CN102310403B - 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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- CN102310403B CN102310403B CN 201010219515 CN201010219515A CN102310403B CN 102310403 B CN102310403 B CN 102310403B CN 201010219515 CN201010219515 CN 201010219515 CN 201010219515 A CN201010219515 A CN 201010219515A CN 102310403 B CN102310403 B CN 102310403B
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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 compositemobile 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 a kind of have novel wheel adaptive ability, multi-locomotion mode and the attitude of doing more physical exercises-carry out composite deformation mobile robot to complicated ground.
Background technology
Existing mobile robot is with regard to its mechanism configuration, and wheeled mobile robot has the characteristics such as speed is fast, maneuverability 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 the characteristics such as the abilities such as ditch are stronger, can walk at various coarse, precipitous, rugged complex-terrains, but the flexibility of its turning is relatively poor, energy consumption is larger.The present existing wheel the-compound mobile robot of crawler belt, almost all adopted crawler type composite moving mechanism wheeled and that geometry is fixing, has multi-motion modes, the road environment that can adapt to higher efficient more complicated, 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 by sensor and passes to control system, information accordingly, 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
For the technical problem of above-mentioned existence, the invention provides and 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 as follows:
The present invention includes the wheel that control cabinet, two be installed in respectively control cabinet 1 both sides-carry out compound mobile module, be installed in the tail wheel mechanism of control cabinet tail end, the compound mobile module of described wheel the-carry out comprises the crawler belt mobile device and places the moving wheel device in the crawler belt mobile device outside, be symmetrically arranged with caterpillar drive in the described control cabinet, its output shaft stretches out outside the control cabinet, and which is provided with the first gear, be connected with the second gear on the crawler belt mobile device.
Caterpillar drive of the present invention comprises battery, battery carrier, driver, the first flange, motor and decelerator and two circuit boards and circuit board rack, battery is fixed in the control casing by battery carrier, the driver that is fixed on the control casing end plate is connected with battery, two circuit boards are fixed on the battery carrier two ends by two circuit board racks respectively, motor is connected with driver, the output shaft of the decelerator that is connected with motor stretches out outside the casing by the first flange, the first gear is installed on it, 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, described supporting mechanism comprises the wheel carrier by two groups of symmetries, front adjusting rod, regulate rear bar and regulate the quadric chain that quarter butt forms, the two wheel carriers wheel carrier base plate both sides that are placed in, two front adjusting rod one ends connect by front axle, the other end is connected with adjusting rear bar one end, regulate rear bar the other end and connect hind axle, regulate rear bar with wheel carrier between be connected by the adjusting quarter butt, between two front adjusting rods, also be connected with central shaft, the central shaft two ends are connected with wheel carrier respectively, connect by the center turntable, before, two track wheel shafts between hind axle place between two wheel carriers, be connected on two wheel carriers by turntable respectively, be separately installed with Athey wheel at each wheel shaft, crawler belt is enclosed on the Athey wheel, two spacing flanges are set in the planet wheel spindle two ends of stretching out front adjusting rod, and be fixed on the front adjusting rod, and place in the groove of wheel carrier, limited block is fixed on the wheel carrier base plate, be positioned at the upper limit position of front adjusting rod, the first spring is by the upper spring bar, the lower spring bar respectively with front adjusting rod, wheel carrier links to each other; Described transmission mechanism comprises central shaft, planet wheel spindle, the first Timing Belt, the intermeshing the 3rd, the 4th gear and the second gear 74, central shaft and planet wheel spindle are connected between two front adjusting rods, articulate by the second flange and spacing flange respectively, first of the first Timing Belt, the second belt wheel is installed in respectively on the front axle and planet wheel spindle between two front adjusting rods, the 3rd, the 4th gear is installed in respectively on the planet wheel spindle and central shaft between two front adjusting rods, the second gear is installed in the center axle head in the wheel carrier outside, with the first meshed transmission gear of caterpillar drive.
Have on the described front adjusting rod for adjustable the first slotted eye and a plurality of cooperation installing hole of placing the upper spring bar, be provided with a plurality of bayonet sockets for placing the upper spring bar in described the first slotted eye.Described wheel carrier comprises side plate and is installed in respectively the wheel plate at side plate two ends, has the groove that cooperates with spacing flange and adjustable the second slotted eye that is used for installing the lower spring bar on the described side plate, and a plurality of cooperation installing holes; Be provided with a plurality of bayonet sockets for placing the lower spring bar in described the 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.Described spacing flange is fixed on the front adjusting rod, and the one side is with the first sleeve pipe of external diameter and wheel carrier groove fit, and its endoporus matches with the planet wheel spindle end.
