CN104986233B - Track swing arm type obstacle-crossing robot - Google Patents
Track swing arm type obstacle-crossing robot Download PDFInfo
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- CN104986233B CN104986233B CN201510311140.5A CN201510311140A CN104986233B CN 104986233 B CN104986233 B CN 104986233B CN 201510311140 A CN201510311140 A CN 201510311140A CN 104986233 B CN104986233 B CN 104986233B
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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
Technical field
The invention belongs to robot device field, and in particular to a kind of crawler belt swing arm barrier-surpassing robot.
Background technology
Crawler belt swing arm barrier-surpassing robot is a kind of equipment that can move simultaneously crossing over blockage, is wild environment investigation, patrols
Depending on, clearance get rid of the danger and severe hazardous environment in detect when one of the important automated arm that works, due to this type
Robot obstacle climbing ability and adapt to outdoor complexity landform ability it is strong, uneven and have in the road environment of barrier and lead to
The property crossed is good, so its application is also more and more wider.At present there is following defect in existing barrier-surpassing robot product：（1）Machine
Although people's simple structure, transfer of torque is not big enough, it is short of power in crossing over blockage, this will significantly weaken its obstacle detouring energy
Power；（2）Although some robot motions are flexibly, it needs the motor number of control more, so as to cause robot control
System complex, power consumption increase, Mechanical Reliability is low, and the mean free error time is short, and this is to a certain extent its popularization and application band
Come difficult；（3）Also some robot products, although obstacle detouring mode is novel, but its cumbersome complexity during obstacle detouring,
Obstacle detouring efficiency is low, cannot apply quickly through the occasion of barrier in some needs.
The content of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of crawler belt swing arm barrier-surpassing robot, is
Meet field complexity landform investigation, make an inspection tour and the need of work such as hazardous environment probing provides equipment, in innovative design robot
Portion's drive mechanism, the robot based on the drive mechanism can not only flexibly be moved and also have that transfer of torque is big, control system is simple
The advantages of single, Mechanical Reliability and obstacle detouring efficiency high, have a good application prospect, be worthy to be popularized.
To solve the above problems, the present invention is specifically employed the following technical solutions：
A kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that including car body, the car body is respectively provided on two sides with one
Group kinematic system, every group of kinematic system includes two crawler belt swinging arm devices, is respectively arranged on the two ends of car body side, the crawler belt pendulum
Arm assembly includes swing arm and the crawler belt in swing arm, is provided with the car body and control simultaneously swing arm turn in two groups of kinematic systems
The second transmission mechanism that crawler belt is rotated in dynamic the first transmission mechanism and control side kinematic system, first transmission mechanism
Located at the middle part of car body, second transmission mechanism is set to two groups, is respectively arranged at the both sides of the first transmission mechanism.
Aforesaid a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that first transmission mechanism includes that first is electric
Machine and by the first motor-driven first driving wheel, it is driven that the both sides of first driving wheel are engaged in successively respectively first
Wheel, the second driven pulley, the two ends of the rotary shaft of second driven pulley connect respectively swing arm.
A kind of aforesaid crawler belt swing arm barrier-surpassing robot, it is characterised in that the two of the rotary shaft of second driven pulley
End is connected respectively by electromagnetic clutch with swing arm.
Aforesaid a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that be symmetricly set in the first transmission mechanism both sides
The second transmission mechanism include the second motor and by the second motor-driven second driving wheel, the both sides of second driving wheel
It is meshed with the 3rd driven pulley respectively, the 3rd driven pulley is coaxially connected with the 4th driven pulley, i.e. the 3rd driven pulley and the 4th
Driven pulley shares a rotary shaft or the rotary shaft of the two is connected, then the 3rd driven pulley is parallel with the 4th driven pulley, described
4th driven pulley is engaged in the 5th driven pulley, and the 5th driven pulley drives crawler belt to rotate.
Aforesaid a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that the middle part of the 5th driven pulley is run through to be had
Sleeve, one end of the sleeve is connected to the big Athey wheel for driving crawler belt to rotate, and the side of the big Athey wheel is provided with big shoe
The little Athey wheel that belt wheel is rotated, the crawler belt encloses and is located at big Athey wheel, the outside of little Athey wheel.Therefore, in fact, first actively
Wheel, the distribution of the second driving wheel both sides driven pulley are symmetrically arranged, that is, are illustrated, the first transmission mechanism, the second driver
Structure is inherently symmetrical structure.
