CN102285388A - walking robot - Google Patents
walking robot Download PDFInfo
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- CN102285388A CN102285388A CN2010102020088A CN201010202008A CN102285388A CN 102285388 A CN102285388 A CN 102285388A CN 2010102020088 A CN2010102020088 A CN 2010102020088A CN 201010202008 A CN201010202008 A CN 201010202008A CN 102285388 A CN102285388 A CN 102285388A
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- right wheel
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- wheel assembly
- walking robot
- coupling assembling
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- 230000008878 coupling Effects 0.000 claims description 29
- 238000010168 coupling process Methods 0.000 claims description 29
- 238000005859 coupling reaction Methods 0.000 claims description 29
- 230000000712 assembly Effects 0.000 abstract description 12
- 238000000429 assembly Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The invention relates to a walking robot, comprising a left wheel assembly and a right wheel assembly used for walking and a connection assembly used for connecting the two assemblies, and further comprising a steering assembly arranged on the left wheel assembly or the right wheel assembly for adjusting a relative angle between the left and right wheel assemblies. By adjusting the relative angle between the left and right wheel assemblies by the steering assembly, the walking robot can apply to earth surface with different shapes, for example, when the walking robot walks on a flat ground, the two wheel assemblies are adjusted to be 180 degrees so that the two bottom surfaces are in a same plane; when the walking robot needs to crawls a door panel, the two bottom surfaces are adjusted to be 0 degrees and a space which is the same as the thickness of the door panel is reserved between the two bottom surfaces, so that the left and right wheel assemblies clamps the door panel and walks upwards; and synchronously, as for corrugated surfaces in various angles, the left and right wheel assemblies can be adjusted to relative angles, the connection assembly tensions the left and right wheel assemblies to keep the degree of angle, the walking robot can walk by driving the left and right wheel assemblies to rotate.
Description
Technical field
The present invention relates to walking robot, more particularly, relate to a kind of can on plane and certain curved surface, moving in motion on plane and the certain curved surface, and can be by the walking robot of clamping plate object along its border movement.
Background technology
Existing walking robot mainly has function blockes such as the wheel class formation that is used to walk and arm.Its wheel is generally two or three, and its relative position of the axis of a plurality of wheels fixedly installs, and the bottom surface coplane, and the walking ground of institute mainly still is the level land.Ground segment itself for the sort of walking wheel contact is not the plane just, but shapes such as convex surface or concave surface, the design of conventional above-mentioned wheel just can't be walked.
Summary of the invention
The technical problem to be solved in the present invention is, at the above-mentioned wheel axis of prior art fix, bottom surface coplane and can only walk the defective on plane, provide a kind of plane of can walking also can be at the walking robot of protruding or recessed surface walking.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of walking robot, comprise being used for revolver assembly, right wheel assembly and the coupling assembling that is connected the two, also comprise the steering assembly of relative angle between the described left and right wheel assembly of the adjustment that is arranged on described revolver assembly and/or the right wheel assembly.
In running machine people of the present invention, described revolver assembly and right wheel assembly lay respectively at described coupling assembling both sides, and the coupling assembling both sides are respectively equipped with a steering assembly and are connected with a described left side/right wheel assembly.
In running machine people of the present invention, described coupling assembling comprises permanent seat and is contained in two linear electric motors of described permanent seat both sides that the mouth of described linear electric motors stretches out permanent seat respectively and captives joint with the steering assembly of respective side.
In running machine people of the present invention, described steering assembly comprises the pull bar that vertically is installed in described coupling assembling one side and is arranged on a described left side/right wheel assembly and is parallel to the horizontal rotating shaft of direction of travel, described rotating shaft be set in the described pull bar end and around the shaft axis relatively rotate.
In running machine people of the present invention, a described left side/right wheel assembly comprises axle stand, be contained on the described axle stand and drive motor, front-wheel and trailing wheel that axis is parallel to each other, and trailing wheel is connected with described drive motor to rotate with its mouth by driving band.
In running machine people of the present invention, between a described left side/right wheel assembly and the described steering assembly Buffer Unit is housed.
In running machine people of the present invention, described Buffer Unit comprises the sleeve column that is arranged on a described left side/right wheel assembly, is set in spring, roof beam structure and locking piece on the described sleeve column, described steering assembly is contained on the described roof beam structure, and described roof beam structure is enclosed within on the described sleeve column and contacts with spring, and it is spacing with roof beam structure that described locking piece is locked in the described sleeve column outside.
