PDFInfo
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- CN101850792A CN101850792A CN200910259538A CN200910259538A CN101850792A CN 101850792 A CN101850792 A CN 101850792A CN 200910259538 A CN200910259538 A CN 200910259538A CN 200910259538 A CN200910259538 A CN 200910259538A CN 101850792 A CN101850792 A CN 101850792A
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Abstract
The invention relates to a universal tracked mobile platform for a military robot. The universal tracked mobile platform can flexibly adjust gravity centre distribution and position attitude to increase the range of activity; the overall platform follows a principle of compact design, and has the characteristics of light weight, portability and miniature size; a reserved expansion area can be provided with various functional modules such as a multi-freedom-degree mechanical arm, a bubble gun, a wire cutter, a small-sized communication relay station, small arms and the like; therefore action competence and application range of the universal tracked mobile platform are increased greatly; and convenience for assembling various military robots and specialized robots is brought. The universal tracked mobile platform operates stably and reliably by adopting an intelligent control mode and self-diagnosis technology.
Description
Technical field:
The present invention relates to a kind of universal tracked mobile platform for military robot.
Background technology:
In national defense and military fields, especially in modern war, the nuclear that has not only occurred killing and wounding on a large scale, chemical and biological weapons and can homing missile, the power of conventional weapon also improves a lot, can predict following fight will be unprecedented fierce, and the destructiveness of war is bigger than being certain in the past.Under difficult so dangerous operational environment, belligerent officers and men's viability will be faced with severe tests.The unified organism that the nature person is made up of cell, tissue, organ and system; it is not so good as some animal sometimes to the adaptive capacity of extreme natural environment; can't compare with the robot soldier especially; there be a lot " forbidden zone " in realm of nature concerning it; if it is unapproachable not adopting certain protection facility and measure, thereby limited soldier's effect greatly.
Moreover war of cities is the problem of military power military headache always.In recent years, be in the armed wing of weak tendency,, often in city with a varied topography, launch the street fighting antagonism for the capabilities gap that furthers with military power.In Cold War period, the military power of various countries development mostly is the point of view with field operations, thus under this environment the large-scale military equipment of development, such as tank, infantry fighting vehicles, longrange artillery etc., but these military equipments and be not suitable for military operations in urban terrain.Even as the military power that all holds a safe lead in strength and technology, in the face of various terroristic organizations, rebel, have to the infantry is dropped in the military operations in urban terrain, infantry and terroristic organization, rebel are put into the same hierarchy of skill have a contest, the consequence of bringing is---the huge injures and deaths that are difficult to bear.These have brought such as the morale depression again, a series of unfavorable factors such as the soldier is war-weary, war is long-term, regional instability, domestic protest.
Based on above variety of issue, in modern war, slowly occurred replacing the human mode of operation with Intelligent robot, from then on the road for development of robot begins.
Military scouting explosive-removal robot is explosive at national public safety field special safety and high-performance special robots research and development, be used to replace soldier and explosive personnel, carry out duds, the processing of the processing of roadside remote controlled bomb and the suspicious explosive of Other dangers improves staff's life security.The special trade such as processing, battlefield investigation, detection, search, rescue that also can be used for industrial nuclear waste material and hazardous chemical article.Robot system has high maneuverability, flexibility of operation, characteristics such as high intelligent and high reliability.
[patent documentation 1] patent publication No. CN 101134313A
[patent documentation 2] U.S. Pat 2008/0236907A1
A kind of such mobile platform of the prior art is for example disclosing in the patent documentation 1.Disclosed robot for eliminating exploding and danger is to install the multi freedom degree mechanical arm additional to assemble on mobile platform in patent documentation 1, though its mobile platform is the crawler belt design of big oblique angle, but be difficult to cross the gully of the obstacle that is higher than the mobile platform oneself height and big distance, the mobile platform obstacle climbing ability that is far from having front swing arm is strong.
Another kind of such mobile platform is for example disclosing in the patent documentation 2.Though it possesses the front swing arm structure, be not described in detail the transmission mechanism of front swing arm self-movement in the patent, effect is not an optimum though whole platform wheel has done that damping is handled.
Existing mobile platform complex structure, with high costs, marketing is quite slow.It is the problem that needs solution that improvement technology, the performance that improves, cost-cutting, propelling are popularized.
Summary of the invention:
The purpose of this invention is to provide a kind of universal tracked mobile platform for military robot, it can have very strong adaptation complex-terrain ability, can cross the obstacle that is higher than oneself height, cross the gully of big distance, the multistage ladder of certain angle etc. of ascending, and can be used as general-purpose platform and install multiple features module additional, have stronger intelligent, can replace the mankind to finish high risk job task under many harsies environment, perhaps help people in the battlefield, the rescue etc. that carries out investigations on the disaster scene, the small and exquisite user of being convenient to of compact conformation volume carrying even can the individual soldier bear.
In order to solve the existing problem of background technology, the present invention is by the following technical solutions: it comprises main crawler belt car body, the front swing arm that can independently swing, control system and self-diagnosable system, main crawler belt car body is made up of the symmetrical main track assembly of two covers, driving cabin assembly, control cabinet assembly and handle assembly, be the main bearing part of universal tracked mobile platform, can independently realize the rotation of main crawler belt front swing arm crawler belt and the swing of front swing arm; But the front swing arm that can independently swing is by the gravity centre distribution of the whole universal tracked mobile platform of conversion diverse location flexible and main crawler belt car body and ground angle, has increased the ability of platform obstacle detouring and adaptation complex-terrain greatly; Control system is embedded computer hardware system and the software system that are used for described universal tracked mobile platform motion and monitoring, comprises by infrared distance sensor photoelectric switch, the sensor-based system that coder is formed, driving circuit, master control system etc.; Self-diagnosable system is the selfdiagnosis that is used for after described universal tracked mobile platform runs into fault, and carries out fault handling voluntarily and send corresponding alerting signal, guarantees that at utmost platform safety is reliable.
The self-movement transmission mechanism that the present invention relates to, can realize the rotation of main crawler belt front swing arm crawler belt and the swing of front swing arm respectively, the front swing arm hunting motion is by the worm and gear system swing arm rotating drive power to be passed to transmission main shaft, front swing arm wheel main shaft and front swing arm panel beating frame successively by the front swing arm motor, thereby drives the front swing arm assembly around 360 ° of rotations of transmission main shaft axis; The rotational motion of main crawler belt front swing arm crawler belt is by straight gear deceleration assembly main crawler belt rotating drive power to be passed to main shaft front-wheel and front swing arm wheel successively by main drive motor, thereby driving the main crawler belt and the front swing arm crawler belt that are connected with it respectively rotates, the front swing arm swing is rotated these two kinds of motions with crawler belt and is independent of each other and can independently realizes, design has guaranteed which kind of position no matter front swing arm move to and can keep the constant all directions of carrying out of platform attitude to move like this, thereby has increased platform motion scope and ability.
The present invention has designed the shockproof anti-structure of falling of platform.In order to allow universal tracked mobile platform adapt to complex environment as much as possible, platform must increase antidetonation impact-reducing structure, has proposed the novel crawler wheel construction.The main shaft front-wheel is by main shaft front-wheel damping engraved structure, structures such as the main shaft front-wheel castellated shaft and the main shaft front-wheel engagement gear teeth are formed, the front swing arm wheel is by front swing arm wheel damping engraved structure, front swing arm wheel castellated shaft, structures such as the front swing arm wheel engagement gear teeth and front swing arm wheel crawler belt groove are formed, thereby the engagement of the castellated shaft between the two-wheeled can be used to transmit circumferential movement and drives the main crawler belt front swing arm crawler belt rotation that is engaged with, reduced main shaft front-wheel and front swing arm and taken turns mechanism's complexity of circumferential transmission of power, the damping engraved structure of two-wheeled uniqueness makes whole platform can adapt to various complex road conditions better and has to a certain degree the anti-ability of falling.
The present invention adopts compact design, the simplified structure complexity, and saving takes up room.The main shaft front-wheel deceleration system of being made up of parts such as main shaft front-wheel large straight gear, main shaft front-wheel small Spur gear, main shaft front-wheel gear case cover, main shaft front-wheels is finished and is sunk to the front-wheel inboard, saved the space of speed reduction gearing greatly, thereby shortened main shaft wheel apart from the moment of flexure requirement that reduces main shaft; Regulated track tension device that parts such as bolt form to be hidden in the trailing wheel inside structure very compact by trailing wheel, trailing wheel main shaft, square flange, trailing wheel, and no longer take vehicle body space; The platform battery holder assembly is installed in the interior volume of having been surrounded by main crawler belt, main shaft front component, wheel assembly, side plate, does not take the car body inner space fully and has simplified whole platform structure complexity; It is concordant that the transmission main shaft assembly is positioned over side plate upper end, at utmost promote the bottom surface height, the piggyback pod cover plate that is designed to zigzag is close to side plate upper end and main drive motor surface, maximum journey compression space, piggyback pod and control cabinet finally all are compressed in the main height of crawler, even make that platform bottom surface when crossing over blockage is also freely movable up.
