CN102627127A - Joint-track composite bionic robot - Google Patents
Joint-track composite bionic robot Download PDFInfo
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- CN102627127A CN102627127A CN2011104074000A CN201110407400A CN102627127A CN 102627127 A CN102627127 A CN 102627127A CN 2011104074000 A CN2011104074000 A CN 2011104074000A CN 201110407400 A CN201110407400 A CN 201110407400A CN 102627127 A CN102627127 A CN 102627127A
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Abstract
A joint-track composite bionic robot is composed of four power units with an identical power mode. Each power unit comprises a big arm, a small arm, a driving wheel, a driven wheel and a track on the periphery of the small arm. A main motor (17) is installed on a side frame body (3), the rotating big arms (2) are driven by the main motor (17), a main gear (24) is installed on a power output shaft of a power motor (8) and meshed with a driven gear (25), and the driving wheels (11) driven by the driven gear (25), the track (5) driven by the driving wheels (11) and a rotating gear (26) are installed on an output shaft of a rotating motor (7), an internal tooth ring (27) is meshed with the rotating gear (26), special forming filler (20) is embedded into the tail end of the big arm (2), the rotating motor (7) and the power motor (8) are installed in the filler (20), a spindle (21) and a bearing (22) are installed in the filler (20) between the rotating motor (7) and the power motor (8), and thrust bearings (23) are installed in the spindle (21) and the filler (20).
Description
Technical field
The present invention relates to be used for the robot under the complicated geographical environment.
Background technology
Sniffing robot is to guarantee most at utmost the adaptation under the situation of specific landform, and the zone that can't reach perhaps dangerous entering to the various mankind is maked an inspection tour and surveyed.Generally when unknown cause accident such as sudden disaster occurring, for preventing that injury accident for the second time from replacing searching and rescuing the various environmental datas that the detection personnel very first time surveys the place where the accident occurred and launching next step various rescue operations smoothly to make things convenient for the rescue worker.
Summary of the invention
The purpose of this invention is to provide a kind of joint crawler belt combined type bio-robot.
The present invention is a joint crawler belt combined type bio-robot, and 2, four drive wheels 11 of four big arms are arranged; 12, four flower wheels 14 of four forearms are by being made up of four identical power units of power form; Each moving cell comprises the crawler belt 5 that big arm 2, forearm 12, drive wheel 11, flower wheel 14 and forearm 12 are peripheral, and main motor 17 is installed on the side frame body 3, under control command, is driven the big arm 2 of rotation by main motor 17; Main gear 24 is installed on the power take-off shaft of power motor 8, main gear 24 with from gear 25 engagements, by the drive wheel 11 that drives from gear 25; Crawler belt 5 by drive wheel 11 drives; Swing pinion 26 is installed on the output shaft of rotating machine 7, internal gear 27 and swing pinion 26 engagements, and the end of big arm 2 embeds specially-shaped filler 20; Rotating machine 7 is installed in the filler 20 with power motor 8; In the filler 20 in the middle of rotating machine 7 and the power motor 8 main shaft 21 and bearing 22 are installed, thrust baring 23 is installed among main shaft 21 and the filler 20, and equipment compartment 19 is the cabin of the contained equipment of robot.
Apparatus of the present invention have mainly realized the characteristics of climbing robot and caterpillar type robot are organically combined, and make robot can cross than the higher obstacle of self drive wheel size.Utilize the obliquity sensor technology to realize the adaptive equalization control of robot casing, meanwhile adopt singlechip technology to realize that each moving cell combines the special exercise of limbs joint when operation, can adapt to complicated more condition of road surface.
Description of drawings
Fig. 1 is the front view of joint of the present invention crawler belt combined type robot, Fig. 2 be A among Fig. 1 to view, Fig. 3 is the birds-eye view of Fig. 1, Fig. 4 is that B-B among Fig. 1 is to cutaway view;
Reference numeral and corresponding name are called: 1: positive support body, 2: big arm, 3: side frame body, 4: lightening hole, 5: crawler belt, 6: angular encoder; 7: rotating machine, 8: power motor, 9: drive wheel hole, 10: hand of rotation, 11: drive wheel, 12: forearm; 13: flexibly connect key, 14: flower wheel, 15: gear case, 16: big arm connecting key, 17: main motor; 18: angular transducer, 19: equipment compartment, 20: filler, 21: main shaft, 22: bearing; 23: thrust baring, 24: main gear, 25: from gear, 26: swing pinion, 27: internal gear.