In running machine people of the present invention, also comprise the empennage that is arranged on the described coupling assembling bottom surface, the relative bindiny mechanism in described empennage bottom surface bottom surface is obliquely installed.
Implement walking robot of the present invention, have following beneficial effect: adjust relative angle between the left and right wheel assembly by steering assembly,, when for example on the level land, walking, adjust two wheel assemblies and become 180 degree to make two bottom surface coplanes to adapt to the difform face of land; And when needs are creeped door-plate, adjust and be separated with and the cooresponding distance of door-plate thickness between synthetic 0 degree in two bottom surfaces and the two, then left and right wheel assembly is clamped door-plate and upwards walking; Equally, can adjust left and right wheel assembly to corresponding angle for stupefied of various angles, coupling assembling keeps the angle at place with the two tension, drives left and right wheel assembly rotation and can realize walking.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the structural representation that the left and right wheel assembly of walking robot preferred embodiment of the present invention be arranged in parallel;
Fig. 2 is the structural representation that is oppositely arranged embodiment illustrated in fig. 1;
Fig. 3 be embodiment illustrated in fig. 2 from the centre to the both sides volume constructional drawing of looking.
The specific embodiment
The present invention relates to a kind of walking robot that can on kinds of surface, walk, its preferred embodiment such as Fig. 1, Fig. 2 and shown in Figure 3, walking robot comprises revolver assembly, right wheel assembly, coupling assembling, steering assembly, Buffer Unit and empennage 500 among the embodiment.
Wherein, the revolver assembly has identical composition structure with right wheel assembly, comprises axle stand 110, drive motor 120, front-wheel 130, trailing wheel 140 and driving band respectively.As shown in Figure 1, drive motor 120, front-wheel 130 and trailing wheel 140 are housed on the axle stand 110, and the three is arranged in parallel, driving band connects front and rear wheel and the axle of drive motor 120 mouths is connected with trailing wheel 140, then output torque is rotated in drive motor 120 energising backs, drives trailing wheel 140 and rotates, and trailing wheel 140 drives front-wheel 130 and rotates, thereby the realization walking function, and direction of travel the wheel direction of principal axis with front and rear wheel is vertical all the time.
Revolver assembly and right wheel assembly are provided with in the face of claiming with a symmetry, and the axis direction of the front and rear wheel of the two is the direction of cooresponding revolver assembly or right wheel assembly.Left and right wheel assembly shown in Figure 1 wheel axis direction separately is positioned at plane of symmetry both sides perpendicular to plane of symmetry ground, this moment left and right wheel assembly the two, also be that angle between the two the wheel axis is 180 degree.
The known left and right wheel assembly of being convenient to walk can have multiple way of realization, the structure that is subjected to the front and rear wheel combination that drive motor 120 drives, linked by driving band that is not limited to that present embodiment exemplifies, obviously the wheel of a left side/right wheel assembly can have only one, and also need not transmission and bring connection this moment; Certainly wheel also can be set to more than two, can adopt scraggly crawler belt to substitute smooth driving band; In addition, can set up speed-change gear between drive motor 120 and the wheel and be used for slowing down and shifting gears speed governing, or the like.Be left and right wheel assembly of the present invention as long as can realize the structure of walking function.
As shown in Figure 1, because the two parallel being symmetrical arranged of left and right wheel assembly, then the bottom surface coplane of the two is positioned on the plane jointly, and the walking robot of this moment is adapted at walking on the plane, for example the inclined-plane of bottom surface, desktop even certain slope etc.
When extending longitudinally raised or sunken level along the boss of corrugation, horizontal pipe etc. or having when walking on the surface of certain slope, left and right wheel assembly continues to keep the concordant words in bottom surface just can not keep balance, so need regulate the angle of left and right wheel assembly between the two according to the degree of rat.The present invention adopts steering assembly to adjust angle between the left and right wheel assembly.