The present invention has following beneficial effect: reserve the expansion area, can install various functional modules additional, as multi freedom degree mechanical arm, bubble rifle, wiring clip, small-sized communication relay station and light weapons etc., increase the ability to act and the functions of use of universal tracked mobile platform greatly, facilitate for being combined into various military robots and specialized robot, become real universal tracked mobile platform.
Description of drawings:
The structural representation that Fig. 1 surveys for the whole assembled shaft of universal tracked mobile platform of the present invention;
Fig. 2 is the structural representation of universal tracked mobile platform integral structure blast of the present invention;
Fig. 3 is the structural representation of universal tracked mobile platform front swing arm 100 assemblies of the present invention;
Fig. 4 is the structural representation of universal tracked mobile platform master crawler belt 200 assemblies of the present invention;
Fig. 5 is the structural representation of universal tracked mobile platform main shaft front-wheel 600 assemblies of the present invention;
Fig. 6 is the structural representation that universal tracked mobile platform main shaft front-wheel of the present invention cooperates with the front swing arm wheel;
Fig. 7 is universal tracked mobile platform master crawler belt of the present invention and front swing arm caterpillar belt structure scheme drawing;
Fig. 8 is the structural representation of universal tracked mobile platform trailing wheel 700 assemblies of the present invention;
Fig. 9 is the scheme drawing of universal tracked mobile platform master track tension device of the present invention;
Figure 10 is the structural representation of universal tracked mobile platform battery case 800 assemblies of the present invention;
Figure 11 is the structural representation of universal tracked mobile platform battery case magnetic block 900 assemblies of the present invention;
Figure 12 is the structural representation of universal tracked mobile platform battery installation process of the present invention;
Figure 13 is the structural representation of universal tracked mobile platform piggyback pod 300 assemblies of the present invention;
Figure 14 is the structural representation of universal tracked mobile platform transmission main shaft 1000 assemblies of the present invention;
Figure 15 is the structural representation of universal tracked mobile platform transmission of power of the present invention;
Figure 16 is the structural representation of universal tracked mobile platform piggyback pod housing 1100 assemblies of the present invention;
Figure 17 is the structural representation of universal tracked mobile platform control cabinet 400 assemblies of the present invention;
Figure 18 is the structural representation of universal tracked mobile platform handle 500 assemblies of the present invention;
Figure 19 is universal tracked mobile platform height specification figure of the present invention;
Figure 20 is universal tracked mobile platform of the present invention expansion area specification figure;
Figure 21 is universal tracked mobile platform front swing arm Action Specification figure of the present invention;
Figure 22 is universal tracked mobile platform crossing over blockage 1 a process scheme drawing of the present invention;
Figure 23 is universal tracked mobile platform crossing over blockage 2 process scheme drawings of the present invention;
Figure 24 is universal tracked mobile platform crossing over blockage 3 process scheme drawings of the present invention;
Figure 25 is universal tracked mobile platform crossing over blockage 4 process scheme drawings of the present invention;
Figure 26 is a universal tracked mobile platform control module hardware system structure scheme drawing of the present invention;
Figure 27 is a universal tracked mobile platform software system module structural representation of the present invention;
Figure 28 is a universal tracked mobile platform software system motor control module structural representation of the present invention;
Figure 29 is a universal tracked mobile platform software system universal chassis control program structural representation of the present invention;
Figure 30 is a universal tracked mobile platform software system universal chassis drive program structural representation of the present invention;
Figure 31 is universal tracked mobile platform software system of the present invention swing arm one a key operational flowchart;
Figure 32 is a universal tracked mobile platform software system fault handling diagram of circuit of the present invention.
The specific embodiment:
This specific embodiment is by the following technical solutions: it comprises main crawler belt car body, the front swing arm that can independently swing, control system and self-diagnosable system, main crawler belt car body is made up of the symmetrical main track assembly of two covers, driving cabin assembly, control cabinet assembly and handle assembly, be the main bearing part of universal tracked mobile platform, can independently realize the rotation of main crawler belt front swing arm crawler belt and the swing of front swing arm; But the front swing arm that can independently swing is by the gravity centre distribution of the whole universal tracked mobile platform of conversion diverse location flexible and main crawler belt car body and ground angle, has increased the ability of platform obstacle detouring and adaptation complex-terrain greatly; Control system is embedded computer hardware system and the software system that are used for described universal tracked mobile platform motion and monitoring, comprises by infrared distance sensor photoelectric switch, the sensor-based system that coder is formed, driving circuit, master control system etc.; Self-diagnosable system is the selfdiagnosis that is used for after described universal tracked mobile platform runs into fault, and carries out fault handling voluntarily and send corresponding alerting signal, guarantees that at utmost platform safety is reliable.
The self-movement transmission mechanism that this specific embodiment relates to, can realize the rotation of main crawler belt front swing arm crawler belt and the swing of front swing arm respectively, the front swing arm hunting motion is by the worm and gear system swing arm rotating drive power to be passed to transmission main shaft, front swing arm wheel main shaft and front swing arm panel beating frame successively by the front swing arm motor, thereby drives the front swing arm assembly around 360 ° of rotations of transmission main shaft axis; The rotational motion of main crawler belt front swing arm crawler belt is by straight gear deceleration assembly main crawler belt rotating drive power to be passed to main shaft front-wheel and front swing arm wheel successively by main drive motor, thereby driving the main crawler belt and the front swing arm crawler belt that are connected with it respectively rotates, the front swing arm swing is rotated these two kinds of motions with crawler belt and is independent of each other and can independently realizes, design has guaranteed which kind of position no matter front swing arm move to and can keep the constant all directions of carrying out of platform attitude to move like this, thereby has increased platform motion scope and ability.
Referring to Fig. 1-2, be universal tracked mobile platform integral structure of the present invention, form by two cover front swing arm assembly 2-100, the main track assembly 2-200 of two covers, piggyback pod assembly 2-300, control cabinet assembly 2-400 and handle assembly 2-500.About the main track assembly 2-200 of two covers be connected the fastening platform framework that constitutes by intermediate power cabin assembly 2-300, control cabinet assembly 2-400 jointly with handle assembly 2-500, about two overlap front swing arm assembly 2-100 and be connected with each autonomous track assembly 2-200 respectively.By control cabinet assembly 2-400 transmitting control commands, piggyback pod assembly 2-300 drive motor rotates, and can realize independently that rotate main crawler belt front and back and front swing arm is circumferentially swung.Handle assembly 2-500 is that the platform carrying facilitates as frame assembly the time.
Referring to Fig. 3, be front swing arm assembly 100 parts, do not have oily lining 3-3, front swing arm wheel 3-4, front swing arm panel beating frame 3-5, front swing arm wheel main shaft 3-6, front swing arm crawler belt 3-7, front swing arm steamboat 3-8, front swing arm steamboat rotating shaft 3-9 and front swing arm pressure zone plate 3-10 by belt wheel adapter sleeve 3-1, front swing arm coupler 3-2, front swing arm and form.Front swing arm wheel main shaft 3-6 and front swing arm panel beating frame 3-5 are connected by flange, be connected with front swing arm coupler 3-2 successively with after front swing arm does not have oily lining 3-3, front swing arm wheel 3-4 concentric fit, front swing arm steamboat rotating shaft 3-9 is connected in front swing arm panel beating frame 3-5 front end and takes turns the 3-4 concentric fit with two front swing arms.Front swing arm crawler belt 3-7 one end and the front swing arm wheel 3-4 engagement other end are supported by front swing arm steamboat 3-8 servo-actuated, and two front swing arm pressure zone plate 3-10 are connected on the front swing arm panel beating frame 3-5 up and down, and 3-7 compresses support to the front swing arm crawler belt.The front swing arm rotational power is delivered to front swing arm wheel main shaft 3-6 by front swing arm coupler 3-2, drives the front swing arm panel beating frame 3-5 and the front swing arm crawler belt 3-7 that are connected with it and rotates around the axle center, realizes that front swing arm rotates separately.
