CN105438299A - Amphibious data acquisition complex road condition walking robot - Google Patents
Amphibious data acquisition complex road condition walking robot Download PDFInfo
- Publication number
- CN105438299A CN105438299A CN201510918712.6A CN201510918712A CN105438299A CN 105438299 A CN105438299 A CN 105438299A CN 201510918712 A CN201510918712 A CN 201510918712A CN 105438299 A CN105438299 A CN 105438299A
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- Prior art keywords
- data acquisition
- amphibious
- road condition
- complex road
- walking robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an amphibious data acquisition complex road condition walking robot which comprises a carrier, wherein a walking crawler, a gravity center driving mechanism and a control system are arranged on the carrier; and the control system controls the gravity center movement of the gravity center driving mechanism, so as to drive the walking crawler to walk. According to the amphibious data acquisition complex road condition walking robot, the position of gravity center is changed through the gravity driving mechanism, the walking crawler walks through the change of gravity center, and the walking crawler can adapt to severe environments such as wet land and waters, so that the robot can perform linear and circular motion in the severe environments, can climb slopes of fifteen degrees, can even rotate on the own axis in situ, and finally moves in an arbitrary direction.
Description
Technical field
The present invention is application number is 201410649856.1, and the applying date is on November 14th, 2014, and the divisional application of the application for a patent for invention that name is called " complex road condition walking robot ", relates to a kind of robot that can freely walk, particularly relate to traveling gear.
Background technology
Robot, when harsh environment image data such as unmanned, sand and dust, humidity, corrosive propertys, according to four wheel drive, is then difficult to competent this harsh environment.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of complex road condition walking robot of amphibious data acquisition, can complex road condition be adapted to, and walk on complex road condition.
In order to reach above-mentioned purpose, solution of the present invention is:
A kind of complex road condition walking robot of amphibious data acquisition, comprise carrier, described carrier is provided with traveling crawler and control system, control system controls walking crawler travel, described carrier is provided with center of gravity driver train, control system controls the gravity motion of center of gravity driver train, thus drives traveling crawler walking; Described carrier comprises two air bags be oppositely arranged, two air bags are joined together to form spherical by rotating shaft, the two ends of described rotating shaft are arranged on the centre of sphere place of described air bag respectively, and two air bags can rotate walking around its centre of sphere, traveling crawler described in difference winding on the outside face of two air bag apposition positions.
Described center of gravity driver train comprises counterweight and counterweight motor, and the rotating shaft of counterweight motor drives and connects counterweight, on the involutory surface of counterweight by a stent support described air bag wherein.
Described counterweight is clipped between two described air bags.
Described air bag is the air bag that light material is made.
The gas alleviating gravity is filled in described air bag.
Described air bag is hemispherical.
Described carrier is also provided with the data acquisition module of the environmental parameters that can gather environment residing for carrier, described data acquisition module comprises gets liquid unit, get liquid unit and comprise the syringe picking and placeing sampling liquid, syringe is driven to pick and place the injector motor of sampling liquid, deposit the liquid storing tube of the sampling liquid in syringe, lay the pipe support of liquid storing tube, and the pipe support motor driving pipe support to rotate.
Described traveling crawler comprises multiple little abrading block side by side.
After adopting said structure, the complex road condition walking robot of amphibious data acquisition of the present invention has following beneficial effect:
One, the position of center of gravity is changed by center of gravity driver train, the change of center of gravity makes traveling crawler realize walking, traveling crawler can adapt to the harsh environment such as wetland, waters, the complex road condition walking robot of amphibious like this data acquisition can realize straight line, circular motion in above-mentioned harsh environment, the slope of 15 degree can also be climbed up, even original place rotation, finally achieves the motion of any direction.
Two, loading data acquisition module on carrier, can gather Various types of data.
Accompanying drawing explanation
Fig. 1 is the structural representation of the complex road condition walking robot of amphibious data acquisition of the present invention;
Fig. 2 be counterweight of the present invention schematic diagram is set.
In figure:
Carrier 1 traveling crawler 2
Center of gravity driver train 3 data acquisition module 4
Get liquid unit 41 syringe 411
Liquid storing tube 412 pipe support 413
Control system 5
Detailed description of the invention
In order to explain technical scheme of the present invention further, below by specific embodiment, the present invention will be described in detail.
As shown in Fig. 1 to 2, complex road condition walking robot of the present invention, comprises carrier 1, traveling crawler 2, center of gravity driver train 3, data acquisition module 4 and control system 5.
Carrier 1 comprises two air bags be oppositely arranged, and preferably, air bag is hemispherical, adopts light material to make, also can fill the gas alleviating gravity in air bag, such as hydrogen etc.Two air bags are linked together by rotating shaft and are formed spherical, the two ends of rotating shaft are arranged on the centre of sphere place of air bag respectively by bearing, on the outside face of two air bag apposition positions, traveling crawler 2 is enclosed in winding one respectively, when two air bags rotate walking around the centre of sphere, traveling crawler 2 can be close to the ground formation run trace.
