CN104647343A - Micro-miniature overturning stair-climbing robot - Google Patents
Micro-miniature overturning stair-climbing robot Download PDFInfo
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- CN104647343A CN104647343A CN201510111723.3A CN201510111723A CN104647343A CN 104647343 A CN104647343 A CN 104647343A CN 201510111723 A CN201510111723 A CN 201510111723A CN 104647343 A CN104647343 A CN 104647343A
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Abstract
The invention discloses a micro-miniature overturning stair-climbing robot, based on the small overall size of the robot, a swinging arm component and an overturn driving component are added based on the robot in the prior art, the initial power transmission manner is changed, a corresponding mode is selected under the control of an external instruction, the robot disclosed by the invention can realize large overturning movement on the basis of travelling on a flat ground, with the overturning movement, the stair-climbing function is realized.
Description
Technical field
The present invention relates to the fields such as investigation, search and rescue, detection, be specifically related to a kind of microminiature upset stair climbing robot.
Background technology
Microminiature ground mobile robot in complicated, narrow, dangerous regional work, can be widely used in the fields such as investigation, search and rescue, detection due to it.At present, the main operation modes of microminiature ground mobile robot is that robot places or throws at target proximity by operator, is got a desired effect by the working method of remote control or remote operating.As can be seen here, portability and obstacle performance evaluate the important indicator of microminiature ground mobile robot, therefore in this type of Robot Design process, proposes strict requirement to the design of the volume of microminiature ground mobile robot, quality and mechanism aspect.
At present, microminiature ground mobile robot generally has portable feature, and some of them microminiature ground mobile robot has certain obstacle performance, but all can not climb up and over the barrier such as stair, ruins.In urban environment, stair are as a kind of common obstacle, and target place floor is uncertain under normal circumstances, therefore need microminiature ground mobile robot to have upset stair climbing function, thus finish the work.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of microminiature upset stair climbing robot, microminiature upset stair climbing robot is in existing Robotics, increase swing arm unit and upset driven unit, change original power delivery mode, make it complete the function of stair climbing in the mode of chassis upset.
For solving the problems of the technologies described above, the present invention is achieved in that
The convertible stair climbing robot of a kind of microminiature, comprises housing, front-wheel, trailing wheel, control module, power supply, running motor, running motor support, Timing Belt, synchronous pulley and power transmission shaft;
Also comprise, upset driven unit and swing arm unit;
Described control module selects running motor or upset driven unit according to external command;
Annexation: running motor is fixed on enclosure interior by electric machine support, synchronous pulley and power transmission shaft (10) connect firmly, and running motor drives synchronous pulley to rotate by power transmission shaft, and synchronous pulley transmits motion to trailing wheel by Timing Belt; Upset driven unit is fixed on enclosure interior and also drives the swing arm unit be connected with it to rotate around the axle being parallel to running motor axis.
Described upset driven unit comprises upset motor, upset electric machine support, driving wheel, driven pulley, trip shaft, and described swing arm unit specifically comprises swing arm, swing arm gudgeon and crossbeam; The left swing arm of swing arm is fixedly connected with the two ends of trip shaft respectively with right swing arm, connecting cross beam between left swing arm and right swing arm.
Described upset motor adopts the steering wheel possessing joint pattern and unlimited rotary pattern.
Under the driving mode of level land, running motor drives synchronous pulley to rotate by power transmission shaft, and synchronous pulley transmits motion to trailing wheel by Timing Belt, completes level land maneuver.
Under inverted pattern, moment of torsion and rotating speed are delivered to driven pulley by driving wheel by upset motor, and driven pulley drives trip shaft to rotate, and upset is pumped through swing arm gudgeon, and moment of torsion is passed to swing arm, make to drive swing arm to rotate around trip shaft; Now, swing arm and robot body relatively rotate, the free end kiss the earth of swing arm, force on trailing wheel and lift, robot body with front-wheel touchdown point for pivot rotates, until robot body position of centre of gravity crosses front wheel landing point, robot body falls earthward under gravity, and robot body completes 180 ° of upsets.
Robot can successful speeling stairway requirement be:
wherein, l is robot body front and back wheel wheelbase, and H is shoulder height.
Beneficial effect:
Can find out, miniature upset stair climbing robot provided by the invention, based on the overall dimensions that robot is less, increase swing arm unit and upset driven unit, change original power delivery mode, made it possible to larger flip-flop movement, by this flip-flop movement, realize the function of stair climbing.
