CN104443085B - Crawler type six degree of freedom mobile robot - Google Patents

Crawler type six degree of freedom mobile robot Download PDF

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Publication number
CN104443085B
CN104443085B CN201410655985.1A CN201410655985A CN104443085B CN 104443085 B CN104443085 B CN 104443085B CN 201410655985 A CN201410655985 A CN 201410655985A CN 104443085 B CN104443085 B CN 104443085B
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China
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swing arm
frame
main
arm
timing belt
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CN201410655985.1A
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CN104443085A (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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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Publication of CN104443085A publication Critical patent/CN104443085A/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 present invention relates to a kind of crawler type six degree of freedom mobile robot.The ingredient of the robot includes frame, main motion module, swing arm motion module, control chamber, sensor.Whole machine has six-freedom degree, two main crawler belt energy self-movements, track structure design makes it have stronger ground by performance, can travel on complicated road surface, turn etc., four swing arms also can self-movement, make robot that there is in the tasks such as stair climbing, obstacle detouring, avoidance excellent performance.

Description

Crawler type six degree of freedom mobile robot
Technical field
The invention belongs to ground mobile robot technical field, and in particular to a kind of crawler type six of high maneuverability energy is freely Degree mobile robot, can tackle the landform of complexity, the such as step of interior of building, stair, the environment with barrier, Yi Jijian Build the ruins environment after thing caves in, the robot can be applied in the tasks such as the prospecting of the disaster scene of the accident, search and rescue, be search and rescue Personnel provide important first-hand information.
Background technology
Natural disaster and man power disaster because its destructive huge allow people to inspire awe even from distance always, and the prospecting after disaster, search Rescue work be particularly important, but often major disaster generation after, site environment is excessively complicated, with much unknown danger Danger, such as radioprotective, chemical spills, biochemical pollution, high temperature, high humidity, ruined building is secondary caves in, can beyond the mankind The limit of power of process, the robot for therefore carrying out the inspection of the scene of a crime, search and rescue and process after research disaster become and move in the world One hot issue of robot field.Generally, mobile robot has wheeled, sufficient formula, crawler type etc., and they respectively have its feature, Caterpillar type robot controls relatively convenient due to its ground strong adaptability, is widely used in prospecting, search and rescue task.
The artificial two degrees of freedom of traditional crawler frame or Three Degree Of Freedom, i.e., only two main motion modules or two main fortune The swing arm of motion simultaneously that dynamic model block adds a pair, which simplify design difficulty, but manifests some shortcomings in terms of mobility, Show as obstacle clearing capability limited, downstairs when move unstable etc.;The pedrail mechanism of traditional caterpillar robot is more and robot master Body is separated, and facilitates robot body's design, but not compact enough design makes its contact area not enough, affects which in non-structural The travelling performance of environment;Using gear or Chain conveyer more than traditional caterpillar robot, be allowed to weight increase, be driven unstable Problem;Directly it is connected with frame more than the parts such as the control of traditional caterpillar robot, power supply, is unfavorable for the protection of vitals, Also inconvenience is brought to installation and debugging.In order to preferably complete to reconnoitre, search and rescue task, need to overcome during design robot above not Foot, makes rational design, improves mobility.
Content of the invention
Present invention aims to the defect that prior art is present, there is provided a kind of crawler type six degree of freedom moves machine People, reaches compact conformation, lighter in weight, mobility good.For reaching above-mentioned purpose, the present invention will to the design of robot body Seeking Truth:
1. the deadweight of robot, on the basis of Robot Design requirement is met, is mitigated as far as possible;
2. the installation and removal of robot, on the basis of Robot Design requirement is met, are facilitated;
3. on the basis of Robot Design requirement is met, make robot architecture compact as far as possible, have robot relative General caterpillar type robot has more preferable mobility;
4. on the basis of Robot Design requirement is met so that the more traditional caterpillar robot of robot has higher Motility, and strengthen the ground adaptability of robot;
5. protected robot interior device, facilitate the installation of robot interior device;
6. make robot debugging get up convenient.
For reaching above-mentioned requirements, idea of the invention is that:
1. robot fuselage is made using aluminium alloy, and reduces repeated hole, replaces traditional gear to pass using toothed belt transmission Dynamic and Chain conveyer, so that mitigate the deadweight of robot;
2. the connected mode for constituting the major part of robot frame is threaded connection, will take into full account that installation is positioned and whole The rigidity of body, it is desirable to which motor fixed block and main Timing Belt bearing group are adjustable at aspect in front and back, facilitate the peace installation and dismantling of robot Unload;
3. two groups of main motion modules of robot and frame are designed as an entirety, control two main motion module freedom The motor of degree each arrangement one before and after robot, is made compact conformation, is increased from wider crawler belt interlocking in utilization space The area that contacts to earth of robot;
4. a crawler type six-DOF robot is designed, including two main motion modules and four swing arm motion modules, Each degree of freedom can independent control, strengthen the flexibility ratio of robot, four swing arm modules more enhance robot to ground Adaptability;
5. are regarded as different modules to design for the frame of robot and internal control case, premise of the frame in proof strength Under, increase inner space, and reserved internal control case buffers the installing space of part.The design of control chamber should be tried one's best robot Internal components protect, and the charging modes of robot to be considered so as to battery need not be pulled up i.e. chargeable;
6. angular transducer is used for the swing arm position for demarcating robot.
Conceived according to foregoing invention, the present invention adopts following technical scheme:
A crawler type six-DOF robot, including frame, two groups of main motion modules, four groups of swing arm motion modules, controls Case processed and sensing element.Robot is most of to be coated with crawler belt, two groups of main motion modules and its motor at the middle part of robot, Journey is arranged in center, by Synchronous Belt Drives, four groups of swing arm motion moulds between each main motion module and its motor Block and its motor robot left front, left back, right before, behind the right side four positions, symmetrical arrangement, each swing arm motion mould Pass through Synchronous Belt Drives between block and its motor.
