CN104986233A - Track swing arm type obstacle-crossing robot - Google Patents

Track swing arm type obstacle-crossing robot Download PDF

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Publication number
CN104986233A
CN104986233A CN201510311140.5A CN201510311140A CN104986233A CN 104986233 A CN104986233 A CN 104986233A CN 201510311140 A CN201510311140 A CN 201510311140A CN 104986233 A CN104986233 A CN 104986233A
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China
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swing arm
crawler belt
motor
wheel
car body
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CN201510311140.5A
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CN104986233B (en
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吕品
纪爱敏
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Hohai University Changzhou Campus
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Hohai University Changzhou Campus
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Abstract

The invention discloses a track swing arm type obstacle-crossing robot which comprises a car body. The two sides of the car body are each provided with a motor system. Each motor system comprises two track swing arm devices which are arranged at the two ends of one side of the car body respectively. Each track swing arm device comprises a swing arm and a track arranged on the swing arm. A first transmission mechanism and second transmission mechanisms are arranged inside the car body, wherein the first transmission mechanism controls the swing arms in the two motor systems to rotate at the same time, and the second transmission mechanisms control the track of the motor system on one side to rotate. The first transmission mechanism is arranged in the middle of the car body. The two second transmission mechanisms are arranged on the two sides of the first transmission mechanism. The track swing arm type obstacle-crossing robot can flexibly move, has the beneficial effects that transmission torque is large, a control system is simple, and the mechanical reliability and obstacle-crossing efficiency are high, has the good application prospect, and is worthy of popularization.

Description

A kind of crawler belt swing arm type barrier-surpassing robot
Technical field
The invention belongs to robot device field, be specifically related to a kind of crawler belt swing arm type barrier-surpassing robot.
Background technology
Crawler belt swing arm type barrier-surpassing robot is a kind of can movement and the equipment of crossing over blockage, be rural atmosphere investigation, make an inspection tour, one of important automated arm that clearance is got rid of the danger and worked under the situation such as detecting in severe hazardous environment, because the robot obstacle climbing ability of this type is strong with the ability adapting to outdoor complex-terrain, uneven and have crossing ability in the road environment of obstacle good, so its application is also more and more wider.There is following defect in current existing barrier-surpassing robot product: (1), although robot structure is simple, transfer of torque is large not, the under power when crossing over blockage, and this will weaken its obstacle climbing ability greatly; (2) although some robot motion is flexible, it needs the motor number of control more, thus causes robot control system complicated, and power consumption increases, and mechanical reliability is low, and the mean free error time is short, and this applies for it to a certain extent and brings difficulty; (3) also have some robot products, although obstacle detouring mode is novel, its complex operation in obstacle detouring process is complicated, and obstacle detouring efficiency is low, cannot apply quickly through the occasion of obstacle at some needs.
Summary of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of crawler belt swing arm type barrier-surpassing robot, equipment is provided for meeting the needs of work such as field complex-terrain investigation, tour and hazardous environment probing, innovative design robot interior drive mechanism, robot based on this drive mechanism can not only move flexibly also have that transfer of torque is large, control system is simple, mechanical reliability and obstacle detouring efficiency advantages of higher, have a good application prospect, be worthy to be popularized.