Described moving wheel device comprises moving wheel, exercise wheel frame and the second Timing Belt, moving wheel is installed on the exercise wheel frame by its motion wheel shaft, exercise wheel frame is fixedly connected with front adjusting rod with fixed bar by fixed mount respectively, and be connected with planet wheel spindle and center turntable respectively, between exercise wheel frame and front adjusting rod, the second Timing Belt is set, described the second Timing Belt 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, the second spring, the tail wheel 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 respectively link, be fixed with the spring hack lever near between two L bars of tail-gear spindle, two second springs are connected with link with the spring hack lever respectively, link between L bar and the second spring is provided with gag lever post, and tail wheel is installed on the tail-gear spindle two ends.Described link is the trench structure with semi arch, and the semi arch end is with a plurality of spacing holes for the mounting limit bar.
The invention has the beneficial effects as follows:
(1) the present invention can move in smooth hard pavement with wheeled motor pattern, also can walk at coarse, precipitous, rugged complex-terrain with the crawler type motor pattern, can move efficiently at different complicated grounds with rational motor pattern.
When (2) the present invention walks in complex-terrain, the crawler belt geometry can automatically adjust according to shape and the size of chance barrier, 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, each takes turns-carries out exchange between the movement of compound mobile module, wheeled motor pattern and the crawler type motor pattern and the actions such as adjustment of crawler belt geometry are finished by a motor-driven, and the motor service efficiency is high.
(4) the present invention is when complex road surface is walked, each is taken turns-carries out the adjustment that compound mobile module passes through self mechanism according to the variation of landform and realizes that mobile, 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 perspective view of the present invention.
Fig. 2 is control cabinet structural representation among Fig. 1.
Fig. 3 is box inner structure schematic diagram among Fig. 2.
Fig. 3 (a) is battery holder structure schematic diagram among Fig. 3.
Fig. 3 (b) is circuit board rack structural representation among Fig. 3.
Fig. 3 (c) is the first flange structural representation 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 front adjusting rod structural representation among Fig. 5.
Fig. 6 is wheel carrier decomposed schematic diagram 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 wheel carrier structure schematic diagram among Fig. 6.
Figure 11 is Figure 10 latus inframedium structural representation.
Figure 12 is wheel carrier structure schematic diagram among Figure 10.
Figure 13 is I partial solution structural representation among Fig. 5.
Figure 14 is front axle structural representation among Figure 13.
Figure 15 is II partial solution structural representation among Fig. 5.
Figure 16 is the center turntable structural representation among Figure 15.
Figure 17 is the axle sleeve structure schematic diagram among Figure 15.
Figure 18 is the planet wheel shaft structure schematic diagram among Figure 15.
Figure 19 is the center spindle structure schematic diagram among Figure 15.
Figure 20 is the spacing flange arrangement schematic diagram among Figure 15.
Figure 21 is the second flange arrangement schematic diagram among Figure 15.
Figure 22 is III partial solution structural representation 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 turntable structural representation among Figure 22.
Figure 26 is connecting axle structure schematic diagram among Figure 22.
Figure 27 is front adjusting rod and adjusting rear bar conjunctive decomposition structural representation among Fig. 5.
Figure 28 is moving wheel device decomposition texture schematic diagram among Fig. 5.
Figure 29 is fixed rack structure schematic diagram one among Figure 28.
Figure 30 is fixed rack structure schematic diagram two among Figure 28.
Figure 31 is three-flange structure schematic diagram among Figure 28.
Figure 32 is exercise wheel frame structural representation among Figure 28.
Figure 33 is moving wheel axle construction schematic diagram among Figure 28.
Figure 34 is tail wheel mechanism schematic diagram among Fig. 1.
Figure 35 is the compound mobile module structural representation three of wheel-shoe among Fig. 1.
Figure 36 is upper limit demonstration graph of the present invention.
Figure 37 is lower limit demonstration graph of the present invention.
Figure 38 is crawler type motor pattern schematic diagram of the present invention.
