CN104443085A - Crawler type six-freedom-degree mobile robot - Google Patents

Crawler type six-freedom-degree mobile robot Download PDF

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Publication number
CN104443085A
CN104443085A CN201410655985.1A CN201410655985A CN104443085A CN 104443085 A CN104443085 A CN 104443085A CN 201410655985 A CN201410655985 A CN 201410655985A CN 104443085 A CN104443085 A CN 104443085A
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CN
China
Prior art keywords
swing arm
frame
main
timing belt
support
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CN201410655985.1A
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Chinese (zh)
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CN104443085B (en
Inventor
罗均
马捷
蒲华燕
吴斌
瞿栋
谢少荣
邓景珊
颜春明
张娟
陈功
刘恒利
邹旭东
华凌云
姚骏峰
陈春朝
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上海大学
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Priority to CN201410655985.1A priority Critical patent/CN104443085B/en
Publication of CN104443085A publication Critical patent/CN104443085A/en
Application granted granted Critical
Publication of CN104443085B publication Critical patent/CN104443085B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/065Multi-track vehicles, i.e. more than two tracks

Abstract

The invention relates to a crawler type six-freedom-degree mobile robot which comprises a frame, main motion modules, swing arm motion modules, a control box and sensors. The whole robot has six freedom degrees, two main crawlers can move independently, through the design of a crawler type structure, the robot has high ground passage capacity and can run, steer and the like on a complex road surface, four swing arms can also move independently, and therefore the robot has excellent performance on climbing stairs, crossing obstacles and obstacle avoidance and other tasks.

Description

Crawler type six degree of freedom mobile robot
Technical field
The invention belongs to ground mobile robot technical field, be specifically related to the crawler type six degree of freedom mobile robot of a kind of high maneuverability energy, complicated landform can be tackled, as the step of interior of building, stair, there is the environment of obstacle, and the ruins environment after building collapse, this robot can be applied in the task such as prospecting, search and rescue of the disaster scene of the accident, for rescue worker provides important first-hand information.
Background technology
Disaster and man-made disaster hugely allow people inspire awe even from distance because it is destructive always, and prospecting after disaster, search-and-rescue work are particularly important, but often after major disaster occurs, site environment is too complicated, there is a lot of unknown danger, as nuclear radiation, chemical spills, biochemical pollution, high temperature, high humidity, ruined building secondary cave in, beyond the limit of power that the mankind can process, therefore study to carry out the inspection of the scene of a crime after disaster, a hot issue that the robot of search and rescue and process becomes mobile robot field in the world.Usually, mobile robot has wheeled, sufficient formula, crawler type etc., and they respectively have its feature, and caterpillar type robot is due to its ground strong adaptability, and it is relatively convenient to control, and is widely used in prospecting, search and rescue task.
The artificial two degrees of freedom of traditional crawler frame or three degree of freedom, namely two main motion modules or two main motion modules are only had to add the swing arm of simultaneously moving for a pair, which simplify design difficulty, but in maneuvering performance, manifest some shortcomings, show as obstacle clearing capability limited, downstairs time motion unstable etc.; The pedrail mechanism of traditional caterpillar robot is many to be separated with robot body, facilitate robot body's design, but design compact not makes its ground contact area inadequate, affects its travelling performance in non-structure environment; Traditional caterpillar robot many employings gear or Chain conveyer, make it the problem of weight increase, transmission instability; Parts are many is directly connected with frame for the control, power supply etc. of traditional caterpillar robot, are unfavorable for the protection of vitals, also bring inconvenience to Installation and Debugging.In order to complete prospecting, search and rescue task better, needing during design robot to overcome above deficiency, making rational design, improve maneuvering performance.
Summary of the invention
The object of the invention is to the defect existed for prior art, a kind of crawler type six degree of freedom mobile robot is provided, reach compact conformation, lighter in weight, maneuvering performance are good.For achieving the above object, the designing requirement of the present invention to robot body is:
1., on the basis meeting Robot Design requirement, alleviate the deadweight of robot as far as possible;
2., on the basis meeting Robot Design requirement, facilitate the Assembly &Disassembly of robot;
3. on the basis meeting Robot Design requirement, make robot architecture compact, making robot have relatively general caterpillar type robot has better maneuvering performance as far as possible;
4. on the basis meeting Robot Design requirement, the caterpillar robot making robot more traditional has stronger alerting ability, and strengthens the ground comformability of robot;
5. make robot interior device be protected, facilitate the installation of robot interior device;
6. make robot debug convenient.
For reaching above-mentioned requirements, design of the present invention is:
1. robot fuselage adopts aluminum alloy to make, and reduces repeated hole, uses toothed belt transmission to replace traditional gear transmission and Chain conveyer, thus alleviates the deadweight of robot;
2. forming the connection mode of vital parts of robot frame for being threaded, take into full account and location and overall rigidity are installed, require motor fixed block and main Timing Belt bearing group all adjustable in front and back, facilitate the Assembly &Disassembly of robot;
3. by two of robot groups of main motion modules and chassis design as a whole, control motor each layout one before and after robot of two main motion module degree of freedom, utilize spatially staggered to make compact conformation, select wider crawler belt to increase the area that contacts to earth of robot;
4. design a crawler type six-DOF robot, comprise two main motion modules and four swing arm motion modules, each degree of freedom can independently control, and strengthen the flexibility ratio of robot, four swing arm modules more enhance the comformability of robot to ground;
5. the frame of robot and internal piloting case are regarded as different modules to design, frame, under the prerequisite of proof strength, increases inner space, and the installing space of reserved internal piloting case buffering part.The internal components of robot should protect by the design of control box as far as possible, and will consider the charging modes of robot, makes it not need to pull up battery and chargeable;
6. angular transducer is for demarcating the swing arm position of robot.