As shown in Figure 1, on left and right wheel assembly, respectively be provided with a steering assembly.Wherein, steering assembly comprises rotating shaft 320 and pull bar 310, and rotating shaft 320 is arranged on a left side/right wheel assembly and is parallel to direction of travel also promptly perpendicular to the wheel axis direction of front and rear wheel.Rotating shaft 320 two ends respectively are connected with a pull bar 310, and pull bar 310 1 ends are connected with coupling assembling, and the other end is provided with the collar, and the line of centers of the collar is perpendicular to pull bar 310.Insert in the collar respectively at rotating shaft 320 two ends, and can be in the collar 320 rotational around the shaft, then rotating shaft 320 is perpendicular to pull bar 310.Can realize being rotatably connected of the rotating shaft 320 and the collar by modes such as bearing, bayonet locks.
Captive joint with two pull bars 310 respectively in the coupling assembling both sides, the pull bar 310 of every side is connected with rotating shaft 320.Then, left and right wheel assembly is placed on the walking surface when need or having in level when walking on constant slope domatic.When the surface is to follow away the bulge-structure that direction is extended, left and right wheel assembly is positioned at the both sides of protruding vertex, rotating shaft 320 makes around pull bar 310 rotations and the relative pull bar 310 inclination certain angles of left and right wheel assembly drops on the inclined-plane of both sides until the bottom surface of two assemblies respectively.At this moment, has the angle of spending between the left and right wheel assembly less than 180.Equally, be that left and right wheel assembly is parked in the nadir both sides of concave surface when following away the concave surface of direction extension when walking is surperficial, the angle between the two is greater than 180 degree.
For the stability of further guaranteeing to walk, the spacing between two steering assemblies also can be adjusted and stablize to the coupling assembling of present embodiment except the effect of playing the steering assembly that connects left and right side.As shown in Figure 1 and Figure 2, coupling assembling comprises permanent seat 210, linear electric motors 220, crossbeam 230 and guide rod 240.Wherein, permanent seat 210 is " mouth " shape framework, and two linear electric motors 220 are horizontal respectively in framework, and its mouth stretches out the framework both sides respectively, extending or shortening.The mouth afterbody is provided with the perforation perpendicular to the flexible directions of linear electric motors 220, and crossbeam 230 passes perforation and two ends captives joint with two vertical pull bar 310 1 ends respectively.Pull bar 310 is relatively perpendicular to permanent seat 210 and linear electric motors 220, and the guide rod 240 vertical with crossbeam 230 is housed on the pull bar 310, and guide rod 240 passes permanent seat 210 and moves with pull bar 310, plays the effect into pull bar 310 guiding.Then after the energising, linear electric motors 220 work, mouth flexible and drive crossbeam 230 and pull bar 310 to permanent seat 210 near or away from, thereby the distance between two pull bars 310 and the left and right wheel assembly reduces or increases.
Can find full expression on the surfaces such as screen work between the walking surface that acts on projection of coupling assembling, especially upright crowning such as reveal limit, the wind glass.As shown in Figure 2, when walking robot reveal towards on when creeping, rotating shaft 320 turn 90 degrees from Fig. 1 position and makes left and right wheel assembly bottom surface parallel with pull bar 310, the relative angle between the left and right wheel assembly is 0 degree.Drive linear electric motors 220 work, make the distance between the pull bar 310 of left and right side be wider than door-plate thickness, left and right wheel assembly is placed on the positive and negative at door-plate edge respectively, drives linear electric motors 220 work then, shorten the distance between the left and right wheel assembly and be clamped on the door-plate.Drive motor 120 work on the left and right wheel assembly, the walking robot walking is vertically creeped on door-plate.
Do not make left and right wheel assembly clamp door-plate if coupling assembling has tightening force to control, and just connect the part of the two, the action of gravity meeting falls walking robot so.Therefore, adopt the coupling assembling of present embodiment, can further expand walking robot and can on upright crowning, walk.This walking manner can be applicable to high buildings and large mansions uprightly along on the creeping of beam, pane etc.
Equally, when walking surface when being recessed into two relative vertical walls deeply, walking robot places between two walls, the bottom surface of left and right wheel assembly turn to respectively and two walls are fitted, angle is 360 degree between this moment left and right wheel assembly.Linear electric motors 220 elongations make pull bar 310 promote rotating shaft 320 respectively and left and right wheel assembly is pressed on the wall.Drive motor 120 actions can realize the wall walking.Operations such as this walking manner can dive be surveyed to the slit between deep crack, the rack casing, shooting.
