CN102642574A - Straight rod type turnover robot - Google Patents
Straight rod type turnover robot Download PDFInfo
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- CN102642574A CN102642574A CN2012101149194A CN201210114919A CN102642574A CN 102642574 A CN102642574 A CN 102642574A CN 2012101149194 A CN2012101149194 A CN 2012101149194A CN 201210114919 A CN201210114919 A CN 201210114919A CN 102642574 A CN102642574 A CN 102642574A
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Abstract
The invention discloses a straight rod type turnover robot. The robot comprises a body, a turning mechanism, a sensing unit, a communication control unit and a power module, wherein the body is in a bilateral symmetric structure; the turning mechanism is arranged on the two sides of the body; the sensing unit, the communication control unit and the power module are arranged in the body; the sensing unit is connected with the communication control unit; output of the communication control unit is connected to the turning mechanism; power is provided for the sensing unit, the communication control unit and the turning mechanism by the power module; the turning mechanism is divided into two parts which are bilaterally symmetric and have the same structure; the two parts comprise driving speed-down motors and straight rod rotary arms respectively; and the straight rod rotary arms are driven by the driving speed-down motors to rotate so as to drive the entire robot to turnover. According to the robot, a turnover motion mode is adopted, and the overturning problem which is difficult to solve in the conventional mobile robot is solved; and compared with the conventional mobile robot of the same size, the straight rod type turnover robot has the advantages of better adaptative capacity to environment and obstacle crossing capacity, simple structure, convenience for modularization and miniaturization and high suitability for celestial body exploration.
Description
Technical field
The invention belongs to the Robotics field, be applicable to celestial body detecting, be a kind of straight-bar type robot that rolls.
Background technology
At present, traditional mobile robot mainly adopts wheeled, crawler type and three kinds of mode of motion of leg formula.That wheeled robot has is simple in structure, speed is high and advantage of low energy consumption, but is not suitable for crossing over as obstacles such as gully, steps, and obstacle climbing ability is poor; Caterpillar type robot has adaptive capacity preferably in natural environments such as soft, uneven landform, shortcoming is that weight is big, and friction drag is big, and energy consumption is high; Legged mobile robot has manoevreability preferably, adapts to various complicated ground environment easily, realizes walking and keep balance that motion control is complicated but need to rely on leg alternately to support.In addition; When traditional mobile robot surveys the celestial body surface, because the existence of communication time lag, tend to cause robot to topple because of rugged, complicated landform and impenetrable obstacle thing; Thereby LOM causes the detection mission failure.As: be used for the wheeled robot of Mars, moon exploration, possibly in half autonomous walking process, run into unpredictable obstacle and topple; The robot that is used for surveying at soft soil may be absorbed in wherein and LOM.
The straight-bar type robot that rolls is a kind of mobile robot with novel mode of motion, relies on both sides straight-bar rotation adjustment self center of gravity to realize tumbling motion.There is not the insoluble problem of toppling of traditional mobile robot in it, has better adaptive capacity to environment and obstacle climbing ability, thereby has broad application prospects.At present, to the rolling type robot, especially the research of straight-bar type rolling type robot is still rare.
Summary of the invention
To the deficiency of prior art, the object of the present invention is to provide a kind of straight-bar type robot that rolls, there is not the insoluble problem of toppling of traditional mobile robot, have better adaptive capacity to environment and obstacle climbing ability, more be applicable to celestial body detecting.
Technical scheme of the present invention is: a kind of straight-bar type robot that rolls; Comprise fuselage, switching mechanism, sensing unit, communication control unit and power module, fuselage is the left-right symmetric structure, and the both sides of symmetry are the fuselage both sides; Switching mechanism is arranged on the fuselage both sides; Sensing unit, communication control unit and power module are arranged in the fuselage, and sensing unit connects communication control unit, and the output of communication control unit is connected to switching mechanism; Power module is to sensing unit, communication control unit and switching mechanism power supply
Said fuselage comprises frame and cover, and frame and cover are fixed as one, and the frame both sides are provided with the fixed mount that two structures are identical, be symmetrically distributed, and are used for fixing switching mechanism;
Said switching mechanism is divided into left-right symmetric, two parts that structure is identical, respectively by two identical driving reducing motor individual drive; Every part comprises: drive reducing motor, transmission gear, transmission shaft and straight-bar pivot arm, drive reducing motor and be fixed on the frame in-to-in fixed mount, two drive reducing motor position left-right symmetric in frame; The output shaft that drives reducing motor drives transmission shaft through transmission gear, and transmission shaft is a stepped shaft, and an end has internal thread hole; One end has the shaft shoulder; Transmission shaft has the shaft shoulder one end and transmission gear interlock, and passes through fixedly shaft shoulder position of fixed mount, and the transmission shaft other end is connected to the straight-bar pivot arm; Straight-bar pivot arm and transmission shaft interlock, the length of straight-bar pivot arm is half the greater than fuselage both sides length.
