CN102310403A - Wheel-track composite deformation mobile robot with adaptive capability - Google Patents
Wheel-track composite deformation mobile robot with adaptive capability Download PDFInfo
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- CN102310403A CN102310403A CN2010102195152A CN201010219515A CN102310403A CN 102310403 A CN102310403 A CN 102310403A CN 2010102195152 A CN2010102195152 A CN 2010102195152A CN 201010219515 A CN201010219515 A CN 201010219515A CN 102310403 A CN102310403 A CN 102310403A
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Abstract
The invention discloses a wheel-track composite deformation mobile robot with adaptive capability, and belongs to the technical field of robot research and engineering. The robot comprises a control box, two wheel-track composite mobile modules arranged at two sides of the control box 1 respectively, and a tail wheel mechanism arranged at the tail end of the control box; the wheel-track composite mobile module comprises a track mobile device and a motion wheel device arranged at the outer side of the track mobile device; and track driving devices are symmetrically arranged in the control box, output shafts of the track driving devices extend out of the control box, and the track driving devices are provided with first gears which are connected with second gears on the track mobile devices. The robot can move on the flat hard pavement in a wheel-type motion mode, and can also walk on rough, steep and rugged complex terrains in a track-type motion mode, namely the robot can efficiently move on different complex ground in a reasonable motion mode. The geometric shape of tracks of the robot can be automatically adjusted according to the shape and the size of obstacles, so that the robot has strong adaptability to the complex ground.
Description
Technical field
The present invention relates to robot research and engineering field, specifically is a kind of complicated ground to be had novel wheel adaptive ability, multi-locomotion mode and the attitude of doing more physical exercises-carry out composite deformation mobile robot.
Background technology
Existing mobile robot is with regard to its mechanism configuration, and wheeled mobile robot has characteristics such as speed is fast, maneuverability property is good, is very suitable for the level land motion.It is good that common caterpillar mobile robot has cross-country ability, climbing, obstacle detouring, strides characteristics such as abilities such as ditch are stronger, can on various coarse, precipitous, rugged complex-terrains, walk, but the flexibility of its turning is relatively poor, energy consumption is bigger.The present existing wheel the-compound mobile robot of crawler belt; Almost all adopted the wheeled crawler type composite moving mechanism of fixing with geometry; Has multiple motor pattern; The road environment that can adapt to more complicated with higher efficient, and this robot is difficult to cross the barrier that is higher than oneself height.
Existing mobile robot is with regard to its drive system; Combined mobile robot athletic posture and pattern polytropy must have the more free degree; The overwhelming majority has adopted the type of drive of ACTIVE CONTROL in them, and each free degree is by a special motor-driven.When robot when complex road surface moves; It constantly obtains environmental information with institute's observation through sensor and passes to the control system; Information in view of the above, each motor will drive the corresponding free degree makes travel mechanism change motor pattern or athletic posture adapts to complex road surface with this.On the one hand, the variation of this motor pattern or attitude depends on sensor institute feedack to a large extent, so generally higher to the required precision of sensor; On the other hand, this type of drive not only requires the quantity of motor and sensor more, and control algolithm is comparatively complicated, and it also has certain hysteresis quality simultaneously.So this type of drive has directly had influence on the adaptivity of robot to complex road surface.
Summary of the invention
To the technical problem of above-mentioned existence, the present invention provides a kind of complex road surface is had wheel adaptive ability, the crawler belt variable geometry-shoe composite deformation mobile robot.
Technical scheme of the present invention is following:
The present invention includes the tail wheel mechanism that control cabinet, two are installed in the wheel of control cabinet 1 both sides-carry out compound mobile module respectively, are installed in the control cabinet tail end; The compound mobile module of described wheel the-carry out comprises crawler belt mobile device and the moving wheel device that places the crawler belt mobile device outside; Be symmetrically arranged with caterpillar drive in the said control cabinet; Its output shaft stretches out outside the control cabinet, and which is provided with first gear, is connected with second gear matched on the crawler belt mobile device.
Caterpillar drive of the present invention comprises battery, battery carrier, driver, first flange, motor and decelerator and two circuit boards and circuit board rack; Battery is fixed in the control casing through battery carrier; The driver that is fixed on the control casing end plate is connected with battery, and two circuit boards are fixed on the battery carrier two ends through two circuit board racks respectively, and motor is connected with driver; The output shaft of the decelerator that is connected with motor stretches out outside the casing through first flange; First gear is installed on it, and the gauge tap that is connected with motor is arranged at the external tail end of control cabinet, is connected with driver.