According to foregoing invention design, the present invention adopts following technical scheme:
A crawler type six-DOF robot, comprises frame, two groups of main motion modules, four groups of swing arm motion modules, control box and sensing elements.Robot major part is all coated with crawler belt, two groups of main motion modules and motor thereof are at the middle part of robot, in center, journey is arranged, all Synchronous Belt Drives is passed through between each main motion module and its motor, four groups of swing arm motion modules and motor thereof are in left front, left back, right front, right back four positions of robot, symmetrical layout, all passes through Synchronous Belt Drives between each swing arm motion module and its motor.
The global shape of described frame has imitated the skeleton of tortoise, form the connection mode of the vital parts of frame for being threaded, facilitate the Assembly &Disassembly of frame, frame is divided abdomen, neck, head, rib, ridge and is connected the accessory of other modules, specifically comprise a frame main frame, two groups of mair motor correlated partss, four groups of swing arm motor correlated partss.Web in the below of whole frame, 2 floor vertical, symmetrical installations with it; 2 heads are vertical with web, the symmetrical installation in front and back, headset have one for the hole of mounting robot charging inlet; The connection of jugularia reinforced head and floor, and the installation site that epimere is provided, two jugularias are that center is installed journey; Epimere is connected with jugularia by epimere retaining element, and with two another epimeres of peripheral hardware support and connection above epimere, in order to accept the outside module increased, this is the main body frame of frame.Design has taken into full account installs location and overall rigidity, on this basis, adds the accessory connecting other modules.On web, all around symmetry has installed 4 motor fixed blocks, in order to install swing arm motor, 4 groups of swing arm Timing Belt bearings have all around been installed outside 2 floors symmetrically, and motor fixed block and all adjustable front and back position of swing arm Timing Belt bearing group, to regulate the tension force of swing arm Timing Belt; On 2 jugularias, 2 motor fixed blocks have been installed to journey in center respectively, in order to install main track propulsion motor, on 2 jugularias, 2 groups of main Timing Belt bearing groups have been installed to journey in center respectively equally, motor fixed block and main Timing Belt bearing group all adjustable in front and back, to regulate the tension force of main Timing Belt.
Described each main motion module comprises left support wheel carrier, right support wheel carrier, main track sprocket, main crawler belt flower wheel, main crawler belt, imput shaft, driven shaft, mair motor, lead spindle, main Timing Belt wheel shaft, main Timing Belt steamboat, main Timing Belt bull wheel, main Timing Belt, imput shaft axle sleeve and required gauge member.Motor drives imput shaft by toothed belt transmission, main track sprocket is driven to make whole main motion block motion, two groups support wheels and play adjustment track tension, reduce the average maximum ground contact pressure of pedrail mechanism, improve the effect of pedrail mechanism manoevreability, similarly, select wider crawler belt, also average maximum ground contact pressure can be reduced, improve the maneuvering performance of pedrail mechanism, the grouser of main crawler belt selects higher type, more traditional caterpillar robot has the advantage providing more large traction, running part selects toothed belt transmission, there is constant transmitting ratio, and make structure design compact, more easily reach the object of light-weight design.There is the strong point at headset respectively in aforementioned frame of above-mentioned imput shaft and driven shaft and floor part place, mair motor is arranged on aforementioned motor fixed block, mair motor front and back position is adjustable, the small pulley of main Timing Belt is arranged in aforesaid main Timing Belt bearing group, main Timing Belt Tension Adjustable, two groups support wheels and are arranged on aforesaid web, and adjust its height by screw, thus adjust the tension force of main crawler belt.Described main motion module has two groups in robot, arranges in centrosymmetric mode, and namely one group of main crawler belt is forerunner, and be rear-guard after another group, object reaches the compact object of structure design with the form of spatial intersecting.
Described swing arm motion module has four groups, forms by identical parts, often organizes swing arm motion module and comprises swing arm motor, swing arm coupler, swing arm Timing Belt wheel shaft, swing arm Timing Belt steamboat, swing arm Timing Belt bull wheel, swing arm Timing Belt, swing arm dish, swing arm inner panel, swing arm outside plate, left front arm shaft bearing, right front arm shaft bearing, right back arm shaft bearing, swing arm driven shaft, swing arm driving is taken turns, swing arm flower wheel, swing arm crawler belt and required gauge member.Swing arm driving wheel keeps geo-stationary by key connecting and aforementioned imput shaft or driven shaft, thus makes a main crawler belt of the same side (on the left of machine or right side) and the motion of two swing arm crawler belt maintenance equidirectionals; Swing arm driving wheel and swing arm flower wheel are between swing arm inner panel and swing arm outside plate, swing arm flower wheel and swing arm driven shaft are got up by key connecting, swing arm driven shaft is by being supported on two bearing seats of swing arm inner panel and the outer front edge of board of swing arm, swing arm flower wheel can be rotated relative to the inside and outside plate of swing arm, ensure the walking movement of swing arm crawler belt, meanwhile, the front and back position of arm shaft bearing is adjustable, for regulating the tension force of swing arm crawler belt; The bull wheel of swing arm dish and swing arm inner panel and swing arm synchronous pulley is connected, and swing arm motor drives the bull wheel of swing arm synchronous pulley by toothed belt transmission and drives swing arm dish, thus drives swing arm inner panel to swing, and realizes the swing of robot swinging arm.Described swing arm motor is arranged on aforementioned motor fixed block, and the front and back position of swing arm motor is adjustable; Swing arm Timing Belt steamboat and swing arm Timing Belt wheel shaft are arranged on the swing arm Timing Belt support of frame, can regulate its front and back position, thus regulate the tension force of swing arm Timing Belt.Four groups of swing arm motion modules are positioned at the left front, left back, right front, right back of robot, symmetrical, the symmetrical arrangement in front and back.Because each swing arm has respective motor, can independently control to swing, the caterpillar robot making robot more traditional has stronger alerting ability, more close to the ground comformability of quadruped robot.