A kind of aforesaid crawler belt swing arm barrier-surpassing robot, it is characterised in that the two ends of the rotary shaft of the second driven pulley point
Not Chuan Guo sleeve be connected with swing arm.
Aforesaid a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that the first motor and the first driving wheel, second electric
Worm reducer is equipped between machine and the second driving wheel.
Aforesaid a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that first motor is small type stepping motor,
First motor to the total reduction ratio of swing arm is 80.
Aforesaid a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that second motor is DC micro-motor,
Second motor to the total reduction ratio of crawler belt is 56.
Beneficial effects of the present invention：A kind of crawler belt swing arm barrier-surpassing robot that the present invention is provided, with wheeled robot phase
The characteristics of having, stable drive big with contact area of ground than, crawler belt, this will increase its passing through on scraggly road surface
Ability.When the obstacles such as step, bump are run into, robot supports car body by swing arm, and at the same time robot crawler belt is still
So can rotate, so that robot surmounts obstacles.When robot climbs, motor output power slows down through worm reducer
Afterwards, and through two-stage gear drive, most at last power transmission causes crawler belt, and this will greatly increase output torque, and this contributes to machine
The obstacle detouring and slope climbing movement of people.Because worm mechanism has the function of reverse self-locking, so when robot climbs or swing arm
In car body top, during motor stalls, robot and swing arm will not be made because of the effect of gravity freely to fall, this will make
It is relatively easy that control becomes.Compared with existing barrier-surpassing robot, in the case of using similar motor, the crawler belt swing arm obstacle detouring
Robot can export more high pulling torque, and compact conformation, motion is more flexible, and longer ability is higher, and control system is relatively easy, versatility
By force, requirement of the variety classes operation to equipment can be met, is had a good application prospect, be worthy to be popularized.
Description of the drawings
Fig. 1 is a kind of structural representation of crawler belt swing arm barrier-surpassing robot of the present invention；
Fig. 2 is internal drive mechanism structure schematic diagram；
Fig. 3 is car body and crawler belt swinging arm device attachment structure schematic diagram；
Fig. 4 be the crawler belt swing arm barrier-surpassing robot obstacle detouring schematic diagram, wherein Fig. 4（a）Represent that the robot runs into obstacle
Two front swing arms are lifted in advance, Fig. 4（b）Represent the front swing arm and bar contact of the robot, Fig. 4（c）Represent using pendulum
Arm lifts vehicle body, Fig. 4（d）Represent that the robot rotates two rear-swing arms to the formation angle of attack, Fig. 4（e）Represent rear-swing arm with
Bar contact, Fig. 4（f）Represent the robot crossing over blockage.
Reference implication is as follows：
1：Car body；2：Crawler belt swinging arm device；21：Swing arm；22：Crawler belt；3：First transmission mechanism；31：First motor；32：
First driving wheel；33：First driven pulley；34：Second driven pulley；35：Rotary shaft；4：Second transmission mechanism；41：Second motor；
42：Second driving wheel；43：3rd driven pulley；44：4th driven pulley；45：5th driven pulley；5：Electromagnetic clutch；6：Sleeve；
7：Big Athey wheel；8：Little Athey wheel；9：Worm reducer.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
As depicted in figs. 1 and 2, a kind of crawler belt swing arm barrier-surpassing robot, including car body 1, car body 1 is the robot car
Body, car body 1 is used to deposit power supply and the control system of the robot, is also used as mechanical arm or the base of other equipments
Support, the car body 1 is respectively provided on two sides with one group of kinematic system, is cooperated motion by the kinematic system of the both sides of car body 1, reality
The now movement of the robot, every group of kinematic system includes two crawler belt swinging arm devices 2, is respectively arranged on the two ends of the side of car body 1, institute
Stating crawler belt swinging arm device 2 includes swing arm 21 and the crawler belt 22 in swing arm 21, and swing arm 21 and the motion of crawler belt 22 are to separate
, the first transmission mechanism 3 and control side for controlling that swing arm 21 is rotated in two groups of kinematic systems simultaneously is provided with the car body 1
In kinematic system crawler belt 22 rotate the second transmission mechanism 4, first transmission mechanism 3 located at car body 1 middle part, described second
Transmission mechanism 4 is set to two groups, is respectively arranged at the both sides of the first transmission mechanism 3, therefore, the first transmission mechanism 3 controls institute simultaneously
The rotation of four swing arms 21 having, and the second transmission mechanism 4 per side controls respectively the rotation of corresponding two crawler belt 22,
It is two separate motions to realize crawler belt 22 and rotate with the rotation of swing arm 21.