Described crawler belt mobile device comprises supporting mechanism, transmission mechanism, crawler belt, Athey wheel, and said supporting mechanism comprises by bar behind the wheel carriers, preceding adjusting rod, adjusting of two groups of symmetries and regulate the quadric chain that quarter butt is formed, the two wheel carriers wheel carrier base plate both sides that are placed in; Adjusting rod one end connects through front axle before two, and the other end is connected with adjusting back bar one end, regulates bar the other end, back and connects hind axle; Regulate the back bar with wheel carrier between be connected through the adjusting quarter butt, before two, also be connected with central shaft between adjusting rod, the central shaft two ends are connected with wheel carrier respectively; Connect through the center turntable, two track wheel shafts of front and rear wheel between centers place between two wheel carriers, are connected on two wheel carriers through turntable respectively; On each wheel shaft, be separately installed with Athey wheel; Crawler belt is enclosed on the Athey wheel, the planet wheel spindle two ends of adjusting rod before two spacing flanges are set in and stretch out, and be fixed on the preceding adjusting rod; And place in the groove of wheel carrier; Limited block is fixed on the wheel carrier base plate, the upper limit position of adjusting rod before being positioned at, and first spring links to each other with preceding adjusting rod, wheel carrier respectively through upper spring bar, lower spring bar; Said transmission mechanism comprises that central shaft, planet wheel spindle, first are with synchronously, intermeshing the 3rd, the 4th gear and second gear 74; Central shaft and planet wheel spindle are connected between two preceding adjusting rods; Articulate through second flange and spacing flange respectively; First, second belt wheel of the first synchronous band is installed in respectively on the front axle and planet wheel spindle between two preceding adjusting rods; Three, the 4th gear is installed in respectively on the planet wheel spindle and central shaft between two preceding adjusting rods, and second gear is installed in the center axle head in the wheel carrier outside, with first meshed transmission gear of caterpillar drive.
Have adjustable first slotted eye and a plurality of mating fitting hole that is used to place the upper spring bar on the adjusting rod before described, be provided with a plurality of bayonet sockets that are used to place the upper spring bar in described first slotted eye.Described wheel carrier comprises side plate and is installed in the wheel plate at side plate two ends respectively, has groove that cooperates with spacing flange and adjustable second slotted eye that is used to install the lower spring bar and a plurality of mating fitting hole on the said side plate; Be provided with a plurality of bayonet sockets that are used to place the lower spring bar in said second slotted eye.Described center turntable is to be provided with hollow multidiameter in ring flange one side, and the endoporus of the little axle head of this multidiameter matches with screw.On the adjusting rod, the one of which side had first sleeve pipe of external diameter and wheel carrier groove fit before described spacing flange was fixed on, and its endoporus matches with the planet wheel spindle end.
Described moving wheel device comprises that moving wheel, motion wheel carrier and second be with synchronously; Moving wheel is installed on the motion wheel carrier through its motion wheel shaft; The motion wheel carrier is fixedly connected with preceding adjusting rod with fixed bar through fixed mount respectively; And be connected with planet wheel spindle and center turntable respectively, second band synchronously be set between motion wheel carrier and preceding adjusting rod, said second synchronously band the 3rd, four-tape wheel is installed in respectively on planet wheel spindle and the motion wheel shaft.
Described tail wheel mechanism comprises link, gag lever post, L bar, second spring, the tail wheels of tail-gear spindle, spring hack lever and two groups of symmetries; Two L bars, one end is connected with tail-gear spindle; The other end is connected with link respectively, between two L bars near tail-gear spindle, is fixed with the spring hack lever, and two second springs are connected with link with the spring hack lever respectively; On the link between the L bar and second spring, be provided with gag lever post, tail wheel is installed on the tail-gear spindle two ends.Described link is the trench structure that has semi arch, and the semi arch end has a plurality of spacing holes that are used to install gag lever post.
The invention has the beneficial effects as follows:
(1) the present invention can move in smooth hard pavement with wheeled motor pattern, also can on coarse, precipitous, rugged complex-terrain, walk with the crawler type motor pattern, can move efficiently at different complicated grounds with rational motor pattern.
When (2) the present invention walked in complex-terrain, the crawler belt geometry can automatically adjust according to the shape and the size of chance barrier, and robot can be surmounted obstacles with only athletic posture, and its obstacle climbing ability is strong, and is good to the adaptability of complex-terrain.
(3) of the present invention in the complex road surface motion process; Motor service efficiency height is accomplished in each action such as exchange and the adjustment of crawler belt geometry of taking turns-carry out between the moving of compound mobile module, wheeled motor pattern and the crawler type motor pattern by a motor-driven.
(4) the present invention is when complex road surface is walked; Each is taken turns-carries out, and the adjustment that compound mobile module passes through self mechanism according to change of topography realizes moving, wheeled-crawler type is exchanged, the adjustment of crawler belt geometry; And do not need extra motor and special sensor to control; So the present invention has stronger adaptivity to complicated ground, and control is also very convenient.