Figure 39 is the wheeled motor pattern schematic diagram of the present invention.
Figure 40 is that robot of the present invention is in the critical condition schematic diagram between wheeled motion and the crawler type motion.
Figure 41 is the present invention's the first spring reset schematic diagram.
Figure 42 is the present invention's the first spring buffer schematic diagram.
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. the 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, 403. front adjusting rods, 404. the adjusting rear bar, 405. regulate quarter butt, 406. Athey wheels, 407. crawler belts, 408. central shaft, 409. planet wheel spindles, 410. front axles, 411. upper spring bars, 412. spacing flange, 413. center turntables, 414. turntables, 415. hind axles, 416. the first Timing Belt, 417. second gears, 418. the 3rd gears, 419. the 4th gears, 420. the lower spring bar, 421. track wheel shafts, 422. limited blocks, 423. the first spring, 424. grooves, 425. second flanges, 426. connecting axle, 427. internal thread circles, 428. external screw thread circles, 429. back-up ring, 430. side plates, 431. wheel plates, 432. the first belt wheel, 433. axle sleeves, 434. pads, 435. the first connecting hole, 436. second connecting holes, 437. first sleeve pipes, 438. the ladder axle sleeve, 439. fixed covers, 440. second sleeve pipes, 441. the ladder sleeve pipe, 442. first slotted eyes, 443. second slotted eyes, 444. the second belt wheel, 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. exercise wheel frames, 603. fixed bars, 604. second Timing Belts, 605. moving wheels, 606. motion wheel shafts, 607. inner sleeve plates, 608. flags, 609. three-flanges;
7. screw, 8. bearing.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
Embodiment: as shown in Figure 1, the present invention includes the wheel that control cabinet 1, two be installed in respectively control cabinet 1 both sides-compound mobile module 2 of shoe, be installed in the tail wheel mechanism 3 of control cabinet 1 tail end, the compound mobile module 2 of described wheel the-carry out comprises crawler belt mobile device 5 and places the moving wheel device 6 in crawler belt mobile device 5 outsides, be symmetrically arranged with caterpillar drive 4 in the described control cabinet 1, its output shaft 301 stretches out outside the control cabinet 1, and which is provided with the first gear 302, be connected with the second gear on the crawler belt mobile device 5.Can realize moving at complex road surface with wheeled and two kinds of motor patterns of crawler type, also can change motor pattern (i.e. " wheel-carry out and exchange ") and adjust athletic posture (namely changing the crawler belt geometry) according to the ground restraining force.
As shown in Figure 2, control cabinet described in the present invention 1 comprises control casing 101 and case lid 102, case lid 102 is connected with casing 101, have a plurality of installing holes at casing 101, as shown in Figure 3, at control cabinet 1 interior symmetrically arranged caterpillar drive 3, include battery 303, battery carrier 304, driver 305, the 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 by battery carrier 304, the driver 305 that is fixed on control casing 101 end plates is connected with battery 303, two circuit boards 307 are fixed on battery carrier 304 two ends by 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 by the first flange 309, output shaft 301 ends place in the hole of wheel carrier side plate 430, the first gear 302 is installed on it, and 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), the first flange 309 is shown in Fig. 3 (c), on it all with a plurality of installing holes, have the hole of matching with output shaft 301 and central shaft 408 respectively on the first flange 309, wherein match with the hole of casing mounting center axle 408 with the hole 311 of step, through hole 312 not with the level is connected with output shaft 301.