Referring to Fig. 4, be main track assembly 200 parts, form by side plate 4-11, main shaft front component 4-600, battery holder assembly 4-800, wheel assembly 4-700 and main crawler belt 4-12.Main shaft front component 4-600 and wheel assembly 4-700 are connected on the side plate 4-11, and mesh with main crawler belt 4-12 respectively, and power imports main shaft front component 4-600 into and drives main crawler belt 4-12 rotation, realizes moving forward and backward and pivot stud of universal tracked mobile platform.Battery holder assembly 4-800 is connected on the side plate 4-11, and the high power capacity lithium cell is placed in complete machine power is provided in the battery case, and battery holder assembly 4-800 baseplane is pressed on main crawler belt 4-12 inboard, to prevent the jolt vibration of main crawler belt 4-12 under different road conditions.
Referring to Fig. 5, be main shaft front component 600 parts, form by main shaft front-wheel attaching screw 5-13, main shaft front-wheel large straight gear 5-14, main shaft front-wheel small Spur gear 5-15, small Spur gear bearing 5-16, main shaft front-wheel gear case cover 5-17, main shaft front-wheel seal ring 5-18, main shaft front-wheel aluminium sleeve 5-19, front-wheel bearing 5-20, main shaft front-wheel 5-21, front-wheel bearing 5-22, main shaft axial restraint nut 5-23, front-wheel end cover 5-24, front-wheel adapter sleeve 5-25.Main shaft front-wheel large straight gear 5-14 is connected on the main shaft front-wheel 5-21 by six main shaft front-wheel attaching screw 5-13, power passes to main shaft front-wheel large straight gear 5-14 by main shaft front-wheel small Spur gear 5-15 engagement, drive the main shaft front-wheel 5-21 that is connected with it and rotate, thereby the main crawler belt 4-12 that is engaged with is rotated thereupon.Main shaft front-wheel small Spur gear 5-15 is connected on the main shaft front-wheel gear case cover 5-17 by small Spur gear bearing 5-16, and main shaft front-wheel gear case cover 5-17 and side plate 4-11 are connected, thereby main shaft front component 600 is connected on the vehicle body frame.Main shaft front-wheel seal ring 5-18 is placed in the seal groove on the main shaft front-wheel aluminium sleeve 5-19, plays the effect of exclusion seal, also has seal groove on the main shaft front-wheel gear case cover 5-17 and is used for realizing face seal with side plate 4-11.
Referring to Fig. 6, main shaft front-wheel 6-21 is made up of structures such as main shaft front-wheel damping engraved structure 6-21-1, main shaft front-wheel castellated shaft 6-21-2 and main shaft front-wheel engagement gear teeth 6-21-3, and front swing arm wheel 6-4 is made up of structures such as front swing arm wheel damping engraved structure 6-4-1, front swing arm wheel castellated shaft 6-4-2, front swing arm wheel engagement gear teeth 6-4-3 and front swing arm wheel crawler belt groove 6-4-4.Main shaft front-wheel 6-21 and front swing arm wheel 6-4 are connected with a joggle by main shaft front-wheel castellated shaft 6-21-2 and front swing arm wheel castellated shaft 6-4-2, make it to rotate simultaneously and drive respectively main crawler belt and front swing arm crawler belt and rotate.Main shaft front-wheel 6-21 and front swing arm wheel 6-4 are processed by extraordinary nylon material, has better elastic and hardness, main shaft front-wheel damping engraved structure 6-21-1 and front swing arm wheel damping engraved structure 6-4-1 makes it to have good shock resistance especially, makes whole mobile platform can adapt to various road conditions better and has to a certain degree the anti-ability of falling.
Referring to Fig. 7, main crawler belt 7-12 is made up of structures such as main crawler belt external tooth 7-12-1, main crawler belt internal tooth 7-12-2 and main crawler belt two side flange 7-12-3, and front swing arm crawler belt 7-7 is made up of structures such as front swing arm crawler belt external tooth 7-7-1, front swing arm crawler belt internal tooth 7-7-2 and front swing arm crawler belt intermediate flange 7-7-3.Main crawler belt internal tooth 7-12-2 and front swing arm crawler belt internal tooth 7-7-2 also rotate with main shaft front-wheel engagement gear teeth 6-21-3 and front swing arm wheel engagement gear teeth 6-4-3 engagement respectively thereupon, main crawler belt external tooth 7-12-1 and front swing arm crawler belt external tooth 7-7-1 play the effect that increases crawler belt and frictional ground force, make whole mobile platform have better earth-grasping force.Main crawler belt two side flange 7-12-3 wrap up main shaft front-wheel 7-21 wherein, and front swing arm crawler belt intermediate flange 7-7-3 stretches among the front swing arm wheel crawler belt groove 6-4-4, all plays the effect of anti-anti-avulsion band.
Referring to Fig. 8, be wheel assembly 700 parts, by trailing wheel shaft-cup 8-26, trailing wheel do not have oily lining 8-27, trailing wheel 8-28, trailing wheel main shaft 8-29, trailing wheel and do not have oily lining 8-30, trailing wheel pad 8-31, square flange 8-32, trailing wheel is regulated bolt 8-33, trailing wheel plain cushion 8-34, trailing wheel flower type pad 8-35 and trailing wheel nut 8-36 and is formed.Trailing wheel 8-28 does not have oily lining 8-27 by trailing wheel and 8-30 rotates on trailing wheel main shaft 8-29, trailing wheel main shaft 8-29 front end is that waist profile shaft face can slide in the waist-shaped hole of square flange 8-32, trailing wheel is regulated bolt 8-33 and is passed trailing wheel main shaft 8-29 front end tapped bore and square flange 8-32 through hole successively, rotates trailing wheel adjusting bolt 8-33 and can realize that trailing wheel main shaft 8-29 drives trailing wheel 8-28 front and back in waist-shaped hole and slides.
Referring to Fig. 9, wheel assembly 9-700 is connected by square flange 9-32 and side plate 9-11, the trailing wheel nut 9-36 that wheel assembly 9-700 is outstanding etc. is placed in the U-lag of side plate 9-11 end, regulate trailing wheel adjusting bolt 9-33 and can realize the front and back slip of whole wheel assembly 9-700 in U-lag, thereby the main crawler tensioning that realization is meshed with trailing wheel 9-28 is regulated.
Referring to Figure 10, be battery holder assembly 800 parts, form by battery 10-37, battery case panel beating framework 10-38, nylon block 10-39, battery interface 10-40 and battery case magnetic block assembly 10-900.Battery 10-37 slips among the battery case panel beating framework 10-38 and is communicated with battery interface 10-40, for whole platform provides propulsion source.Battery 10-37 is the hermetically sealed chargeable poly-lithium battery of self-control, has advantages such as volume little cruise duration in light weight is long, and propulsion source was reliable when good sealing property had guaranteed that platform travels in road conditions such as shallow water marsh.When battery case magnetic block assembly 10-900 puts down battery 10-37 is limited among the battery case panel beating framework 10-38 to prevent battery 10-37 because the interface such as vibration grade that jolts gets loose, nylon block 10-39 can play certain supporting role when front swing arm assembly 100 is packed up.
Referring to Figure 11, be battery case magnetic block assembly 900 parts, fixedly steelframe 11-41, rotating pin clamp nut 11-42, rotary block 11-43, flathead screw magnet 11-44 and rotary pin shaft 11-45 form by battery case magnetic block.It is fixedly fastening by rotating pin clamp nut 11-42 behind steelframe 11-41 and the rotary block 11-43 that rotary pin shaft 11-45 passes battery case magnetic block successively, and rotary block 11-43 can rotate in 90 ° of scopes around rotary pin shaft 11-45.Upper surface and side at rotary block 11-43 have 1 piece and 3 pieces of flathead screw magnet 11-44 respectively, are used to adsorb two end positions that arrive battery case magnetic block assembly 900.
Referring to Figure 12, battery case magnetic block assembly 900 by battery case magnetic block fixedly steelframe 12-41 be connected on the side plate 12-11, battery upwards turns to the limes superiors position with rotary block 12-43 before installing, this moment rotary block 12-43 upper surface one piece of flathead screw magnet and battery case magnetic block fixedly steelframe 12-41 adsorb, battery 12-37 is communicated with after slipping into battery case panel beating framework 12-38 afterwards, rotary block 12-43 is being swung down to the smallest limit position, this moment, three pieces of flathead screw magnet of rotary block 12-43 side adsorbed with battery case panel beating framework 12-38, and battery 12-37 firmly is limited among the battery case panel beating framework 12-38 to prevent that its interface from getting loose.