The global shape of the frame has imitated the skeleton of Testudiniss, and the connected mode for constituting the major part of frame connects for screw thread Connect, facilitate the installation and removal of frame, frame to divide abdomen, neck, head, rib, ridge and connect the accessory of other modules, specifically include One frame main frame, two groups of mair motor correlated parts, four groups of swing arm motor correlated parts.Web in the lower section of whole frame, 2 Individual floor is normal thereto, be left and right symmetrically arranged;2 heads are vertical with web, be symmetrically installed in front and back, have one to be used on headset The hole of mounting robot charging inlet;Jugularia reinforcing head and the connection of floor, and the installation site of epimere is provided, two jugularias are in Center is installed by journey;Epimere is connected with jugularia by epimere retaining element, is supported with two peripheral hardwares and connect another ridge above epimere Plate, in order to accept the module of outside increase, this main body frame for frame.Design has taken into full account that installation positioning is firm with entirety Property, on this basis, increased the accessory for connecting other modules.4 motors have all around been symmetrically installed on web Fixed block, in order to install swing arm motor, is all around symmetrically mounted with 4 groups of swing arm Timing Belt bearings, and electricity on the outside of 2 floors Machine fixed block and the equal scalable front and back position of swing arm Timing Belt bearing group, to adjust the tension force of swing arm Timing Belt;Divide on 2 jugularias Other center is mounted with 2 motor fixed blocks to journey, in order to install main track drive motor, in equally distinguishing on 2 jugularias To journey, the heart is mounted with that 2 groups of main Timing Belt bearing groups, motor fixed block and main Timing Belt bearing group are adjustable at aspect in front and back, with Adjust the tension force of main Timing Belt.
Each main motion module described includes left support wheel carrier, and right support wheel carrier, main crawler driving whell, main crawler belt are driven Wheel, main crawler belt, driving shaft, driven shaft, mair motor, lead spindle, main Timing Belt wheel shaft, main Timing Belt steamboat, main Timing Belt are big Wheel, main Timing Belt, driving shaft axle sleeve and required standard component.Motor drives driving shaft by toothed belt transmission, drives main crawler belt Driving wheel causes whole main motion block motion, two groups of support wheel groups to play adjustment track tension, reduce pedrail mechanism averagely most Big ground pressure, the effect for improving pedrail mechanism mobility, similarly, have selected wider crawler belt, it is also possible to reduce averagely most Big ground pressure, improves the mobility of pedrail mechanism, and the grouser of main crawler belt selects higher type, more traditional track machines People has the advantage for providing more large traction, running part to select toothed belt transmission, has constant gear ratio, and causes structure Compact to design, it is easier to reach the purpose of light-weight design.Above-mentioned driving shaft and driven shaft head respectively in aforementioned frame There is the strong point at portion's part and floor part, on aforementioned motor fixed block, mair motor front and back position is adjustable for mair motor, main The small pulley of Timing Belt in aforesaid main Timing Belt bearing group, install by main Timing Belt Tension Adjustable, two groups of support wheel groups On aforesaid web, and its height is adjusted by screw, so as to adjust the tension force of main crawler belt.Described main motion module exists There are two groups in robot, arranged in centrosymmetric mode, i.e., one group main crawler belt is forerunner, be rear-guard after another group, it is therefore an objective to The compact purpose of structure design is reached in the form of spatial intersecting.
The swing arm motion module has four groups, is constituted by identical parts, and every group of swing arm motion module includes swing arm Motor, swing arm shaft coupling, swing arm Timing Belt wheel shaft, swing arm Timing Belt steamboat, swing arm Timing Belt bull wheel, swing arm Timing Belt, swing arm Disk, swing arm inner panel, swing arm outside plate, left front swing arm bearing block, right front swing arm bearing block, right rear-swing arm bearing block, swing arm driven shaft, Swing arm driving wheel, swing arm driven pulley, swing arm crawler belt and required standard component.Swing arm driving wheel is by key connecting and aforementioned driving shaft Or driven shaft keeps geo-stationary, so that the same side(On the left of machine or right side)A main crawler belt and two swing arm crawler belts Keep the motion of equidirectional;Swing arm driving wheel and swing arm driven pulley are located between swing arm inner panel and swing arm outside plate, and swing arm is driven Wheel is got up by key connecting with swing arm driven shaft, swing arm driven shaft two axles in the outer front edge of board of swing arm inner panel and swing arm supported In bearing so that swing arm driven pulley can be rotated relative to the inside and outside plate of swing arm, it is ensured that the walking movement of swing arm crawler belt, meanwhile, pendulum The front and back position of arm axle bearing is adjustable, for adjusting the tension force of swing arm crawler belt;Swing arm disk and swing arm inner panel and swing arm synchronous pulley Bull wheel be connected, swing arm motor by toothed belt transmission drive swing arm synchronous pulley bull wheel and drive swing arm disk, so as to drive Swing arm inner panel swings, and realizes the swing of robot swinging arm.The swing arm motor is arranged on aforementioned motor fixed block, swing arm motor Front and back position adjustable;Swing arm Timing Belt steamboat and swing arm Timing Belt wheel shaft, can on the swing arm synchronization belt supporting frame of frame To adjust its front and back position, so as to adjust the tension force of swing arm Timing Belt.Four groups of swing arm motion modules are located at the left front, left of robot Afterwards, the right side before, the right side after, in symmetrical, symmetrical arrangement in front and back.As each swing arm has respective motor, independently can control System swings so that the more traditional caterpillar robot of robot has higher motility, is more nearly the ground of quadruped robot Adaptability.