Such as 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, described supporting mechanism comprises by the wheel carrier 401 of two groups of symmetries, front adjusting rod 403, regulates rear bar 404 and regulate the quadric chain that quarter butt 405 forms, as shown in Figure 6, two wheel carriers 401 wheel carrier base plate 402 both sides that are placed in connect by trip bolt 7; Such as Figure 13, shown in Figure 27, two front adjusting rod 403 1 ends connect by front axle 410, the other end with regulate rear bar 404 1 ends and be connected, be provided with connecting axle 426 by bearing 8 installations in adjusting rear bar 404, link to each other by trip bolt 7 with 403 of front adjusting rods; As shown in Figure 4, the other end of regulating rear bar 404 connects hind axle 415, such as Fig. 5, shown in Figure 22, regulating 401 of rear bar 404 and wheel carriers is connected by adjusting quarter butt 405, turntable 414 and internal thread circle 427 are bolted on wheel carrier 401 both sides, as shown in figure 23, regulate on the quarter butt 405 with two connecting holes, its the first connecting hole 435 built-in bearings 8 are connected with the turntable 414 that stretches out internal thread circle 427, and by external screw thread circle 428,7 pairs of bearings of screw 8 carry out axial restraint, the second connecting hole 436 is installed on by bearing 8 on the axle 426 of regulating rear bar 404, and is fastening by screw 7; Such as Fig. 5, shown in Figure 15, also be connected with central shaft 408 at two 403 of front adjusting rods, central shaft 408 two ends are connected with wheel carrier 401 respectively, connect by center turntable 413, are specially: by bearing 8 the second flange 425 that is connected with center turntable 413 is installed respectively at central shaft 408 two ends; As shown in Figure 6, forward and backward wheel shaft 410, two track wheel shafts 421 of 415 place 401 of two wheel carriers, be connected on the wheel plate 431 of two wheel carriers 401 by turntable 414 respectively, 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, by bearing 8 Athey wheel 406 is installed respectively, shown in Fig. 5,15, crawler belt 407 is enclosed on the Athey wheel 406, two spacing flanges 412 are set in planet wheel spindle 409 two ends of stretching out front adjusting rod 403, and be fixed on the front adjusting rod 403, and place in the groove 424 of wheel carrier 401; The first spring 423 links to each other with front adjusting rod 403, wheel carrier 401 respectively by upper spring bar 411, lower spring bar 420; Such as Fig. 6, shown in Figure 35, limited block 422 is fixed on wheel carrier base plate 402 installing holes shown in Figure 9, is positioned at the upper limit position of front adjusting rod 403.Such as Fig. 7, shown in Figure 8, limited block 422 is with arcwall face, and match the effect of limited block 422 with the cambered surface of front adjusting rod 403 and adjusting rear bar 404 junctions: 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 as follows: (1) upper limit position: as shown in figure 36, when the groove of spacing flange 412 and frame 401 disengaged, limited block 422 contacted with adjusting rear bar 404.Adjusting rod 403 is in upper limit position before this moment, and front adjusting rod 403 can not rotate again.(2) lower position: as shown in figure 37, when spacing flange 412 contacted with the groove 424 of wheel carrier 401, limited block 422 disengaged with rear adjusting rod 404.Adjusting rod 403 is in the lower position before this moment.
Wherein: shown in Fig. 5 (a), be front adjusting rod 403, have on it for adjustable the first slotted eye 442 of placing upper spring bar 411, the installing hole with front axle 410, central shaft 408, planet wheel spindle 409 and adjusting rear 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 respectively the wheel plate 431 at side plate 430 two ends; As shown in figure 11, have on the described side plate 430 and central shaft 408, turntable 414, the hole of placing motor output shaft 301, the groove 424 that cooperates with spacing flange 412 is used for installing adjustable second slotted eye 443 of lower spring bar 420, reaches a plurality of installing holes; Be equipped with a plurality of bayonet sockets 444 that are respectively applied to place upper spring bar 411 and lower spring bar 420 in described the first slotted eye 442 and the second slotted eye 443, to regulate its placement location, the first slotted eye 442 is interior in this example arranges that 5 bayonet sockets, 444, the second slotted eyes 443 are interior to arrange 3 bayonet sockets 444.Have the hole that is connected with track wheel shaft 421 and the hole that is connected with side plate 430 on the wheel plate 431 as shown in figure 12.With axle sleeve, its two end section is the D type on the front axle 410 shown in Figure 14.
The effect of the first spring 423 is as follows in this example:
(1) as shown in figure 41, reset response: when guaranteeing that robot enters constraint than the circlet border from the larger environment of surface constraints, robot changes motor pattern 2 into by motor pattern 1 under the pulling force effect of the first spring 423.
(2) as 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 suddenly the gully; the distortion resetting-mechanism just can play cushioning effect; thereby greatly weaken the percussion of outer bound pair robot, protect robot to avoid with this impaired.