Referring to Figure 13, be piggyback pod assembly 300 parts, form by piggyback pod cover plate 13-46, piggyback pod cover plate for sealing pad 13-47, transmission main shaft assembly 13-1000, main drive motor 13-48, main drive motor aft mount 13-49, driving circuit 13-50 and piggyback pod housing unit 13-1100.Two cover main drive motor 13-48 are connected in respectively on the both sides side plate 11, and provide rotational power for main shaft front-wheel 21, thereby drive main crawler belt 12 and the 7 rotation implementation platform motions of front swing arm crawler belt, transmission main shaft assembly 13-1000 is connected on the piggyback pod housing unit 13-1100, its rotation is used for directly driving front swing arm assembly 100 and rotates, and promptly piggyback pod can be realized the rotational motion of main crawler belt 12 and front swing arm crawler belt 7 and the hunting motion of front swing arm assembly 100 respectively.Driving circuit 13-50 is connected in the piggyback pod housing unit 13-1100, is used for driving power unit and sensing unit in the mobile platform, and piggyback pod cover plate 13-46 and piggyback pod cover plate for sealing pad 13-47 have guaranteed the water proof and dust proof requirement of piggyback pod.
Referring to Figure 14, be transmission main shaft assembly 1000 parts, by front swing arm motor 14-51, worm screw binding bolt 14-52, pinion support copper sheathing 14-53, worm screw bracket of rear mounting 14-54, worm screw backup bearing 14-55, worm screw backup bearing pad 14-56, worm drive miniature gears 14-57, worm drive big gear wheel 14-58, front swing arm worm screw 14-59, worm screw is supported copper sheathing 14-60, worm screw front support stand 14-61, worm gear end cap 14-62, worm gear swelling cover 14-63, front swing arm worm gear 14-64, worm gear copper sheathing 14-65, worm gear bracing frame 14-66, main-axis end seal ring 14-67, main shaft plain bearing 14-68, transmission main shaft 14-69, fan-shaped catch 14-70 of photoelectric switch and photoelectric switch 14-71 form.Two cover front swing arm motor 14-5 drive front swing arm worm screw 14-59 by worm drive miniature gears 14-57 and worm drive big gear wheel 14-58 and rotate, thereby transmission of power to by the rotation that is connected the front swing arm worm gear 14-64 drive transmission main shaft 14-69 on the transmission main shaft 14-69, is realized the circumferential swing of front swing arm assembly 100.The layout of two front swing arm motor 14-51 can reduce motor bulk providing as far as possible under the prerequisite of enough power, it is more compact to make piggyback pod arrange, worm gear swelling cover 14-63 is pressed on the front swing arm worm gear 14-64 by worm gear end cap 14-62, can realize that the axial and circumferential of front swing arm worm gear 14-64 fix, two fan-shaped catch 14-70 of photoelectric switch that are connected on the transmission main shaft 14-69 are and differ 60 ° of layouts, transmission main shaft 14-69 rotates and makes the fan-shaped catch 14-70 of photoelectric switch also can provide four position signals by photoelectric switch 14-71, is used to realize the position control of front swing arm assembly 100.
Referring to Figure 15, be the transmission of power scheme drawing, Figure 15 (a) rotates the structural representation of two kinds of motions for realizing front swing arm swing and crawler belt respectively.Figure 15 (b) is for realizing front swing arm swinging structure scheme drawing, main shaft front-wheel 15-21 and the front swing arm hidden among Figure 15 (a) are taken turns parts such as 15-4, front swing arm motor 15-51 swings transmission of power to front swing arm worm gear 15-64 by front swing arm worm screw 15-59 with swing arm, driving the transmission main shaft 15-69 that is connected with front swing arm worm gear 15-64 rotates, transmission main shaft 15-69 and front swing arm wheel main shaft 15-6 front end is waist type plane and the waist-shaped hole by front swing arm coupler 15-2 circumferentially is connected, thereby the front swing arm panel beating frame 15-5 rotation that the rotation of transmission main shaft 15-69 drives front swing arm wheel main shaft 15-6 and is connected, the independently moving of realization front swing arm.Figure 15 (c) is for realizing crawler belt rotational structure scheme drawing, the front swing arm rotatable parts among Figure 15 (a) have been hidden, the main drive motor 15-48 that is fixed on the side 15-11 is passed to main shaft front-wheel large straight gear 15-14 with the crawler belt rotational power by main shaft front-wheel small Spur gear 15-15, this moment, transmission main shaft 15-69 can't rotate with the rotation of main shaft front-wheel large straight gear 15-14, both are independent of each other, the rotation of main shaft front-wheel large straight gear 15-14 drives the main shaft front-wheel 15-21 that is connected with it and rotates (referring to Fig. 5), front swing arm wheel 15-4 is because circumferentially be connected together rotation (referring to Fig. 6) with main shaft front-wheel 15-21 castellated shaft, can simultaneously rotate with main shaft front-wheel 15-21 ingear master crawler belt 12 with front swing arm wheel 15-4 ingear front swing arm crawler belt 7 this moment, realizes the independently moving that crawler belt rotates.
Referring to Figure 16, be piggyback pod housing unit 1100 parts, form by piggyback pod housing panel beating 15-72, piggyback pod aviation plug 15-73, piggyback pod main supply switch 15-74, circuit switch plate 15-75, keysets packing seal 15-76, infrared distance sensor 15-77 and infrared distance sensor organism glass catch 15-78.Piggyback pod aviation plug 15-73 is used to connect wire cable, realize the line control that has of mobile platform, piggyback pod main supply switch 15-74 is used to control the unlatching and the shutoff of whole platform power, circuit switch plate 15-75 is used to be communicated with driving circuit and control circuit, keysets packing seal 15-76 has guaranteed the water proof and dust proof requirement at piggyback pod circuit switch plate place, the infrared distance sensor 15-77 that is arranged in the oblique below of piggyback pod housing panel beating 15-72 is used for the aware platform front lower place to be had accessible so that platform is controlled, and transparent infrared distance sensor organism glass catch 15-78 has guaranteed water proof and dust proof requirement herein under the prerequisite that does not influence infrared distance sensor 15-77 work.
Referring to Figure 17, be control cabinet assembly 400 parts, form by piggyback pod cover plate 16-79, piggyback pod cover plate for sealing pad 16-80, control circuit 16-81, control cabinet housing panel beating 16-82, control cabinet antenna 16-83 and gps antenna 16-84.Control circuit 16-81 is connected in the control cabinet housing panel beating 16-82, and piggyback pod cover plate 16-79 and piggyback pod cover plate for sealing pad 16-80 have guaranteed the water proof and dust proof requirement of control cabinet.Transmitting-receiving control command when control cabinet antenna 16-83 is used for wireless mode, gps antenna 16-84 is used to receive gps signal.
Referring to Figure 18, be handle assembly 500, form by handle back rest switching piece 17-85, handle back rest 17-86, handle back rest sliding nut 17-87, handle attaching parts 17-88 and handle 17-89.Handle attaching parts 17-88 connects on the handle back rest 17-86 by two handle back rest sliding nut 17-87, and handle 17-89 is placed in the U-lag at handle attaching parts 17-88 two ends, makes things convenient for the user that flat-bed is moved and carries.Handle back rest 17-86 by about two handle back rest switching piece 17-85 and side plate 11 be connected, whole platform is played the effect of support structure.
Referring to Figure 19, Figure 19 (a) is the platform left view, Figure 19 (b) has hidden the piggyback pod housing panel beating 19-72 among main crawler belt 19-12 and the piggyback pod housing unit 19-1100, piggyback pod housing unit 19-1100 and control cabinet assembly 19-400 have identical bottom surface height, and the obstacle that this high highly more decision platform can directly be crossed is high more.It is concordant that transmission main shaft assembly 19-1000 is positioned over side plate 19-11 upper end, at utmost promotes the bottom surface height, and the piggyback pod cover plate 19-46 that is designed to zigzag is close to side plate 19-11 upper end and main drive motor 19-48 surface, maximum journey compression space.Piggyback pod and control cabinet finally all are compressed in the main crawler belt 19-12 height, make that platform front reverse side is all freely movable.
Referring to Figure 20, be expansion area specification figure, between control cabinet assembly 20-400 and handle assembly 20-500, reserved than large space as the expansion area, be used on mobile platform, carrying other general modules and carry out the function expansion, as multi freedom degree mechanical arm, bubble rifle, wiring clip, small-sized communication relay station and light weapons etc.