Described control box industrial computer, actuator, battery etc., be positioned at robot frame inside, protect by frame, control box compact in design, and save design space, whole control box is placed on robot interior can reduce robot center of gravity, ensures the stability of motion of robot.
Described sensing element is four angular transducers of left front, left back, right front, right back four positions of robot, be connected in the respective sensor groove of floor, effect is the swing arm position demarcating robot, prevents because losing the robot manipulation caused swing arm position after robot power down unexpected.
The caterpillar robot that the present invention is more traditional is designed with following advantage:
1. quality is lighter;
2. be easy for installation and removal;
3. more compact structure, ground contact area is larger, and maneuvering performance is better;
4. there is more degree of freedom, more flexibly, ground better adaptability;
5. be more conducive to the protection of function unit, quickly-chargeable;
6. be more conducive to the debugging of robot.
Accompanying drawing explanation
Accompanying drawing 1 is the schematic diagram of this crawler type six degree of freedom mobile robot complete machine composition module;
Accompanying drawing 2 is that robot frame's channel floor is formed and sensor schematic diagram;
Accompanying drawing 3 forms schematic diagram above robot frame's partial interior;
Accompanying drawing 4 forms schematic diagram below robot frame's partial interior;
Accompanying drawing 5 is main motion module or right side main motion module composition schematic diagrams on the left of robot;
Accompanying drawing 6 is master and slave moving axis axle system, the swing arm motor shaft system schematic diagram of robot front end or rear end;
Accompanying drawing 7 is the main motor shaft system of robot front end or rear end, swing arm motor shaft system, swing arm driven shaft axle system schematic diagram;
Accompanying drawing 8,9 is left front or the right front or left and right of robot or right back swing arm motion module diagram;
Accompanying drawing 10 is schematic diagrams of robot controlling case entirety.
Detailed description of the invention
Be described below in conjunction with the preferred embodiment of accompanying drawing to robot.
embodiment one:
See Fig. 1 to Figure 10, this crawler type six degree of freedom mobile robot, comprise left and right sides two main motion modules 2,3, left front, right front, left back, right back four swing arm motion modules 4,5,6,7, frame 1, control box 8 and four angular transducers 9a, 9b, 9c, 9d.It is characterized in that: described frame 1 is the body of robot, in order to carrying, connect modules and bear external loading; Described left and right sides two main motion modules 2,3 are symmetrical centered by frame 1, and energy individual drive; Described left front, right front, left back, right back four swing arm motion modules 4,5,6,7 have identical structure, to frame 1 in symmetrical all around, and each own independently driver element; Described control box 8 is positioned at the inside of frame 1, by frame 1 and the casing of self protect; Described four angular transducers 9a, 9b, 9c, 9d are embedded in left front, right front, left back, right back four orientation of frame 1.
embodiment two:
The present embodiment is substantially identical with embodiment one, and special feature is as follows:
Described frame 1 comprises web 11, front jugularia 12a, rear jugularia 12b, front 13a, back 13b, left floor 14a, right floor 14b, upper epimere 15a, lower epimere 15b, front epimere fixed block 16a, rear epimere fixed block 16b, left support block 17a, right support block 17b, front upper motor fixed block 18a, rear upper motor fixed block 18b, left front motor fixed block 18c, right front motor fixed block 18d, left back motor fixed block 18e, right back motor fixed block 18f, front positive tension pole 19a, rear positive tension pole 19b, front positive swing arm synchronous pulley inner support 110a, rear positive swing arm synchronous pulley inner support 110b, front positive swing arm synchronous pulley outer support 111a, rear positive swing arm synchronous pulley outer support 111b, front main synchronous pulley bearing 112a, rear main synchronous pulley bearing 112b, front anti-tension pole 113a, rear anti-tension pole 113b, front anti-wobble arm synchronous pulley inner support 114a, rear anti-wobble arm synchronous pulley inner support 114b, front anti-wobble arm synchronous pulley outer support 115a, rear anti-wobble arm synchronous pulley outer support 115b, these components form the main frame of frame 1, two groups of mair motor are correlated with frame and four groups of relevant frames of swing arm motor, in described frame main frame, described web 11 is as the pedestal of whole frame, front 13a, back 13b, left floor 14a, right floor 14b locate with it and connect above web 11, front jugularia 12a, rear jugularia 12b reinforce the connection above frame, lower epimere 15b forward epimere fixed block 16a, rear epimere fixed block 16b are connected with two pieces, front and back jugularia 12a, 12b, upper epimere 15a is connected with lower epimere 15b, for outside extension element provides installation site by left support block 17a, right support block 17b, described two groups of mair motor are correlated with in frame, are connected to front upper motor fixed block 18a below front jugularia 12a, are used for installing main motor, and its front and back position is adjustable, be connected to front main synchronous pulley bearing 112a below front jugularia 12a, its left and right sides is installed with bearing seat, front jugularia 12a has two set screw can regulate the front and back position of front main synchronous pulley bearing 112a, rear jugularia 12b, rear upper motor fixed block 18b, rear main synchronous pulley bearing 112b are identical with the connection mode of front main Timing Belt bearing 112a, and the position of these two groups of parts is centrosymmetric about the front-rear center face of frame, described four groups of swing arm motors are correlated with in frame, are installed with left front motor fixed block 18c in the left front of web 11, are used for installing swing arm motor, and its front and back position can regulate, the swing arm Timing Belt stretching device that before the left surface of left floor 14a is installed with, positive tension pole 19a, front positive swing arm synchronous pulley inner support 110a, front positive swing arm synchronous pulley outer support 111a form, its front and back position is adjustable, the left back motor fixed block 18e of frame left back, rear anti-tension pole 113b, rear anti-wobble arm synchronous pulley inner support 114b, rear anti-wobble arm synchronous pulley outer support 115b and the counterpart 18c of aforementioned frame 1 left front, the position of 19a, 110a, 111a and mounting means are symmetrical relative to the front-rear center face of frame 1, the position of the right front motor fixed block 18d of frame 1 right front, front anti-tension pole 113a, front anti-wobble arm synchronous pulley inner support 114a, front anti-wobble arm synchronous pulley outer support 115a and aforementioned frame 1 left front counterpart 18c, 19a, 110a, 111a and mounting means are symmetrical relative to the left and right longitudinal plane of symmetry of frame 1, the position of the right back motor fixed block 18f of frame 1 right abaft, rear positive tension pole 19b, rear positive swing arm synchronous pulley inner support 110b, rear positive swing arm synchronous pulley outer support 111b and aforementioned frame 1 left back counterpart 18d, 113a, 114a, 115a and mounting means are relative to symmetrical in the front-rear center face of frame 1, described front 13a and back 13b having charging slot, making the charging of robot when not pulling up battery become possibility.
