CN103231748B - 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 PDFInfo
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- CN103231748B CN103231748B CN201310149254.5A CN201310149254A CN103231748B CN 103231748 B CN103231748 B CN 103231748B CN 201310149254 A CN201310149254 A CN 201310149254A CN 103231748 B CN103231748 B CN 103231748B
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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
Technical field
What the present invention relates to is a kind of robot, specifically barrier-surpassing robot.
Background technology
Due to the successful Application of rescue robot in 911 events, cause the upsurge that people study rescue robot.The most important part of rescue robot is exactly barrier getting over mechanism and basic machine, only has good crossing over blockage, could execute the task smoothly.Namely the mobile vehicle of barrier getting over mechanism, can be divided into snakelike without limb class, wheeled, polypody and crawler type generally by its kinematic mechanism.
Snake-shaped robot has the features such as the tractive force that stability of motion is good, adaptation to the ground ability is strong and high, but multivariant control is difficult, and kinematic velocity is low.Wheeled robot has the little and mechanical efficiency high of simple, lightweight, the wheeled rolling frictional resistance of structure, but stride across a trench, the ability of step.Polypody robot has the strong feature of adaptation to the ground ability, can cross large trench and step, and its shortcoming is that speed is slow; Leg-wheel robot merges the landform adaptive capacity of Tui Shi mechanism and the high-speed and high-efficiency performance of ratcheting mechanism, and its shortcoming is complex structure, controls loaded down with trivial details.Caterpillar type robot is because self landform is adaptable, and control simple, the features such as 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 being applicable to Post disaster relief, environment investigation etc.
The object of the present invention is achieved like this:
Ruggedized construction formula variable configuration barrier-surpassing robot inside and outside the present invention, it is characterized in that: comprise car body, principal arm, sub-arm, the both sides of car body are provided with principal arm track support frame, principal arm track support frame is provided with from front to back successively power driven wheel, principal arm is taken turns, flower wheel, principal arm is arranged on principal arm track support frame, one end of principal arm connects principal arm wheel, other end installed rows star-wheel, the first auxiliary wheel is installed at the two ends of sub-arm respectively, second auxiliary wheel, second auxiliary wheel is coaxial with flower wheel, principal arm track support frame passes through satellite gear, power driven is taken turns, principal arm is taken turns, flower wheel is provided with principal arm crawler belt, sub-arm is provided with sub-arm crawler belt by the first auxiliary wheel and the second auxiliary wheel, power driven wheel connects power driven motor, flower wheel connects sub-arm drive motor, principal arm wheel connects principal arm drive motor, power driven motor, sub-arm drive motor, principal arm drive motor is installed on 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, upper hook, lower draw-bar, top board is two-layer up and down, slide plate is between two-layer top board, and base plate is connected with top board lower end, has penetrating groove in the middle part of top board, upper hook is arranged on the top of two-layer top board, lower draw-bar to be arranged on slide plate and the groove be positioned in the middle part of top board, and be provided with extension spring between upper hook and lower draw-bar, slide plate can move between top board, when slide plate is positioned at bottom, the lower end of slide plate is positioned at base plate; The structure of inner arm is not except comprising upper hook, lower draw-bar and spring, and all the other are identical with outer arm, be arranged symmetrically with, and satellite gear is arranged between outer arm and the upper end of inner arm, and principal arm wheel is arranged between outer arm and the bottom of inner arm.
Advantage of the present invention is:
1. robot have employed compound main arm structure, when designing principal arm, considers the complexity of mechanism's obstacle detouring, and the design of outer arm reinforced in adopting principal arm, ensures the intensity of principal arm in motion process, thus the stationarity of car body when improve obstacle detouring.
2., in order to improve the landform adaptive capacity of car body further, the right and left principal arm adopts independently principal arm drive motor to drive respectively, thus robot can obtain more athletic posture.
3. in the design of sub-arm, adopt axle sleeve axle construction, on the one hand, sub-arm drive motor is enable to control the motion of sub-arm independently and not have an impact to the operation of car body, on the other hand, the application of axle sleeve axle construction, makes the sub-arm travel wheel on sub-arm provide certain power and support to advancing of car body, further enhances mechanism's traveling comfort.
Accompanying drawing explanation
Fig. 1 is transmission diagram of the present invention;
Fig. 2 is constructional drawing of the present invention;
Fig. 3 a is main arm structure figure a, Fig. 3 b of the present invention be main arm structure figure b, Fig. 3 c of the present invention be main arm structure figure c, Fig. 3 d of the present invention be main arm structure figure d, Fig. 3 e of the present invention is main arm structure figure e of the present invention;
Fig. 4 is sub-arm constructional drawing of the present invention;
Fig. 5 is schematic diagram before the present invention tops bar.