Description of drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a control cabinet structural representation among Fig. 1.
Fig. 3 is a box inner structure sketch map among Fig. 2.
Fig. 3 (a) is a battery carrier structural representation among Fig. 3.
Fig. 3 (b) is a circuit board rack structural representation among Fig. 3.
Fig. 3 (c) is the first flange arrangement sketch map among Fig. 3.
Fig. 4 is the compound mobile module structural representation one of wheel-shoe among Fig. 1.
Fig. 5 is the compound mobile module structural representation two of wheel-shoe among Fig. 1.
Fig. 5 (a) is a preceding adjusting rod structural representation among Fig. 5.
Fig. 6 is a wheel carrier part decomposing schematic representation among Fig. 5.
Fig. 7 is the limited block structural representation one among Fig. 6.
Fig. 8 is the limited block structural representation two among Fig. 6.
Fig. 9 is the structural representation of the wheel carrier base plate among Fig. 6.
Figure 10 is a wheel carrier structure sketch map among Fig. 6.
Figure 11 is Figure 10 latus inframedium structural representation.
Figure 12 is a wheel carrier structure sketch map among Figure 10.
Figure 13 is an I part solution structure sketch map among Fig. 5.
Figure 14 is a front axle structural representation among Figure 13.
Figure 15 is an II part solution structure sketch map among Fig. 5.
Figure 16 is the center turntable structural representation among Figure 15.
Figure 17 is the axle sleeve structure sketch map among Figure 15.
Figure 18 is the planet wheel spindle structural representation among Figure 15.
Figure 19 is the center spindle structure sketch map among Figure 15.
Figure 20 is the spacing flange arrangement sketch map among Figure 15.
Figure 21 is the second flange arrangement sketch map among Figure 15.
Figure 22 is an III part solution structure sketch map among Figure 15.
Figure 23 regulates the quarter butt structural representation among Figure 22.
Figure 24 is Figure 22 China and foreign countries fillet of screw structural representations.
Figure 25 is a turntable structural representation among Figure 22.
Figure 26 is a connecting axle structural representation among Figure 22.
Figure 27 is that preceding adjusting rod is connected the decomposition texture sketch map with adjusting back bar among Fig. 5.
Figure 28 is a moving wheel device decomposition texture sketch map among Fig. 5.
Figure 29 is a fixed rack structure sketch map one among Figure 28.
Figure 30 is a fixed rack structure sketch map two among Figure 28.
Figure 31 is the 3rd a flange structural representation among Figure 28.
Figure 32 is a moving wheel shelf structure sketch map among Figure 28.
Figure 33 is a moving wheel axle construction sketch map among Figure 28.
Figure 34 is a tail wheel structural scheme of mechanism among Fig. 1.
Figure 35 is the compound mobile module structural representation three of wheel-shoe among Fig. 1.
Figure 36 is a upper limit demonstration graph of the present invention.
Figure 37 is a lower limit demonstration graph of the present invention.
Figure 38 is a crawler type motor pattern sketch map of the present invention.
Figure 39 is the wheeled motor pattern sketch map of the present invention.
Figure 40 is in the critical condition sketch map between wheeled motion and the crawler type motion for robot of the present invention.
Figure 41 is the present invention's first spring reset sketch map.
Figure 42 is the present invention's first spring buffer sketch map.
Among the figure: 1. control cabinet, 101. casings, 102. case lids;
2. take turns-carry out compound mobile module,
3. caterpillar drive, 301. output shafts, 302. first gears, 303. batteries, 304. battery carriers; 305. driver, 306. motors and decelerator, 307. circuit boards, 308. circuit board racks; 309. first flange, 310. gauge taps, 311. holes with the level, 312. through holes;
4. crawler belt mobile device, 401. wheel carriers, 402. wheel carrier base plates, adjusting rods before 403., 404. regulate the back bars, and 405. regulate quarter butts, 406. Athey wheels; 407. crawler belt, 408. central shafts, 409. planet wheel spindles, 410. front axles, 411. upper spring bars, 412. spacing flanges, 413. center turntables; 414. turntable, 415. hind axles, 416. first are with 417. second gears, 418. the 3rd gears, 419. the 4th gears, 420. lower spring bars synchronously; 421. track wheel shaft, 422. limited blocks, 423. first springs, 424. grooves, 425. second flanges, 426. connecting axles, 427. internal thread circles; 428. the external screw thread circle, 429. back-up rings, 430. side plates, 431. wheel plates, 432. first belt wheels, 433. axle sleeves, 434. pads; 435. first connecting hole, 436. second connecting holes, 437. first sleeve pipes, 438. ladder axle sleeves, 439. fixed covers, 440. second sleeve pipes; 441. the ladder sleeve pipe, 442. first slotted eyes, 443. second slotted eyes, 444. second belt wheels, 445. the 3rd belt wheels, 446 four-tapes wheel;
5. tail wheel mechanism, 501. links, 502. gag lever posts, 503.L bar, 504. second springs, 505. spring hack levers, 506. tail wheels, 507. tail-gear spindles;