Described left and right sides main motion module 2,3 is left side main motion module 2 and right side main motion module 3, and their structure is identical: left side main motion module 2 comprises left support wheel carrier 21a, right support wheel carrier 21b, main track sprocket 22, main crawler belt flower wheel 23, main crawler belt 24, imput shaft 25, driven shaft 26, mair motor 27, lead spindle 28, main Timing Belt wheel shaft 29, main Timing Belt steamboat 210, main Timing Belt bull wheel 211, main Timing Belt 212 and imput shaft axle sleeve 213; The belt transmission system that described mair motor 27 is consisted of with main Timing Belt steamboat 210, main Timing Belt bull wheel 211, main Timing Belt 212 lead spindle 28, main Timing Belt wheel shaft 29 is connected; Described main Timing Belt bull wheel 211 is fixed together by key connecting with imput shaft 25, axially use jump ring and the locking of fixing and locking loop mapping, main track sprocket 22 is equally also connected by key and imput shaft 25, axially by imput shaft axle sleeve 213 and the locking of another fixing and locking loop mapping, imput shaft 25 supports by the bearing in the head of frame 1 and floor, is connected and can rotates to it with frame 1; Between the head that driven shaft 26 is also bearing in frame 1 and the bearing of floor, driven shaft 26 is connected by key with main crawler belt flower wheel 23, and axis jump ring is spacing, also can relative to gantry rotation; And left support wheel carrier 21a, 31a, right support wheel carrier 21b, 31b are connected with web 11 by screw, and can regulate upper-lower position, the main crawler belt 24 of tensioning, support load; The profile of tooth of described main crawler belt 24 is conducive to reducing average maximum ground contact pressure, improves the maneuvering performance of robot; Main motion module 3 in right side is identical with the structure of left side main motion module 2, and principle of work is consistent.
Described left front, right front, left back, right back four swing arm motion modules 4, 5, 6, 7 is left front swing arm motion module 4, right front swing arm motion module 5, left rear swing arm motion module 6 and right back swing arm motion module 7 four, their structure is identical: left front swing arm motion module 4 comprises swing arm motor 41, swing arm coupler 42, swing arm Timing Belt wheel shaft 43, swing arm Timing Belt steamboat 44, swing arm Timing Belt bull wheel 45, swing arm Timing Belt 46, swing arm dish 47, swing arm inner panel 48, swing arm outside plate 49, left front arm shaft bearing 410a, right front arm shaft bearing 410b, right back arm shaft bearing 410d, swing arm driven shaft 411, swing arm driving wheel 412, swing arm flower wheel 413 and swing arm crawler belt 414, described swing arm motor 41 is connected on web 11, by swing arm coupler 42 by corresponding motor reducer fixed block, swing arm Timing Belt wheel shaft 43 is connected with swing arm Timing Belt steamboat 44, swing arm Timing Belt steamboat 44 and swing arm Timing Belt wheel shaft 43 are connected by key, they are supported on two plain bearings of aforementioned swing arm Timing Belt stretching device, and the front and back position by adjustment swing arm Timing Belt steamboat 44 carrys out tensioning swing arm Timing Belt 46, swing arm Timing Belt bull wheel 45 in V belt translation is connected with screw with swing arm dish 47, there is antifriction-bearing box at the two ends of swing arm dish 47 endoporus, they to be arranged on corresponding imput shaft or driven shaft and can relative to rotation, swing arm inner panel 48 and swing arm dish 47 are connected, swing arm driving wheel 412 is connected by key with corresponding imput shaft or driven shaft, and with the spacing supporting of swing arm outside plate 49, it is smooth and easy that arm shaft bearing 410d on the outside plate of swing arm simultaneously ensures that swing arm swings, install between swing arm inner panel end and swing arm outside plate end and carry swing arm flower wheel 413, swing arm flower wheel 413 and swing arm driven shaft 411 are connected with key, axis jump ring is spacing, be supported at both ends in left front arm shaft bearing 410a and right front arm shaft bearing 410b, and with nut locking, swing arm flower wheel and swing arm driven shaft can relative and swing arm inner panels 48, swing arm outside plate 49 rotates, and move thereupon, the structure of described right front swing arm motion module 5, left rear swing arm motion module 6 and right back swing arm motion module 7, identical with the structure of left front swing arm motion module 4, principle of work is consistent.
Described control box 8 comprises industrial computer, actuator, battery, and battery is distributed in control box side, internal piloting device characteristics of compact layout, and whole casing is inner robot frame, protects by frame.