Referring to Figure 21, Figure 21 (a) is the mobile platform of unmatched swing arm structure, and Figure 21 (b) is for increasing the mobile platform of front swing arm structure.The mobile platform of unmatched swing arm structure runs into when being higher than half obstacle of wheel footpath and can't cross among Figure 21 (a), and the mobile platform that increases the front swing arm structure among Figure 21 (b) can turn to front swing arm the whole platform of lifting on the obstacle, rely on the propelling thrust of main crawler belt and front swing arm crawler belt to cross simultaneously and be higher than oneself height even higher obstacle, increase the ability that mobile platform adapts to different road conditions greatly.
Referring to Figure 22, be crossing over blockage 1 process scheme drawing, obstacle 1 highly is about the mobile platform oneself height.Platform runs into obstacle 1, at first front swing arm is turn on the obstacle 1, front swing arm is rotated further platform lifting [Figure 22 (a)], propelling thrust by front swing arm crawler belt and main crawler belt moves whole platform on obstacle 1, whole platform center of gravity moves closer to obstacle 1 edge [Figure 22 (b)], this moment, main crawler belt continued to promote to make that the platform center of gravity surpasses obstacle 1 edge [Figure 22 (c)], because the whole platform overturning of action of gravity is on obstacle 1, the obstacle detouring process is finished.
Referring to Figure 23, be crossing over blockage 2 process scheme drawings, obstacle 2 highly is about the twice of mobile platform oneself height.Platform runs into obstacle [Figure 23 (a)], front swing arm clockwise rotates platform and integrally lifting [Figure 23 (b)], front swing arm continues to clockwise rotate platform rotated and rides against [Figure 23 (c)] on obstacle 2 edges, continuing to clockwise rotate front swing arm makes the front swing arm steamboat support whole platform fully, center of gravity is and then lifting [Figure 23 (d)] also, front swing arm rotates the lifting center of gravity and relies on the impetus of front swing arm crawler belt to make the platform center of gravity move [Figure 23 (e)] to obstacle 2 edges to highest point, when the platform center of gravity continues to be moved beyond obstacle 2 edges [Figure 23 (f)], whole platform since action of gravity with regard to overturning on obstacle 2, the obstacle detouring process is finished.
Referring to Figure 24, be crossing over blockage 3 process scheme drawings, obstacle 3 is a gully.Platform runs into obstacle 3[Figure 24 (a)], because gully width limitations, platform can not directly be crossed the gully, rotate counterclockwise front swing arm with center of gravity reach [Figure 24 (b)] this moment, be rotated further front swing arm it is ridden against the gully other end, rely on the thrust of front swing arm crawler belt and main crawler belt that the platform center of gravity is moved [Figure 24 (c)] to other end edge, gully, the platform center of gravity is not crossed other end edge, gully [Figure 24 (d)] before trailing wheel is unsettled, this moment, whole platform gravity supported to some extent, can continue to move and directly cross the gully, the obstacle detouring process is finished.
Referring to Figure 25, be crossing over blockage 4 process scheme drawings, obstacle 4 is multistage step.Platform runs into obstacle, the front swing arm left-hand revolution is ridden against on the step edge, front swing arm is rotated further and makes whole main crawler belt contact the step edge fully, relies on this moment the propelling thrust of swing arm crawler belt and main crawler belt to make whole platform move on step, and the obstacle detouring process is finished.
Referring to Figure 26; be universal tracked mobile platform control module 1200 parts; by battery interface one 26-90; battery interface two 26-91; general purpose grade joint 26-92; temperature sensor 26-93; control core 26-94; current sensor 26-95; the H bridge drives a 26-96; the H bridge drives two 26-97; the H bridge drives three 26-98; battery 26-99; subtending cable 26-100; swing arm motor 26-101; absolute encoder 26-102; main drive motor one 26-103; incremental encoder one 26-104; main drive motor two 26-105; incremental encoder two 26-106 form; platform control module 26-1200 is by its fgn battery interface 26-90; 26-91 connects battery module 26-99 and powers; power supply and communication line are provided for the next stage module by subtending cable 26-100 again; the platform control module has independently to be controlled core 26-94 and is responsible for carrying out the instruction that main control module is sent; by 3 H bridge driving circuit 26-96; 26-97; 26-98 drives 2 chassis main drive motor 26-103; 26-105 and 1 swing arm motor 26-101; and by coder 26-102; 26-104 picking rate and location information; the platform control module also has temperature and current sensor 26-93; 26-94 can carry out good detection and protection to system.
Referring to Figure 27, control box program 27-107 is responsible for scanning key value and remote sensing value, and the various robot parameters that also responsible reception master control program writes also show; Universal chassis control program 27-108 reads signal and the analyzing and processing of control box program 27-107, and result is as the ROBOT CONTROL signal; Universal chassis drive program 27-109 is responsible for receiving in real time the various command from the universal chassis control program, and the driving chassis is done and advanced, retreats, turns left, turns right, actions such as variable-speed operation.
Referring to Figure 28, CAN communication program 28-110 is responsible for receiving the order and the data of robot main control end; Order data routine analyzer 28-111 is responsible for analyzing order and the data that obtain, and exports different electric machine control orders; Open loop PWM program 28-112 is according to the order data that receives, and output PWM ripple is controlled electric moter voltage, thus the control rotating speed of motor; Speed closed loop program 28-113 compares according to the target velocity of input and the motor real-world operation speed by sensor acquisition, with error as input, through pid algorithm, output PWM controlling quantity control motor speed arrives rotating speed of target, has certain anti-interference capability; Position closed loop program 28-114 is that as input, through pid algorithm, output PWM control motor arrives the target location with error according to the comparing when the front motor actual position of the target location of input and sensor acquisition; Motor action program 28-115 is responsible for order and the data according to input, and the control motor is just done to be changeed, actions such as counter-rotating and changed speed operation.
Referring to Figure 29, obtain control command 29-116 and be responsible for obtaining button or rocking bar order and relevant data from control box; Control command is analyzed 29-117 and is responsible for analyzing the order of obtaining, and exports different operations; After " STOP " button 29-118 response, enable robot braking 29-119, send the control signal 29-128 that generates and make robot brake immediately; Chassis infrared distance measurement signal 29-120 is by the infrared distance sensor collection, calculates 29-121 by the place ahead obstacle distance and sends the control signal 29-128 that generates and guarantee that robot can collision obstacle; After the chassis operation 29-122 response, carry out, carry out the chassis target velocity and calculate 29-123, send the control signal 29-128 control robot that generates and carry out the closed-loop speed control action according to speed sensor and input parameter; Chassis two swing arms, one key operation 29-124 is according to last order data and Photoelectric Detection 29-125 result, swing arm done a key launches 29-126 or a key is packed up two kinds of operations of 29-127.
Referring to Figure 30, hardware initialization 30-129 is responsible for the initialization to the required hardware resource of system, comprises the initialization of communication interface; CAN communication thread 30-130 is responsible for receiving the order and the data of robot main control end, motor 1 control thread 30-131, motor 2 control thread 30-132 and motor 3 control thread 30-133 are responsible for according to the order and the data that receive 3 motors on chassis being controlled, state parameter scanning thread 30-124 is responsible for obtaining the chassis parameter, as battery electric quantity, motor temperature etc.; Motor speed obtains thread 30-135 and is responsible for obtaining the base plate electric machine rotating speed in real time, offers robot master control end and uses.
Referring to Figure 31, chassis front end is equipped with photoelectric switch 14-71, two fan-shaped catch 14-70 are arranged on two arm shafts, 60 ° of their phase phasic differences, when the swing arm campaign, fan-shaped catch different time passes through photoelectric switch, thereby forms 4 kinds of different signals, all during no show, photoelectric switching signal is 00 to fan-shaped catch; Fan-shaped catch 1 arrives and during 2 no shows of fan-shaped catch, photoelectric switching signal is 01; When two fan-shaped catch all arrived, photoelectric switching signal was 11; When fan-shaped catch 1 leaves and fan-shaped catch 2 when also not leaving, photoelectric switching signal is 10; Choose 00 and 11 and pack up the signal that launches with a key as swing arm one key.
Referring to Figure 32, be universal tracked mobile platform software system fault handling diagram of circuit, in the system read-write process operation data, if success, then with the corresponding positions zero clearing of fault handling table, if failure, then the fault handling epiphase being answered the position is 1; Corresponding positions in the fault handling thread inquiry error processing list of system is if 0 is returned, if 1, analysis of failure source then, comprise: heartbeat fault, sensor read parametric fault, parameter to be changed and exceeds setting value fault etc., according to the source of trouble, do corresponding sound and light alarm/. processing such as braking/restart; Handle the different mode of taking owing to report to the police, therefore can analyze the source of trouble, thereby realize the function of location of mistake according to the difference of the mode of reporting an error.