6. moving wheel device, 601. fixed mounts, 602. motion wheel carriers, 603. fixed bars, 604. second bands synchronously, 605. moving wheels, 606. motion wheel shafts, 607. inner sleeve plates, 608. flags, 609. the 3rd flanges;
7. screw, 8. bearing.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Embodiment: as shown in Figure 1; The present invention includes the tail wheel mechanism 3 that control cabinet 1, two are installed in the compound mobile module of the wheel-shoe of control cabinet 1 both sides 2 respectively, are installed in control cabinet 1 tail end; The compound mobile module 2 of described wheel the-carry out comprises crawler belt mobile device 5 and the moving wheel device 6 that places crawler belt mobile device 5 outsides; Be symmetrically arranged with caterpillar drive 4 in the said control cabinet 1; Its output shaft 301 stretches out outside the control cabinet 1, and which is provided with first gear 302, is connected with second gear matched on the crawler belt mobile device 5.Can realize moving on complex road surface with two kinds of motor patterns of crawler type, also can change motor pattern (i.e. " exchange of wheel-shoe ") and adjustment athletic posture (promptly changing the crawler belt geometry) according to the ground restraining force with wheeled.
As shown in Figure 2, control cabinet described in the present invention 1 comprises control casing 101 and case lid 102, and case lid 102 is connected with casing 101; On casing 101, have a plurality of installing holes, as shown in Figure 3, symmetrically arranged caterpillar drive 3 in control cabinet 1; Include battery 303, battery carrier 304, driver 305, first flange 309, motor and decelerator 306 and two circuit boards 307 and circuit board rack 308; Battery 303 is fixed in the control casing 101 through battery carrier 304, and the driver 305 that is fixed on control casing 101 end plates is connected with battery 303, and two circuit boards 307 are fixed on battery carrier 304 two ends through two circuit board racks 308 respectively; Motor is connected with driver; The output shaft 301 of the decelerator that is connected with motor stretches out outside the casing 101 through first flange 309, and output shaft 301 ends place in the hole of wheel carrier side plate 430, and first gear 302 is installed on it; The gauge tap 310 that is connected with motor is arranged at control casing 101 outer tail ends, is connected with driver 305.
Described battery carrier 304 is shown in Fig. 3 (a); Circuit board rack 308 is shown in Fig. 3 (b); First flange 309 all has a plurality of installing holes on it shown in Fig. 3 (c), have the hole of matching with output shaft 301 and central shaft 408 respectively on first flange 309; Match with the hole of casing mounting center axle 408 in the hole 311 that wherein has step, through hole 312 not with the level is connected with output shaft 301.
Like Fig. 4～shown in Figure 33; Crawler belt mobile device 4 of the present invention comprises supporting mechanism, transmission mechanism, crawler belt 407, Athey wheel 406, spacing flange 412 and limited block 422; Said supporting mechanism comprises by the wheel carrier 401 of two groups of symmetries, preceding adjusting rod 403, regulates back bar 404 and regulate the quadric chain that quarter butt 405 is formed; As shown in Figure 6, two wheel carriers 401 wheel carrier base plate 402 both sides that are placed in connect through trip bolt 7; Like Figure 13, shown in Figure 27, adjusting rod 403 1 ends connect through front axle 410 before two, the other end with regulate back bar 404 1 ends and be connected, on bar after the adjusting 404, be provided with connecting axle 426 through bearing 8 installations, link to each other through trip bolt 7 with 403 of preceding adjusting rods; As shown in Figure 4, the other end of regulating back bar 404 connects hind axle 415, like Fig. 5, shown in Figure 22; Regulating 401 of back bar 404 and wheel carriers is connected through adjusting quarter butt 405; Turntable 414 and internal thread circle 427 are through being bolted to wheel carrier 401 both sides, and be shown in figure 23, regulates on the quarter butt 405 to have two connecting holes; Its first connecting hole, 435 built-in bearings 8 are connected with the turntable that stretches out internal thread circle 427 414; And carrying out axial restraint through external screw thread circle 428,7 pairs of bearings of screw 8, second connecting hole 436 is installed on through bearing 8 on the axle 426 of regulating back bar 404, and is fastening through screw 7; Like Fig. 5, shown in Figure 15; 403 of adjusting rods also are connected with central shaft 408 before two; Central shaft 408 two ends are connected with wheel carrier 401 respectively, connect through center turntable 413, are specially: through bearing 8 second flange 425 that is connected with center turntable 413 is installed respectively at central shaft 408 two ends; As shown in Figure 6; Two track wheel shafts 421 that forward and backward wheel shaft is 410,415 place 401 of two wheel carriers, are connected