Because traveling crawler 2 is two closed ring-types, and adopt larger, the wear-resisting material of friction coefficient to make, when two air bags rotate walking around its centre of sphere, can walk reposefully on ground, not easily skid.Preferably, every bar traveling crawler 2 comprises multiple little abrading block side by side, is easy to like this change, keep in repair.
Center of gravity driver train 3 comprises counterweight and counterweight motor, on the involutory surface of counterweight by a stent support air bag wherein.When two air bags are involutory, counterweight is clipped between two air bags.The rotating shaft of counterweight motor drives and connects counterweight, can not only drive counterweight swing set angle, counterweight also can be driven to swing set angle, counterweight can also be driven along arbitrarily angled swing set angle.
Data acquisition module 4 comprises the combination of any one or they in audio-video collecting unit, temperature collecting cell, light value collecting unit, mechanical arm sampling unit and lighting unit.Mechanical arm sampling unit is arranged between two air bags or the side of an air bag, and the tensible of mechanical arm sampling unit and receipts are folded.The various environmental parameters of environment residing for carrier can be gathered by data acquisition module 4.
In addition, data acquisition module also comprises gets liquid unit 41, gets liquid unit 41 and comprises syringe 411, injector motor, liquid storing tube 412, pipe support 413 and pipe support motor.Pipe support 413 has breach, and injector motor drive syringe 411 is passed down through the sampling liquid needed for breach extraction.After syringe 411 moves up and returns from indentation, there, pipe support driven by motor pipe support 413 rotates, make the liquid storing tube 412 that pipe support 413 is laid aim at syringe 411, injector motor drives syringe 411 to work, and is pushed in liquid storing tube 412 by the sampling liquid in syringe 411 and stores.
Control system 5 controls the walking of complex road condition walking robot, and completes sampling.Control system 5 comprises data transmission module, run trace module and sampling module.Data transmission module transmits by wired or wireless mode the instruction that operator sends, and to operator's feedback collection result.Run trace module receives the travel commands that sends of data transmission module, and manipulates counterweight motor and make corresponding action according to travel commands.Such as, if counterweight driven by motor counterweight moves forward set angle, then, under the application force of center of gravity reach, two air bags rotate walking forward around the centre of sphere.If counterweight driven by motor counterweight moves set angle backward, then under the application force moved after center of gravity, two air bags to rotate backward walking around the centre of sphere.If counterweight driven by motor counterweight is moved to the left set angle, then, under the application force moved to left in center of gravity, two air bags turn left around the centre of sphere.The set angle if counterweight driven by motor counterweight moves right, then, under the application force moved to right in center of gravity, two air bags are around centre of sphere turning clockwise.Wherein, the angle of counterweight change is unsuitable excessive, otherwise causes the overturning of complex road condition walking robot.
So, complex road condition walking robot can realize straight line, circular motion under control of the control system 5, can also climb up the slope of 15 degree, and can realize original place rotation.Complex road condition walking robot achieves the motion of any direction by the position changing counterweight center of gravity.
On carrier 1, loading data acquisition module, alleviates deadweight by air bag, also can adapt to the harsh environment such as wetland, waters further, and carry out Various types of data collection by traveling crawler 2.When the carrier 1 of complex road condition walking robot, center of gravity driver train 3, data acquisition module 4 and control system 5 adopt good leakproofing material, also amphibious data acquisition can be realized.
Above-described embodiment and accompanying drawing non-limiting product form of the present invention and style, any person of an ordinary skill in the technical field, to its suitable change done or modification, all should be considered as not departing from patent category of the present invention.
Claims (8)
1. the complex road condition walking robot of an amphibious data acquisition, comprise carrier, described carrier is provided with traveling crawler and control system, control system controls walking crawler travel, it is characterized in that: described carrier is provided with center of gravity driver train, control system controls the gravity motion of center of gravity driver train, thus drives traveling crawler walking; Described carrier comprises two air bags be oppositely arranged, two air bags are joined together to form spherical by rotating shaft, the two ends of described rotating shaft are arranged on the centre of sphere place of described air bag respectively, and two air bags can rotate walking around its centre of sphere, traveling crawler described in difference winding on the outside face of two air bag apposition positions.
2. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, it is characterized in that: described center of gravity driver train comprises counterweight and counterweight motor, the rotating shaft of counterweight motor drives and connects counterweight, on the involutory surface of counterweight by a stent support described air bag wherein.
3. the complex road condition walking robot of amphibious data acquisition as claimed in claim 2, is characterized in that: described counterweight is clipped between two described air bags.
4. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, is characterized in that: described air bag is the air bag that light material is made.
5. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, is characterized in that: fill the gas alleviating gravity in described air bag.
6. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, is characterized in that: described air bag is hemispherical.
7. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, it is characterized in that: the data acquisition module described carrier being also provided with the environmental parameters that can gather environment residing for carrier, described data acquisition module comprises gets liquid unit, get liquid unit and comprise the syringe picking and placeing sampling liquid, syringe is driven to pick and place the injector motor of sampling liquid, deposit the liquid storing tube of the sampling liquid in syringe, lay the pipe support of liquid storing tube, and the pipe support motor driving pipe support to rotate.
8. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, is characterized in that: described traveling crawler comprises multiple little abrading block side by side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510918712.6A CN105438299B (en) | 2014-11-14 | 2014-11-14 | The complex road condition walking robot of amphibious data acquisition |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510918712.6A CN105438299B (en) | 2014-11-14 | 2014-11-14 | The complex road condition walking robot of amphibious data acquisition |
| CN201410649856.1A CN104385259B (en) | 2014-11-14 | 2014-11-14 | Complex road condition walking robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410649856.1A Division CN104385259B (en) | 2014-11-14 | 2014-11-14 | Complex road condition walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438299A true CN105438299A (en) | 2016-03-30 |
| CN105438299B CN105438299B (en) | 2017-10-03 |
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| CN201510918712.6A Active CN105438299B (en) | 2014-11-14 | 2014-11-14 | The complex road condition walking robot of amphibious data acquisition |
| CN201410649856.1A Expired - Fee Related CN104385259B (en) | 2014-11-14 | 2014-11-14 | Complex road condition walking robot |
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| CN201410649856.1A Expired - Fee Related CN104385259B (en) | 2014-11-14 | 2014-11-14 | Complex road condition walking robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117217A (en) * | 2017-05-10 | 2017-09-01 | 何春晖 | A kind of global wheel for the internal drive that robot is used |
| CN108908401A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Shell and robot |
| CN109484503A (en) * | 2018-10-29 | 2019-03-19 | 逻腾（杭州）科技有限公司 | A kind of rolling robot with anti-skidding rolling band |
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN110843439A (en) * | 2019-11-28 | 2020-02-28 | 北京邮电大学 | Amphibious double-ball robot |
| CN111094117A (en) * | 2017-10-31 | 2020-05-01 | 克罗弗有限公司 | Propulsion in particulate media |
| CN111391932A (en) * | 2020-04-09 | 2020-07-10 | 合肥工业大学 | Deformable crawler-type spherical pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109699555B (en) * | 2016-06-23 | 2021-08-10 | 王璐炳 | Walking device for automatic feeding robot for fishery breeding |
| CN113320611A (en) * | 2021-04-13 | 2021-08-31 | 内蒙古中航民富科技有限公司 | Liquid storage running device |
| CN114368434B (en) * | 2022-01-10 | 2023-08-08 | 国网河南省电力公司电力科学研究院 | Motion control method for soft robot |
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- 2014-11-14 CN CN201410649856.1A patent/CN104385259B/en not_active Expired - Fee Related
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| US20070132420A1 (en) * | 2005-12-08 | 2007-06-14 | Lim Eul G | Apparatus for moving center of gravity of robot, and system and method using the same |
| CN101251033A (en) * | 2008-03-28 | 2008-08-27 | 天津中辰瑞泰安全防范技术有限公司 | Tunnel detecting robot |
| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| CN102219032A (en) * | 2011-06-07 | 2011-10-19 | 中国人民解放军理工大学工程兵工程学院 | Soft-shell spherical robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107117217A (en) * | 2017-05-10 | 2017-09-01 | 何春晖 | A kind of global wheel for the internal drive that robot is used |
| CN111094117A (en) * | 2017-10-31 | 2020-05-01 | 克罗弗有限公司 | Propulsion in particulate media |
| CN111094117B (en) * | 2017-10-31 | 2023-05-09 | 克罗弗有限公司 | Propulsion in particulate media |
| CN108908401A (en) * | 2018-06-26 | 2018-11-30 | 坎德拉（深圳）软件科技有限公司 | Shell and robot |
| CN108908401B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Casing and robot |
| CN109484503A (en) * | 2018-10-29 | 2019-03-19 | 逻腾（杭州）科技有限公司 | A kind of rolling robot with anti-skidding rolling band |
| CN109484503B (en) * | 2018-10-29 | 2019-12-31 | 逻腾（杭州）科技有限公司 | Rolling robot with anti-skid rolling belt |
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN110843439A (en) * | 2019-11-28 | 2020-02-28 | 北京邮电大学 | Amphibious double-ball robot |
| CN111391932A (en) * | 2020-04-09 | 2020-07-10 | 合肥工业大学 | Deformable crawler-type spherical pipeline robot |
| CN111391932B (en) * | 2020-04-09 | 2021-04-06 | 合肥工业大学 | Deformable crawler-type spherical pipeline robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104385259A (en) | 2015-03-04 |
| CN105438299B (en) | 2017-10-03 |
| CN104385259B (en) | 2016-08-24 |
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