Described four angular transducers are left front sensor 9a, right front sensor 9b, left back sensor 9c, right back sensor 9d, are positioned at the corner of frame, are connected with swing arm dish 47, the anglec of rotation of robot measurement swing arm.
embodiment three:
This crawler type six degree of freedom mobile robot complete machine comprises---frame 1, main motion module 2 and 3, swing arm motion module 4,5,6 and 7, control box 8, sensor.Its mid frame 1 is made up of 11 to 115b part, and often kind of part has carried out as the concrete name in table according to the difference of installation site; Main motion module comprises left side main motion module 2 and right side main motion module 3, and each independent main motion module is made up of 21a to 213 part, and often kind of part has carried out as the concrete name in table according to the difference of installation site; Swing arm motion module comprises left front swing arm motion module 4, right front swing arm motion module 5, left rear swing arm motion module 6 and right back swing arm motion module 7, each independent swing arm motion module is made up of 41 to No. 414 parts, and often kind of part has carried out as the concrete name in table according to the difference of installation site; Control box 8 comprises industrial computer, actuator, battery etc., and control box is protected by frame; Sensor comprises left front sensor 9a, right front sensor 9b, left back sensor 9c, right back sensor 9d.
Be the present invention as shown in Figure 1 and Figure 2, be applied to six peddrail mobile robot schematic diagrams of special occasions.Robot fuselage adopts aluminum alloy to make, and reduces repeated hole, uses toothed belt transmission to replace traditional gear transmission and Chain conveyer, thus alleviates the deadweight of robot.It comprises frame, two main motion modules, four swing arm motion modules, control box and sensors.The effect of frame 1 is carrying, connects modules and bear external loading.There is left side main motion module 2 frame both sides, right side main motion module 3, and they have independently driver element respectively, two main motion modules distribute to journey about the center of frame, left side main motion module 2 is prodromal forms, and 3 is rear-guard form, and the object done like this is to make robot architecture compact.The position at frame 1 four angles has left front swing arm motion module 4 respectively, right front swing arm motion module 5, left rear swing arm motion module 6, right back swing arm motion module 7, four swing arm motion modules have identical structure, and each own independently driver element.Control box 8 is positioned at the inside of frame 1, by frame and self casing protect.Four angular transducers 9a, 9b, 9c, 9d are embedded in left front, right front, left back, right back four orientation of frame 1.On the whole, the motion of robot is realized by six motion module, each module can independently control, the main motion of robot is as advanced, retreat, turn to, climbings etc. are by two main motion modules 2, 3 realize, and four swing arm motion modules 4, 5, 6, 7 for realizing the auxiliary motion of robot, swing arm crawler belt as the left and right sides has the motion of equidirectional respectively with the main crawler belt of the left and right sides, be equivalent to the length extending main crawler belt, in order to strengthen the main motion ability of robot, swing arm simultaneously also can be climbed by auxiliary robot, support, obstacle detouring, the complicated motion such as to paddle, in order to tackle different tasks, in addition this robot also easily extensible external device, as mechanical arm, imageing sensor etc.
Be frame schematic diagram as shown in Figure 2, Figure 3, Figure 4, the global shape of frame has imitated the skeleton of tortoise, forms the connection mode of the vital parts of frame for being threaded.Frame 1 comprises web 11, front jugularia 12a, rear jugularia 12b, front 13a, back 13b, left floor 14a, right floor 14b, upper epimere 15a, lower epimere 15b, front epimere fixed block 16a, rear epimere fixed block 16b, left support block 17a, right support block 17b, front upper motor fixed block 18a, rear upper motor fixed block 18b, left front motor fixed block 18c, right front motor fixed block 18d, left back motor fixed block 18e, right back motor fixed block 18f, front positive tension pole 19a, rear positive tension pole 19b, front positive swing arm synchronous pulley inner support 110a, rear positive swing arm synchronous pulley inner support 110b, front positive swing arm synchronous pulley outer support 111a, rear positive swing arm synchronous pulley outer support 111b, front main synchronous pulley bearing 112a, rear main synchronous pulley bearing 112b, front anti-tension pole 113a, rear anti-tension pole 113b, front anti-wobble arm synchronous pulley inner support 114a, rear anti-wobble arm synchronous pulley inner support 114b, front anti-wobble arm synchronous pulley outer support 115a, rear anti-wobble arm synchronous pulley outer support 115b.On the whole, frame is made up of main frame, two groups of mair motor correlated partss, four groups of swing arm motor correlated partss. frame main frame: 11 as the pedestal of whole frame, 13a, 13b, 14a, 14b are connected in the mode be threaded with it above 11, have on 11 locating surface and knock hole coaxial to guarantee the bearing hole on each head part and floor, 12a, 12b are in order to reinforce the connection above frame, 15b is connected with two pieces of jugularias by 16a, 16b, can strengthen the connection above frame equally, 15a is connected, for outside extension element provides installation site by 17a, 17b and 15b.Above-mentioned part and connection mode constitute the main frame of frame, on this basis, provide the union piece connecting actuator. two groups of mair motor correlated partss: below 12a, be connected to 18a, be used for installing main motor, 18a and 12a connects with waist-shaped hole, therefore can regulate the front and back position of mair motor; Be connected to 112a with waist-shaped hole equally below 12a, the 112a left and right sides is installed with bearing seat, herein in order to install main synchronous pulley steamboat, 12a has two set screw be used for regulating the front and back position of 112a, to regulate the tension force of main Timing Belt; The front and back position of 18a and 112a all needs to regulate to ensure that main motor shaft is coaxial with main synchronous pulley steamboat; The connection mode of 12b, 18b, 112b and 12a, 18a, 112a is identical, and just the position of these two groups of parts is centrosymmetric about the front-rear center face of frame, and they are installed with mair motor in 2,3 and main synchronous pulley steamboat respectively. four groups of swing arm motor correlated partss: be installed with 18c in the left front of 11, be used for installing swing arm motor, 18c is connected with waist-shaped hole with 11, and its front and back position can regulate; The left surface of 14a is installed with the swing arm Timing Belt stretching device of 19a, 110a, 111a composition, 19a is connected on 14a, 110a and 111a is connected by three pillars, 110a has waist-shaped hole, 19a there is set screw, the front and back position of the swing arm synchronous pulley steamboat that frame left front therefore can be regulated to install, to regulate the tension force of swing arm Timing Belt; The position of swing arm motor and swing arm synchronous pulley steamboat all needs to regulate to ensure that swing arm motor shaft is coaxial with swing arm synchronous pulley steamboat; 18e, 113b, 114b, 115b of frame left back and the position of aforementioned 18c, 19a, 110a, 111a, mounting means are symmetrical about the front-rear center face of frame; 18d, 113a, 114a, 115a of frame right front and the position of aforementioned 18c, 19a, 110a, 111a, mounting means are symmetrical about the left and right longitudinal plane of symmetry of frame; 18f, 19b, 110b, 111b of frame right abaft and the position of aforementioned 18d, 113a, 114a, 115a, mounting means are symmetrical about the front-rear center face of frame.More than be the chassis design of robot, it not only facilitates the Assembly &Disassembly of robot, and the arrangement of entirety makes frame compact, and has the effect reducing robot deadweight.In addition, front 13a and back 13b having charging slot, making the charging of robot when not pulling up battery become possibility.