on the wheel plate 431 of two wheel carriers 401 through turntable 414 respectively, and turntable 414 is fixedly connected with external screw thread circle 428 with the internal thread circle 427 of Athey wheel 406 both sides; On each wheel shaft, through bearing 8 Athey wheel 406 is installed respectively; Like Fig. 5, shown in 15, crawler belt 407 is enclosed on the Athey wheel 406, planet wheel spindle 409 two ends of adjusting rod 403 before two spacing flanges 412 are set in and stretch out; And be fixed on the preceding adjusting rod 403, and place in the groove 424 of wheel carrier 401; First spring 423 links to each other with preceding adjusting rod 403, wheel carrier 401 respectively through upper spring bar 411, lower spring bar 420; Like Fig. 6, shown in Figure 35, limited block 422 is fixed on wheel carrier base plate 402 installing holes shown in Figure 9, the upper limit position of adjusting rod 403 before being positioned at.Like Fig. 7, shown in Figure 8, limited block 422 has arcwall face, and match the effect of limited block 422 with preceding adjusting rod 403 and the cambered surface of regulating bar 404 junctions, back: adjusting rod 403 moves within the specific limits before guaranteeing among the present invention, and its rotation amplitude scope is 30 °.Its motion principle is following: (1) upper limit position: shown in figure 36, when the groove of spacing flange 412 and frame 401 disengaged, limited block 422 contacted with adjusting back bar 404.Adjusting rod 403 is in upper limit position before this moment, and preceding adjusting rod 403 can not rotate again.(2) lower position: shown in figure 37, when spacing flange 412 contacted with the groove 424 of wheel carrier 401, limited block 422 disengaged with back adjusting rod 404.Adjusting rod 403 is in the lower position before this moment.
Wherein: shown in Fig. 5 (a); Be preceding adjusting rod 403; Have adjustable first slotted eye 442 that is used to place upper spring bar 411 on it, the installing hole with front axle 410, central shaft 408, planet wheel spindle 409 and adjusting back bar 404 are connected also has a plurality of fixed installations hole on it.Wheel carrier 401 shown in Figure 10 comprises side plate 430 and is installed in the wheel plate 431 at side plate 430 two ends respectively; Shown in figure 11, have on the said side plate 430 and central shaft 408, turntable 414, the hole of placing motor output shaft 301, with the groove 424 that spacing flange 412 cooperates, be used to install adjustable second slotted eye 443 of lower spring bar 420, reach a plurality of installing holes; Be equipped with a plurality of bayonet sockets 444 of placing upper spring bar 411 and lower spring bar 420 that are respectively applied in said first slotted eye 442 and second slotted eye 443; To regulate its placement location; Be provided with in first slotted eye 442 in 5 bayonet sockets, 444, the second slotted eyes 443 in this example 3 bayonet sockets 444 are set.Have hole that is connected with track wheel shaft 421 and the hole that is connected with side plate 430 on the wheel plate 431 shown in figure 12.Have axle sleeve on the front axle 410 shown in Figure 14, its two end section is the D type.
The effect of first spring 423 is following in this example:
(1) shown in figure 41, reset response: guarantee robot when the bigger environment of surface constraints gets into the less environment of constraint, robot changes motor pattern 2 into by motor pattern 1 under the tension of first spring 423.
(2) shown in figure 42; Pooling feature is in the robot running; May run into some accidents, for example work as the car body leading portion and crash into the gully suddenly, the distortion resetting-mechanism just can play cushioning effect; Thereby weaken the percussion of outer bound pair robot greatly, it is impaired to protect robot to avoid with this.
Like Fig. 4, Fig. 5, shown in Figure 15; Said transmission mechanism comprises that central shaft 408, planet wheel spindle 409, first are with 416 synchronously, intermeshing the 3rd, the 4th gear 418,419 and second gear 417; Adjusting rod was 403 before central shaft 408 and planet wheel spindle 409 were connected to two; Install through bearing 8 respectively at central shaft 408 two ends; Be fixed on the two preceding adjusting rods 403 through second flange 425; Install through bearing 8 respectively at planet wheel spindle 409 two ends, is fixed on the two preceding adjusting rods 403 through spacing flange 412, and central shaft 408 is all free to rotate with planet wheel spindle 409; First cooperates on the front axle 410 that is installed in 403 of adjusting rods before two and the planet wheel spindle 409 through the D shaped hole shaft respectively with first, second belt wheel of 416 synchronously; Three, the 4th gear 418,419 is installed in respectively on the planet wheel spindle 409 and central shaft 408 of 403 of adjusting rods before two, and second gear 417 is installed in central shaft 408 1 ends in wheel carrier 401 outsides through screw 7, with first gear, 302 engagements of caterpillar drive 3.