Detailed, the first active that first transmission mechanism 3 includes the first motor 31 and driven by the first motor 31
Wheel 32, the both sides of first driving wheel 32 are engaged in successively respectively the first driven pulley 33, the second driven pulley 34, described second from
The two ends of the rotary shaft 35 of driving wheel 34 are connected respectively by electromagnetic clutch 5 with swing arm 21.First motor 31 provides power, drives
Dynamic first driving wheel 32 is rotated, so as to drive the first driven pulley 33, the second driven pulley 34 to rotate, in the rotation of the second driven pulley 34
One electromagnetic clutch 5 of correspondence of the swing arm of electromagnetic clutch 5, i.e., one 21, each swing arm are provided between axle 35 and swing arm 21
21 are individually controlled by an electromagnetic clutch 5, the switch of electromagnetic clutch 5 are controlled by the control system in car body 1, so as to control
The self-movement of each swing arm 21 is made, the rotation of different swing arms 21 is realized.
It is detailed, be symmetricly set in the second transmission mechanism 4 of the both sides of the first transmission mechanism 3 include the second motor 41 and by
The second driving wheel 42 that second motor 41 drives, the second transmission mechanism 4 is set to two, and it is symmetrically distributed in the first transmission mechanism 3
Both sides, that is, be symmetrically distributed in inside car body 1, each second transmission mechanism 4 controls the two crawler belts pendulum in one group of kinematic system
Arm assembly 2 is moved, and the both sides of second driving wheel 42 are meshed respectively with the 3rd driven pulley 43, the 3rd driven pulley 43 with
4th driven pulley 44 is coaxially connected, and the 4th driven pulley 44 is engaged in the 5th driven pulley 45, and the 5th driven pulley 45 drives
Crawler belt 22 is rotated.Specifically, the middle part of the 5th driven pulley 45 is connected to drive through the one end for having sleeve 6, the sleeve 6
The big Athey wheel 7 that crawler belt 22 is rotated, the side of the big Athey wheel 7 is provided with the little Athey wheel 8 rotated with big Athey wheel 7, described
Crawler belt 22 encloses and is located at big Athey wheel 7, the outside of little Athey wheel 8.Second motor 41 provides power, drives 42 turns of the second driving wheel
It is dynamic, so as to the 3rd driven pulley 43 for driving the both sides of the second driving wheel 42 is rotated, due to the 3rd driven pulley 43 and the 4th driven pulley 44
It is coaxially connected, therefore, the 4th driven pulley 44 is rotated as the 3rd driven pulley 43 is rotated, and drives the 5th driven pulley 45 to rotate,
The sleeve 6 run through by the middle part of the 5th driven pulley 45, drives big Athey wheel 7, little Athey wheel 8 to rotate then, final crawler belt 22 with
Rotation, drive the robot motion.Additionally, the two ends of the rotary shaft 35 of the second driven pulley 34 are distinguished in the first transmission mechanism 3
It is connected with swing arm 21 through sleeve 6, so, position of the appropriate design between sleeve 6 and rotary shaft 35 had not both interfered with two
Crawler belt or the rotation of swing arm that person drives respectively, and the motion of crawler belt, swing arm is separated, realize the separate of the two motion.
Detailed, it is equipped with snail between the first motor 31 and the first driving wheel 32, the second motor 41 and the second driving wheel 42
Bar decelerator 9.Because worm reducer 9 has the function of reverse self-locking, so when the robot climbs or swing arm is in
When car body top, motor stalls, robot and swing arm will not be made because of the effect of gravity freely to fall, this will make control
What is become is relatively easy.