The control chamber industrial computer, driver, battery etc., inside robot frame, are protected by frame, control chamber cloth Office is compact, saves design space, and whole control chamber is placed on robot interior can reduce robot center of gravity, it is ensured that the motion of robot Stability.
Four angular transducers of the sensing element for robot four positions before left front, left back, right, behind the right side, connection In the respective sensor groove of floor, effect is the swing arm position for demarcating robot, prevents because losing swing arm after robot power down Robot manipulation's accident that position is caused.
The more traditional caterpillar robot of the present invention is designed with following advantage:
1. quality is lighter;
2. it is easy for installation and removal;
3. more compact structure, contact area are bigger, and mobility is more preferably;
4. there is more degree of freedom, more flexible, ground better adaptability;
5. the protection of control unit, quickly-chargeable are more beneficial for;
6. the debugging of robot is more beneficial for.
Description of the drawings
Fig. 1 is schematic diagram of the whole mechanism of crawler type six degree of freedom mobile robot into module;
Fig. 2 is that robot frame part is monolithically fabricated and sensor schematic;
Fig. 3 is composition schematic diagram above robot frame's partial interior;
Fig. 4 is composition schematic diagram below robot frame's partial interior;
Fig. 5 is main motion module or right side main motion module composition schematic diagram on the left of robot;
Fig. 6 is master and slave moving axis shafting, the swing arm motor shafting schematic diagram of robot front end or rear end;
Fig. 7 is the mair motor shafting of robot front end or rear end, swing arm motor shafting, swing arm driven shaft shafting schematic diagram;
Fig. 8,9 be robot left front or right front left and right or right rear-swing arm motion module schematic diagram;
Figure 10 is the overall schematic diagram of robot control chamber.
Specific embodiment
Below in conjunction with the accompanying drawings the preferred embodiment of robot is illustrated.
Embodiment one:
Referring to Fig. 1 to Figure 10, this crawler type six degree of freedom mobile robot, including two main motion modules of left and right sides 2,3, Four swing arm motion modules 4,5,6,7 before left front, right, after left back, right, frame 1, control chamber 8 and four angular transducer 9a, 9b、9c、9d.It is characterized in that:Body of the frame 1 for robot, in order to carry, connect modules and bear outside Load;The left and right sides two main motion modules 2,3 are symmetrical centered on frame 1, and independently can drive;Described left front, Before the right side, after left back, right, four swing arm motion modules 4,5,6,7 have identical structure, to frame 1 in all around symmetrical point Cloth, and each own independent driver element;The control chamber 8 is located at the inside of frame 1, is protected by frame 1 and the casing of itself Shield;Described four angular transducers 9a, 9b, 9c, 9d be embedded in frame 1 left front, right before, left back, right after four orientation.
Embodiment two:
The present embodiment is essentially identical with embodiment one, and special feature is as follows:
The frame 1 includes web 11, and front jugularia 12a, rear jugularia 12b, front 13a, back 13b, left floor 14a are right Floor 14b, upper epimere 15a, lower epimere 15b, front epimere fixed block 16a, rear epimere fixed block 16b, left support block 17a, right Bracer 17b, front upper motor fixed block 18a, go up motor fixed block 18b, left front motor fixed block 18c, right front motor fixed block afterwards 18d, left back motor fixed block 18e, right rear motor fixed block 18f, front positive tension pole 19a, afterwards positive tension pole 19b, front positive swing arm Synchronous pulley inner support 110a, positive swing arm synchronous pulley inner support 110b, front positive swing arm synchronous pulley support arm 111a afterwards, after just Swing arm synchronous pulley support arm 111b, front main synchronous pulley bearing 112a, afterwards main synchronous pulley bearing 112b, front anti-tension pole 113a, anti-tension pole 113b, front anti-wobble arm synchronous pulley inner support 114a, rear anti-wobble arm synchronous pulley inner support 114b, front afterwards Anti-wobble arm synchronous pulley support arm 115a, rear anti-wobble arm synchronous pulley support arm 115b;These components constitute the main frame of frame 1 Frame, two groups of mair motors correlation frames frame related with four groups of swing arm motors;In the frame main frame, the web 11 is used as whole The pedestal of individual frame, front 13a, back 13b, left floor 14a, right floor 14b are positioned above web 11 therewith and are connected, front The connection that jugularia 12a, rear jugularia 12b are reinforced above frame, the forward epimere fixed block 16a of lower epimere 15b, rear epimere fixed block 16b and in front and back two pieces of jugularias 12a, 12b are connected, and upper epimere 15a is by left support block 17a, right support block 17b and lower epimere 15b Be connected, installation site is provided for outside extension element;In two groups of mair motors correlation frame, connect below front jugularia 12a Upper motor fixed block 18a before, for installing main motor, its front and back position is adjustable;Front main synchronization is connected to below front jugularia 12a Band wheeling support 112a, its left and right sides is installed with bearing block, has two adjusting screws adjust front main synchronization on front jugularia 12a Front and back position with wheeling support 112a;Jugularia 12b, afterwards upper motor fixed block 18b, rear main synchronous pulley bearing 112b and front master afterwards The connected mode of Timing Belt bearing 112a is identical, and the position of this two groups of parts is centrosymmetric with regard to the front-rear center face of frame; In four groups of swing arm motors correlation frame, left front motor fixed block 18c is installed in the left front of web 11, for installing pendulum Arm motor, its front and back position can be adjusted;Before being installed with the left surface of left floor 14a, positive tension pole 19a, front positive swing arm are same Step belt wheel inner support 110a, the swing arm Timing Belt strainer of front positive swing arm synchronous pulley support arm 111a compositions, its anteroposterior position Put 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 Counterpart 18c, 19a of 114b, rear anti-wobble arm synchronous pulley support arm 115b with 1 left front of aforementioned frame, the position of 110a, 111a Put symmetrical relative to the front-rear center face of frame 1 with mounting means;The right front motor fixed block 18d of 1 right front of frame, front anti-sheet Tight post 113a, front anti-wobble arm synchronous pulley inner support 114a, front anti-wobble arm synchronous pulley support arm 115a are left front with aforementioned frame 1 Square counterpart 18c, 19a, the position of 110a, 111a and mounting means are symmetrical relative to the left and right median plane of frame 1;Frame 1 is right The right rear motor fixed block 18f at rear, rear positive tension pole 19b, rear positive swing arm synchronous pulley inner support 110b, rear positive swing arm synchronization Belt wheel support arm 111b and 1 left back counterpart 18d, 113a of aforementioned frame, the position of 114a, 115a and mounting means relative to Symmetrical in the front-rear center face of frame 1;Charging slot is provided with all on the front 13a and back 13b, make robot not pull up electricity Charging in the case of pond is possibly realized.