Wherein: shown in figure 16, be center turntable structural representation, be to be provided with hollow multidiameter in ring flange one side, the endoporus of the little axle head of this multidiameter matches with screw 7, is used for mounting screw 7; Shown in figure 17, be axle sleeve 433 structural representations, be used for spacing the 3rd belt wheel 445, its inside and outside aperture cooperates with planet wheel spindle 409 and spacing flange 412 respectively.Planet wheel spindle 409 structural representations shown in figure 18, its end cross-sectional is the hollow shaft of D type, has fixed cover 439 on it, plays position-limiting action.Central shaft 408 structural representations shown in figure 19, its end cross-sectional is the hollow shaft of D type, has ladder axle sleeve 438 on it, is used for spacing.Spacing flange 412 shown in Figure 20, one of which side have first sleeve pipe 437 that external diameter cooperates with wheel carrier groove 424, and its endoporus matches with planet wheel spindle 409 ends.Second flange 425 shown in Figure 21 has second sleeve pipe 440 that matches with central shaft 408 ends on it.Shown in Figure 24 is external screw thread circle 428 structural representations, and outer ring is for being threaded and connected part internal thread hole matches on it, and its inner ring has step, cooperates connected bearing.Turntable 414 shown in Figure 25 has and regulates the ladder sleeve pipe 441 that quarter butt 405 cooperates.Like Figure 26, shown in Figure 27, connecting axle 426 two ends are the multidiameter structure of symmetry, and axle head cooperates with second connecting hole 436 of regulating quarter butt 405.
Shown in figure 28; Described moving wheel device comprises that moving wheel 605, motion wheel carrier 602 and second be with 604 synchronously; Moving wheel 605 is installed on the motion wheel carrier 602 through its motion wheel shaft 606, and wherein moving wheel 605 both sides are fixed with inner sleeve plate 607 and flag 608 through screw 7 respectively, have the hole of matching with motion wheel shaft 606 on the flag 608; Be installed on the motion wheel shaft 606 through flag 608 cooperations; Motion wheel shaft 606 is fixed on the motion wheel carrier 602 through the 3rd flange 609, and its end bearing set 8 passes in the installing hole of motion wheel carrier 602, is connected with four-tape wheel 446; Motion wheel carrier 602 is fixedly connected with preceding adjusting rod 403 with fixed bar 603 through fixed mount 601 respectively; And be connected with center turntable 412, wherein center turntable 412 is connected with motion wheel carrier 602 through bearing 8, and carries out axial restraint through trip bolt 7; Be provided with second at motion wheel carrier 602 and 403 of preceding adjusting rods and be with 604 synchronously; Said second is installed in respectively on planet wheel spindle 409 and the motion wheel shaft 606 with 604 two belt wheels synchronously; Planet wheel spindle 409 ends are installed on the motion wheel carrier 602 through the bearing on it 8, through the internal thread hole axial restraint of holding screw 7 with planet wheel spindle 409 ends.
Wherein: Figure 29, shown in Figure 30 be fixed mount 601, be used to connect motion wheel carrier 602 and preceding adjusting rod 403.Shown in Figure 31 is the 3rd flange 609, is set in motion wheel shaft 606 and is connected on the motion wheel carrier 602, is used for fixing connection.Shown in Figure 32 is motion wheel carrier 602, has the hole that is used for mounted movable wheel shaft 606, center turntable 413, planet wheel spindle 409 on it, and a plurality of fixed installations hole.Shown in Figure 33 is that motion wheel shaft 606 is a hollow shaft, has fixed cover 439 on it, and the two axial ends cross section is the D type.
Shown in figure 34; Described tail wheel mechanism 5 comprises link 501, gag lever post 502, L bar 503, second spring 504, the tail wheel 506 of tail-gear spindle 507, spring hack lever 505 and two groups of symmetries; Two L bars, 503 1 ends are connected with tail-gear spindle 507; The other end is connected with link 501 respectively, is fixed with spring hack lever 505, two second springs 504 at 503 on two L bars near tail-gear spindle 507 and is connected with link 501 with spring hack lever 505 respectively; On the link 501 of 504 on L bar 503 and second spring, be provided with gag lever post 502, tail wheel 506 is installed on tail-gear spindle 507 two ends.Link 501 is for having the trench structure of semi arch; The semi arch end has a plurality of spacing holes 508 that are used to install gag lever post 502; Tail wheel mechanism 5 can be rotated in 65 degree scopes around gag lever post 502, and the range of movement of tail wheel mechanism 5 can be regulated through the position of regulating gag lever post 502 according to actual needs.