Detailed, first motor 31 is small type stepping motor, and second motor 41 is DC micro-motor, worm screw
The gearratio of decelerator is 20, and the total reduction ratio of first motor 31 to swing arm 21 is 80, and second motor 41 arrives crawler belt
22 total reduction ratio is 56.Two the second motors 41 mainly order about the movement of crawler belt rotational band mobile robot, are ensureing that output is larger
While gearratio, travel speed is also taken into account；And the major control swing arm of the first motor 31 swings, need not be too high in obstacle detouring
Speed, however it is necessary that output high torque, therefore resultant gear ratio is relatively large, because the first motor 31 is stepper motor, passes through
Controlled motor corner reaches the purpose of the precise control swing arm anglec of rotation.
The crawler belt swing arm barrier-surpassing robot integrally adopts symmetrical structure, including car body 1 is robot automobile body, four shoes
Band 2, three groups of gear drives of swinging arm device（One group of first transmission mechanism 3 and two group of second transmission mechanism 4）With four electricity
Magnet clutch 5, four crawler belt swinging arm devices 2 are the main members of the robot ambulation and obstacle detouring, and it is separately mounted to robot
The outside of vehicle body, robot automobile body is generally square, i.e., four crawler belt swinging arm devices 2 are separately mounted to the four of robot automobile body
On individual angle, three groups of gear drives and four electromagnetic clutch 5 are arranged in car body, the power that each of which exports in motor
It is transferred on four groups of crawler belt swinging arm devices 2, each crawler belt swinging arm device 2 is by big Athey wheel 7, little Athey wheel 8, crawler belt 22
And the composition of swing arm 21, each group of gear drive is all made up of two-stage gear drive, in the swing and swing arm of swing arm
The rotation of crawler belt is two separate motions, and this structure that can increase robot obstacle performance is by sleeve and axle group
Close to realize, wherein swing arm 21 be able to can be rotated around 360 degree of revolutions of central axis, crawler belt during swing arm swing,
Two motions are separate.As shown in figure 3, when electromagnetic clutch 5 is in bonding state, the first motor 31 is rotated and drives rotary shaft
35 rotate, and then drive swing arm 21 to rotate, meanwhile, the second motor 41 is rotated, and power is transferred to into the 5th driven pulley 45, and then band
Moving sleeve 6 and big Athey wheel 7 are rotated, and so as to drive caterpillar drive robot is moved.
In two crawler belt swinging arm devices 2 of the same side, the rotation of two crawler belts 22 is that the second motor 41 drives by a motor
Dynamic, then four crawler belts are respectively by two motors（Second motor 41）Drive, this two motors are while forward or reverse, can control
Robot is moved forward and backward, and two one, motors rotate forward a reversion, then driven machine people or so turns.Except crawler belt rotates it
Outward, carry the swing arm of crawler belt can also rotate, and the swing of four swing arms is that the first motor 31 drives by same motor,
But each to drive and be equipped with electromagnetic clutch 5 in the rotary shaft that swing arm is rotated, by electromagnetism in the different rotary shafts of control from
The state of clutch 5, it is possible to reach the purpose that the different swing arms of control are rotated, each electromagnetic clutch is separate, is led to
Cross the controlling system of car body 1 to control, therefore as needed, by controlling the engagement of any one electromagnetic clutch 5 and breaking
The corresponding swing arm of control of coming swings, same principle, it is also possible to controls multiple swing arms and swings simultaneously, significantly increases machine
The flexibility of device people.
As shown in figure 4, when there is obstacle in front, in the process of moving the robot in advance lifts two front swing arms, shape
Into the front angle of attack, such as Fig. 4（a）It is shown, when robot ride to front swing arm and bar contact, such as Fig. 4（b）It is shown, using pendulum
Arm lifts vehicle body, such as Fig. 4（c）Shown, now crawler belt is rotated further band mobile robot and moves forward, and moves forward in car body
During rear-swing arm is turned over to form the rear angle of attack, such as Fig. 4 clockwise（d）It is shown, when traveling hinders to rear-swing arm contact
When hindering thing, during robot moves forward whole car body is lifted using front swing arm, such as Fig. 4（e）It is shown, so that machine
Device people's crossing over blockage is Fig. 4（f）.