For solving the problem, the present invention specifically by the following technical solutions:
A kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, comprise car body, the both sides of described car body are respectively equipped with one group of kinematic scheme, often organize kinematic scheme and comprise two crawler belt swinging arm devices, be located at the two ends of car body side respectively, described crawler belt swinging arm device comprises swing arm and is located at the crawler belt in swing arm, the first transmission device simultaneously controlling swing arm rotation in two groups of kinematic schemes and the second transmission device controlling crawler belt rotation in the kinematic scheme of side is provided with in described car body, the middle part of car body is located at by described first transmission device, described second transmission device is set to two groups, be arranged at the both sides of the first transmission device respectively.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, described first transmission device comprises the first motor and by the first motor-driven first driving wheel, the both sides of described first driving wheel are engaged in the first flower wheel, the second flower wheel respectively successively, and the two ends of the turning cylinder of described second flower wheel connect swing arm respectively.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, the two ends of the turning cylinder of described second flower wheel are connected with swing arm respectively by magnetic clutch.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, the second transmission device being symmetricly set in the first transmission device both sides comprises the second motor and by the second motor-driven second driving wheel, the both sides of described second driving wheel are meshed with the 3rd flower wheel respectively, described 3rd flower wheel is coaxially connected with the 4th flower wheel, namely the 3rd flower wheel shares a turning cylinder with the 4th flower wheel or the turning cylinder of the two is connected, then the 3rd flower wheel is parallel with the 4th flower wheel, described 4th flower wheel is engaged in the 5th flower wheel, described 5th flower wheel drives crawler belt to rotate.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, the middle part of described 5th flower wheel is run through sleeve, one end of described sleeve is connected to the large Athey wheel driving crawler belt to rotate, the side of described large Athey wheel is provided with the little Athey wheel rotated with large Athey wheel, and described crawler belt is around in the outside of large Athey wheel, little Athey wheel.Therefore, in fact, the distribution of the first driving wheel, the second driving wheel both sides flower wheel is all symmetrically arranged, that is illustrates, the first transmission device, the second transmission device are inherently symmetrical structure.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, the two ends of the turning cylinder of the second flower wheel are each passed through sleeve and are connected with swing arm.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, is characterized in that, the first motor and the first driving wheel, is equipped with worm reducer between the second motor and the second driving wheel.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, described first motor is small type stepping motor, and described first motor is 80 to the total reduction gear ratio of swing arm.
Aforesaid a kind of crawler belt swing arm type barrier-surpassing robot, it is characterized in that, described second motor is DC micro-motor, and described second motor is 56 to the total reduction gear ratio of crawler belt.
Beneficial effect of the present invention: a kind of crawler belt swing arm type barrier-surpassing robot provided by the invention, compared with wheeled robot, crawler belt has feature that is large with contact area of ground, stable drive, and this will increase its carrying capacity on scraggly road surface.When running into the obstacle such as step, bump, robot supports car body by swing arm, and robot crawler belt still can rotate at the same time, thus makes robot clear an obstacle.When robot is climbed, motor output power is after worm reducer slows down, and again through two-stage gear transmission, transmission of power causes crawler belt the most at last, and this will increase output torque greatly, and this contributes to obstacle detouring and the slope climbing movement of robot.Because worm mechanism has the function of reverse self-locking, thus when robot is climbed or swing arm be in above car body, during motor stalls, robot and swing arm can not be made because of the effect of gravity freely to fall, this is relatively simple by what make control become.Compared with existing barrier-surpassing robot, when using similar motor, this crawler belt swing arm type barrier-surpassing robot can export more high pulling torque, compact conformation, moves more flexible, longer ability is stronger, control system is relatively simple, and highly versatile, can meet the requirement of variety classes operation to equipment, have a good application prospect, be worthy to be popularized.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of crawler belt swing arm type barrier-surpassing robot of the present invention;
Fig. 2 is inner transmission device structural representation;
Fig. 3 is car body and crawler belt swinging arm device connection structure schematic diagram;
Fig. 4 is this crawler belt swing arm type barrier-surpassing robot obstacle detouring schematic diagram, wherein Fig. 4 (a) represents that this robot runs into obstacle and lifted by two front swing arms in advance, Fig. 4 (b) represents front swing arm and the bar contact of this robot, Fig. 4 (c) expression utilizes swing arm to be lifted by vehicle body, Fig. 4 (d) represents that two rear-swing arms rotate to forming the angle of attack by this robot, Fig. 4 (e) represents rear-swing arm and bar contact, and Fig. 4 (f) represents this robot crossing over blockage.