Such as Fig. 4, Fig. 5, shown in Figure 15, described transmission mechanism comprises central shaft 408, planet wheel spindle 409, the first Timing Belt 416, the intermeshing the 3rd, the 4th gear 418, the 419 and second gear 417, central shaft 408 and planet wheel spindle 409 are connected to 403 of two front adjusting rods, install by bearing 8 respectively at central shaft 408 two ends, be fixed on the two front adjusting rods 403 by the second flange 425, install by bearing 8 respectively at planet wheel spindle 409 two ends, be fixed on the two front adjusting rods 403 by spacing flange 412, central shaft 408 and planet wheel spindle 409 are all free to rotate, first of the first Timing Belt 416, the second belt wheel is installed on the front axle 410 and planet wheel spindle 409 of 403 of two front adjusting rods by the cooperation of D shaped hole shaft respectively, the 3rd, the 4th gear 418,419 are installed in respectively on the planet wheel spindle 409 and central shaft 408 of 403 of two front adjusting rods, the second gear 417 is installed in central shaft 408 1 ends in wheel carrier 401 outsides by screw 7, with the first gear 302 engagements of caterpillar drive 3.
Wherein: as shown in figure 16, centered by the 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; As 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 as shown in figure 18, its end cross-sectional is the hollow shaft of D type, with fixed cover 439, plays position-limiting action on it.Central shaft 408 structural representations as shown in figure 19, its end cross-sectional is the hollow shaft of D type, with ladder axle sleeve 438, is used for spacing on it.Spacing flange 412 shown in Figure 20, the first sleeve pipe 437 that the one side cooperates with wheel carrier groove 424 with external diameter, its endoporus matches with planet wheel spindle 409 ends.The second flange 425 shown in Figure 21, on it with the second sleeve pipe 440 that matches with central shaft 408 ends.Shown in Figure 24 is external screw thread circle 428 structural representations, and outer ring is for being threaded on it, and connected part internal thread hole matches, and its inner ring cooperates connected bearing with step.Turntable 414 shown in Figure 25 is with the ladder sleeve pipe 441 that cooperates with adjusting quarter butt 405.Such as Figure 26, shown in Figure 27, connecting axle 426 two ends are symmetrical multidiameter structure, and axle head cooperates with the second connecting hole 436 of regulating quarter butt 405.
As shown in figure 28, described moving wheel device comprises moving wheel 605, exercise wheel frame 602 and the second Timing Belt 604, moving wheel 605 is installed on the exercise wheel frame 602 by its motion wheel shaft 606, wherein moving wheel 605 both sides are fixed with inner sleeve plate 607 and flag 608 by 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 by flag 608 cooperations, motion wheel shaft 606 is fixed on the exercise wheel frame 602 by three-flange 609, its end bearing set 8 passes in the installing hole of exercise wheel frame 602, be connected with four-tape wheel 446, exercise wheel frame 602 is fixedly connected with front adjusting rod 403 with fixed bar 603 by fixed mount 601 respectively, and be connected with center turntable 412, wherein center turntable 412 is connected with exercise wheel frame 602 by bearing 8, and carries out axial restraint by trip bolt 7; At exercise wheel frame 602 and 403 of front adjusting rods the second Timing Belt 604 is set, two belt wheels of described the second Timing Belt 604 are installed in respectively on planet wheel spindle 409 and the motion wheel shaft 606, planet wheel spindle 409 ends are installed on the exercise wheel frame 602 by the bearing 8 on it, by 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 for to connect exercise wheel frame 602 and front adjusting rod 403.Shown in Figure 31 is three-flange 609, is set in motion wheel shaft 606 and is connected on the exercise wheel frame 602, is used for being fixedly connected with.Shown in Figure 32 is exercise wheel frame 602, has the hole 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 for motion wheel shaft 606 is hollow shaft, with fixed cover 439, the two axial ends cross section is the D type on it.