This specific embodiment has designed the shockproof anti-structure of falling of platform.In order to allow universal tracked mobile platform adapt to complex environment as much as possible, platform must increase antidetonation impact-reducing structure, has proposed the novel crawler wheel construction.The main shaft front-wheel is by main shaft front-wheel damping engraved structure, structures such as the main shaft front-wheel castellated shaft and the main shaft front-wheel engagement gear teeth are formed, the front swing arm wheel is by front swing arm wheel damping engraved structure, front swing arm wheel castellated shaft, structures such as the front swing arm wheel engagement gear teeth and front swing arm wheel crawler belt groove are formed, thereby the engagement of the castellated shaft between the two-wheeled can be used to transmit circumferential movement and drives the main crawler belt front swing arm crawler belt rotation that is engaged with, reduced main shaft front-wheel and front swing arm and taken turns mechanism's complexity of circumferential transmission of power, the damping engraved structure of two-wheeled uniqueness makes whole platform can adapt to various complex road conditions better and has to a certain degree the anti-ability of falling.
This specific embodiment adopts compact design, the simplified structure complexity, and saving takes up room.The main shaft front-wheel deceleration system of being made up of parts such as main shaft front-wheel large straight gear, main shaft front-wheel small Spur gear, main shaft front-wheel gear case cover, main shaft front-wheels is finished and is sunk to the front-wheel inboard, saved the space of speed reduction gearing greatly, thereby shortened main shaft wheel apart from the moment of flexure requirement that reduces main shaft; Regulated track tension device that parts such as bolt form to be hidden in the trailing wheel inside structure very compact by trailing wheel, trailing wheel main shaft, square flange, trailing wheel, and no longer take vehicle body space; The platform battery holder assembly is installed in the interior volume of having been surrounded by main crawler belt, main shaft front component, wheel assembly, side plate, does not take the car body inner space fully and has simplified whole platform structure complexity; It is concordant that the transmission main shaft assembly is positioned over side plate upper end, at utmost promote the bottom surface height, the piggyback pod cover plate that is designed to zigzag is close to side plate upper end and main drive motor surface, maximum journey compression space, piggyback pod and control cabinet finally all are compressed in the main height of crawler, even make that platform bottom surface when crossing over blockage is also freely movable up.
This specific embodiment is reserved the expansion area, can install various functional modules additional, as multi freedom degree mechanical arm, bubble rifle, wiring clip, small-sized communication relay station and light weapons etc., increase the ability to act and the functions of use of universal tracked mobile platform greatly, facilitate for being combined into various military robots and specialized robot, become real universal tracked mobile platform.
Claims (10)
1. universal tracked mobile platform for military robot, it is characterized in that it comprises main crawler belt car body, the front swing arm that can independently swing, control system and self-diagnosable system, main crawler belt car body is by two cover symmetrical main track assemblies (2-200), drive cabin assembly (2-300), control cabinet assembly (2-400) and handle assembly (2-500) are formed, about two the cover main track assemblies (2-200) by intermediate power cabin assembly (2-300), control cabinet assembly (2-400) is connected fastening formation platform framework jointly with handle assembly (2-500), about two the cover front swing arm assemblies (2-100) be connected with each autonomous track assembly (2-200) respectively; By control cabinet assembly (2-400) transmitting control commands, piggyback pod assembly (2-300) drive motor rotates, and can realize independently that rotate main crawler belt front and back and front swing arm is circumferentially swung; Handle assembly (2-500) is that the platform carrying facilitates as frame assembly the time; Be the main bearing part of universal tracked mobile platform, can independently realize the rotation of main crawler belt front swing arm crawler belt and the swing of front swing arm; The front swing arm that can independently swing, but gravity centre distribution and main crawler belt car body and ground angle by the whole universal tracked mobile platform of conversion diverse location flexible have increased the platform obstacle detouring greatly and have adapted to the ability of complex-terrain; Control system, the embedded computer hardware system and the software system that are used for described universal tracked mobile platform motion and monitor comprise by infrared distance sensor, photoelectric switch, the sensor-based system that coder is formed, driving circuit, master control system etc.; Self-diagnosable system is used for the selfdiagnosis after described universal tracked mobile platform runs into fault, and carries out fault handling voluntarily and send corresponding alerting signal, guarantees that at utmost platform safety is reliable.
2. a kind of universal tracked mobile platform for military robot according to claim 1 is characterized in that described front swing arm assembly does not have oily lining (3-3), front swing arm wheel (3-4), front swing arm panel beating frame (3-5), front swing arm wheel main shaft (3-6), front swing arm crawler belt (3-7), front swing arm steamboat (3-8), front swing arm steamboat rotating shaft (3-9) and front swing arm pressure zone plate (3-10) by belt wheel adapter sleeve (3-1), front swing arm coupler (3-2), front swing arm and forms; Front swing arm wheel main shaft (3-6) is connected by flange with front swing arm panel beating frame (3-5), be connected with front swing arm coupler (3-2) successively with after front swing arm does not have oily lining (3-3), front swing arm wheel (3-4) concentric fit, front swing arm steamboat rotating shaft (3-9) is connected in front swing arm panel beating frame (3-5) front end and takes turns (3-4) concentric fit with two front swing arms; Front swing arm crawler belt (3-7) end and front swing arm wheel (3-4) the engagement other end are supported by front swing arm steamboat (3-8) servo-actuated, and two front swing arm pressure zone plates (3-10) are connected on the front swing arm panel beating frame (3-5) up and down, and (3-7) compresses support to the front swing arm crawler belt; The front swing arm rotational power is delivered to front swing arm wheel main shaft (3-6) by front swing arm coupler (3-2), drives the front swing arm panel beating frame (3-5) and the front swing arm crawler belt (3-7) that are connected with it and rotates around the axle center, realizes that front swing arm rotates separately.
3. a kind of universal tracked mobile platform for military robot according to claim 1 is characterized in that described main track assembly is made up of side plate (4-11), main shaft front component (4-600), battery holder assembly (4-800), wheel assembly (4-700) and main crawler belt (4-12); Main shaft front component (4-600) is connected on the side plate (4-11) with wheel assembly (4-700), and mesh with main crawler belt (4-12) respectively, power imports main shaft front component (4-600) into and drives main crawler belt (4-12) rotation, realizes moving forward and backward and pivot stud of universal tracked mobile platform; Battery holder assembly (4-800) is connected on the side plate (4-11), the high power capacity lithium cell is placed in complete machine power is provided in the battery case, battery holder assembly (4-800) baseplane is pressed on main crawler belt (4-12) inboard, to prevent the jolt vibration of main crawler belt (4-12) under different road conditions.
4. a kind of universal tracked mobile platform for military robot according to claim 3 is characterized in that described main shaft front component is by main shaft front-wheel attaching screw (5-13), main shaft front-wheel large straight gear (5-14), main shaft front-wheel small Spur gear (5-15), small Spur gear bearing (5-16), main shaft front-wheel gear case cover (5-17), main shaft front-wheel seal ring (5-18), main shaft front-wheel aluminium sleeve (5-19), front-wheel bearing (5-20), main shaft front-wheel (5-21, front-wheel bearing (5-22), main shaft axial restraint nut (5-23), front-wheel end cover (5-24), front-wheel adapter sleeve (5-25) is formed; Main shaft front-wheel large straight gear (5-14) is connected on the main shaft front-wheel (5-21) by six main shaft front-wheel attaching screws (5-13), power passes to main shaft front-wheel large straight gear (5-14) by main shaft front-wheel small Spur gear (5-15) engagement, drive the main shaft front-wheel (5-21) that is connected with it and rotate, thereby the main crawler belt (4-12) that is engaged with is rotated thereupon; Main shaft front-wheel small Spur gear (5-15) is connected on the main shaft front-wheel gear case cover (5-17) by small Spur gear bearing (5-16), main shaft front-wheel gear case cover (5-17) is connected with side plate (4-11), thereby main shaft front component (600) is connected on the vehicle body frame; Main shaft front-wheel seal ring (5-18) is placed in the seal groove on the main shaft front-wheel aluminium sleeve (5-19), plays the effect of exclusion seal, also has seal groove on the main shaft front-wheel gear case cover (5-17) and is used for realizing face seal with side plate (4-11).