The course of work of the present invention:
Robot of the present invention can move with two kinds of motor patterns of crawler type motion with wheeled under a motor-driven effect, also can adjust motor pattern and attitude process.Shown in figure 39, wheeled motor pattern: the Athey wheel mobile device contacts through line with ground, can be with it as virtual a wheel.Shown in figure 39, when robot of the present invention when the less environment of restraining force (like flat road surface) moves, this virtual wheel with the moving wheel device is supported the robot motion, this motion mode can be used as wheeled motor pattern.The moving wheel 605 of robot contacts with ground, crawler belt 407 is tangent with ground, and this moment, robot did wheeled motion.Motor and decelerator 306 drive 302 motions of first gear; Second gear 417 and first gear 302 mesh and rotate, the 3rd gear 418 and second gear, 417 coaxial rotation, and the 4th gear 419 and the 3rd gear 418 mesh and rotate; First belt wheel 432, the 3rd belt wheel 445 and the 4th gear 419 are installed on planet wheel spindle 409 jointly and carry out coaxial rotation; First belt wheel, 432 warps first are with 416 to drive 444 rotations of second belt wheel synchronously, and the Athey wheel 406 on the front axle 410 is with second belt wheel, 444 coaxial rotation, thus driven caterpillar tracks 407 motions; The 3rd belt wheel 445 is with 604 to drive four-tapes wheel 446 and rotate through second synchronously, and moving wheel 605 is taken turns 446 coaxial rotation with the four-tape.When robot when the bigger environment of restraining force (like rugged road surface) moves, moving wheel 605 built on stilts, crawler belt 407 bottoms contact with ground, this moment, robot did crawler type motion, at this moment, robot motion's internal work principle is identical with wheeled motion.
Like Fig. 5, shown in Figure 38, the crawler type motor pattern: when robot during at the bigger environmental movement of surface constraints power, when promptly running into obstacle, the Athey wheel mobile device of robot is that face contacts with ground, and moving wheel device and ground disengage.The artificial crawler type motor pattern of machine this moment.Crawler belt 407 moves with moving wheel 605 and is obstructed and stop motion; Cause the 4th gear 419, first belt wheel 432, second belt wheel 444, the 3rd belt wheel 445,446 motions of four-tape wheel to stop; Yet motor and decelerator 306 drive first gear 302 continues motion; Thereby second gear 417 and 302 engagements of first gear also are rotated further, thereby make the 3rd gear 418 circumferentially rotate around the 4th gear 419, thereby adjusting rod 403 rotates around central shaft 408 before driving.Thus, the shape of the crawler belt 407 of robot begins to change, simultaneously, robot motion's pattern by wheeled motion to the crawler type conversion of motion.
When robot surmounted obstacles the entering flat road surface, crawler belt 407 shapes of adjusting rod 403 robot under the tension of spring 423 before inner of robot were adjusted gradually, and the motor pattern of robot also is transformed into wheeled motion by the crawler type motion gradually.And in this process, each travelling gear of robot motion is all identical with wheeled motion with the motion of drive pulley.
Like Figure 38 → Figure 40 → shown in Figure 39; Motor pattern transforms and the attitude adjustment, and each takes turns-carry out compound mobile module 2 all can make preceding adjusting rod 403 around central shaft 408 rotations through caterpillar drive 3 effects according to the restraint condition of ground environment; Realize the exchange between wheeled and two kinds of motor patterns of crawler type with this; Like Figure 38 → shown in Figure 40, also can realize adjustment simultaneously, like Figure 40 → shown in Figure 39 to robot motion's attitude.
Claims (10)
1. wheel-shoe composite deformation mobile robot with adaptive ability; It is characterized in that: comprise that control cabinet, two are installed in the wheel of control cabinet 1 both sides-carry out compound mobile module respectively, are installed in the tail wheel mechanism of control cabinet tail end; The compound mobile module of described wheel the-carry out comprises crawler belt mobile device and the moving wheel device that places the crawler belt mobile device outside; Be symmetrically arranged with caterpillar drive in the said control cabinet; Its output shaft stretches out outside the control cabinet, and which is provided with first gear, is connected with second gear matched on the crawler belt mobile device.
2. according to the said wheel-shoe composite deformation mobile robot of claim 1 with adaptive ability; It is characterized in that: described caterpillar drive comprises battery, battery carrier, driver, first flange, motor and decelerator and two circuit boards and circuit board rack; Battery is fixed in the control casing through battery carrier; The driver that is fixed on the control casing end plate is connected with battery, and two circuit boards are fixed on the battery carrier two ends through two circuit board racks respectively, and motor is connected with driver; The output shaft of the decelerator that is connected with motor stretches out outside the casing through first flange; First gear is installed on it, and the gauge tap that is connected with motor is arranged at the external tail end of control cabinet, is connected with driver.