As Fig. 1, Fig. 5, Fig. 6, Figure 7 shows that main motion module diagram, the motor controlling two main motion module degree of freedom is each before and after robot arranges one, and to utilize spatially staggered makes compact conformation.Main motion module has left side main motion module 2 and right side main motion module 3 two, and their structure is identical, as shown in Figure 5.Be described with left side main motion module 2.Left side main motion module 2 comprises left support wheel carrier 21a, right support wheel carrier 21b, main track sprocket 22, main crawler belt flower wheel 23, main crawler belt 24 or 34, imput shaft 25, driven shaft 26, mair motor 27, lead spindle 28, main Timing Belt wheel shaft 29, main Timing Belt steamboat 210, main Timing Belt bull wheel 211, main Timing Belt 212, imput shaft axle sleeve 213.There are imput shaft axle system, main Timing Belt wheel shaft axle system in front, and there is driven shaft axle system at rear, and middle 21a can up-down adjustment, while tensioning 24, plays the effect of carrying robot weight and external loading.The concrete mounting means of main motion module is as follows, and the belt transmission system that mair motor 27 is consisted of with main Timing Belt steamboat 210, main Timing Belt bull wheel 211, main Timing Belt 212 lead spindle 28, main Timing Belt wheel shaft 29 is connected; Main Timing Belt bull wheel 211 is fixed together by key connecting with imput shaft 25, axially use jump ring and the locking of fixing and locking loop mapping, main track sprocket 22 is equally also connected by key and imput shaft 25, axially by imput shaft axle sleeve 213 and the locking of another fixing and locking loop mapping, imput shaft 25 supports by the bearing in the head of frame 1 and floor, is connected and can rotates to it with frame; The driven shaft 26 of main motion module is also bearing between the head of frame and the bearing of floor, and driven shaft 26 is connected by key with main crawler belt flower wheel 23, and axis jump ring is spacing, also can relative to gantry rotation; And left support wheel carrier 21a, right support wheel carrier 21b are connected with web 11 by screw, and upper-lower position can be regulated, the main crawler belt 24 of tensioning, support load.During motion, 27 drive 25 rotations by the toothed belt transmission assembly of 28,29,210,211,212 compositions, thus drive 22 to rotate, and then make whole main motion block motion.In addition, main crawler belt 24 selects wider crawler belt to increase the area that contacts to earth of robot, and its profile of tooth is also conducive to reducing average maximum ground contact pressure, improves the maneuvering performance of robot.Main motion module 3 in right side is identical with the structure of left side main motion module 2, and principle of work is consistent.
As Fig. 6,7,8,9 is depicted as swing arm module diagram, each swing arm in swing arm module can carry out independent control, adds the alerting ability of control.Swing arm motion module has left front swing arm motion module 4, right front swing arm motion module 5, and left rear swing arm motion module 6 and right back swing arm motion module 7 four, their structure is identical, as shown in Figure 8.Be described with left front swing arm motion module 4, left front swing arm motion module 4 comprises swing arm motor 41, swing arm coupler 42, swing arm Timing Belt wheel shaft 43, swing arm Timing Belt steamboat 44, swing arm Timing Belt bull wheel 45, swing arm Timing Belt 46, swing arm dish 47, swing arm inner panel 48, swing arm outside plate 49, left front arm shaft bearing 410a, right front arm shaft bearing 410b, right back arm shaft bearing 410d, swing arm driven shaft 411, swing arm driving wheel 412, swing arm flower wheel 413, swing arm crawler belt 414.By the direction in figure, there are swing arm motor correlated parts, V belt translation correlated parts, swing arm crawler belt correlated parts and their axle system from left to right.The concrete mounting means of swing arm motion module is as follows, swing arm motor 41 is connected on web 11 by corresponding motor reducer fixed block, be connected with swing arm Timing Belt steamboat 44 by swing arm coupler 42, swing arm Timing Belt wheel shaft 43, swing arm Timing Belt steamboat 44 and swing arm Timing Belt wheel shaft 43 are connected by key, they are supported on two plain bearings of aforementioned swing arm Timing Belt stretching device, can carry out tensioning swing arm Timing Belt 46 by the front and back position of adjustment swing arm Timing Belt steamboat 44, swing arm Timing Belt bull wheel 45 in V belt translation is connected with screw with swing arm dish 47, there is antifriction-bearing box at the two ends of swing arm dish 47 endoporus, they install on imput shaft corresponding in the drawings or driven shaft, swing arm inner panel 48 and swing arm dish 47 are connected, swing arm driving wheel 412 is connected by key with corresponding imput shaft or driven shaft as shown in the figure, and with the spacing supporting of swing arm outside plate 49, it is smooth and easy that arm shaft bearing 410d on the outside plate of swing arm simultaneously ensures that swing arm swings, install between swing arm inner panel end and swing arm outside plate end and carry swing arm flower wheel 413, swing arm flower wheel 413 and swing arm driven shaft 411 are connected with key, axis jump ring is spacing, two sections are supported on left front arm shaft bearing 410a and right front arm shaft bearing 410b, and with nut locking, swing arm flower wheel and swing arm driven shaft can relative and swing arm inner panels 48, swing arm outside plate 49 rotates, and move thereupon.During motion, if swing arm motor does not work, then swing arm does not swing, and swing arm driving wheel 412 with the main motion module rotating in same direction of homonymy, can drive swing arm crawler belt and the main crawler belt rotating in same direction of homonymy; If swing arm machine operation, then swing arm motor drives swing arm dish and swing arm inner and outer plates by toothed belt transmission, thus drives swing arm flower wheel, swing arm crawler belt to swing, and this swings the rotation not affecting swing arm crawler belt.The structure of right front swing arm motion module 5, left rear swing arm motion module 6 and right back swing arm motion module 7, identical with the structure of left front swing arm motion module 4, principle of work is consistent.Four swing arm cooperatings can realize as obstacle detouring, paddle and more complicated task, enhance the comformability of robot to ground, and the locomitivity of robot.