Accompanying drawing explanation
Fig. 1 is robot overall structure figure.
Fig. 2 is robot overall structure figure (removing top cover).
Fig. 3 is for travelling driven unit structure chart.
Fig. 4 is upset driven unit structure chart.
Fig. 5 is swing arm unit structure chart.
Fig. 6 is robot system block diagram.
Fig. 7 is robot stair climbing procedure chart.
Wherein, 1-housing, 2-front-wheel, 3-trailing wheel, 4-control circuit, 5-power supply, 6-running motor, 7-running motor support, 8-Timing Belt, 9-synchronous pulley, 10-power transmission shaft, 11-overturns motor, and 12-overturns electric machine support, 13-driving wheel, 14-driven pulley, 15-trip shaft, 16-swing arm, 17-swing arm gudgeon, 18-crossbeam
Detailed description of the invention
The invention provides a kind of microminiature upset stair climbing robot, its core concept is on the basis of common wheel undercarriage, install swing arm unit and upset driven unit additional, changed the mode travelling medium power and transmit, make micro robot have the function of stair climbing.
To develop simultaneously embodiment below in conjunction with accompanying drawing, be described in detail of the present invention:
As shown in Figure 1, a kind of microminiature turnover disc stair robot, its structure comprises: housing 1, front-wheel 2, trailing wheel 3, control module 4, power supply 5, running motor 6, running motor support 7, Timing Belt 8, synchronous pulley 9, power transmission shaft 10, upset driven unit and swing arm unit.
Upset driven unit specifically comprises upset motor 11, upset electric machine support 12, driving wheel 13, driven pulley 14, trip shaft 15; Swing arm unit specifically comprises swing arm 16, swing arm gudgeon 17, crossbeam 18.Upset driven unit is fixed on housing 1 inside and also drives the swing arm unit be connected with it to rotate around the axle being parallel to running motor 6 axis.
Miscellaneous part except swing arm unit constitutes robot body.
As shown in Figure 2 and Figure 3, described running motor 6 is fixed on housing 1 inside by electric machine support 7.Synchronous pulley 9 and power transmission shaft 10 connect firmly, and running motor 6 drives front-wheel 2 to rotate by power transmission shaft 10, rotating speed is delivered to synchronous pulley 9 simultaneously, by Timing Belt 8, speed and moment of torsion is delivered to trailing wheel 3.
As shown in Figure 4, described upset motor 11 is fixed on housing 1 by upset electric machine support 12, driving wheel 13 connects firmly with the steering wheel on upset motor 11, driven pulley 14 and trip shaft 15 connect firmly, moment of torsion and rotating speed are delivered to driven pulley 14 by driving wheel 13 by upset motor 11, thus drive trip shaft 15 to rotate.Wherein trip shaft 15 is arranged on housing 1 center side position, parallel with power transmission shaft 10, can relatively rotate with housing 1.Wherein, overturn motor 11 and adopt the steering wheel possessing joint pattern and unlimited rotary pattern; Under unlimited rotary pattern by gear set drive rotating shaft 15 and swing arm 16 around housing 1 central rotation; Driving wheel 13 and driven pulley 14 adopt the gearratio of 1:1, in conjunction with the positioning function of steering wheel joint pattern, can realize the location of swing arm 16 and housing 1 Arbitrary Relative angle.
As shown in Figure 5, the left swing arm of described swing arm 16 is fixedly connected with the two ends of trip shaft 15 respectively with right swing arm, connecting cross beam 18 between left swing arm and right swing arm.
As shown in Figure 6, described control mould 4 pieces selects level land driving mode or inverted pattern according to external command, specifically comprises voltage transformation module, Behavior-Based control module and motor drive module.Wherein Behavior-Based control module comprises the handoff functionality of level land driving mode and inverted pattern.The voltage transitions that battery provides by voltage transformation module is 12v and 5v voltage, wherein, for wireless communication module and Behavior-Based control module provide 5v voltage, for motor drive module provides 12v voltage; Behavior-Based control module, according to instruction calls control circuit 4 built-in subroutine received, generates motion control signal; Motion control signal carries out changing and amplifying by motor drive module, drives corresponding motor to rotate.