The left and right sides main motion module 2,3 is left side main motion module 2 and right side main motion module 3, their structure Make identical:Left side main motion module 2 include left support wheel carrier 21a, right support wheel carrier 21b, main crawler driving whell 22, main crawler belt from Driving wheel 23, main crawler belt 24, driving 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 driving shaft axle sleeve 213;The mair motor 27 passes through lead spindle 28th, the V belt translation system that main Timing Belt wheel shaft 29 is constituted with main Timing Belt steamboat 210, main Timing Belt bull wheel 211, main Timing Belt 212 System connection;The main Timing Belt bull wheel 211 is fixed together by key connecting with driving shaft 25, axially using jump ring and fixing lock Tight ring positioning and locking, main crawler driving whell 22 is same to be connected with driving shaft 25 also by key, axially through 213 He of driving shaft axle sleeve Another fixation retaining ring positioning and locking, driving shaft 25 are supported by the bearing in the head and floor of frame 1, are connected simultaneously with frame 1 Can rotate to it;Driven shaft 26 is also bearing between the bearing of head and floor of frame 1, driven shaft 26 and main crawler belt driven pulley 23 by bonded, axially spacing with jump ring, also can be 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 adjust upper-lower position, the main crawler belt 24 of tensioning, supporting load;The main crawler belt 24 profile of tooth is conducive to reducing average maximum ground contact pressure, improves the mobility of robot;Right side main motion module 3 and left side The structure of main motion module 2 is identical, and operation principle is consistent.
Described left front, right before, left back, right after 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 rear-swing arm motion module 7 four, their construction is identical:Left front Swing arm motion module 4 includes swing arm motor 41, swing arm shaft coupling 42, swing arm Timing Belt wheel shaft 43, swing arm Timing Belt steamboat 44, pendulum Arm Timing Belt bull wheel 45, swing arm Timing Belt 46, swing arm disk 47, swing arm inner panel 48, swing arm outside plate 49, left front swing arm bearing block 410a, right front swing arm bearing block 410b, right rear-swing arm bearing block 410d, swing arm driven shaft 411, swing arm driving wheel 412, swing arm from Driving wheel 413 and swing arm crawler belt 414, the swing arm motor 41 are connected on web 11 by corresponding motor reducer fixed block, It is connected with swing arm Timing Belt steamboat 44 by swing arm shaft coupling 42, swing arm Timing Belt wheel shaft 43, swing arm Timing Belt steamboat 44 and pendulum Arm Timing Belt wheel shaft 43 is connected by keying, their supported two sliding bearings in aforementioned swing arm Timing Belt strainer On, can be by adjusting the front and back position of swing arm Timing Belt steamboat 44 come tensioning swing arm Timing Belt 46;Swing arm synchronization in V belt translation Band bull wheel 45 is connected with screw with swing arm disk 47, and there is rolling bearing at the two ends of 47 endoporus of swing arm disk, and they are arranged on corresponding master On moving axis or driven shaft and can relative to rotation, swing arm inner panel 48 is connected with swing arm disk 47, swing arm driving wheel 412 with corresponding Driving shaft or driven shaft by bonded, and with 49 spacing supporting of swing arm outside plate, while the swing arm bearing block on swing arm outside plate It is smooth that 410d ensures that swing arm swings, and installs and carry swing arm driven pulley 413 between swing arm inner panel end and swing arm outside plate end, Swing arm driven pulley 413 is connected with keying with swing arm driven shaft 411, axially spacing with jump ring, is supported at both ends in left front swing arm bearing block 410a and right front swing arm bearing block 410b, and use nut check, swing arm driven pulley and swing arm driven shaft can be relative with swing arm inner panel 48th, swing arm outside plate 49 is rotated, and is moved;Put behind the right front swing arm motion module 5, left rear swing arm motion module 6 and the right side The structure of arm motion module 7, identical with the structure of left front swing arm motion module 4, operation principle is consistent.
The control chamber 8 includes that industrial computer, driver, battery, battery are distributed in control chamber side, internal control device cloth Put compact, whole casing is protected by frame inside robot frame.
Four angular transducers be left front sensor 9a, right front sensor 9b, left back sensor 9c, the right side after sensor 9d, positioned at the corner of frame, is connected with swing arm disk 47, the anglec of rotation of robot measurement swing arm.