As shown in Fig. 1,10, the control box of robot is positioned at robot frame 1 inside, and internal components comprises industrial computer, actuator, battery etc., and they can be protected by control box compact in design.And consider the charging modes of robot, make it not need to pull up battery and chargeable.
As shown in Figure 2, sensor comprises left front sensor 9a, right front sensor 9b, left back sensor 9c, right back sensor 9d, be positioned at the corner of frame 1, be connected with swing arm dish, be used for measuring the absolute location of corresponding swing arm, prevent the dysfunction that causes or structural failure because robot power down rear-swing arm location information is lost, be more conducive to robot and debug.

Claims (6)

1. a crawler type six degree of freedom mobile robot, comprise left and right sides two main motion modules (2,3), left front, right front, left back, right back four swing arm motion modules (4,5,6,7), frame (1), control box (8) and four angular transducers (9a, 9b, 9c, 9d), it is characterized in that: the body that described frame (1) is robot, in order to carrying, connect modules and bear external loading; Described left and right sides two main motion modules (2,3) are symmetrical centered by frame (1), and energy individual drive separately; Described left front, right front, left back, right back four swing arm motion modules (4,5,6,7) have identical structure, to frame (1) in symmetrical all around, and each own independently driver element; Described control box (8) is positioned at the inside of frame (1), by frame (1) and the casing of self protect; Described four angular transducers (9a, 9b, 9c, 9d) are embedded in left front, right front, left back, right back four orientation of frame (1).
2. crawler type six degree of freedom mobile robot according to claim 1, it is characterized in that: described frame (1) comprises web (11), front jugularia (12a), rear jugularia (12b), front (13a), back (13b), left floor (14a), right floor (14b), upper epimere (15a), lower epimere (15b), front epimere fixed block (16a), rear epimere fixed block (16b), left support block (17a), right support block (17b), front upper motor fixed block (18a), rear upper motor fixed block (18b), left front motor fixed block (18c), right front motor fixed block (18d), left back motor fixed block (18e), right back motor fixed block (18f), front positive tension pole (19a), rear positive tension pole (19b), front positive swing arm synchronous pulley inner support (110a), rear positive swing arm synchronous pulley inner support (110b), front positive swing arm synchronous pulley outer support (111a), rear positive swing arm synchronous pulley outer support (111b), front main synchronous pulley bearing (112a), rear main synchronous pulley bearing (112b), front anti-tension pole (113a), rear anti-tension pole (113b), front anti-wobble arm synchronous pulley inner support (114a), rear anti-wobble arm synchronous pulley inner support (114b), front anti-wobble arm synchronous pulley outer support (115a), rear anti-wobble arm synchronous pulley outer support (115b), these components form the main frame of frame (1), two groups of mair motor are correlated with frame and four groups of relevant frames of swing arm motor, in described frame main frame, described web (11) is as the pedestal of whole frame, front (13a), back (13b), left floor (14a), right floor (14b) is located with it in web (11) top and connects, front jugularia (12a), rear jugularia (12b) reinforces the connection above frame, the forward epimere fixed block (16a) of lower epimere (15b), rear epimere fixed block (16b) and two pieces, front and back jugularia (12a, 12b) be connected, upper epimere (15a) is by left support block (17a), right support block (17b) is connected with lower epimere (15b), for outside extension element provides installation site, described two groups of mair motor are correlated with in frame, and be connected to front upper motor fixed block (18a) in front jugularia (12a) below, be used for installing main motor, its front and back position is adjustable, front jugularia (12a) below is connected to front main synchronous pulley bearing (112a), and its left and right sides is installed with bearing seat, front jugularia (12a) has two set screw can regulate the front and back position of front main synchronous pulley bearing (112a), rear jugularia (12b), rear upper motor fixed block (18b), rear main synchronous pulley bearing (112b) are identical with the connection mode of front main Timing Belt bearing (112a), and the position of these two groups of parts is centrosymmetric about the front-rear center face of frame, described four groups of swing arm motors are correlated with in frame, are installed with left front motor fixed block (18c) in the left front of web (11), are used for installing swing arm motor, and its front and back position can regulate, the swing arm Timing Belt stretching device that before the left surface of left floor (14a) is installed with, positive tension pole (19a), front positive swing arm synchronous pulley inner support (110a), front positive swing arm synchronous pulley outer support (111a) form, its front and back position is adjustable, position and the mounting means of the left back motor fixed block (18e) of frame left back, rear anti-tension pole (113b), rear anti-wobble arm synchronous pulley inner support (114b), rear anti-wobble arm synchronous pulley outer support (115b) and the counterpart (18c, 19a, 110a, 111a) of aforementioned frame (1) left front are symmetrical relative to the front-rear center face of frame (1), position and the mounting means of the right front motor fixed block (18d) of frame (1) right front, front anti-tension pole (113a), front anti-wobble arm synchronous pulley inner support (114a), front anti-wobble arm synchronous pulley outer support (115a) and aforementioned frame (1) left front counterpart (18c, 19a, 110a, 111a) are symmetrical relative to the left and right longitudinal plane of symmetry of frame (1), the position of the right back motor fixed block (18f) of frame (1) right abaft, rear positive tension pole (19b), rear positive swing arm synchronous pulley inner support (110b), rear positive swing arm synchronous pulley outer support (111b) and aforementioned frame (1) left back counterpart (18d, 113a, 114a, 115a) and mounting means are relative to symmetrical in the front-rear center face of frame (1), described front (13a) and back (13b) having charging slot, making the charging of robot when not pulling up battery become possibility.