3. according to the said wheel-shoe composite deformation mobile robot with adaptive ability of claim 1, it is characterized in that: described crawler belt mobile device comprises supporting mechanism, transmission mechanism, crawler belt, Athey wheel, and said supporting mechanism comprises by bar after the wheel carrier of two groups of symmetries, preceding adjusting rod, the adjusting and regulates the quadric chain that quarter butt is formed; The two wheel carriers wheel carrier base plate both sides that are placed in, adjusting rod one ends connect through front axle before two, the other end with regulate after bar one end be connected; Regulate bar the other end, back and connect hind axle, regulate the back bar with wheel carrier between be connected through the adjusting quarter butt, before two, also be connected with central shaft between adjusting rod; The central shaft two ends are connected with wheel carrier respectively; Connect through the center turntable, two track wheel shafts of front and rear wheel between centers place between two wheel carriers, are connected on two wheel carriers through turntable respectively; On each wheel shaft, be separately installed with Athey wheel; Crawler belt is enclosed on the Athey wheel, the planet wheel spindle two ends of adjusting rod before two spacing flanges are set in and stretch out, and be fixed on the preceding adjusting rod; And place in the groove of wheel carrier; Limited block is fixed on the wheel carrier base plate, the upper limit position of adjusting rod before being positioned at, and first spring links to each other with preceding adjusting rod, wheel carrier respectively through upper spring bar, lower spring bar;
Said transmission mechanism comprises that central shaft, planet wheel spindle, first are with synchronously, intermeshing the 3rd, the 4th gear and second gear 74; Central shaft and planet wheel spindle are connected between two preceding adjusting rods; Articulate through second flange and spacing flange respectively; First, second belt wheel of the first synchronous band is installed in respectively on the front axle and planet wheel spindle between two preceding adjusting rods; Three, the 4th gear is installed in respectively on the planet wheel spindle and central shaft between two preceding adjusting rods, and second gear is installed in the center axle head in the wheel carrier outside, with first meshed transmission gear of caterpillar drive.
4. according to the said wheel-shoe composite deformation mobile robot of claim 3 with adaptive ability; It is characterized in that: have adjustable first slotted eye and a plurality of mating fitting hole that is used to place the upper spring bar on the adjusting rod before described, be provided with a plurality of bayonet sockets that are used to place the upper spring bar in described first slotted eye.
5. according to the said wheel-shoe composite deformation mobile robot of claim 3 with adaptive ability; It is characterized in that: described wheel carrier comprises side plate and is installed in the wheel plate at side plate two ends respectively; Have groove that cooperates with spacing flange and adjustable second slotted eye that is used to install the lower spring bar and a plurality of mating fitting hole on the said side plate; Be provided with a plurality of bayonet sockets that are used to place the lower spring bar in said second slotted eye.
6. according to the said wheel-shoe composite deformation mobile robot with adaptive ability of claim 3, it is characterized in that: described center turntable is to be provided with hollow multidiameter in ring flange one side, and the endoporus of the little axle head of this multidiameter matches with screw.
7. according to the said wheel-shoe composite deformation mobile robot of claim 3 with adaptive ability; It is characterized in that: described spacing flange is fixed on the preceding adjusting rod; The one of which side has first sleeve pipe of external diameter and wheel carrier groove fit, and its endoporus matches with the planet wheel spindle end.
8. according to the said wheel-shoe composite deformation mobile robot of claim 1 with adaptive ability; It is characterized in that: described moving wheel device comprises that moving wheel, motion wheel carrier and second be with synchronously; Moving wheel is installed on the motion wheel carrier through its motion wheel shaft; The motion wheel carrier is fixedly connected with preceding adjusting rod with fixed bar through fixed mount respectively; And be connected with planet wheel spindle and center turntable respectively, second band synchronously be set between motion wheel carrier and preceding adjusting rod, said second synchronously band the 3rd, four-tape wheel is installed in respectively on planet wheel spindle and the motion wheel shaft.
9. according to the said wheel-shoe composite deformation mobile robot of claim 8 with adaptive ability; It is characterized in that: described tail wheel mechanism comprises link, gag lever post, L bar, second spring, the tail wheels of tail-gear spindle, spring hack lever and two groups of symmetries; Two L bars, one end is connected with tail-gear spindle; The other end is connected with link respectively, between two L bars near tail-gear spindle, is fixed with the spring hack lever, and two second springs are connected with link with the spring hack lever respectively; On the link between the L bar and second spring, be provided with gag lever post, tail wheel is installed on the tail-gear spindle two ends.
10. according to the said wheel-shoe composite deformation mobile robot with adaptive ability of claim 1, it is characterized in that: described link is the trench structure that has semi arch, and the semi arch end has a plurality of spacing holes that are used to install gag lever post.
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