CN103231748A - Inside and outside reinforced structural type configuration-changeable obstacle crossing robot - Google Patents

Inside and outside reinforced structural type configuration-changeable obstacle crossing robot Download PDF

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Publication number
CN103231748A
CN103231748A CN2013101492545A CN201310149254A CN103231748A CN 103231748 A CN103231748 A CN 103231748A CN 2013101492545 A CN2013101492545 A CN 2013101492545A CN 201310149254 A CN201310149254 A CN 201310149254A CN 103231748 A CN103231748 A CN 103231748A
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China
Prior art keywords
arm
wheel
sub
principal arm
principal
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CN2013101492545A
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Chinese (zh)
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CN103231748B (en
Inventor
刘少刚
郭云龙
程千驹
林珊颖
刘铮
赵丹
王飞
鱼展
张驰航
李晓伟
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哈尔滨工程大学
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Priority to CN201310149254.5A priority Critical patent/CN103231748B/en
Publication of CN103231748A publication Critical patent/CN103231748A/en
Application granted granted Critical
Publication of CN103231748B publication Critical patent/CN103231748B/en

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Abstract

The invention aims at providing an inside and outside reinforced structural type configuration-changeable obstacle crossing robot which comprises a car body, main arms and auxiliary arms. Main arm caterpillar band support frames are installed on two sides of the car body, power-driven wheels, main arm wheels and driven wheels are sequentially installed on the main arm caterpillar band support frames from front to back, the main arms are installed on the main arm caterpillar band support frames, one end of each main arm is connected with the main arm wheels, and a planet wheel is installed at the other end of each main arm. A first auxiliary wheel and a second auxiliary wheel are respectively installed at two ends of each auxiliary arm, the second auxiliary wheels are coaxial with the driven wheels, main arm caterpillar bands are installed the main arm caterpillar band support frames through the planet wheels, the power-driven wheels, the main arm wheels and the driven wheel, and auxiliary arm caterpillar bands are installed on the auxiliary arms through the first auxiliary wheels and the second auxiliary wheels. The inside and outside reinforced structural type configuration-changeable obstacle crossing robot adopts a composite main arm structure, inner and outer arms reinforced design is adopted by the main arms, the strength of the main arms in the movement process is ensured, and accordingly the stationarity of the car body in obstacle crossing is improved.