As shown in figure 34, described tail wheel mechanism 5 comprises link 501, gag lever post 502, L bar 503, the 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 respectively link 501, be fixed with spring hack lever 505 at 503 on two L bars near tail-gear spindle 507, two second springs 504 are connected with link with spring hack lever 505 respectively and are connected, link 501 on 504 on L bar 503 and the second spring is provided with gag lever post 502, and tail wheel 506 is installed on tail-gear spindle 507 two ends.Link 501 is the trench structure with semi arch, the semi arch end is with a plurality of spacing holes 508 for mounting limit bar 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 by 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 wheeled and two kinds of motor patterns of crawler type motion under a motor-driven effect, also can adjust motor pattern and attitude process.As shown in figure 39, wheeled motor pattern: the Athey wheel mobile device contacts by line with ground, can be with it as virtual a wheel.As shown in figure 39, when robot of the present invention when restraining force is moved than circlet border (such as flat road surface), 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 the first gear, the second gear 417 and the first gear 302 mesh and rotate, the 3rd gear 418 and the second gear 417 coaxial rotation, the 4th gear 419 and the 3rd gear 418 mesh and rotate, the first belt wheel 432, the 3rd belt wheel 445 and the 4th gear 419 jointly are installed on planet wheel spindle 409 and carry out coaxial rotation, the first belt wheel 432 drives the second belt wheel 444 through the first Timing Belt 416 and rotates, Athey wheel 406 on the front axle 410 is with the second belt wheel 444 coaxial rotation, thereby drive crawler belt 407 motions, the 3rd belt wheel 445 drives four-tapes wheel 446 through the second Timing Belt 604 and rotates, and moving wheel 605 is taken turns 446 coaxial rotation with the four-tape.When robot when the larger environment of restraining force (such as 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.
Such as Fig. 5, shown in Figure 38, the crawler type motor pattern: when robot during at the larger environmental movement of surface constraints power, when namely 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 and moving wheel 605 motions are obstructed and stop motion, cause the 4th gear 419, the first belt wheel 432, the second belt wheel 444, the 3rd belt wheel 445,446 motions of four-tape wheel to stop, yet motor and decelerator 306 drive the first gear 302 continues motion, thereby the second gear 417 and 302 engagements of the first gear also are rotated further, thereby so that the 3rd gear 418 circumferentially rotates around the 4th gear 419, rotate around central shaft 408 thereby drive front adjusting rod 403.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 surmounts obstacles when entering flat road surface, robot before inner under the pulling force effect of adjusting rod 403 at spring 423 crawler belt 407 shapes of robot adjust gradually, and the motor pattern of robot is also moved by crawler type gradually and is transformed into wheeled motion.And in this process, each travelling gear of robot motion is all identical with wheeled motion with the motion of drive pulley.
Such as Figure 38 → Figure 40 → shown in Figure 39, motor pattern transforms and the attitude adjustment, each takes turns-carry out compound mobile module 2 all can be according to the restraint condition of ground environment, by caterpillar drive 3 effect so that front adjusting rod 403 around central shaft 408 rotations, realize exchange between wheeled and two kinds of motor patterns of crawler type with this, such as Figure 38 → shown in Figure 40, also can realize the adjustment to robot motion's attitude simultaneously, such as Figure 40 → shown in Figure 39.
Claims (9)
1. the wheel with adaptive ability-shoe composite deformation mobile robot, it is characterized in that: comprise that control cabinet, two are installed in respectively the wheel of control cabinet (1) both sides-carry out compound mobile module, are installed in the tail wheel mechanism of control cabinet tail end, the compound mobile module of described wheel the-carry out comprises the crawler belt mobile device and places the moving wheel device in the crawler belt mobile device outside, be symmetrically arranged with caterpillar drive in the described control cabinet, its output shaft stretches out outside the control cabinet, and which is provided with the first gear, be connected with the second gear on the crawler belt mobile device; Described moving wheel device comprises moving wheel, exercise wheel frame and the second Timing Belt, moving wheel is installed on the exercise wheel frame by its motion wheel shaft, exercise wheel frame is fixedly connected with front adjusting rod with fixed bar by fixed mount respectively, and be connected with planet wheel spindle and center turntable respectively, between exercise wheel frame and front adjusting rod, the second Timing Belt is set, described the second Timing Belt the 3rd, four-tape wheel is installed in respectively on planet wheel spindle and the motion wheel shaft.