3. crawler type six degree of freedom mobile robot according to claim 1, it is characterized in that: described left and right sides main motion module (2, 3) be left side main motion module 2 and right side main motion module 3, their structure is identical: left side main motion module (2) comprises left support wheel carrier (21a), right support wheel carrier (21b), main track sprocket (22), main crawler belt flower wheel (23), main crawler belt (24), imput shaft (25), driven shaft (26), mair motor (27), lead spindle (28), main Timing Belt wheel shaft (29), main Timing Belt steamboat (210), main Timing Belt bull wheel (211), main Timing Belt (212) and imput shaft axle sleeve (213), the belt transmission system that described mair motor (27) is consisted of with main Timing Belt steamboat (210), main Timing Belt bull wheel (211), main Timing Belt (212) lead spindle (28), main Timing Belt wheel shaft (29) is connected, described main Timing Belt bull wheel (211) and imput shaft (25) are fixed together by key connecting, axially use jump ring and the locking of fixing and locking loop mapping, main track sprocket (22) is equally also connected by key and imput shaft (25), axially by imput shaft axle sleeve (213) and the locking of another fixing and locking loop mapping, imput shaft (25), by the bearing supporting in the head of frame (1) and floor, is connected with frame (1) and also can rotates to it, between the head that driven shaft (26) is also bearing in frame (1) and the bearing of floor, driven shaft (26) is connected by key with main crawler belt flower wheel (23), and axis jump ring is spacing, also can relative to gantry rotation, and left support wheel carrier (21a, 31a), right support wheel carrier (21b, 31b) are connected with web (11) by screw, and upper-lower position can be regulated, the main crawler belt of tensioning (24), support load, the profile of tooth of described main crawler belt (24) is conducive to reducing average maximum ground contact pressure, improves the maneuvering performance of robot, main motion module 3 in right side is identical with the structure of left side main motion module 2, and principle of work is consistent.
4. crawler type six degree of freedom mobile robot according to claim 1, is characterized in that: described left front, right front, left back, right back four swing arm motion modules (4, 5, 6, 7) be left front swing arm motion module (4), right front swing arm motion module (5), left rear swing arm motion module (6) and right back swing arm motion module (7) four, their structure is identical: left front swing arm motion module (4) comprises swing arm motor (41), swing arm coupler (42), swing arm Timing Belt wheel shaft (43), swing arm Timing Belt steamboat (44), swing arm Timing Belt bull wheel (45), swing arm Timing Belt (46), swing arm dish (47), swing arm inner panel (48), swing arm outside plate (49), left front arm shaft bearing (410a), right front arm shaft bearing (410b), right back arm shaft bearing (410d), swing arm driven shaft (411), swing arm driving wheel (412), swing arm flower wheel (413) and swing arm crawler belt (414), described swing arm motor (41) is connected on web (11), by swing arm coupler (42) by corresponding motor reducer fixed block, swing arm Timing Belt wheel shaft (43) is connected with swing arm Timing Belt steamboat (44), swing arm Timing Belt steamboat (44) and swing arm Timing Belt wheel shaft (43) are connected by key, they are supported on two plain bearings of aforementioned swing arm Timing Belt stretching device, and the front and back position by adjustment swing arm Timing Belt steamboat (44) carrys out tensioning swing arm Timing Belt (46), swing arm Timing Belt bull wheel (45) in V belt translation and swing arm dish (47) are connected with screw, there is antifriction-bearing box at the two ends of swing arm dish (47) endoporus, they to be arranged on corresponding imput shaft or driven shaft and can relative to rotation, swing arm inner panel (48) and swing arm dish (47) are connected, swing arm driving wheel (412) is connected by key with corresponding imput shaft or driven shaft, and with swing arm outside plate (49) spacing supporting, it is smooth and easy that arm shaft bearing (410d) on the outside plate of swing arm simultaneously ensures that swing arm swings, install between swing arm inner panel end and swing arm outside plate end and carry swing arm flower wheel (413), swing arm flower wheel (413) and swing arm driven shaft (411) are connected with key, axis jump ring is spacing, be supported at both ends in left front arm shaft bearing (410a) and right front arm shaft bearing (410b), and with nut locking, swing arm flower wheel and swing arm driven shaft can relative and swing arm inner panels (48), swing arm outside plate (49) rotates, and move thereupon, the structure of described right front swing arm motion module (5), left rear swing arm motion module (6) and right back swing arm motion module (7), identical with the structure of left front swing arm motion module (4), principle of work is consistent.
5. crawler type six degree of freedom mobile robot according to claim 1; it is characterized in that: described control box (8) comprises industrial computer, actuator, battery, and battery is distributed in control box side, internal piloting device characteristics of compact layout; whole casing is inner robot frame, protects by frame.
6. crawler type six degree of freedom mobile robot according to claim 4, it is characterized in that: described four angular transducers are left front sensor (9a), right front sensor (9b), left back sensor (9c), right back sensor (9d), be positioned at the corner of frame, be connected with swing arm dish (47), the anglec of rotation of robot measurement swing arm.
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