Fig. 6 is I schematic diagram during the present invention tops bar.
Fig. 7 is II schematic diagram during the present invention tops bar.
Fig. 8 is schematic diagram after the present invention tops bar.
Fig. 9 is schematic diagram before the present invention gets out of a predicament or an embarrassing situation.
Figure 10 is I schematic diagram during the present invention gets out of a predicament or an embarrassing situation.
Figure 11 is II schematic diagram during the present invention gets out of a predicament or an embarrassing situation.
Figure 12 is schematic diagram after the present invention gets out of a predicament or an embarrassing situation.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 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, sub-arm 3 drive division grades formation.Power driven wheel 13 is distributed in both sides, car body 6 front end, 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.
Principal arm 1 point of inner arm 16 and outer arm 14, see Fig. 3, connected between interior outer arm by a stay bearing plate 15, interior outer arm includes base plate 22, top board 19, side guide 23, extension spring 20, upper hook 18, lower draw-bar 21 and slide plate 17.Slide plate is between two-layer top board, and base plate is connected with top board lower end, has penetrating groove in the middle part of top board, and upper hook is arranged on the top of two-layer top board, and lower draw-bar to be arranged on slide plate and the groove be positioned in the middle part of top board.When principal arm 1 swing makes crawler belt 2 more and more lax, the pulling force of extension spring 20 makes slide plate 17 upward sliding, make crawler belt 2 tensioning, when principal arm 1 swing make crawler belt 2 more and more tensioning time, slide plate 17 moves down, extension spring 20 is stretched, makes crawler belt 2 moment keep tensioning state by the telescopic method of this principal arm, thus make car body 6 steadily fast speed clear an obstacle.The structure adopting inner arm 16 to combine with outer arm 14, makes the intensity of principal arm 1 greatly strengthen, improves the obstacle climbing ability of whole car 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, second auxiliary wheel 28 and the first auxiliary wheel 29.Sub-arm axle drive shaft 24 is directly connected with sub-arm drive motor 5, sub-arm pivot shaft is installed on inner by driving shaft bearing 26, thus make sub-arm drive motor 5 independently can control sub-arm 2 to move, sub-arm axle drive shaft 24 other end is connected with sub-arm track support frame 9, to control the motion of whole sub-arm 3, for making the rotation of sub-arm track support frame 9 pairs of flower wheels 8 and the second auxiliary wheel 28 not have an impact, the sub-arm track support frame 9 of inner side 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 the motion of sub-arm 3 and car body 6 not interfere with each other, improve the stationarity of mechanism's obstacle detouring.
In mechanism's geometric relationship of robot.On the one hand, arrange drive wheel 13 at the bifocal place at principal arm place, side, flower wheel 8, the two is connected and fixed by track support frame 10.Drive wheel 13, flower wheel 8, satellite gear 11 is connected by crawler belt 2 thus is realized three's synchronous axial system.On the other hand, drive motor 12 is connected on drive wheel 13 and provides chassis onward impulse.
When car body 6 travels on ground 31, the principal arm 1 on car body 6 moves, drive motor 12 drives car body 6 to advance, and sees Fig. 5.When running into step 30, see Fig. 6, first stage, principal arm drive motor 12 drives car body 6 both sides principal arm 1 to move down, and on the one hand, improves car body 6 center of gravity, on the other hand, makes crawler belt 2 front end " climbing " on step 30.Sub-arm drive motor 5 drives sub-arm 3 to be displaced downwardly to and contacts with ground 31, makes travel wheel 28 pairs of car bodies 6 " climbing " step on sub-arm 3 provide propulsive effort.Subordinate phase, when car body 6 center of gravity moves on to reasonable altitudes, is shown in Fig. 7, and sub-arm drive motor 5 drives two ends sub-arm 3 on rear side of car body 6 to move down, and support car body 6 and cross step 30, drive motor 12 drives car body 6 to move on.Meanwhile, principal arm drive motor 7 drives on principal arm 1 and moves, and sub-arm drive motor 5 drives on sub-arm 3 and moves, and sees Fig. 8.So far, car body 6 fully passes over step 30.
Under principal arm drive motor 7 drives, the change of principal arm 1 position makes crawler belt 2 change with the area of contact on ground 30, thus exerts all one's strength and also changing, until obtain the parameters such as suitable shape, earth-grasping force, applying flexible.When " climbing " ladder, its motion process is similar with it.