5. a kind of universal tracked mobile platform for military robot according to claim 3 is characterized in that described wheel assembly does not have oily lining (8-27), trailing wheel (8-28), trailing wheel main shaft (8-29), trailing wheel by trailing wheel shaft-cup (8-26), trailing wheel and do not have oily lining (8-30), trailing wheel pad (8-31), square flange (8-32), trailing wheel and regulate bolt (8-33), trailing wheel plain cushion (8-34), trailing wheel flower type pad (8-35) and trailing wheel nut (8-36) and form; Trailing wheel (8-28) does not have oily lining (8-27) and (8-30) rotation on trailing wheel main shaft (8-29) by trailing wheel, trailing wheel main shaft (8-29) front end is that waist profile shaft face can slide in the waist-shaped hole of square flange (8-32), trailing wheel is regulated bolt (8-33) and is passed trailing wheel main shaft (8-29) front end tapped bore and square flange (8-32) through hole successively, rotates trailing wheel adjusting bolt (8-33) and can realize that trailing wheel main shaft (8-29) drives trailing wheel (8-28) front and back in waist-shaped hole and slides.
6. a kind of universal tracked mobile platform for military robot according to claim 3 is characterized in that described battery holder assembly is made up of battery 10-37, battery case panel beating framework 10-38, nylon block (10-39), battery interface (10-40) and battery case magnetic block assembly (10-900); Battery (10-37) slips in the battery case panel beating framework (10-38) and is communicated with battery interface (10-40), for whole platform provides propulsion source; Battery (10-37) is the hermetically sealed chargeable poly-lithium battery of self-control, has advantages such as volume little cruise duration in light weight is long, and propulsion source was reliable when good sealing property had guaranteed that platform travels in road conditions such as shallow water marsh; Battery case magnetic block assembly (10-900) when putting down is limited in battery (10-37) in the battery case panel beating framework (10-38) to prevent battery (10-37) because the interface such as vibration grade that jolts gets loose, and nylon block (10-39) can play certain supporting role in front swing arm assembly (100) when packing up.
7. a kind of universal tracked mobile platform for military robot according to claim 6 is characterized in that fixedly form by steelframe (11-41), rotating pin clamp nut (11-42), rotary block (11-43), flathead screw magnet (11-44) and rotary pin shaft (11-45) by battery case magnetic block for described battery case magnetic block assembly; Rotary pin shaft (11-45) passes battery case magnetic block successively, and fixedly steelframe (11-41) and rotary block (11-43) back is fastening by rotating pin clamp nut (11-42), and rotary block (11-43) can rotate in 90 ° of scopes around rotary pin shaft (11-45); Upper surface and side at rotary block (11-43) have 1 piece and 3 pieces of flathead screw magnet (11-44) respectively, are used for two end positions that absorption arrives battery case magnetic block assembly (10-900); Battery case magnetic block assembly (10-900) by battery case magnetic block fixedly steelframe (12-41) be connected on the side plate (12-11), battery upwards turns to the limes superiors position with rotary block (12-43) before installing, this moment rotary block (12-43) upper surface one piece of flathead screw magnet and battery case magnetic block fixedly steelframe (12-41) adsorb, battery (12-37) slips into the connection of battery case panel beating framework (12-38) back afterwards, rotary block (12-43) is being swung down to the smallest limit position, this moment, three pieces of flathead screw magnet of rotary block (12-43) side adsorbed with battery case panel beating framework (12-38), and battery (12-37) firmly is limited in the battery case panel beating framework (12-38) to prevent that its interface from getting loose.
8. a kind of universal tracked mobile platform for military robot according to claim 1, it is characterized in that described piggyback pod assembly (2-300) part, form by piggyback pod cover plate (13-46), piggyback pod cover plate for sealing pad (13-47), transmission main shaft assembly (13-1000), main drive motor (13-48), main drive motor aft mount (13-49), driving circuit (13-50) and piggyback pod housing unit (13-1100); Two cover main drive motors (13-48) are connected in respectively on the both sides side plate (11), and provide rotational power for main shaft front-wheel (21), thereby drive main crawler belt (12) and front swing arm crawler belt (7) and rotate the implementation platform motion, transmission main shaft assembly (13-1000) is connected on the piggyback pod housing unit (13-1100), its rotation is used for directly driving front swing arm assembly (100) and rotates, and promptly piggyback pod can be realized the rotational motion of main crawler belt (12) and front swing arm crawler belt (7) and the hunting motion of front swing arm assembly (100) respectively; Driving circuit (13-5) 0 is connected in the piggyback pod housing unit (13-1100), be used for driving power unit and sensing unit in the mobile platform, piggyback pod cover plate (13-46) and piggyback pod cover plate for sealing pad (13-47) have guaranteed the water proof and dust proof requirement of piggyback pod; Control cabinet assembly (2-400) is made up of piggyback pod cover plate (16-79), piggyback pod cover plate for sealing pad (16-80), control circuit (16-81), control cabinet housing panel beating (16-82), control cabinet antenna (16-83) and gps antenna (16-84); Control circuit (16-81) is connected in the control cabinet housing panel beating (16-82), and piggyback pod cover plate (16-79) and piggyback pod cover plate for sealing pad (16-80) have guaranteed the water proof and dust proof requirement of control cabinet; Control cabinet antenna (16-83) is received and dispatched control command when being used for wireless mode, gps antenna (16-84) is used to receive gps signal; Handle assembly (2-500) is made up of handle back rest switching piece (17-85), the handle back rest (17-86), handle back rest sliding nut (17-87), handle attaching parts (1 7-88) and handle (17-89); Handle attaching parts (17-88) connects on the handle back rest (17-86) by two handle back rest sliding nuts (17-87), and handle (17-89) is placed in the U-lag at handle attaching parts (17-88) two ends, makes things convenient for the user that flat-bed is moved and carries; Two handle back rest switching pieces (17-85) were connected with side plate (11) about the handle back rest (17-86) passed through, and whole platform were played the effect of support structure.
9. a kind of universal tracked mobile platform for military robot according to claim 8 is characterized in that described transmission main shaft assembly (13-1000) is by front swing arm motor (14-51), worm screw binding bolt (14-52), pinion support copper sheathing (14-53), worm screw bracket of rear mounting (14-54), worm screw backup bearing (14-55), worm screw backup bearing pad (14-56), worm drive miniature gears (14-57), worm drive big gear wheel (14-58), front swing arm worm screw (14-59), worm screw is supported copper sheathing (14-60), worm screw front support stand (14-61), worm gear end cap (14-62), worm gear swelling cover (14-63), front swing arm worm gear (14-64), worm gear copper sheathing (14-65), worm gear bracing frame (14-66), main-axis end seal ring (14-67), main shaft plain bearing (14-68), transmission main shaft (14-69), fan-shaped catch of photoelectric switch (14-70) and photoelectric switch (14-71) are formed; Two cover front swing arm motors (14-5) drive front swing arm worm screw (14-59) by worm drive miniature gears (14-57) and worm drive big gear wheel (14-58) and rotate, with transmission of power to by being connected the front swing arm worm gear (14-64) on the transmission main shaft (14-69) thus drive the rotation of transmission main shaft (14-69), realize the circumferential swing of front swing arm assembly (100); The layout of two front swing arm motors (14-51) can reduce motor bulk providing as far as possible under the prerequisite of enough power, it is more compact to make piggyback pod arrange, worm gear swelling cover (14-63) is pressed on the front swing arm worm gear (14-64) by worm gear end cap (14-62), can realize that the axial and circumferential of front swing arm worm gear (14-64) fix, two fan-shaped catch of photoelectric switch (14-70) that are connected on the transmission main shaft (14-69) are and differ 60 ° of layouts, transmission main shaft (14-69) rotates and makes the fan-shaped catch of photoelectric switch (14-70) also can provide four position signals by photoelectric switch (14-71), is used to realize the position control of front swing arm assembly (100).