Present embodiment also further is respectively equipped with Buffer Unit on left and right wheel assembly, when being used for reducing linear electric motors 220 actions to the impact of left and right wheel assembly.As shown in Figure 1 and Figure 2, Buffer Unit comprises sleeve column 410, spring 430, roof beam structure 440 and locking piece, and wherein, sleeve column 410 is fixedly installed on the axle stand 110 of a left side/right wheel assembly, and spring 430 is set on the sleeve column 410.The middle part of roof beam structure 440 is passed in rotating shaft 320, and can rotate relative to roof beam structure 440; Roof beam structure 440 two ends are provided with lasso, and lasso is through on the sleeve column 410 and contacts with spring 430.The end of sleeve column 410 is equipped with locking piece, and lasso and spring 430 are limited on the sleeve column 410.Locking piece can be the nut with the terminal set screw thread fit of sleeve column 410, also can be the bayonet locks etc. that pass sleeve column 410 terminal perforation, and its specific implementation this paper repeats no more.
In addition, as Fig. 2, shown in Figure 3, the present invention also can be provided with empennage 500, and it is contained on the bottom surface of coupling assembling, and an end is near from the coupling assembling bottom surface, and opposite side wants far away relatively from getting, thereby becomes a low-angle with the coupling assembling plane, and angle is between 2～10 degree.When walking robot is creeped on crowning such as door-plate side, empennage 500 is against the surface and goes up and the surface applying, coupling assembling and left and right wheel assembly all form an inclination angle with the surface, and keep the trend to the inboard walking of door-plate, can prevent that walking robot breaks away from the protrusions such as door-plate that are held.
To sum up, walking robot of the present invention has revolver assembly and the right wheel assembly that is used to walk, and two assemblies can be adjusted angle between the two by steering assembly, so that walk on different smooth or raised or sunken surfaces, coupling assembling has connected left and right wheel assembly makes the two maintenance be diverted the angle that assembly is adjusted.
Wherein, steering assembly does not limit by pull bar 310 and rotating shaft 320 and constitutes, it can have multiple way of realization, for example steering assembly can be a slider-crank mechanism, it comprises three connecting rods, wherein first connecting rod one end is captiveed joint with coupling assembling, the other end and second connecting rod one end are hinged, the second connecting rod other end is captiveed joint with a left side/right wheel assembly, third connecting rod one end and first connecting rod are hinged, thereby the other end can slide enlarge or dwindles angle between first, second connecting rod along the second connecting rod length direction, thereby adjusts the relative angle between a left side/right wheel assembly; Or, thereby combine with physical construction by control circuit, electric elements etc. and to constitute a mechanical arm left side/right wheel assembly that overturns and change angle between the two, the mechanical arm of the terminal object of this upset is often seen in the prior art, for example the scraper bowl of bulldozer can shovel soil and overturns then and outwell, the switching mechanism of its use also can be realized a upset left side/right wheel assembly among the present invention, and this paper repeats no more.
In addition, coupling assembling of the present invention do not limit adopt linear electric motors realize controlling two between the steering assembly distance so that control the walking surfaces such as crowning that distance one between the left and right wheel assembly adapts to different in width, thickness.Coupling assembling can be to have fixing length to make and have fixing spacing between the left and right wheel assembly, and for example it can be simple pipe link; Simultaneously, also can be and as present embodiment, can realize the mechanism that elongates or shortens, it can merely adjust the structure of locating behind the position by mechanical force, double-screw bolt and sleeve as screw thread fit, thereby steering assembly connects by bearing with the two and does not rotate with the two, thereby then double-screw bolt and sleeve screw different length mutually and can adjust the total length of the two and adjust distance between the left and right wheel assembly; Also can wait and realize, for example the linear electric motors of present embodiment by circuit, control module.
In conjunction with the accompanying drawings embodiments of the invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, also can make a lot of forms, these all belong within the protection of the present invention.
Claims (8)
1. walking robot, it is characterized in that, comprise the revolver assembly that is used to walk, right wheel assembly and the coupling assembling that is connected the two, also comprise the steering assembly of relative angle between the described left and right wheel assembly of the adjustment that is arranged on described revolver assembly and/or the right wheel assembly.
2. walking robot according to claim 1 is characterized in that, described revolver assembly and right wheel assembly lay respectively at described coupling assembling both sides, and the coupling assembling both sides are respectively equipped with a steering assembly and are connected with a described left side/right wheel assembly.