When mechanism run into get out of a predicament or an embarrassing situation 30 time.First, principal arm drive motor 7 drives car body 6 both sides principal arm 1 to move down to see that Fig. 9 touches ground 31 to crawler belt 2 front end, and meanwhile, sub-arm drive motor 5 drives two ends sub-arm 3 on rear side of car body 6 to move down.Secondly, drive motor 12 drives car body 6 to advance, and sees Figure 10, adjust principal arm 1 " distortion " state in car body 6 advance process by operation principal arm drive motor 7 simultaneously, see Figure 11, make crawler belt 2 fully kiss the earth 31, obtain the best parameter such as power, geometry state.Again, principal arm drive motor 7 drives car body 6 both sides principal arm 1 synchronously moving up gradually, sub-arm drive motor 5 also drive sub-arm 3 slowly on move.Finally, when car body 6 center of gravity is reduced to reasonable altitudes, see Figure 12, crawler belt 2 fore-end contacts completely with ground 31.Drive motor 12 drives car body 6 to move on.Meanwhile, principal arm drive motor 7 drives on principal arm 1 and moves, and sub-arm drive motor 5 also drives on sub-arm 3 and moves.So far, whole car body 6 complete smoothly get out of a predicament or an embarrassing situation 31 structural change process.
Robot can regulate the shape of car body 6 chassis crawler belt 2 according to different landform, car body 6 center of gravity is moved up and down in the axle of symmetry.Stability and obstacle detouring can both well realize.
Claims (2)
1. ruggedized construction formula variable configuration barrier-surpassing robot inside and outside, it is characterized in that: comprise car body, principal arm, sub-arm, the both sides of car body are provided with principal arm track support frame, principal arm track support frame is provided with from front to back successively power driven wheel, principal arm is taken turns, flower wheel, principal arm is arranged on principal arm track support frame, one end of principal arm connects principal arm wheel, other end installed rows star-wheel, the first auxiliary wheel is installed at the two ends of sub-arm respectively, second auxiliary wheel, second auxiliary wheel is coaxial with flower wheel, principal arm track support frame passes through satellite gear, power driven is taken turns, principal arm is taken turns, flower wheel is provided with principal arm crawler belt, sub-arm is provided with sub-arm crawler belt by the first auxiliary wheel and the second auxiliary wheel, power driven wheel connects power driven motor, flower wheel connects sub-arm drive motor, principal arm wheel connects principal arm drive motor, power driven motor, sub-arm drive motor, principal arm drive motor is installed on car body.
2. inside and outside ruggedized construction formula variable configuration barrier-surpassing robot according to claim 1, is characterized in that: described principal arm comprises outer arm, inner arm; Outer arm comprises slide plate, top board, base plate, upper hook, lower draw-bar, top board is two-layer up and down, slide plate is between two-layer top board, and base plate is connected with top board lower end, has penetrating groove in the middle part of top board, upper hook is arranged on the top of two-layer top board, lower draw-bar to be arranged on slide plate and the groove be positioned in the middle part of top board, and be provided with extension spring between upper hook and lower draw-bar, slide plate can move between top board, when slide plate is positioned at bottom, the lower end of slide plate is positioned at base plate; The structure of inner arm is not except comprising upper hook, lower draw-bar and extension spring, and all the other are identical with outer arm, be arranged symmetrically with, and satellite gear is arranged between outer arm and the upper end of inner arm, and principal arm wheel is arranged between outer arm and the bottom of inner arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310149254.5A CN103231748B (en) | 2013-04-26 | 2013-04-26 | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310149254.5A CN103231748B (en) | 2013-04-26 | 2013-04-26 | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot |
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| Publication Number | Publication Date |
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| CN103231748A CN103231748A (en) | 2013-08-07 |
| CN103231748B true CN103231748B (en) | 2015-05-27 |
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| CN201310149254.5A Expired - Fee Related CN103231748B (en) | 2013-04-26 | 2013-04-26 | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot |
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| CN103863424B (en) * | 2014-02-26 | 2017-11-28 | 南昌大学 | Adapt to the crusing robot of complicated unstructured landform |
| ES2539537B1 (en) * | 2014-12-26 | 2016-01-07 | Margolles Logistics, S.L. | Fork pallet truck |
| CN104527825B (en) * | 2015-01-15 | 2016-08-31 | 天津智达机器人有限公司 | A kind of drive lacking caterpillar type robot mobile platform |
| CN104859735B (en) * | 2015-05-07 | 2017-01-25 | 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 |
| 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 |
| CN110450869B (en) * | 2019-08-02 | 2024-05-24 | 北京交通大学 | Self-adaptive underactuated tracked robot |
| CN113306642B (en) * | 2021-06-15 | 2022-11-22 | 重庆大学 | All-terrain bidirectional obstacle crossing robot and dynamic deformation crawler chassis thereof |
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| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
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2013
- 2013-04-26 CN CN201310149254.5A patent/CN103231748B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| 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 |
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| CN103231748A (en) | 2013-08-07 |
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