The specific embodiment
Like Fig. 1, Fig. 2, shown in Figure 3, joint of the present invention crawler belt combined type bio-robot has four big arms 2; 12, four flower wheels 14 of 11, four forearms of four drive wheels; By being made up of four identical power units of power form, each moving cell comprises the crawler belt 5 that big arm 2, forearm 12, drive wheel 11, flower wheel 14 and forearm 12 are peripheral, and main motor 17 is installed on the side frame body 3; Under control command, drive the big arm 2 that rotates by main motor 17, main gear 24 is installed on the power take-off shaft of power motor 8, main gear 24 with from gear 25 engagements; By the drive wheel 11 that drives from gear 25, by the crawler belt 5 that drive wheel 11 drives, swing pinion 26 is installed on the output shaft of rotating machine 7; Internal tooth 27 and swing pinion 26 engagements; The end of big arm 2 embeds specially-shaped filler 20, and rotating machine 7 is installed in the filler 20 with power motor 8, in the filler 20 in the middle of rotating machine 7 and the power motor 8 main shaft 21 and bearing 22 is installed; Thrust baring 23 is installed among main shaft 21 and the filler 20, and equipment compartment 19 is the cabin of the contained equipment of robot.
Like Fig. 1, Fig. 2, shown in Figure 3; Main body is made up of the quadruplet moving cell; Moving cell is made up of with forearm 12 big arm 2; Connecting bridge between big arm 2 and the forearm 12 is made up of a cover epicyclic gear box 15, and big arm 2 is independently with the motion of forearm 12 on mechanical layout, all is to be controlled by the ROBOT CONTROL system.The drive wheel 11 and the gear case 15 of forearm 12 are integral types; Rotating machine 7 provides rotary power for forearm 12, and power motor 8 provides rotational power for drive wheel 11, and the drive wheel 11 of forearm 12 drives crawler belts 5 motions; When being converted into the simulating crawling motion, crawler belt 5 becomes static.Gear case 15 inside are two groups of transmission devices; Be respectively forearm 12 and power be provided with drive wheel 11; The power of the two is parallel transmission; Wherein internal gear 27 is captiveed joint with gear case 15, and swing pinion 26 and internal gear 27 be for the rotation of forearm 12 provides power, main gear 24 and for crawler belt 5 power is provided from gear 25.
Joint of the present invention crawler belt combined type bio-robot has multiple mode of motion:
Wheeled motion: when the road surface that robot is walked was comparatively smooth, robot was assigned the back in control command and under the adjusting of main motor 17, big arm 2 is adjusted to certain angle, and with pendulum on the forearm 12, four drive wheels 11 land then.At this moment the crawler belt 5 of the drive wheel 11 of each power unit of robot makes contact to a line with ground, is equivalent to running on wheels.Under this pattern because reduced drive system and ground-surface friction force, and can realize flexibly advancing, retreat, turn to, maneuver such as pivot turn.Therefore can save the robot energy resource consumption, to realize the long distance motion requirement rapidly and efficiently of robot.
Joint bionic movement: in getting into the unusual complex environment of landform ground condition; Robot at first all resets big arm 2 with forearm 12; The rotating machine 7 of each power unit drives internal gear 27 with certain speed then; The forearm 12 that links to each other with internal gear 27 will rise perpendicular simultaneously, finally reaches flower wheel 14 and is contact condition with ground, and robot is just by ordinary movement state variation joint bionic movement state after being out of shape completion.Owing under the control of treater, can realize the big arm 2 of four power units and the cooperative motion of forearm 12; The joint bionic movement of control robot; Increase the obstacle clearing capability of robot, therefore this mode of motion can pass through the bumpy landform of more complicated by low speed.
Caterpillar drive: swing under the situation of certain angle in big arm 12 adjustings of main motor 17 drives and rotating machine 7 drive forearms 2; Article four, crawler belt 5 is realized contacting with ground fully; Thereby increase and ground-surface area of contact reduce ground-surface pressure; Thereby it is soft that robot is adapted to, mire, marsh and rough landform.Climbing when jumping obstacle, through the swing of forearm 2, crawler belt 5 forms a suitable preceding angle of attack before making, and with the obstacle of ascending easily, its height of ascending can reach 2 times of drive wheel 11 height.
Claims (4)
1. joint crawler belt combined type bio-robot has four big arms (2), four drive wheels (11); Four forearms (12), four flower wheels (14) is characterized in that by being made up of four identical power units of power form; Each moving cell comprises the crawler belt (5) that big arm (2), forearm (12), drive wheel (11), flower wheel (14) and forearm (12) are peripheral, and main motor (17) is installed on the side frame body (3), under control command, is driven the big arm (2) that rotates by main motor (17); Main gear (24) is installed on the power take-off shaft of power motor (8), main gear (24) with from gear (25) engagement, by the drive wheel (11) that drives from gear (25); Crawler belt (5) by drive wheel (11) drive; Swing pinion (26) is installed on the output shaft of rotating machine (7), internal gear (27) and swing pinion (26) engagement, and the end of big arm (2) embeds specially-shaped filler (20); Rotating machine (7) and power motor (8) are installed in the filler (20); In the filler (20) in the middle of rotating machine (7) and the power motor (8) main shaft (21) and bearing (22) are installed, thrust baring (23) is installed among main shaft (21) and the filler (20), and equipment compartment (19) is the cabin of the contained equipment of robot.