Description

Inside and outside ruggedized construction formula variable configuration barrier-surpassing robot
Technical field
What the present invention relates to is a kind of robot, specifically barrier-surpassing robot.
Background technology
Because the successful Application of rescue robot in 911 events, caused the upsurge that people study rescue robot.The most important parts of rescue robot is exactly barrier getting over mechanism and basic machine, has only good crossing over blockage, could execute the task smoothly.The mobile vehicle of barrier getting over mechanism can be divided into snakelike namely do not have limb class, wheeled, polypody and crawler type generally by its kinematic mechanism.
Snake-shaped robot has the characteristics such as tractive force that stability of motion is good, the adaptation to the ground ability is strong and high, but multivariant control is difficult, and kinematic velocity is low.Characteristics such as the little and mechanical efficiency height of rolling frictional resistance simple in structure, in light weight, wheeled that wheeled robot has, but stride across a trench, the ability of step.The polypody robot has the strong characteristics of adaptation to the ground ability, can cross big trench and step, and its shortcoming is that speed is slow; The wheel leg type robot merges the landform adaptive capacity of leg formula mechanism and the high-speed and high-efficiency performance of wheeled mechanism, and its shortcoming is complex structure, controls loaded down with trivial details.Characteristics such as caterpillar type robot is controlled simply because self landform adaptive capacity is strong, and live load is little are very extensive in actual applications.
Summary of the invention
The object of the present invention is to provide the inside and outside ruggedized construction formula variable configuration barrier-surpassing robot that is applicable to rescue after the calamity, environment investigation etc.
The object of the present invention is achieved like this:
The inside and outside ruggedized construction formula variable configuration barrier-surpassing robot of the present invention, it is characterized in that: comprise car body, principal arm, sub-arm, the both sides of car body are equipped with the principal arm track support frame, the power driven wheel is installed on the principal arm track support frame from front to back successively, the principal arm wheel, flower wheel, principal arm is installed on the principal arm track support frame, one end of principal arm connects the principal arm wheel, the other end is installed satellite gear, first auxiliary wheel is installed at the two ends of sub-arm respectively, second auxiliary wheel, second auxiliary wheel is coaxial with flower wheel, pass through satellite gear at the principal arm track support frame, the power driven wheel, the principal arm wheel, flower wheel is equipped with the principal arm crawler belt, on sub-arm, by first auxiliary wheel and second auxiliary wheel sub-arm crawler belt is installed, the power driven wheel connects the power driven motor, flower wheel connects the sub-arm drive motor, the principal arm wheel connects principal arm drive motor, power driven motor, the sub-arm drive motor, the principal arm drive motor is installed on the car body.
The present invention can also comprise:
1, described principal arm comprises outer arm, inner arm; Outer arm comprises slide plate, top board, base plate, goes up hook, lower draw-bar, top board is two-layer up and down, slide plate is between two-layer top board, and base plate links to each other with the top board lower end, and the top board middle part has penetrating groove, last hook is installed in the top of two-layer top board, lower draw-bar is installed on the slide plate and is positioned at the groove at top board middle part, between last hook and the lower draw-bar extension spring is installed, and slide plate can move between top board, when slide plate was positioned at the below, the lower end of slide plate was positioned at base plate; The structure of inner arm except not comprising hook, lower draw-bar and spring, all the other, symmetric arrangement identical with outer arm, satellite gear is installed between the upper end of outer arm and inner arm, principal arm wheel is installed between the bottom of outer arm and inner arm.
Advantage of the present invention is:
1. robot has adopted compound principal arm structure, during principal arm, considers the complexity of mechanism's obstacle detouring in design, and the design of outer arm reinforced guaranteed the intensity of principal arm in the motion process in principal arm was adopted, thus the stationarity of car body when having improved obstacle detouring.
2. in order further to improve the landform adaptive capacity of car body, the right and left principal arm adopts independently principal arm drive motor driving respectively, thereby robot can obtain more athletic posture.
3. in the design of sub-arm, adopt axle sleeve axle construction, on the one hand, make the sub-arm drive motor can control the motion of sub-arm independently and the operation of car body is not exerted an influence, on the other hand, the application of axle sleeve axle construction makes the sub-arm travel wheel on the sub-arm provide certain power and support to advancing of car body, has further strengthened mechanism's traveling comfort.
Description of drawings
Fig. 1 is transmission diagram of the present invention;
Fig. 2 is constructional drawing of the present invention;
Fig. 3 a is principal arm constructional drawing a of the present invention, and Fig. 3 b is principal arm constructional drawing b of the present invention, and Fig. 3 c is principal arm constructional drawing c of the present invention, and Fig. 3 d is principal arm constructional drawing d of the present invention, and Fig. 3 e is principal arm constructional drawing e of the present invention;
Fig. 4 is sub-arm constructional drawing of the present invention;
Fig. 5 is preceding scheme drawing for the present invention tops bar.
Fig. 6 is middle I scheme drawing for the present invention tops bar.
Fig. 7 is middle II scheme drawing for the present invention tops bar.
Fig. 8 is back scheme drawing for the present invention tops bar.
Fig. 9 is preceding scheme drawing for the present invention gets out of a predicament or an embarrassing situation.
Figure 10 is middle I scheme drawing for the present invention gets out of a predicament or an embarrassing situation.
Figure 11 is middle II scheme drawing for the present invention gets out of a predicament or an embarrassing situation.