General principle, principal character and the advantage of the present invention has been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (5)
1. a kind of crawler belt swing arm barrier-surpassing robot, it is characterised in that including car body, the car body is respectively provided on two sides with one group
Kinematic system, every group of kinematic system includes two crawler belt swinging arm devices, is respectively arranged on the two ends of car body side, the crawler belt swing arm
Device includes swing arm and the crawler belt in swing arm, is provided with the car body and control simultaneously swing arm rotation in two groups of kinematic systems
The first transmission mechanism and control side kinematic system in the second transmission mechanism for rotating of crawler belt, first transmission mechanism sets
In the middle part of car body, second transmission mechanism is set to two groups, is respectively arranged at the both sides of the first transmission mechanism；
First transmission mechanism includes the first motor and by the first motor-driven first driving wheel, first driving wheel
Both sides be engaged in the first driven pulley, the second driven pulley successively respectively, the two ends of the rotary shaft of second driven pulley connect respectively
Connect swing arm；
The two ends of the rotary shaft of second driven pulley are connected respectively by electromagnetic clutch with swing arm；
Being symmetricly set in the second transmission mechanism of the first transmission mechanism both sides includes the second motor and motor-driven by second
Second driving wheel, the both sides of second driving wheel are meshed respectively with the 3rd driven pulley, the 3rd driven pulley and the 4th from
Driving wheel is coaxially connected, and the 4th driven pulley is engaged in the 5th driven pulley, and the 5th driven pulley drives crawler belt to rotate；
Through there is sleeve, one end of the sleeve is connected to the big crawler belt for driving crawler belt to rotate at the middle part of the 5th driven pulley
Wheel, the side of the big Athey wheel is provided with the little Athey wheel rotated with big Athey wheel, and the crawler belt encloses and is located at big Athey wheel, little shoe
The outside of belt wheel.
2. a kind of crawler belt swing arm barrier-surpassing robot according to claim 1, it is characterised in that the rotation of the second driven pulley
Axle is connected through sleeve with swing arm.
3. a kind of crawler belt swing arm barrier-surpassing robot according to claim 1, it is characterised in that the first motor and the first master
Worm reducer is equipped between driving wheel, the second motor and the second driving wheel.
4. a kind of crawler belt swing arm barrier-surpassing robot according to claim 3, it is characterised in that first motor is little
Type stepper motor, the total reduction ratio of first motor to swing arm is 80.
5. a kind of crawler belt swing arm barrier-surpassing robot according to claim 3, it is characterised in that second motor is little
Type direct current generator, the total reduction ratio of second motor to crawler belt is 56.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311140.5A CN104986233B (en) | 2015-06-09 | 2015-06-09 | Track swing arm type obstacle-crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311140.5A CN104986233B (en) | 2015-06-09 | 2015-06-09 | Track swing arm type obstacle-crossing robot |
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| Publication Number | Publication Date |
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| CN104986233A CN104986233A (en) | 2015-10-21 |
| CN104986233B true CN104986233B (en) | 2017-05-10 |
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| CN201510311140.5A Active CN104986233B (en) | 2015-06-09 | 2015-06-09 | Track swing arm type obstacle-crossing robot |
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| CN106314577B (en) * | 2016-08-23 | 2018-07-03 | 西安科技大学 | The active obstacle avoidance ambulation control method of six crawler belts, four swing arm rescue robot |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
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| CN110481667B (en) * | 2019-08-29 | 2022-01-14 | 哈尔滨工程大学 | Crawler sledge composite walking polar region robot |
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| CN110450816A (en) * | 2019-09-12 | 2019-11-15 | 西安文理学院 | A kind of round-the-clock intelligence rail inspection platform and method for inspecting |
| CN111941438A (en) * | 2020-08-19 | 2020-11-17 | 安徽理工大学 | Amphibious operation robot that cruises |
| CN113928435A (en) * | 2021-10-21 | 2022-01-14 | 江苏海蓝船舶科技有限公司 | Robot chassis with strong obstacle-crossing capability and segmented crawler-type non-bearing structure |
| CN114714832A (en) * | 2022-05-09 | 2022-07-08 | 华北水利水电大学 | Amphibious emergency rescue robot |
| CN116001930A (en) * | 2022-12-13 | 2023-04-25 | 武汉中仪地空科技有限公司 | Track detection robot |
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| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| JP4759323B2 (en) * | 2005-06-08 | 2011-08-31 | 学校法人千葉工業大学 | Crawler type traveling device |
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| CN100534849C (en) * | 2007-10-31 | 2009-09-02 | 东华大学 | Joint track type walking mechanism |
| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
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