The left-right symmetric of fuselage is an irregular polygon, said polygon be more than five limits.
Fuselage is up-narrow and down-wide structure; The straight-bar pivot arm is arranged on the both sides, bottom; Transmission gear is first spur bevel gear and second spur bevel gear; Drive output shaft captive joint first spur bevel gear of reducing motor, first spur bevel gear and the engagement of second spur bevel gear, transmission shaft has the shaft shoulder one end and the second spur bevel gear socket.
The junction of transmission shaft and straight-bar pivot arm is provided with one group of packing ring, reinforces the connection.
Robot of the present invention adopts the operation form of rolling, and popular says, there is not the branch of pros and cons in this robot.Leg formula of in complex environment, walking or conventional machines people such as wheeled; When crossing gully or obstacle, possibly topple or canting, and can't continue operation; And the present invention realizes through the straight-bar pivot arm that fuselage rolls and advances; As long as a pair of straight-bar pivot arm can equidirectional rotation, can drive fuselage and move, do not exist and topple or the problem of canting.Landform as shown in Figure 4 if traditional wheeled or legged mobile robot is difficult to climb steps, or in the process of climbing up, need careful adjustment posture and center of gravity, but there is not this type of problem in machine of the present invention.Beneficial effect of the present invention mainly shows:
1) rely on the rotation of straight-bar pivot arm to contact with ground-surface with fuselage, adjustment robot center of gravity is to realize tumbling motion;
2) there is not the insoluble problem of toppling of traditional mobile robot in the present invention;
3) compare with the big or small traditional mobile robot of volume, better adaptive capacity to environment and obstacle climbing ability are arranged;
4) overturn structure is simple, is easy to control, and is convenient to modularization, miniaturization, can carry multiple sensors, is convenient to cooperate the large-scale preferably robot of maneuvering performance to accomplish detection mission.
Description of drawings
Fig. 1 is a robot outside drawing of the present invention.
Fig. 2 is a robot mechanism assembly drowing of the present invention.
Fig. 3 is robot system architecture's block diagram of the present invention.
Fig. 4 is the roll scheme drawing of robot climb steps of the straight-bar type of the embodiment of the invention.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing thereof the present invention is done further explain.
Referring to Fig. 1, Fig. 2, shown in Figure 3, straight-bar type turning robot of the present invention, it comprises: fuselage, switching mechanism, sensing unit, communication control unit and power module.Fuselage is the left-right symmetric structure; The both sides of symmetry are the fuselage both sides; Switching mechanism is arranged on the fuselage both sides, and sensing unit, communication control unit and power module are arranged in the fuselage, and sensing unit connects communication control unit; The output of communication control unit is connected to switching mechanism, and power module is to sensing unit, communication control unit and switching mechanism power supply.Fuselage is except left-right symmetric; About shape need: be generally irregular polygon, such as shown in Figure 2, also can be for trapezoidal; But generally do not advise adopting triangle or quadrangle; Because this is unfavorable for that robot advances, for example if triangle then is difficult to keep straight line moving preferably.
Described fuselage comprises frame 1 and cover 2, and frame 1 and cover 2 are fixed as one through screw.There is the fixed mount that two structures are identical, be symmetrically distributed frame 1 inside, and is used for fixing the mechanism of rolling.