Figure 12 is back scheme drawing for the present invention gets out of a predicament or an embarrassing situation.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1~12, the parts that the present invention includes: robot is by car body 6, principal arm drive motor 7, drive motor 12, sub-arm drive motor 5, power driven wheel 13, flower wheel 8, satellite gear 11, crawler belt 2, track support frame 10, sub-arm crawler belt 4, sub-arm track support frame 9, and whole principal arm 1, the sub-arm 3 drive divisions formation of grading.Power driven wheel 13 is distributed in car body 6 front end both sides, and principal arm 1 is positioned at power driven and takes turns 13 left and right sides, and sub-arm 3 is positioned at flower wheel 8 left and right sides.
1 fen inner arm of principal arm 16 and outer arm 14 are seen Fig. 3, connect by a stay bearing plate 15 between interior outer arm, and interior outer arm includes base plate 22, top board 19, side guide 23, extension spring 20, on link up with 18, lower draw-bar 21 and slide plate 17.Slide plate 17 is between base plate 22 and top board 19, and two side guides 23 are positioned at slide plate 17 left and right sides, on link up with 18 and be positioned on base plate 22 and the top board 19, lower draw-bar 21 is positioned at both sides, slide plate 17 front and back.When principal arm 1 swing makes that crawler belt 2 is more and more lax, the pulling force of extension spring 20 upwards slides slide plate 17, make crawler belt 2 tensionings, when principal arm 1 swing makes crawler belt 2 more and more during tensioning, slide plate 17 moves down, make extension spring 20 stretch, make crawler belt 2 constantly keep tensioning state by the telescopic method of this principal arm, thereby make car body 6 steadily and the fast speed clear an obstacle.Adopt inner arm 16 and outer arm 14 structure combining, the intensity of principal arm 1 is strengthened greatly, improved the obstacle climbing ability of whole locomotive body 6.
Sub-arm 3 adopts axle sleeve axle construction, sees Fig. 4, comprises sub-arm axle drive shaft 24, sub-arm pivot shaft 25, driving shaft bearing 26, pivot shaft bearing 27, sub-arm crawler belt 4, sub-arm track support frame 9, sub-arm travel wheel 28 and auxiliary wheel 29.Sub-arm axle drive shaft 24 directly is connected with sub-arm drive motor 5, be installed on sub-arm pivot shaft inside by driving shaft bearing 26, thereby make sub-arm drive motor 5 can independently control sub-arm 2 motions, sub-arm axle drive shaft 24 other ends link to each other with sub-arm track support frame 9, to control the motion of whole sub-arm 3, for the rotation that makes 9 pairs of flower wheels 8 of sub-arm track support frame and sub-arm travel wheel 28 does not exert an influence, inboard sub-arm track support frame 9 is installed by pivot shaft bearing 27 and sub-arm pivot shaft 25.The axle sleeve axle construction that sub-arm 3 adopts can make the motion of sub-arm 3 and the motion of car body 6 not disturb mutually, has improved the stationarity of mechanism's obstacle detouring.
In mechanism's geometric relationship of this robot.On the one hand, arrange drive wheel 13 at the bifocal place at a side principal arm place, flower wheel 8, the two is connected and fixed by track support frame 10.Drive wheel 13, flower wheel 8 realizes that the three rotates synchronously thereby satellite gear 11 links to each other by crawler belt 2.On the other hand, drive motor 12 is connected the chassis onward impulse is provided on the drive wheel 13.
When car body 6, moves on the principal arm 1 on the car body 6 31 when travelling on ground, drive motor 12 drives car bodies 6 and advances, and sees Fig. 5.When running into step 30, see Fig. 6, F/s, principal arm drive motor 12 drives car body 6 both sides principal arms 1 and moves down, and on the one hand, improves car body 6 centers of gravity, on the other hand, makes crawler belt 2 front ends " climbing " to step 30.Sub-arm drive motor 5 drives sub-arms 3 and is displaced downwardly to ground 31 and contacts, and makes that 28 pairs of car bodies 6 of travel wheel " climbing " step provides propulsive effort on the sub-arm 3.Subordinate phase when moving on to reasonable altitudes on car body 6 centers of gravity, is seen Fig. 7, and sub-arm drive motor 5 drives car body 6 rear side two ends sub-arms 3 and moves down, and supports car body 6 and crosses step 30, and drive motor 12 drives car body 6 and moves on.Simultaneously, principal arm drive motor 7 drives on the principal arm 1 and moves, and sub-arm drive motor 5 drives on the sub-arm 3 and moves, and sees Fig. 8.So far, car body 6 is crossed step 30 fully.
Under principal arm drive motor 7 drove, the change of principal arm 1 position made crawler belt 2 and the area of contact on ground 30 change, and was also changing thereby exert all one's strength, until obtaining parameters such as suitable shape, earth-grasping force, applying flexible.When " climbing " ladder, its motion process is similar with it.
When running into, mechanism gets out of a predicament or an embarrassing situation 30 the time.At first, principal arm drive motor 7 driving car bodies 6 both sides principal arms 1 move down sees that Fig. 9 touches ground 31 to crawler belt 2 front ends, and simultaneously, sub-arm drive motor 5 drives car bodies 6 rear side two ends sub-arms 3 and moves down.Secondly, drive motor 12 drives car body 6 and advances, and sees Figure 10, adjust principal arm 1 " distortion " state in car body 6 advances process by operation principal arm drive motor 7 simultaneously, see Figure 11, make crawler belt 2 abundant kiss the earths 31, obtain best power, how much parameters such as state.Again, principal arm drive motor 7 drives car bodies 6 both sides principal arms 1 moving up synchronously gradually, and sub-arm drive motor 5 also drives sub-arm 3 and moves on slowly.At last, when car body 6 centers of gravity are reduced to reasonable altitudes, see that Figure 12, crawler belt 2 fore-ends contact fully with ground 31.Drive motor 12 drives car body 6 and moves on.Simultaneously, principal arm drive motor 7 drives on the principal arm 1 and moves, and sub-arm drive motor 5 also drives on the sub-arm 3 and moves.So far, whole locomotive body 6 is finished 31 the structural change process of getting out of a predicament or an embarrassing situation smoothly.
This robot can be regulated the shape of car body 6 chassis crawler belts 2 according to different landform, and car body 6 centers of gravity are moved up and down in the axle of symmetry.Stability and obstacle detouring can both well be realized.