3. walking robot according to claim 2, it is characterized in that, described coupling assembling comprises permanent seat (210) and is contained in two linear electric motors (220) of described permanent seat (210) both sides that the mouth of described linear electric motors (220) stretches out permanent seat (210) respectively and captives joint with the steering assembly of respective side.
4. walking robot according to claim 2, it is characterized in that, described steering assembly comprises the pull bar (310) that vertically is installed in described coupling assembling one side and is arranged on a described left side/right wheel assembly and is parallel to the horizontal rotating shaft (320) of direction of travel, described rotating shaft (320) be set in described pull bar (310) terminal in and around the shaft (320) axis relatively rotate.
5. walking robot according to claim 1, it is characterized in that, a described left side/right wheel assembly comprises axle stand (110), is contained in described axle stand (110) is gone up and axis is parallel to each other drive motor (120), front-wheel (130) and trailing wheel (140), and trailing wheel (140) is connected with described drive motor (120) to rotate with its mouth by driving band.
6. walking robot according to claim 1 is characterized in that, between a described left side/right wheel assembly and the described steering assembly Buffer Unit is housed.
7. walking robot according to claim 6, it is characterized in that, described Buffer Unit comprises sleeve column (410), roof beam structure (440), the locking piece that is arranged on a described left side/right wheel assembly and is set in spring (430) on the described sleeve column (410), described steering assembly is contained on the described roof beam structure (440), and described roof beam structure (440) is enclosed within described sleeve column (410) and upward contacts with spring (430), and it is spacing with roof beam structure (440) that described locking piece is locked in described sleeve column (410) tail end.
8. walking robot according to claim 1 is characterized in that, also comprises the empennage (500) that is arranged on the described coupling assembling bottom surface, and the relative bindiny mechanism in described empennage (500) bottom surface bottom surface tilts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010202008 CN102285388B (en) | 2010-06-17 | 2010-06-17 | Walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010202008 CN102285388B (en) | 2010-06-17 | 2010-06-17 | Walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102285388A true CN102285388A (en) | 2011-12-21 |
| CN102285388B CN102285388B (en) | 2013-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010202008 Expired - Fee Related CN102285388B (en) | 2010-06-17 | 2010-06-17 | Walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102285388B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171684A (en) * | 2020-09-10 | 2021-01-05 | 广东工业大学 | Rod piece clamp holder |
| CN112429110A (en) * | 2020-12-12 | 2021-03-02 | 佳木斯大学 | Robot structure based on computer control |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3820497A (en) * | 1972-05-31 | 1974-06-28 | Konijn Machinebouw Nv | Transport vehicle |
| US4265326A (en) * | 1978-02-22 | 1981-05-05 | Willy Habegger | Rolling and stepping vehicle |
| JPS63191582A (en) * | 1987-02-05 | 1988-08-09 | 株式会社明電舎 | Walking device for robot |
| CN101439737A (en) * | 2007-11-20 | 2009-05-27 | 王志良 | Drive structure and control device for moving robot platform |
-
2010
- 2010-06-17 CN CN 201010202008 patent/CN102285388B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3820497A (en) * | 1972-05-31 | 1974-06-28 | Konijn Machinebouw Nv | Transport vehicle |
| US4265326A (en) * | 1978-02-22 | 1981-05-05 | Willy Habegger | Rolling and stepping vehicle |
| JPS63191582A (en) * | 1987-02-05 | 1988-08-09 | 株式会社明電舎 | Walking device for robot |
| CN101439737A (en) * | 2007-11-20 | 2009-05-27 | 王志良 | Drive structure and control device for moving robot platform |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171684A (en) * | 2020-09-10 | 2021-01-05 | 广东工业大学 | Rod piece clamp holder |
| CN112171684B (en) * | 2020-09-10 | 2024-04-09 | 广东工业大学 | Rod piece holder |
| CN112429110A (en) * | 2020-12-12 | 2021-03-02 | 佳木斯大学 | Robot structure based on computer control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102285388B (en) | 2013-03-27 |
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Effective date of registration: 20160509 Address after: 518129 Guangdong city of Shenzhen province Nanshan District Keyuan North Long Tongfang information port building C 9A Patentee after: SHENZHEN TAIYANG TECHNOLOGY Co.,Ltd. Address before: 518040, room 1808, Anhui building, 6007 Shennan Road, Shenzhen, Guangdong, Futian District Patentee before: THE SMARTECH INSTITUTE |
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Granted publication date: 20130327 |