Described switching mechanism is divided into left-right symmetric, two parts that structure is identical, respectively by two identical driving reducing motor individual drive; Every part comprises: drive reducing motor 3, first spur bevel gear 4, small washer 5, large washer 6, second spur bevel gear 7, transmission shaft 8, straight-bar pivot arm 9.Drive reducing motor 3 and be fixed on the frame 1 in-to-in fixed mount its output shaft captive joint first spur bevel gear 4 through screw.Transmission shaft 8 is a stepped shaft, and an end has internal thread hole, and an end has the shaft shoulder.Transmission shaft 8 has the shaft shoulder one end and is connected with fixed mount, second spur bevel gear 7, and second spur bevel gear 7 is captiveed joint with it.Transmission shaft 8 other ends are connected with large washer 6, straight-bar pivot arm 9, small washer 5 respectively.Straight-bar pivot arm 9, small washer 5 and transmission shaft 8 are captiveed joint through tightening screw.When described driving reducing motor 3 was switched on work, through the engagement driving transmission shaft 8 of first spur bevel gear 4 and second spur bevel gear 7, transmission shaft 8 drove 9 rotations of straight-bar pivot arms, and straight-bar pivot arm 9 can 360 ° of rotations.
Among the present invention, drive reducing motor and be used to drive the transmission shaft rotation, according to fuselage shape size; Can select suitable transmission gear adjustment direction; As adopting two spur bevel gear transmissions among the above-mentioned embodiment, be in order to realize the miniaturization as far as possible of this robot, if adopt motor output shaft directly to drive the straight-bar pivot arm; Then cause robot left and right sides width to become big easily, so do not advise that motor output shaft directly drives.
In the foregoing description, robot be up-narrow and down-wide in shape, be at imitative a kind of sea hydrobiont in fact: turbot; Also can lift our approaching biology of a comparison---frog; The straight-bar type pivot arm generally is close to the robot both sides, and this shape helps the straightaway of robot, and the length of straight-bar pivot arm is half the greater than fuselage both sides length; Guarantee in rotary course, not receive fuselage to influence all the time and can get final product by kiss the earth, long length helps better crossing over blockage.
Described sensing unit is used for the collecting ring environment information, and sends this environmental information and give communication control unit, comprises ultrasonic ranging sensor and Temperature Humidity Sensor.The ultrasonic ranging sensor is used to measure obstacle, and Temperature Humidity Sensor is used for collecting the humiture information of environment of living in.Communication control unit is used to receive from the environmental information of sensor unit transmission and the control command of upper computer transmission, control robot action; Power module is that each unit of robot provides needed electric energy.
Referring to shown in Figure 4, the roll scheme drawing of robot climb steps of straight-bar type.
Before the robot setting in motion, two straight-bar pivot arms are in and close up state.After robot receives orders, the sideway swivel backward simultaneously of two straight-bar pivot arms.The straight-bar pivot arm contacts the continued rotation with ground, lift at the robot rear portion, and the front portion contacts with ground.Along with the robot center of gravity constantly moves forward, under the effect of gravity, robot is realized rolling.Anterior the continuation of straight-bar pivot arm is rotated with after the step upper edge contact at robot, lean forward until the robot by gravity, thus successful climb steps, wherein:
1) in the rotary course; Fuselage can occur and vertically stand in ground situation, but because straight-bar type pivot arm length is longer than fuselage, the straight-bar pivot arm can touch ground; Situation about can't roll can not appear; Motor torque is enough to realize that robot rolls, and can realize the rotating of straight-bar type pivot arm, adjustment robot location and posture through controlling motor.
2) like Fig. 4, described robot front portion is lifted and is touched the step upper edge, and the straight line of seeing among the figure comprises thick line and fine rule, representative be that two straight-bar type pivot arms move together, two straight-bar type pivot arms rotate simultaneously.
3) three figure of state to the of second figure; Be to rely on the rotation of straight-bar pivot arm, realize what robot constantly rolled forward, the 3rd illustrated is the anterior contact of robot step forward position among Fig. 4; Robot rear portion contact also possibly appear; In the present invention, the moment of torsion of motor is enough to support that robot lifts fuselage, realizes rolling.