Claims (2)

1. inside and outside ruggedized construction formula variable configuration barrier-surpassing robot, it is characterized in that: comprise car body, principal arm, sub-arm, the both sides of car body are equipped with the principal arm track support frame, the power driven wheel is installed on the principal arm track support frame from front to back successively, the principal arm wheel, flower wheel, principal arm is installed on the principal arm track support frame, one end of principal arm connects the principal arm wheel, the other end is installed satellite gear, first auxiliary wheel is installed at the two ends of sub-arm respectively, second auxiliary wheel, second auxiliary wheel is coaxial with flower wheel, pass through satellite gear at the principal arm track support frame, the power driven wheel, the principal arm wheel, flower wheel is equipped with the principal arm crawler belt, on sub-arm, by first auxiliary wheel and second auxiliary wheel sub-arm crawler belt is installed, the power driven wheel connects the power driven motor, flower wheel connects the sub-arm drive motor, the principal arm wheel connects principal arm drive motor, power driven motor, the sub-arm drive motor, the principal arm drive motor is installed on the car body.
2. inside and outside ruggedized construction formula variable configuration barrier-surpassing robot according to claim 1, it is characterized in that: described principal arm comprises outer arm, inner arm; Outer arm comprises slide plate, top board, base plate, goes up hook, lower draw-bar, top board is two-layer up and down, slide plate is between two-layer top board, and base plate links to each other with the top board lower end, and the top board middle part has penetrating groove, last hook is installed in the top of two-layer top board, lower draw-bar is installed on the slide plate and is positioned at the groove at top board middle part, between last hook and the lower draw-bar extension spring is installed, and slide plate can move between top board, when slide plate was positioned at the below, the lower end of slide plate was positioned at base plate; The structure of inner arm except not comprising hook, lower draw-bar and spring, all the other, symmetric arrangement identical with outer arm, satellite gear is installed between the upper end of outer arm and inner arm, principal arm wheel is installed between the bottom of outer arm and inner arm.
CN201310149254.5A 2013-04-26 2013-04-26 Inside and outside reinforced structural type configuration-changeable obstacle crossing robot CN103231748B (en)