2. according to the described wheel with adaptive ability of claim 1-shoe composite deformation mobile robot, it is characterized in that: described caterpillar drive comprises battery, battery carrier, driver, the first flange, motor and decelerator and two circuit boards and circuit board rack, battery is fixed in the control casing by battery carrier, the driver that is fixed on the control casing end plate is connected with battery, two circuit boards are fixed on the battery carrier two ends by two circuit board racks respectively, motor is connected with driver, the output shaft of the decelerator that is connected with motor stretches out outside the casing by the first flange, the first gear is installed on it, 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 described wheel with adaptive ability of claim 1-shoe composite deformation mobile robot, it is characterized in that: described crawler belt mobile device comprises supporting mechanism, transmission mechanism, crawler belt, Athey wheel, described supporting mechanism comprises the wheel carrier by two groups of symmetries, front adjusting rod, regulate rear bar and regulate the quadric chain that quarter butt forms, the two wheel carriers wheel carrier base plate both sides that are placed in, two front adjusting rod one ends connect by front axle, the other end is connected with adjusting rear bar one end, regulate rear bar the other end and connect hind axle, regulate rear bar with wheel carrier between be connected by the adjusting quarter butt, between two front adjusting rods, also be connected with central shaft, the central shaft two ends are connected with wheel carrier respectively, connect by the center turntable, before, two track wheel shafts between hind axle place between two wheel carriers, be connected on two wheel carriers by turntable respectively, be separately installed with Athey wheel at each wheel shaft, crawler belt is enclosed on the Athey wheel, two spacing flanges are set in the planet wheel spindle two ends of stretching out front adjusting rod, and be fixed on the front adjusting rod, and place in the groove of wheel carrier, limited block is fixed on the wheel carrier base plate, be positioned at the upper limit position of front adjusting rod, the first spring is by the upper spring bar, the lower spring bar respectively with front adjusting rod, wheel carrier links to each other;
Described transmission mechanism comprises central shaft, planet wheel spindle, the first Timing Belt, the intermeshing the 3rd, the 4th gear and the second gear, central shaft and planet wheel spindle are connected between two front adjusting rods, install by bearing respectively at the central shaft two ends, be fixed on the two front adjusting rods by the second flange, install by bearing respectively at the planet wheel spindle two ends, be fixed on the two front adjusting rods by spacing flange, central shaft and planet wheel spindle are all free to rotate, first of the first Timing Belt, the second belt wheel is installed in respectively on the front axle and planet wheel spindle between two front adjusting rods, the 3rd, the 4th gear is installed in respectively on the planet wheel spindle and central shaft between two front adjusting rods, the second gear is installed in the center axle head in the wheel carrier outside, with the first meshed transmission gear of caterpillar drive.
4. according to the described wheel with adaptive ability of claim 3-shoe composite deformation mobile robot, it is characterized in that: have on the described front adjusting rod for adjustable the first slotted eye and a plurality of cooperation installing hole of placing the upper spring bar, be provided with a plurality of bayonet sockets for placing the upper spring bar in described the first slotted eye.
5. according to the described wheel with adaptive ability of claim 3-shoe composite deformation mobile robot, it is characterized in that: described wheel carrier comprises side plate and is installed in respectively the wheel plate at side plate two ends, have the groove that cooperates with spacing flange and adjustable the second slotted eye that is used for installing the lower spring bar on the described side plate, and a plurality of cooperation installing holes; Be provided with a plurality of bayonet sockets for placing the lower spring bar in described the second slotted eye.
6. according to the described wheel with adaptive ability of claim 3-shoe composite deformation mobile robot, 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 described wheel with adaptive ability of claim 3-shoe composite deformation mobile robot, it is characterized in that: described spacing flange is fixed on the front adjusting rod, the one side is with the 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 described wheel with adaptive ability of claim 1-shoe composite deformation mobile robot, it is characterized in that: described tail wheel mechanism comprises link, gag lever post, L bar, the second spring, the tail wheel 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 respectively link, be fixed with the spring hack lever near between two L bars of tail-gear spindle, two second springs are connected with link with the spring hack lever respectively, link between L bar and the second spring is provided with gag lever post, and tail wheel is installed on the tail-gear spindle two ends.
9. according to the described wheel with adaptive ability of claim 8-shoe composite deformation mobile robot, it is characterized in that: described link is the trench structure with semi arch, and the semi arch end is with a plurality of spacing holes for the mounting limit bar.
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| CN 201010219515 CN102310403B (en) | 2010-07-07 | 2010-07-07 | Wheel-track composite deformation mobile robot with adaptive capability |
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| CN 201010219515 CN102310403B (en) | 2010-07-07 | 2010-07-07 | Wheel-track composite deformation mobile robot with adaptive capability |
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| CN102310403A CN102310403A (en) | 2012-01-11 |
| CN102310403B true CN102310403B (en) | 2013-10-16 |
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