First instruction is sent by remote terminal, wireless communication module receives the instruction that remote terminal sends, and instruction is passed to Behavior-Based control module, the corresponding motion control signal of Behavior-Based control CMOS macro cell also flows to motor drive module, motion control signal carries out changing and amplifying by motor drive module, be transferred to corresponding motor and executing agency, finally complete various motion.
Robot performs the switching of level land driving mode and inverted pattern according to the instruction of remote terminal.
Under the driving mode of level land, remote terminal exports level land driving instruction, Behavior-Based control module is transferred to by wireless communication module, Behavior-Based control CMOS macro cell level land travels control signal, and flowing to motor drive module, the level land received is travelled control signal conversion and amplifies by motor drive module, is transferred to running motor 6 and completes level land running movement, namely make robot left and right wheels rotate forward or backwards simultaneously, realize robot and advance, retreat; Left and right wheels rotates round about, realizes robot turning action, and now lateral sliding occurs for wheel and ground.Be specially swing arm 16 and be positioned in suitable angle position, described proper angle, according to application demand, sets in advance.Running motor 6 is fixed on housing 1 by electric machine support 7, running motor 6 is coaxial with front-wheel 2, and synchronous pulley 9 and power transmission shaft 10 connect firmly, and running motor 6 drives synchronous pulley 9 to rotate by power transmission shaft 10, synchronous pulley 9 transmits motion to trailing wheel 3 by Timing Belt 8, completes level land maneuver.
Under inverted pattern, remote terminal output switching activity movement instruction, Behavior-Based control module is transferred to by wireless communication module, Behavior-Based control CMOS macro cell flip-flop movement control signal, and flow to motor drive module, motor drive module is by the flip-flop movement control signal conversion received and amplify, and be transferred to upset motor 11 and complete flip-flop movement, concrete upset is as follows:
Original state is as shown in Fig. 7 (a), and swing arm 16 is parallel to ground.Upset motor 11 receives conversion and the upset of the flip-flop movement control signal after amplifying, by driving wheel 13, moment of torsion and rotating speed are delivered to driven pulley 14, driven pulley 14 drives trip shaft 15 to rotate, upset takes out 15 by swing arm gudgeon 17, moment of torsion is passed to swing arm 16, make to drive swing arm 16 to rotate around trip shaft 15.Now, swing arm 16 and robot body relatively rotate, and the free end kiss the earth of swing arm 16, forces on trailing wheel 3 and lift, robot body with front-wheel 2 touchdown point for pivot rotates, as shown in Fig. 7 (b).Until robot body position of centre of gravity crosses front-wheel 2 touchdown point, robot body falls earthward under gravity, and robot body completes 180 ° of upsets, and trailing wheel 3 drops on single order step, as shown in Fig. 7 (c) (d).Now trailing wheel 3 is positioned at robot body front portion, and swing arm 16 and robot body continue to relatively rotate, and swing arm 16 free end supports on ground, and robot body will with trailing wheel 3 touchdown point for pivot, as shown in Fig. 7 (e).Until robot body position of centre of gravity crosses trailing wheel 2 touchdown point, as shown in Fig. 7 (f).Robot body falls earthward under gravity, and front-wheel 2 drops on single order step, and robot body completes 360 ° of upsets, as shown in Fig. 7 (g) (h).
Continue to circulate successively, complete circulation rotary movement.
In addition, robot success speeling stairway, depends on the size of robot body relative to step.General Requirements
wherein, l is robot body front and back wheel wheelbase, and H is shoulder height.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the convertible stair climbing robot of microminiature, comprises housing (1), front-wheel (2), trailing wheel (3), control module (4), power supply (5), running motor (6), running motor support (7), Timing Belt (8), synchronous pulley (9) and power transmission shaft (10);
It is characterized in that, also comprise, upset driven unit and swing arm unit;
Described control module selects running motor (6) or upset driven unit according to external command;
Annexation: it is inner that running motor (6) is fixed on housing (1) by electric machine support (7), synchronous pulley (9) and power transmission shaft (10) connect firmly, running motor (6) drives synchronous pulley (9) to rotate by power transmission shaft (10), and synchronous pulley (9) transmits motion to trailing wheel (3) by Timing Belt (8); Upset driven unit is fixed on housing (1) inside and also drives the swing arm unit be connected with it to rotate around the axle being parallel to running motor (6) axis.