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CN103231748B CN103231748B (en) 2015-05-27

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103863424A (en) * 2014-02-26 2014-06-18 南昌大学 Patrol robot capable of adapting to complicated unstructured terrains
CN104527825A (en) * 2015-01-15 2015-04-22 天津智达机器人有限公司 Under-actuated tracked robot moving platform
ES2539537A1 (en) * 2014-12-26 2015-07-01 Margolles Logistics, S.L. Fork pallet truck (Machine-translation by Google Translate, not legally binding)
CN104859735A (en) * 2015-05-07 2015-08-26 青岛理工大学 Overturning-type obstacle-surmounting vehicle
CN105292283A (en) * 2015-12-01 2016-02-03 黑龙江科技大学 Crawler-type underactuated robot with shape self-adaptation function and transmission method
CN107161225A (en) * 2017-05-16 2017-09-15 中国民航大学 Deformable cterpillar drive
CN110126931A (en) * 2019-05-24 2019-08-16 北京深醒科技有限公司 A kind of shape variable crawler type cellar patrol robot

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JPS6025568A (en) * 1983-07-21 1985-02-08 Toyo Seikan Kaisha Ltd Additional painting apparatus of can seamed part
CN101007548A (en) * 2007-01-29 2007-08-01 北京理工大学 Small-sized four-peddrail mobile robot driving device
CN101143604A (en) * 2007-10-31 2008-03-19 东华大学 Joint track type walking mechanism
US20090173553A1 (en) * 1998-03-27 2009-07-09 Irobot Corporation Robotic Platform
CN102248970A (en) * 2011-06-27 2011-11-23 哈尔滨工程大学 Main arm stretching configuration variable obstacle crossing mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6025568A (en) * 1983-07-21 1985-02-08 Toyo Seikan Kaisha Ltd Additional painting apparatus of can seamed part
US20090173553A1 (en) * 1998-03-27 2009-07-09 Irobot Corporation Robotic Platform
CN101007548A (en) * 2007-01-29 2007-08-01 北京理工大学 Small-sized four-peddrail mobile robot driving device
CN101143604A (en) * 2007-10-31 2008-03-19 东华大学 Joint track type walking mechanism
CN102248970A (en) * 2011-06-27 2011-11-23 哈尔滨工程大学 Main arm stretching configuration variable obstacle crossing mechanism

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103863424A (en) * 2014-02-26 2014-06-18 南昌大学 Patrol robot capable of adapting to complicated unstructured terrains
CN103863424B (en) * 2014-02-26 2017-11-28 南昌大学 Adapt to the crusing robot of complicated unstructured landform
ES2539537A1 (en) * 2014-12-26 2015-07-01 Margolles Logistics, S.L. Fork pallet truck (Machine-translation by Google Translate, not legally binding)
CN104527825A (en) * 2015-01-15 2015-04-22 天津智达机器人有限公司 Under-actuated tracked robot moving platform
CN104859735A (en) * 2015-05-07 2015-08-26 青岛理工大学 Overturning-type obstacle-surmounting vehicle
CN105292283A (en) * 2015-12-01 2016-02-03 黑龙江科技大学 Crawler-type underactuated robot with shape self-adaptation function and transmission method
CN107161225A (en) * 2017-05-16 2017-09-15 中国民航大学 Deformable cterpillar drive
CN107161225B (en) * 2017-05-16 2019-05-07 中国民航大学 Deformable cterpillar drive
CN110126931A (en) * 2019-05-24 2019-08-16 北京深醒科技有限公司 A kind of shape variable crawler type cellar patrol robot

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