Embodiment three:
The whole machine of this crawler type six degree of freedom mobile robot includes frame 1, main motion module 2 and 3, swing arm motion mould Block 4,5,6 and 7, control chamber 8, sensor.Wherein frame 1 is made up of 11 to 115b parts, and every kind of part is according to installation site Difference carried out such as the concrete name in table;Main motion module includes left side main motion module 2 and right side main motion module 3, Each single main motion module is made up of 21a to No. 213 part, and every kind of part has been carried out such as table according to the difference of installation site In concrete name;Swing arm motion module includes left front swing arm motion module 4, the motion of right front swing arm motion module 5, left rear swing arm Module 6 and right rear-swing arm motion module 7, each single swing arm motion module are made up of 41 to No. 414 parts, every kind of part root Carry out such as the concrete name in table according to the difference of installation site;Control chamber 8 includes industrial computer, driver, battery etc., control chamber Protected by frame;Sensor include left front sensor 9a, right front sensor 9b, left back sensor 9c, the right side after sensor 9d.
It is the present invention as shown in Figure 1 and Figure 2, is applied to six peddrail mobile robot schematic diagrams of special occasions.Machine is man-machine Body is made using aluminium alloy, and reduces repeated hole, replaces traditional gear drive and Chain conveyer using toothed belt transmission, so as to mitigate The deadweight of robot.It includes frame, two main motion modules, four swing arm motion modules, control chamber and sensors.Machine The effect of frame 1 is to carry, connect modules and bear external loading.There are left side main motion module 2, right side master in frame both sides Motion module 3, they have independent driver element, two main motion modules to be distributed journey with regard to the center of frame respectively, left side Main motion module 2 is prodromal forms, and 3 is rear-guard form, and the purpose of do so is in order that robot architecture is compact.Frame 1 four There is left front swing arm motion module 4 on the position at individual angle respectively, right front swing arm motion module 5, left rear swing arm motion module 6, behind the right side Swing arm motion module 7, four swing arm motion modules have identical structure, and each own independent driver element.Control chamber 8 In the inside of frame 1, protected by frame and the casing of itself.Four angular transducers 9a, 9b, 9c, 9d are embedded in a left side for frame 1 Before, the right side before, left back, right after four orientation.On the whole, the motion of robot is realized by six motion modules, each module energy Independent control, the main motion of robot are such as advanced, retreat, turning to, climbing etc. and being realized by two main motion modules 2,3, and four Swing arm motion module 4,5,6,7 is used for the auxiliary motion for realizing robot, and such as the swing arm crawler belt of the left and right sides is respectively with left and right two The main crawler belt of side has the motion of equidirectional, equivalent to the length for extending main crawler belt, in order to strengthen the main motion energy of robot Power, at the same swing arm also can auxiliary robot climb, support, obstacle detouring, the complicated motion such as paddle, in order to tackle different appointing It is engaged in, in addition the also expansible external equipment of the robot, such as mechanical arm, imageing sensor etc..
It is frame schematic diagram as shown in Figure 2, Figure 3, Figure 4, the global shape of frame has imitated the skeleton of Testudiniss, constitutes frame The connected mode of major part is threaded connection.Frame 1 includes 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 go up motor fixed block 18b, left front motor fixed block afterwards 18c, right front motor fixed block 18d, left back motor fixed block 18e, right rear motor fixed block 18f, front positive tension pole 19a, after just Tension pole 19b, front positive swing arm synchronous pulley inner support 110a, afterwards positive swing arm synchronous pulley inner support 110b, front positive swing arm synchronization Belt wheel support arm 111a, afterwards positive swing arm synchronous pulley support arm 111b, front main synchronous pulley bearing 112a, afterwards main synchronous pulley Seat 112b, front anti-tension pole 113a, anti-tension pole 113b afterwards, front anti-wobble arm synchronous pulley inner support 114a, rear anti-wobble arm synchronization Belt wheel inner support 114b, front anti-wobble arm synchronous pulley support arm 115a, rear anti-wobble arm synchronous pulley support arm 115b.Overall next Say, frame is made up of main frame, two groups of mair motor correlated parts, four groups of swing arm motor correlated parts.Frame main frame:11 conducts The pedestal of whole frame, 13a, 13b, 14a, 14b are connected above 11 therewith threadably, have on 11 locating surface and , to guarantee each head part and dead eye on floor is coaxial, 12a, 12b are in order to the connection reinforced above frame, 15b for location hole It is connected with two pieces of jugularias by 16a, 16b, can equally strengthens the connection above frame, 15a is connected with 15b by 17a, 17b, is Outside extension element provides installation site.Above-mentioned part and connected mode constitute the main frame of frame, on this basis, carry The union piece for connecting actuator is supplied.Two groups of mair motor correlated parts:18a is connected to below 12a, for installing main electricity Machine, 18a are connected with waist-shaped hole with 12a, therefore can adjust the front and back position of mair motor;Same with waist-shaped hole connection below 12a 112a, the 112a left and right sides is installed with bearing block, herein in order to install main synchronous pulley steamboat, on 12a, there are two regulation spiral shells Nail is used for the front and back position for adjusting 112a, to adjust the tension force of main Timing Belt;The front and back position of 18a and 112a be required for adjust with Ensure that main motor shaft is coaxial with main synchronous pulley steamboat;12b, 18b, 112b are identical with the connected mode of 12a, 18a, 112a, only It is that the position of this two groups of parts is centrosymmetric with regard to the front-rear center face of frame, they are respectively mounted the mair motor in 2,3 With main synchronous pulley steamboat.Four groups of swing arm motor correlated parts:18c is installed in 11 left front, for installing swing arm motor, 18c is connected with waist-shaped hole with 11, and its front and back position can be adjusted;19a, 110a, 111a composition is installed on the left surface of 14a Swing arm Timing Belt strainer, 19a is connected on 14a, and 110a and 111a is connected by three pillars, is provided with waist type on 110a , there is adjusting screw in hole on 19a, therefore can adjust the front and back position of the swing arm synchronous pulley steamboat that is installed frame left front, To adjust the tension force of swing arm Timing Belt;The position of swing arm motor and swing arm synchronous pulley steamboat is required for being adjusted to ensure that swing arm electricity Arbor is coaxial with swing arm synchronous pulley steamboat;18e, 113b, 114b, 115b of frame left back and aforementioned 18c, 19a, 110a, The position of 111a, mounting means are symmetrical with regard to the front-rear center face of frame;18d, 113a, 114a, 115a of frame right front with The position of aforementioned 18c, 19a, 110a, 111a, mounting means are symmetrical with regard to the left and right median plane of frame;The 18f of frame right back, 19b, 110b, 111b are symmetrical with regard to the front-rear center face of frame with the position of aforementioned 18d, 113a, 114a, 115a, mounting means. The above frame design for being robot, it not only facilitates the installation and removal of robot, and the arrangement of entirety is caused Frame is compact, and is reduced the effect of robot deadweight.Additionally, all charging slot is provided with front 13a and back 13b, make machine Charging of the people in the case where battery is not pulled up is possibly realized.