Reference numeral implication is as follows:
1: car body; 2: crawler belt swinging arm device; 21: swing arm; 22: crawler belt; 3: the first transmission devices; 31: the first motors; 32: the first driving wheels; 33: the first flower wheels; 34: the second flower wheels; 35: turning cylinder; 4: the second transmission devices; 41: the second motors; 42: the second driving wheels; 43: the three flower wheels; 44: the four flower wheels; 45: the five flower wheels; 5: magnetic clutch; 6: sleeve; 7: large Athey wheel; 8: little Athey wheel; 9: worm reducer.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As depicted in figs. 1 and 2, a kind of crawler belt swing arm type barrier-surpassing robot, comprise car body 1, car body 1 is this robot car body, car body 1 is for depositing the control system of power supply and this robot, can also support as the base of mechanical arm or other equipments, the both sides of described car body 1 are respectively equipped with one group of kinematic scheme, to be cooperatively interacted motion by the kinematic scheme of car body 1 both sides, realize the movement of this robot, often organize kinematic scheme and comprise two crawler belt swinging arm devices 2, be located at the two ends of car body 1 side respectively, described crawler belt swinging arm device 2 comprises swing arm 21 and is located at the crawler belt 22 in swing arm 21, the motion of swing arm 21 and crawler belt 22 separates, the first transmission device 3 simultaneously controlling swing arm 21 rotation in two groups of kinematic schemes and the second transmission device 4 controlling crawler belt 22 rotation in the kinematic scheme of side is provided with in described car body 1, the middle part of car body 1 is located at by described first transmission device 3, described second transmission device 4 is set to two groups, be arranged at the both sides of the first transmission device 3 respectively, therefore, first transmission device 3 controls the rotation of four all swing arms 21 simultaneously, and the second transmission device 4 of every side controls the rotation of two corresponding crawler belts 22 respectively, namely achieve crawler belt 22 and rotate that to rotate with swing arm 21 be two separate motions.
Detailed, the first driving wheel 32 that described first transmission device 3 comprises the first motor 31 and driven by the first motor 31, the both sides of described first driving wheel 32 are engaged in the first flower wheel 33, second flower wheel 34 respectively successively, and the two ends of the turning cylinder 35 of described second flower wheel 34 are connected with swing arm 21 respectively by magnetic clutch 5.First motor 31 provides power, the first driving wheel 32 is driven to rotate, thus drive the first flower wheel 33, second flower wheel 34 to rotate, magnetic clutch 5 is all provided with between the turning cylinder 35 and swing arm 21 of the second flower wheel 34, an i.e. corresponding magnetic clutch 5 of swing arm 21, each swing arm 21 is controlled by a magnetic clutch 5 separately, is controlled the switch of magnetic clutch 5 by the control system in car body 1, thus control the self-movement of each swing arm 21, realize the rotation of different swing arm 21.
Detailed, the second driving wheel 42 that the second transmission device 4 being symmetricly set in the first transmission device 3 both sides comprises the second motor 41 and driven by the second motor 41, second transmission device 4 is set to two, it is symmetrically distributed in the both sides of the first transmission device 3, namely car body 1 is symmetrically distributed in inner, two crawler belt swinging arm devices 2 that each second transmission device 4 controls in one group of kinematic scheme move, the both sides of described second driving wheel 42 are meshed with the 3rd flower wheel 43 respectively, described 3rd flower wheel 43 is coaxially connected with the 4th flower wheel 44, described 4th flower wheel 44 is engaged in the 5th flower wheel 45, described 5th flower wheel 45 drives crawler belt 22 to rotate.Be specially, the middle part of described 5th flower wheel 45 is run through sleeve 6, one end of described sleeve 6 is connected to the large Athey wheel 7 driving crawler belt 22 to rotate, the side of described large Athey wheel 7 is provided with the little Athey wheel 8 rotated with large Athey wheel 7, and described crawler belt 22 is around in the outside of large Athey wheel 7, little Athey wheel 8.Second motor 41 provides power, the second driving wheel 42 is driven to rotate, thus drive the 3rd flower wheel 43 of the second driving wheel 42 both sides to rotate, because the 3rd flower wheel 43 is coaxially connected with the 4th flower wheel 44, therefore, 4th flower wheel 44 rotates along with the 3rd flower wheel 43 and rotates, and drive the 5th flower wheel 45 to rotate, by the sleeve 6 run through in the middle part of the 5th flower wheel 45, then drive large Athey wheel 7, little Athey wheel 8 rotates, final crawler belt 22 rotates thereupon, drives this robot motion.In addition, in first transmission device 3, the two ends of the turning cylinder 35 of the second flower wheel 34 are each passed through sleeve 6 and are connected with swing arm 21, like this, the position of appropriate design between sleeve 6 and turning cylinder 35, both the rotation of the two crawler belt driven respectively or swing arm can not have been affected, again by the motion of crawler belt, swing arm separately, it is separate that both realizations are moved.