Claims (4)
1. straight-bar type robot that rolls is characterized in that comprising fuselage, switching mechanism, sensing unit, communication control unit and power module, and fuselage is the left-right symmetric structure; The both sides of symmetry are the fuselage both sides, and switching mechanism is arranged on the fuselage both sides, and sensing unit, communication control unit and power module are arranged in the fuselage; Sensing unit connects communication control unit; The output of communication control unit is connected to switching mechanism, and power module is to sensing unit, communication control unit and switching mechanism power supply
Said fuselage comprises frame and cover, and frame and cover are fixed as one, and the frame both sides are provided with the fixed mount that two structures are identical, be symmetrically distributed, and are used for fixing switching mechanism;
Said switching mechanism is divided into left-right symmetric, two parts that structure is identical, respectively by two identical driving reducing motor individual drive; Every part comprises: drive reducing motor, transmission gear, transmission shaft and straight-bar pivot arm, drive reducing motor and be fixed on the frame in-to-in fixed mount, two drive reducing motor position left-right symmetric in frame; The output shaft that drives reducing motor drives transmission shaft through transmission gear, and transmission shaft is a stepped shaft, and an end has internal thread hole; One end has the shaft shoulder; Transmission shaft has the shaft shoulder one end and transmission gear interlock, and passes through fixedly shaft shoulder position of fixed mount, and the transmission shaft other end is connected to the straight-bar pivot arm; Straight-bar pivot arm and transmission shaft interlock, the length of straight-bar pivot arm is half the greater than fuselage both sides length.
2. a kind of straight-bar type according to claim 1 robot that rolls, the left-right symmetric that it is characterized in that fuselage is an irregular polygon, said polygon be more than five limits.
3. a kind of straight-bar type according to claim 1 and 2 robot that rolls; It is characterized in that fuselage is up-narrow and down-wide structure; The straight-bar pivot arm is arranged on the both sides, bottom, and transmission gear is first spur bevel gear and second spur bevel gear, drives output shaft captive joint first spur bevel gear of reducing motor; First spur bevel gear and the engagement of second spur bevel gear, transmission shaft has the shaft shoulder one end and the second spur bevel gear socket.
4. a kind of straight-bar type according to claim 1 and 2 robot that rolls is characterized in that the junction of transmission shaft and straight-bar pivot arm is provided with one group of packing ring, reinforces the connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101149194A CN102642574A (en) | 2012-04-18 | 2012-04-18 | Straight rod type turnover robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101149194A CN102642574A (en) | 2012-04-18 | 2012-04-18 | Straight rod type turnover robot |
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| CN102642574A true CN102642574A (en) | 2012-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012101149194A Pending CN102642574A (en) | 2012-04-18 | 2012-04-18 | Straight rod type turnover robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159123A (en) * | 2018-09-13 | 2019-01-08 | 中国电子科技集团公司第二十八研究所 | A kind of robot turn control method based on energetic optimum |
Citations (5)
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| CN2492278Y (en) * | 2001-05-11 | 2002-05-22 | 哈尔滨海尔哈工大机器人技术有限公司 | Moving mechanism of robot toy |
| CN1994804A (en) * | 2006-12-21 | 2007-07-11 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
| CN101244728A (en) * | 2008-03-18 | 2008-08-20 | 中国矿业大学 | Flame-proof type robot platform for search operation in coal mine well |
| DE102010018756A1 (en) * | 2010-04-29 | 2011-11-03 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Exploration device for use in e.g. country vehicle for exploring e.g. earth, has arms are rotated around specific degree for variably controlling travel type of device and motion sequence of arms and laterally attached at housing |
| CN202608928U (en) * | 2012-04-18 | 2012-12-19 | 东南大学 | Rolling robot |
-
2012
- 2012-04-18 CN CN2012101149194A patent/CN102642574A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2492278Y (en) * | 2001-05-11 | 2002-05-22 | 哈尔滨海尔哈工大机器人技术有限公司 | Moving mechanism of robot toy |
| CN1994804A (en) * | 2006-12-21 | 2007-07-11 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
| CN101244728A (en) * | 2008-03-18 | 2008-08-20 | 中国矿业大学 | Flame-proof type robot platform for search operation in coal mine well |
| DE102010018756A1 (en) * | 2010-04-29 | 2011-11-03 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Exploration device for use in e.g. country vehicle for exploring e.g. earth, has arms are rotated around specific degree for variably controlling travel type of device and motion sequence of arms and laterally attached at housing |
| CN202608928U (en) * | 2012-04-18 | 2012-12-19 | 东南大学 | Rolling robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159123A (en) * | 2018-09-13 | 2019-01-08 | 中国电子科技集团公司第二十八研究所 | A kind of robot turn control method based on energetic optimum |
| CN109159123B (en) * | 2018-09-13 | 2020-07-03 | 中国电子科技集团公司第二十八研究所 | Robot turning control method based on energy optimization |
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Application publication date: 20120822 |