As Fig. 1, Fig. 5, Fig. 6, Fig. 7 show main motion module diagram, the electricity of two main motion module degree of freedom is controlled Machine each arrangement one before and after robot, makes compact conformation interlocking in utilization space.Main motion module has left side main motion mould Block 2 and right side main motion module 3 two, their construction is identical, as shown in Figure 5.Illustrated with left side main motion module 2. Left side main motion module 2 includes left support wheel carrier 21a, right support wheel carrier 21b, main crawler driving whell 22, main crawler belt driven pulley 23, Main crawler belt 24 or 34, driving shaft 25, driven shaft 26, mair motor 27, lead spindle 28, main Timing Belt wheel shaft 29, main Timing Belt are little Wheel 210, main Timing Belt bull wheel 211, main Timing Belt 212, driving shaft axle sleeve 213.There are driving shaft shafting, main Timing Belt wheel shaft in front Shafting, rear have a driven shaft shafting, and middle 21a can be adjusted up and down, while tensioning 24, play carrying robot weight and The effect of external loading.The concrete mounting means of main motion module is as follows, and mair motor 27 passes through lead spindle 28, main synchronous pulley The belt transmission system that axle 29 is constituted with main Timing Belt steamboat 210, main Timing Belt bull wheel 211, main Timing Belt 212 is connected;Main synchronization Band bull wheel 211 is fixed together by key connecting with driving shaft 25, axially using jump ring and fixed retaining ring positioning and locking, main shoe Band driving wheel 22 is same to be connected with driving shaft 25 also by key, axially through driving shaft axle sleeve 213 and another fixation retaining ring Positioning and locking, driving shaft 25 are supported by the bearing in the head and floor of frame 1, are connected with frame and can be rotated to it;Main fortune The driven shaft 26 of dynamic model block is also bearing between the bearing of head and floor of frame, and driven shaft 26 is passed through with main crawler belt driven pulley 23 Bonded, axially spacing with jump ring, also can be relative to gantry rotation;And left support wheel carrier 21a, right support wheel carrier 21b pass through spiral shell Nail is connected with web 11, and can adjust upper-lower position, the main crawler belt 24 of tensioning, supporting load.During motion, 27 by 28,29,210, 211st, the toothed belt transmission components of 212 compositions so as to drive 22 rotations, and then cause whole main motion module driving 25 rotations Motion.Additionally, main crawler belt 24 increases the area that contacts to earth of robot from wider crawler belt, its profile of tooth is also beneficial to reduce and puts down Maximum ground contact pressure, improves the mobility of robot.Right side main motion module 3 and the structure of left side main motion module 2 Identical, operation principle is consistent.
As Fig. 6,7,8,9 show swing arm module diagram, each swing arm in swing arm module can be independently controlled, Increased the motility of control.Swing arm motion module has left front swing arm motion module 4, right front swing arm motion module 5, left rear swing arm Motion module 6 and right rear-swing arm motion module 7 four, their construction is identical, as shown in Figure 8.With left front swing arm motion module 4 Illustrate, left front swing arm motion module 4 includes swing arm motor 41, swing arm shaft coupling 42, swing arm Timing Belt wheel shaft 43, swing arm are same Step band steamboat 44, swing arm Timing Belt bull wheel 45, swing arm Timing Belt 46, swing arm disk 47, swing arm inner panel 48, swing arm outside plate 49 are left front Swing arm bearing block 410a, right front swing arm bearing block 410b, right rear-swing arm bearing block 410d, swing arm driven shaft 411, swing arm driving wheel 412, swing arm driven pulley 413, swing arm crawler belt 414.The direction in figure is pressed, has swing arm motor correlated parts, V belt translation from left to right Correlated parts, swing arm crawler belt correlated parts and their shafting.The concrete mounting means of swing arm motion module is as follows, swing arm electricity Machine 41 is connected on web 11 by corresponding motor reducer fixed block, by swing arm shaft coupling 42, swing arm Timing Belt wheel shaft 43 are connected with swing arm Timing Belt steamboat 44, and swing arm Timing Belt steamboat 44 is to be connected by keying with swing arm Timing Belt wheel shaft 43, it Supported on two sliding bearings of aforementioned swing arm Timing Belt strainer, can pass through to adjust swing arm Timing Belt steamboat 44 Front and back position carry 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 disk 47, There is rolling bearing at the two ends of 47 endoporus of swing arm disk, they in the figure on corresponding driving shaft or driven shaft, swing arm inner panel 48 It is connected with swing arm disk 47, swing arm driving wheel 412 is as shown in the figure with corresponding driving shaft or driven shaft by bonded, and uses swing arm 49 spacing supporting of outside plate, while the swing arm bearing block 410d on swing arm outside plate ensures smooth, the swing arm inner panel end that swing arm swings Install and swing arm outside plate end between and carry swing arm driven pulley 413, swing arm driven pulley 413 uses keying with swing arm driven shaft 411 Even, axially spacing with jump ring, two sections are supported on left front swing arm bearing block 410a and right front swing arm bearing block 410b, and use nut lock Tightly, swing arm driven pulley and swing arm driven shaft can be relative to rotating, and move with swing arm inner panel 48, swing arm outside plate 49.During motion, If swing arm motor does not work, swing arm does not swing, swing arm driving wheel 412 can with the main motion module rotating in same direction of homonymy, Drive swing arm crawler belt and the main crawler belt rotating in same direction of homonymy;If swing arm motor works, swing arm motor passes through toothed belt transmission band Movable pendulum arm disk and swing arm inner and outer plates, so as to drive swing arm driven pulley, swing arm crawler belt to swing, this swing does not affect turning for swing arm crawler belt Dynamic.The structure of right front swing arm motion module 5, left rear swing arm motion module 6 and right rear-swing arm motion module 7, is transported with left front swing arm The structure of dynamic model block 4 is identical, and operation principle is consistent.Four swing arm cooperatings can be realized such as obstacle detouring, paddle and increasingly complex Task, enhance adaptability of the robot to ground, and the motor capacity of robot.