Detailed, the first motor 31 and be equipped with worm reducer 9 between the first driving wheel 32, second motor 41 and the second driving wheel 42.Because worm reducer 9 has the function of reverse self-locking, thus when this robot is climbed or swing arm is in above car body, motor stalls time, robot and swing arm can not be made freely to fall because of the effect of gravity, this is relatively simple by what make control become.
Detailed, described first motor 31 is small type stepping motor, and described second motor 41 is DC micro-motor, and the transmitting ratio of worm reducer is 20, described first motor 31 is 80 to the total reduction gear ratio of swing arm 21, and described second motor 41 is 56 to the total reduction gear ratio of crawler belt 22.Two the second motors 41 mainly order about crawler belt rotating band mobile robot and move, and while guarantee exports compared with big speed ratio, also will take into account moving velocity; And the first motor 31 major control swing arm swings, do not need too high speed when obstacle detouring, but need to export comparatively high pulling torque, therefore overall gear ratio is relatively large, because the first motor 31 is stepping motors, reach by controlling motor corner the object accurately controlling the swing arm anglec of rotation.
This crawler belt swing arm type barrier-surpassing robot entirety adopts symmetrical structure, comprise car body 1 i.e. robot automobile body, four crawler belt swinging arm devices 2, three groups of gear drives (one group of first transmission device 3 and two group of second transmission device 4) and four magnetic clutchs 5, four crawler belt swinging arm devices 2 are primary members of this robot ambulation and obstacle detouring, it is arranged on the outside of robot automobile body respectively, robot automobile body is generally square, namely four crawler belt swinging arm devices 2 are arranged on four angles of robot automobile body respectively, three groups of gear drives and four magnetic clutchs 5 are arranged in car body, on transmission of power to the four group crawler belt swinging arm device 2 that motor exports by separately, each crawler belt swinging arm device 2 is by large Athey wheel 7, little Athey wheel 8, crawler belt 22 and swing arm 21 form, each group gear drive is all made up of two-stage gear transmission, in the swing of swing arm and swing arm, the rotation of crawler belt is two separate motions, this structure that can increase robot obstacle performance combines to realize by sleeve and axle, wherein swing arm 21 can around central axis 360 degree revolution, can rotate in the process that crawler belt swings in swing arm, two motions are separate.As shown in Figure 3, when magnetic clutch 5 is in bonding state, first motor 31 rotates and drives turning cylinder 35 to rotate, and then drive swing arm 21 to rotate, meanwhile, the second motor 41 rotates, by transmission of power to the 5th flower wheel 45, and then be with moving sleeve 6 and large Athey wheel 7 to rotate, thus drive caterpillar drive and robot is moved.
In two crawler belt swinging arm devices 2 of the same side, the rotation of two crawler belts 22 is driven by a motor i.e. the second motor 41, then four crawler belts are driven by two motors (the second motor 41) respectively, these two motors forward or reverse simultaneously, can move forward and backward by control, two one, motors rotate forward a reversion, then turn about drive machines people.Except crawler belt rotates, the swing arm that carry crawler belt also can be rotated, the swing of four swing arms is driven by same motor i.e. the first motor 31, but each turning cylinder driving swing arm to rotate is equipped with magnetic clutch 5, by controlling the state of magnetic clutch 5 on different turning cylinder, just can reach the object controlling different swing arm and rotate, each magnetic clutch is separate, controlled by car body 1 controlling system, therefore as required, control the swing arm corresponding with it by the joint controlling any one magnetic clutch 5 with disconnection to swing, same principle, also can control multiple swing arm to swing simultaneously, greatly increase the alerting ability of robot.
As shown in Figure 4, when there is obstacle in front, two front swing arms lift by this robot in advance in the process of moving, the angle of attack before being formed, as shown in Figure 4 (a), when robot ride is to front swing arm and bar contact, as shown in Figure 4 (b), swing arm is utilized to be lifted by vehicle body, as shown in Figure 4 (c), now crawler belt is rotated further and is with mobile robot to move forward, and the angle of attack after rear-swing arm being turned over clockwise formation in car body movement forward, as shown in Fig. 4 (d), when travelling to rear-swing arm contact obstacle, in robot moves forward process, utilize front swing arm to be lifted by whole car body, as shown in Fig. 4 (e), thus make robot crossing over blockage and Fig. 4 (f).
More than show and describe groundwork of the present invention, principal character and advantage.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.