2. the convertible stair climbing robot of a kind of microminiature as claimed in claim 1, it is characterized in that, described upset driven unit comprises upset motor (11), upset electric machine support (12), driving wheel (13), driven pulley (14), trip shaft (15), described swing arm unit specifically comprises swing arm (16), swing arm gudgeon (17) and crossbeam (18); The left swing arm of swing arm (16) is fixedly connected with the two ends of trip shaft (15) respectively with right swing arm, connecting cross beam (18) between left swing arm and right swing arm.
3. the convertible stair climbing robot of a kind of microminiature as claimed in claim 2, is characterized in that, the employing of described upset motor (11) possesses the steering wheel of joint pattern and unlimited rotary pattern.
4. the convertible stair climbing robot of a kind of microminiature as claimed in claim 1, it is characterized in that, under the driving mode of level land, running motor (6) drives synchronous pulley (9) to rotate by power transmission shaft (10), synchronous pulley (9) transmits motion to trailing wheel (3) by Timing Belt (8), completes level land maneuver.
5. the convertible stair climbing robot of a kind of microminiature according to claim 1, it is characterized in that, under inverted pattern, moment of torsion and rotating speed are delivered to driven pulley (14) by driving wheel (13) by upset motor (11), driven pulley (14) drives trip shaft (15) to rotate, upset takes out (15) by swing arm gudgeon (17), moment of torsion is passed to swing arm (16), make to drive swing arm (16) to rotate around trip shaft (15); Now, swing arm (16) and robot body relatively rotate, the free end kiss the earth of swing arm (16), force on trailing wheel (3) and lift, robot body is that pivot rotates with front-wheel (2) touchdown point, until robot body position of centre of gravity crosses front-wheel (2) touchdown point, robot body falls earthward under gravity, and robot body completes 180 ° of upsets.
6. the convertible stair climbing robot of a kind of microminiature according to claim 5, is characterized in that, robot can successful speeling stairway requirement be:
wherein, l is robot body front and back wheel wheelbase, and H is shoulder height.
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| CN201510111723.3A CN104647343B (en) | 2015-03-13 | 2015-03-13 | A kind of microminiature upset stair climbing robot |
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| CN201510111723.3A CN104647343B (en) | 2015-03-13 | 2015-03-13 | A kind of microminiature upset stair climbing robot |
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| CN104647343B CN104647343B (en) | 2016-05-25 |
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Cited By (9)
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| CN106393058A (en) * | 2016-12-18 | 2017-02-15 | 遂宁市长丰机械科技有限公司 | Matched stair-climbing device of sweeping robot |
| CN106393057A (en) * | 2016-12-18 | 2017-02-15 | 遂宁市长丰机械科技有限公司 | Special stair-climbing device of sweeping robot |
| CN106426083A (en) * | 2016-12-18 | 2017-02-22 | 遂宁市长丰机械科技有限公司 | Robot cleaner stair climbing device |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| CN107031744A (en) * | 2017-06-02 | 2017-08-11 | 赵雪虎 | A kind of full landform mobile charging stake of auto-navigation |
| CN109080724A (en) * | 2018-07-05 | 2018-12-25 | 上海保瑞信息科技发展有限公司 | Detecting Robot |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
| CN110328651A (en) * | 2019-07-29 | 2019-10-15 | 东北大学 | Towards old man can obstacle detouring accompany and attend to robot |
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| CN106426083A (en) * | 2016-12-18 | 2017-02-22 | 遂宁市长丰机械科技有限公司 | Robot cleaner stair climbing device |
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| CN107031744A (en) * | 2017-06-02 | 2017-08-11 | 赵雪虎 | A kind of full landform mobile charging stake of auto-navigation |
| CN107031744B (en) * | 2017-06-02 | 2019-04-19 | 新昌县联航机械有限公司 | A kind of full landform mobile charging stake of auto-navigation |
| CN109080724A (en) * | 2018-07-05 | 2018-12-25 | 上海保瑞信息科技发展有限公司 | Detecting Robot |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
| CN109533051B (en) * | 2018-11-29 | 2020-09-18 | 北京理工大学 | Convertible stair climbing robot with collapsible swing arm |
| CN110328651A (en) * | 2019-07-29 | 2019-10-15 | 东北大学 | Towards old man can obstacle detouring accompany and attend to robot |
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