As shown in Fig. 1,10, the control chamber of robot is located inside robot frame 1, and internal components include industrial computer, drive They can be protected by dynamic device, battery etc., control chamber compact in design.And consider the charging modes of robot so as to Battery need not be pulled up i.e. chargeable.
As shown in Fig. 2 sensor include left front sensor 9a, right front sensor 9b, left back sensor 9c, the right side after sensor 9d, positioned at the corner of frame 1, is connected with swing arm disk, for measuring the absolute position of corresponding swing arm, after preventing because of robot power down Swing arm positional information is lost and caused dysfunction or structural failure, is more beneficial for robot and is debugged.

Claims (1)

1. a kind of crawler type six degree of freedom mobile robot, including two main motion modules of left and right sides (2,3), left front, right before, left Afterwards, four swing arm motion modules (4,5,6,7) behind the right side, frame (1), control chamber (8) and four angular transducers (9a, 9b, 9c, 9d), it is characterised in that:The body of described frame (1) for robot, in order to carry, connect modules and bear outside Load;Two main motion modules of the left and right sides (2,3) is symmetrical centered on frame (1), and each independently can drive;Institute State left front, right before, left back, right after four swing arm motion modules (4,5,6,7) have identical structure, to frame (1) in front and back Symmetrical distribution, and each own independent driver element;Described control chamber (8) are located at the inside of frame (1), by frame (1) Protected with the casing of itself;Four angular transducers (9a, 9b, 9c, 9d) be embedded in frame (1) left front, right before, left Afterwards, four orientation behind the right side;
Wherein, two groups of mair motors correlation frames frame related with four groups of swing arm motors is provided with frame (1);The frame (1) include that main frame, the main frame include 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), backfin Plate fixed block (16b), left support block (17a) and right support block (17b);Before the mair motor correlation frame includes, upper motor is fixed Block (18a), goes up motor fixed block (18b), front main synchronous pulley bearing (112a) and rear main synchronous pulley bearing (112b) afterwards;Institute Stating swing arm motor correlation frame includes left front motor fixed block (18c), right front motor fixed block (18d), left back motor fixed block (18e), right rear motor fixed block (18f), front positive tension pole (19a), positive tension pole (19b) afterwards, in front positive swing arm synchronous pulley Support (110a), afterwards positive swing arm synchronous pulley inner support (110b), front positive swing arm synchronous pulley support arm (111a), afterwards positive swing arm Synchronous pulley support arm (111b), front anti-tension pole (113a) is anti-tension pole (113b) afterwards, front anti-wobble arm synchronous pulley inner support (114a), rear anti-wobble arm synchronous pulley inner support (114b), front anti-wobble arm synchronous pulley support arm (115a) and rear anti-wobble arm are same Step belt wheel support arm (115b);In the frame main frame, the pedestal of web (11) as whole frame, front (13a), Back (13b), left floor (14a), right floor (14b) are positioned above web (11) therewith and are connected, front jugularia (12a), after The connection that jugularia (12b) is reinforced above frame, lower epimere (15b) forward epimere fixed block (16a), rear epimere fixed block (16b) It is connected with front and back two pieces of jugularias (12a, 12b), upper epimere (15a) passes through left support block (17a), right support block (17b) and lower ridge Plate (15b) is connected, and provides installation site for outside extension element;In two groups of mair motors correlation frame, at front jugularia (12a) Lower section upper motor fixed block (18a) before being connected to, for installing main motor, its front and back position is adjustable;Connect below front jugularia (12a) Then front main synchronous pulley bearing (112a), its left and right sides is installed with bearing block, has two adjusting screws on front jugularia (12a) The front and back position of front main synchronous pulley bearing (112a) can be adjusted;In two groups of mair motors correlation frame, in rear jugularia (12b) upper motor fixed block (18b) after being connected to below, for installing main motor, its front and back position is adjustable;Jugularia (12b) afterwards Lower section be connected to after main synchronous pulley bearing (112b), its left and right sides is installed with bearing block, has two tune on rear jugularia (12b) Save the front and back position of main synchronous pulley bearing (112b) after screw can be adjusted;Front mair motor correlation frame (12a, 18a, 112a) The position of related to rear mair motor frame (12b, 18b, 112b) is centrosymmetric with regard to the front-rear center face of frame;Described four groups In swing arm motor correlation frame, left front motor fixed block (18c) is installed in the left front of web (11), for installing swing arm electricity Machine, its front and back position can be adjusted;Before being installed with the left surface of left floor (14a), positive tension pole (19a), front positive swing arm are same The swing arm Timing Belt strainer that step belt wheel inner support (110a), front positive swing arm synchronous pulley support arm (111a) are constituted, before which Position is adjustable afterwards;Left back motor fixed block (18e) of frame left back, rear anti-tension pole (113b), rear anti-wobble arm synchronous pulley Inner support (114b), the left front motor fixed block of rear anti-wobble arm synchronous pulley support arm (115b) and aforementioned frame (1) left front (18c), front positive tension pole (19a), front positive swing arm synchronous pulley inner support (110a) and front positive swing arm synchronous pulley support arm (111a) position and mounting means is symmetrical relative to the front-rear center face of frame (1);The right front motor of frame (1) right front is solid Determine block (18d), front anti-tension pole (113a), front anti-wobble arm synchronous pulley inner support (114a), outside front anti-wobble arm synchronous pulley Frame (115a) is synchronous with left front motor fixed block (18c) of aforementioned frame (1) left front, front positive tension pole (19a), front positive swing arm The position and mounting means of belt wheel inner support (110a) and front positive swing arm synchronous pulley support arm (111a) is relative to frame (1) Left and right median plane symmetrical;Right rear motor fixed block (18f) of frame (1) right back, rear positive tension pole (19b), rear positive swing arm Synchronous pulley inner support (110b), rear positive swing arm synchronous pulley support arm (111b) and the front electricity in the right side of aforementioned frame (1) left back Machine fixed block (18d), front anti-tension pole (113a), front anti-wobble arm synchronous pulley inner support (114a) and front anti-wobble arm Timing Belt The position of wheel support arm (115a) and mounting means are relative to symmetrical in the front-rear center face of frame (1);Front (13a) and Charging slot is provided with all on back (13b), allow the robot to charge in the case where battery is not pulled up;
And/or, described left and right sides main motion module (2,3) are the main fortune of main motion module (2) and right side on the left of construction identical Dynamic model block (3):Left side main motion module (2) includes left support wheel carrier (21a), right support wheel carrier (21b), main crawler driving whell (22), main crawler belt driven pulley (23), main crawler belt (24), driving 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 active Axle axle sleeve (213);Described mair motor (27) pass through lead spindle (28), main Timing Belt wheel shaft (29) and main Timing Belt steamboat (210) the belt transmission system connection that, main Timing Belt bull wheel (211), main Timing Belt (212) are constituted;The main Timing Belt bull wheel (211) it is fixed together by key connecting with driving shaft (25), axially using jump ring and fixed retaining ring positioning and locking, main crawler belt Driving wheel (22) is same to be connected with driving shaft (25) also by key, axially through driving shaft axle sleeve (213) and another fixing lock Tight ring positioning and locking, by the bearing supporting in the head and floor of frame (1), being connected with frame (1) simultaneously can be relative for driving shaft (25) Which rotates;Driven shaft (26) is also bearing between the head and the bearing of floor of frame (1), driven shaft (26) and main crawler belt driven pulley (23) by bonded, axially spacing with jump ring, also can be relative to gantry rotation;And left support wheel carrier (21a, 31a), right support Wheel carrier (21b, 31b) is connected with web (11) by screw, and can adjust upper-lower position, the main crawler belt of tensioning (24), supporting load; The profile of tooth of main crawler belt (24) is conducive to reducing average maximum ground contact pressure, improves the mobility of robot;The main fortune in right side Dynamic model block 3 is identical with the structure of left side main motion module 2, and operation principle is consistent;
And/or, left front swing arm motion module (4) include swing arm motor (41), swing arm shaft coupling (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 disk (47), swing arm inner panel (48), swing arm outside plate (49), left front swing arm bearing block (410a), right front swing arm bearing block (410b), right rear-swing arm bearing block (410d), swing arm driven shaft (411), swing arm driving wheel (412), swing arm driven pulley (413) and swing arm crawler belt (414), the pendulum Arm motor (41) is connected on web (11) by corresponding motor reducer fixed block, by swing arm shaft coupling (42), 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) It is to be connected by keying, before swing arm Timing Belt steamboat (44) is arranged on by two sliding bearings with swing arm Timing Belt wheel shaft (43) State on swing arm Timing Belt strainer, by adjusting the front and back position of swing arm Timing Belt steamboat (44) come tensioning swing arm Timing Belt (46);Swing arm Timing Belt bull wheel (45) in V belt translation is connected with screw with swing arm disk (47), the two ends of swing arm disk (47) endoporus Have rolling bearing, they on corresponding driving shaft or driven shaft and can relative to rotation, swing arm inner panel (48) with put Arm disk (47) is connected, swing arm driving wheel (412) and corresponding driving shaft or driven shaft by bonded, and with swing arm outside plate (49) Spacing supporting, while the swing arm bearing block (410d) on swing arm outside plate ensures the smooth of swing arm swing, swing arm inner panel end and pendulum Swing arm driven pulley (413) is installed between arm outside plate end, swing arm driven pulley (413) is connected with keying with swing arm driven shaft (411), Axially spacing with jump ring, left front swing arm bearing block (410a) and right front swing arm bearing block (410b) is supported at both ends in, and uses nut Locking, swing arm driven pulley and swing arm driven shaft can relative to swing arm inner panel (48), swing arm outside plate (49) rotation, and move; The structure of right front swing arm motion module (5), left rear swing arm motion module (6) and right rear-swing arm motion module (7), and left front The structure of swing arm motion module (4) is identical, and operation principle is consistent;
And/or, described control chamber (8) include that industrial computer, driver, battery, battery are distributed in control chamber side, internal controller Part characteristics of compact layout, whole casing are protected by frame inside robot frame;
And/or, four angular transducers are left front sensor (9a), right front sensor (9b), left back sensor (9c), the right side Sensor (9d), positioned at the corner of frame, is connected with swing arm disk (47), the anglec of rotation of robot measurement swing arm afterwards.
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