2. joint according to claim 1 crawler belt combined type bio-robot; It is characterized in that main body is made up of the quadruplet moving cell; Moving cell is made up of big arm (2) and forearm (12); Connecting bridge between big arm (2) and the forearm (12) is made up of a cover epicyclic gear box (15), and big arm (2) and the motion of forearm (12) on mechanical layout are independently, all are to be controlled by the ROBOT CONTROL system.
3. joint according to claim 2 crawler belt combined type bio-robot; The drive wheel (11) and the gear case (15) that it is characterized in that forearm (12) are integral types; Rotating machine (7) provides rotary power for forearm (12), and power motor (8) provides rotational power for drive wheel (11), and the drive wheel (11) of forearm (12) drives crawler belt (5) motion; When being converted into the simulating crawling motion, crawler belt (5) becomes static.
4. joint according to claim 3 crawler belt combined type bio-robot; It is characterized in that gear case (15) inside is two groups of transmission devices; Be respectively forearm (12) and drive wheel (11) provides power, the power of the two is parallel transmission, and wherein internal gear (27) is captiveed joint with gear case (15); Swing pinion (26) and internal gear (27) be for the rotation of forearm (12) provides power, main gear (24) and for crawler belt (5) power is provided from gear (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104074000A CN102627127A (en) | 2011-12-08 | 2011-12-08 | Joint-track composite bionic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104074000A CN102627127A (en) | 2011-12-08 | 2011-12-08 | Joint-track composite bionic robot |
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| CN102627127A true CN102627127A (en) | 2012-08-08 |
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| CN2011104074000A Pending CN102627127A (en) | 2011-12-08 | 2011-12-08 | Joint-track composite bionic robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| WO2016129139A1 (en) * | 2015-02-10 | 2016-08-18 | 国立研究開発法人宇宙航空研究開発機構 | Traveling vehicle for uneven terrain |
| CN106741263A (en) * | 2016-12-23 | 2017-05-31 | 哈尔滨工程大学 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
| CN106828632A (en) * | 2017-01-13 | 2017-06-13 | 上海交通大学 | One kind is for complicated sea-floor relief automatic leveling job engineering car |
| CN107839416A (en) * | 2017-10-17 | 2018-03-27 | 青岛中邦防务智能装备有限公司 | A kind of amphibious unmanned boat |
| CN110450870A (en) * | 2019-09-15 | 2019-11-15 | 杜家鑫 | A kind of farm machinery |
| WO2020133546A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Reconfigurable joint track composite mobile robot |
| CN112498480A (en) * | 2020-11-27 | 2021-03-16 | 广州大学 | Intelligent trolley adaptive to road surface |
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Patent Citations (6)
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| JPH10194169A (en) * | 1997-01-16 | 1998-07-28 | Tech Res & Dev Inst Of Japan Def Agency | Attitude control mechanism of 4-crawler type vehicle |
| US20040216932A1 (en) * | 2001-07-09 | 2004-11-04 | United Defense, Lp | Hybrid wheel and track vehicle drive system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303381B (en) * | 2013-05-03 | 2015-10-07 | 新乡学院 | A kind of search and rescue robot and move mode thereof |
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| WO2016129139A1 (en) * | 2015-02-10 | 2016-08-18 | 国立研究開発法人宇宙航空研究開発機構 | Traveling vehicle for uneven terrain |
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| CN106741263A (en) * | 2016-12-23 | 2017-05-31 | 哈尔滨工程大学 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
| CN106828632B (en) * | 2017-01-13 | 2022-11-04 | 上海交通大学 | Automatic leveling operation engineering vehicle for complex submarine topography |
| CN106828632A (en) * | 2017-01-13 | 2017-06-13 | 上海交通大学 | One kind is for complicated sea-floor relief automatic leveling job engineering car |
| CN107839416A (en) * | 2017-10-17 | 2018-03-27 | 青岛中邦防务智能装备有限公司 | A kind of amphibious unmanned boat |
| CN107839416B (en) * | 2017-10-17 | 2020-09-11 | 青岛中邦防务智能装备有限公司 | Amphibious unmanned ship |
| WO2020133546A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Reconfigurable joint track composite mobile robot |
| US11235821B2 (en) | 2018-12-29 | 2022-02-01 | Shenyang Institute Of Automation, Chinese Academy Of Sciences | Reconfigurable joint track compound mobile robot |
| CN110450870A (en) * | 2019-09-15 | 2019-11-15 | 杜家鑫 | A kind of farm machinery |
| CN112498480A (en) * | 2020-11-27 | 2021-03-16 | 广州大学 | Intelligent trolley adaptive to road surface |
| CN112498480B (en) * | 2020-11-27 | 2021-09-24 | 广州大学 | Intelligent trolley adaptive to road surface |
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Application publication date: 20120808 |