10. a kind of universal tracked mobile platform for military robot according to claim 8 is characterized in that described piggyback pod housing unit (13-1100) is made up of piggyback pod housing panel beating (15-72), piggyback pod aviation plug (15-73), piggyback pod main supply switch (15-74), circuit switch plate (15-75), keysets packing seal (15-76), infrared distance sensor (15-77) and infrared distance sensor organism glass catch (15-78); Piggyback pod aviation plug (15-73) is used to connect wire cable, realize the line control that has of mobile platform, piggyback pod main supply switch (15-74) is used to control the unlatching and the shutoff of whole platform power, circuit switch plate (15-75) is used to be communicated with driving circuit and control circuit, keysets packing seal (15-76) has guaranteed the water proof and dust proof requirement at piggyback pod circuit switch plate place, the infrared distance sensor (15-77) that is arranged in the oblique below of piggyback pod housing panel beating (15-72) is used for the aware platform front lower place to be had accessible so that platform is controlled, and transparent infrared distance sensor organism glass catch (15-78) has guaranteed water proof and dust proof requirement herein under the prerequisite that does not influence infrared distance sensor (15-77) work.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102060243A (en) * | 2011-01-20 | 2011-05-18 | 上海三一科技有限公司 | Wireless remotely-controlled deviation-checking device for crawler-type counterweight trolley and control method thereof |
| CN102211620A (en) * | 2010-04-12 | 2011-10-12 | 利勃海尔比伯拉赫有限公司 | Electric tracklaying gear and use thereof for a self-propelled working machine |
| CN102039849B (en) * | 2009-10-14 | 2012-08-08 | 南京理工大学 | All-terrain vehicle anti-terrorism double-shaft drive platform |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
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| CN104002883A (en) * | 2014-05-12 | 2014-08-27 | 中国科学院沈阳自动化研究所 | Crawler belt of crawler belt type mobile robot |
| CN104002880A (en) * | 2014-06-03 | 2014-08-27 | 东南大学 | Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs |
| CN104071242A (en) * | 2014-06-25 | 2014-10-01 | 张思凡 | Multifunctional children nursing machine |
| CN104192217A (en) * | 2014-09-02 | 2014-12-10 | 中国科学院沈阳自动化研究所 | Portable mobile robot |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| CN104875802A (en) * | 2015-05-13 | 2015-09-02 | 西北工业大学 | Lightweight foldable tracked robot chassis |
| CN105313997A (en) * | 2014-07-30 | 2016-02-10 | 工程服务公司 | Dual mode mobile robot |
| CN105563491A (en) * | 2016-01-14 | 2016-05-11 | 任曲波 | Armed investigation fighting robot with good heat concealment performance |
| CN106292669A (en) * | 2016-09-07 | 2017-01-04 | 防灾科技学院 | Intelligence chassis structure |
| CN106625767A (en) * | 2016-11-01 | 2017-05-10 | 陈文全 | Barrier-free robot for wireless relay station |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN107235086A (en) * | 2017-06-02 | 2017-10-10 | 赵雪虎 | A kind of full topographical steps climbing robot |
| CN107719491A (en) * | 2017-09-19 | 2018-02-23 | 林瑞春 | A kind of caterpillar mobile robot |
| CN108189925A (en) * | 2018-02-06 | 2018-06-22 | 南京理工大学 | More multi-functional fighter robots of landform |
| CN108444469A (en) * | 2018-02-11 | 2018-08-24 | 南京晓庄学院 | A kind of mobile robot of independent navigation |
| CN109305239A (en) * | 2018-10-08 | 2019-02-05 | 哈尔滨工业大学 | A kind of compound moving platform device of sealed wheel leg |
| CN109531600A (en) * | 2019-01-17 | 2019-03-29 | 北京晶品特装科技有限责任公司 | A kind of single-soldier backpack type scouting explosive-removal robot |
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| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
| CN111059258A (en) * | 2019-11-06 | 2020-04-24 | 北京精密机电控制设备研究所 | Double-input double-output speed reducer |
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| CN114261455A (en) * | 2021-11-29 | 2022-04-01 | 江苏丞工科技有限公司 | Climbing device |
-
2009
- 2009-12-18 CN CN200910259538A patent/CN101850792A/en active Pending
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039849B (en) * | 2009-10-14 | 2012-08-08 | 南京理工大学 | All-terrain vehicle anti-terrorism double-shaft drive platform |
| CN102211620A (en) * | 2010-04-12 | 2011-10-12 | 利勃海尔比伯拉赫有限公司 | Electric tracklaying gear and use thereof for a self-propelled working machine |
| CN102060243B (en) * | 2011-01-20 | 2013-06-19 | 上海三一科技有限公司 | Wireless remotely-controlled deviation-checking device for crawler-type counterweight trolley and control method thereof |
| CN102060243A (en) * | 2011-01-20 | 2011-05-18 | 上海三一科技有限公司 | Wireless remotely-controlled deviation-checking device for crawler-type counterweight trolley and control method thereof |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN102849132B (en) * | 2012-03-30 | 2014-11-26 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN103448815A (en) * | 2013-09-17 | 2013-12-18 | 湖南湖大艾盛汽车技术开发有限公司 | Barrier-free chassis and operation method thereof |
| CN103448815B (en) * | 2013-09-17 | 2015-10-28 | 湖南湖大艾盛汽车技术开发有限公司 | A kind of accessible chassis and operating method thereof |
| CN104802868B (en) * | 2014-01-28 | 2017-03-29 | 南京聚特机器人技术有限公司 | A kind of portable multifunctional mobile platform |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| CN103926924A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Method for controlling ice and snow robot |
| CN104002883A (en) * | 2014-05-12 | 2014-08-27 | 中国科学院沈阳自动化研究所 | Crawler belt of crawler belt type mobile robot |
| CN104002883B (en) * | 2014-05-12 | 2016-06-29 | 中国科学院沈阳自动化研究所 | A kind of crawler belt of caterpillar mobile robot |
| CN104002880A (en) * | 2014-06-03 | 2014-08-27 | 东南大学 | Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs |
| CN104071242A (en) * | 2014-06-25 | 2014-10-01 | 张思凡 | Multifunctional children nursing machine |
| CN105313997A (en) * | 2014-07-30 | 2016-02-10 | 工程服务公司 | Dual mode mobile robot |
| CN105313997B (en) * | 2014-07-30 | 2018-04-24 | 工程服务公司 | Double mode mobile robot |
| CN104192217A (en) * | 2014-09-02 | 2014-12-10 | 中国科学院沈阳自动化研究所 | Portable mobile robot |
| CN104192217B (en) * | 2014-09-02 | 2016-06-15 | 中国科学院沈阳自动化研究所 | A kind of portable mobile robot |
| CN104875802A (en) * | 2015-05-13 | 2015-09-02 | 西北工业大学 | Lightweight foldable tracked robot chassis |
| CN105563491A (en) * | 2016-01-14 | 2016-05-11 | 任曲波 | Armed investigation fighting robot with good heat concealment performance |
| CN106292669B (en) * | 2016-09-07 | 2019-11-05 | 防灾科技学院 | Intelligent chassis structure |
| CN106292669A (en) * | 2016-09-07 | 2017-01-04 | 防灾科技学院 | Intelligence chassis structure |
| CN106625767A (en) * | 2016-11-01 | 2017-05-10 | 陈文全 | Barrier-free robot for wireless relay station |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN107235086A (en) * | 2017-06-02 | 2017-10-10 | 赵雪虎 | A kind of full topographical steps climbing robot |
| CN107719491A (en) * | 2017-09-19 | 2018-02-23 | 林瑞春 | A kind of caterpillar mobile robot |
| CN108189925A (en) * | 2018-02-06 | 2018-06-22 | 南京理工大学 | More multi-functional fighter robots of landform |
| CN108189925B (en) * | 2018-02-06 | 2023-08-18 | 南京理工大学 | Multi-terrain multifunctional fighter robot |
| CN108444469A (en) * | 2018-02-11 | 2018-08-24 | 南京晓庄学院 | A kind of mobile robot of independent navigation |
| CN109305239A (en) * | 2018-10-08 | 2019-02-05 | 哈尔滨工业大学 | A kind of compound moving platform device of sealed wheel leg |
| CN109649519A (en) * | 2018-11-20 | 2019-04-19 | 国网浙江慈溪市供电有限公司 | A kind of transportation robot of climbing stairs |
| CN109531600A (en) * | 2019-01-17 | 2019-03-29 | 北京晶品特装科技有限责任公司 | A kind of single-soldier backpack type scouting explosive-removal robot |
| CN111059258A (en) * | 2019-11-06 | 2020-04-24 | 北京精密机电控制设备研究所 | Double-input double-output speed reducer |
| CN111059258B (en) * | 2019-11-06 | 2022-03-04 | 北京精密机电控制设备研究所 | Double-input double-output speed reducer |
| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
| CN114104134A (en) * | 2021-10-28 | 2022-03-01 | 贵州大学 | Novel mobile vision robot for complex environment |
| CN114261455A (en) * | 2021-11-29 | 2022-04-01 | 江苏丞工科技有限公司 | Climbing device |
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Application publication date: 20101006 |