Claims (9)

1. a crawler belt swing arm type barrier-surpassing robot, it is characterized in that, comprise car body, the both sides of described car body are respectively equipped with one group of kinematic scheme, often organize kinematic scheme and comprise two crawler belt swinging arm devices, be located at the two ends of car body side respectively, described crawler belt swinging arm device comprises swing arm and is located at the crawler belt in swing arm, the first transmission device simultaneously controlling swing arm rotation in two groups of kinematic schemes and the second transmission device controlling crawler belt rotation in the kinematic scheme of side is provided with in described car body, the middle part of car body is located at by described first transmission device, described second transmission device is set to two groups, be arranged at the both sides of the first transmission device respectively.
2. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 1, it is characterized in that, described first transmission device comprises the first motor and by the first motor-driven first driving wheel, the both sides of described first driving wheel are engaged in the first flower wheel, the second flower wheel respectively successively, and the two ends of the turning cylinder of described second flower wheel connect swing arm respectively.
3. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 2, it is characterized in that, the two ends of the turning cylinder of described second flower wheel are connected with swing arm respectively by magnetic clutch.
4. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 3, it is characterized in that, the second transmission device being symmetricly set in the first transmission device both sides comprises the second motor and by the second motor-driven second driving wheel, the both sides of described second driving wheel are meshed with the 3rd flower wheel respectively, described 3rd flower wheel is coaxially connected with the 4th flower wheel, described 4th flower wheel is engaged in the 5th flower wheel, and described 5th flower wheel drives crawler belt to rotate.
5. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 4, it is characterized in that, the middle part of described 5th flower wheel is run through sleeve, one end of described sleeve is connected to the large Athey wheel driving crawler belt to rotate, the side of described large Athey wheel is provided with the little Athey wheel rotated with large Athey wheel, and described crawler belt is around in the outside of large Athey wheel, little Athey wheel.
6. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 5, is characterized in that, the turning cylinder of the second flower wheel is connected with swing arm through sleeve.
7. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 5, is characterized in that, the first motor and the first driving wheel, is equipped with worm reducer between the second motor and the second driving wheel.
8. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 8, it is characterized in that, described first motor is small type stepping motor, and described first motor is 80 to the total reduction gear ratio of swing arm.
9. a kind of crawler belt swing arm type barrier-surpassing robot according to claim 8, it is characterized in that, described second motor is DC micro-motor, and described second motor is 56 to the total reduction gear ratio of crawler belt.
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314577A (en) * 2016-08-23 2017-01-11 西安科技大学 Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot
CN107719491A (en) * 2017-09-19 2018-02-23 林瑞春 A kind of caterpillar mobile robot
CN108248709A (en) * 2017-12-28 2018-07-06 华中光电技术研究所(中国船舶重工集团公司第七七研究所) A kind of small-sized double-pendulum arms caterpillar mobile robot platform
CN108407906A (en) * 2018-03-14 2018-08-17 辽宁工程技术大学 Variable mass counterweight automatic transporting machine people is used in a kind of detection of elevator
CN109048938A (en) * 2018-08-28 2018-12-21 陈涛 A kind of man-machine interactive intelligent steward robot
CN109733504A (en) * 2018-12-27 2019-05-10 浙江省交通规划设计研究院有限公司 Wheel leg type unmanned flight detects robot
CN110481667A (en) * 2019-08-29 2019-11-22 哈尔滨工程大学 A kind of compound walking polar region robot of crawler belt sled
CN110614889A (en) * 2019-09-11 2019-12-27 哈尔滨工程大学 Pendulum-caterpillar integrated bionic amphibious propelling device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314577A (en) * 2016-08-23 2017-01-11 西安科技大学 Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot
CN107719491A (en) * 2017-09-19 2018-02-23 林瑞春 A kind of caterpillar mobile robot
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CN109048938A (en) * 2018-08-28 2018-12-21 陈涛 A kind of man-machine interactive intelligent steward robot
CN109733504A (en) * 2018-12-27 2019-05-10 浙江省交通规划设计研究院有限公司 Wheel leg type unmanned flight detects robot
CN110481667A (en) * 2019-08-29 2019-11-22 哈尔滨工程大学 A kind of compound walking polar region robot of crawler belt sled
CN110614889A (en) * 2019-09-11 2019-12-27 哈尔滨工程大学 Pendulum-caterpillar integrated bionic amphibious propelling device

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