CN105438299B - The complex road condition walking robot of amphibious data acquisition - Google Patents
The complex road condition walking robot of amphibious data acquisition Download PDFInfo
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- CN105438299B CN105438299B CN201510918712.6A CN201510918712A CN105438299B CN 105438299 B CN105438299 B CN 105438299B CN 201510918712 A CN201510918712 A CN 201510918712A CN 105438299 B CN105438299 B CN 105438299B
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- data acquisition
- road condition
- amphibious
- gravity
- complex road
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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 present invention discloses a kind of complex road condition walking robot of amphibious data acquisition, including carrier, the carrier is provided with traveling crawler, center of gravity drive mechanism and control system, and control system controls the gravity motion of center of gravity drive mechanism, so as to drive traveling crawler to walk.The position for changing center of gravity by center of gravity drive mechanism of the present invention, the change of center of gravity makes traveling crawler realize walking, traveling crawler adapts to the adverse circumstances such as wetland, waters, straight line, circular motion can be so realized in above-mentioned adverse circumstances, 15 degree of slope can also be climbed up, even original place rotation, finally realizes the motion of any direction.
Description
Technical field
The present invention is Application No. 201410649856.1, and the applying date is on November 14th, 2014, entitled " complex road condition
The divisional application of the application for a patent for invention of walking robot ", is related to a kind of robot that can freely walk, more particularly to walks
Mechanism.
Background technology
Robot nobody, the adverse circumstances gathered data such as sand and dust, humidity, corrosivity when, according to four-wheel drive, then very
Hardly possible is competent at this adverse circumstances.
The content of the invention
In view of this, it is an object of the invention to provide a kind of complex road condition running machine of amphibious data acquisition
People, adapts to complex road condition, and walked on complex road condition.
In order to reach above-mentioned purpose, solution of the invention is：
A kind of complex road condition walking robot of amphibious data acquisition, including carrier, the carrier is provided with walking
Crawler belt and control system, control system control traveling crawler walking, the carrier are provided with center of gravity drive mechanism, control system control
The gravity motion of center of gravity drive mechanism processed, so as to drive traveling crawler to walk；The carrier includes two air bags being oppositely arranged,
Two air bags are joined together to form spherical by rotating shaft, and the two ends of the rotating shaft are separately mounted at the centre of sphere of the air bag,
And two air bags can be rotated around its centre of sphere and walked, and traveling crawler described in winding is distinguished on the outer surface of two air bag apposition positions.
The center of gravity drive mechanism includes counterweight and counterweight motor, and the rotating shaft drive connection counterweight of counterweight motor, counterweight is led to
Support is crossed to be supported on the involutory surface of one of them air bag.
The counterweight is clipped between two air bags.
The air bag is the air bag that light material is made.
Filling mitigates the gas of gravity in the air bag.
The air bag is in hemispherical.
The data acquisition module for the ambient parameter that can gather carrier local environment is additionally provided with the carrier, the data are adopted
Collection module includes taking liquid unit, takes liquid unit to include the syringe for picking and placeing sampling liquid, drives syringe to pick and place sampling liquid
The liquid storing tube of sampling liquid in injector motor, storage syringe, lays the pipe support of liquid storing tube, and drive pipe support rotation
Pipe support motor.
The traveling crawler includes multiple small abrading blocks side by side.
After said structure, the complex road condition walking robot of amphibious data acquisition of the invention has and following had
Beneficial effect：
First, the position of center of gravity is changed by center of gravity drive mechanism, the change of center of gravity makes traveling crawler realize walking, and walking is carried out
Band adapts to the adverse circumstances such as wetland, waters, and the complex road condition walking robot of so amphibious data acquisition can be upper
State and straight line, circular motion are realized in adverse circumstances, moreover it is possible to climb up 15 degree of slope, or even original place rotation, finally realize any
The motion in direction.
2nd, loading data acquisition module on carrier, can gather Various types of data.
Brief description of the drawings
Fig. 1 is the structural representation of the complex road condition walking robot of the amphibious data acquisition of the present invention；
Fig. 2 is the setting schematic diagram of the counterweight of the present invention.
In figure：
The traveling crawler 2 of carrier 1
Data acquisition module 4
Take the syringe 411 of liquid unit 41
The pipe support 413 of liquid storing tube 412
Control system 5
Embodiment
In order to which technical scheme is explained further, the present invention is explained in detail below by specific embodiment
State.
As shown in Fig. 1 to 2, complex road condition walking robot of the invention, including the driving of carrier 1, traveling crawler 2, center of gravity
Mechanism, data acquisition module 4 and control system 5.
Carrier 1 includes two air bags being oppositely arranged, it is preferred that air bag is made of light material, may be used also in hemispherical
Filling mitigates the gas of gravity in air bag, such as hydrogen.Two air bags are linked together by rotating shaft and form spherical, are turned
The two ends of axle are arranged at the centre of sphere of air bag by bearing respectively, and the circle row of winding one is distinguished on the outer surface of two air bag apposition positions
Crawler belt 2 is walked, when two air bags are rotated around the centre of sphere walks, traveling crawler 2 can be close to the ground to form run trace.
It is made due to the ring-type that traveling crawler 2 is two closings, and using larger, the wear-resisting material of coefficient of friction, when two
When individual air bag is around the rotation walking of its centre of sphere, it can smoothly be walked on ground, be difficult to skid.It is preferred that every traveling crawler 2 is wrapped
Multiple small abrading blocks side by side are included, is so easily changed, repairs.
Center of gravity drive mechanism includes counterweight and counterweight motor, and counterweight is supported on the involutory surface of one of air bag by support
On.When two air bag pairings, counterweight is clipped between two air bags.The rotating shaft drive connection counterweight of counterweight motor, can not only drive
Dynamic counterweight swing set angle, can also drive counterweight to swing set angle, moreover it is possible to drive counterweight to be put along any angle
Dynamic set angle.
Data acquisition module 4 includes audio-video collecting unit, temperature collecting cell, light value collecting unit, mechanical arm sampling list
Any of member and lighting unit or combinations thereof.Mechanical arm sampling unit is arranged between two air bags or a gas
The side of capsule, the tensible of mechanical arm sampling unit and receipts are folded.The a variety of of carrier local environment can be gathered by data acquisition module 4
Ambient parameter.
In addition, data acquisition module also include take liquid unit 41, take liquid unit 41 include syringe 411, injector motor,
Liquid storing tube 412, pipe support 413 and pipe support motor.Breach is provided with pipe support 413, injector motor drives syringe 411 to be passed down through
Breach extracts required sampling liquid.After syringe 411, which is moved up, to be retracted from indentation, there, pipe support motor drives pipe support 413
Rotation, makes the liquid storing tube 412 laid on pipe support 413 be directed at syringe 411, and injector motor drives syringe 411 to work, will noted
Stored in sampling liquid push-in liquid storing tube 412 in emitter 411.
The control complex road condition walking robot walking of control system 5, and complete sampling.Control system 5 includes data transfer
Module, run trace module and sampling module.Data transmission module can transmit what operator sent by wired or wireless way
Instruction, and to operator's feedback collection result.Run trace module receives the travel commands that data transmission module is sent, and manipulates
Counterweight motor makes corresponding action according to travel commands.If for example, counterweight motor drive counterweight move forward set angle,
Under the active force that center of gravity moves forward, two air bags rotate forward walking around the centre of sphere.If counterweight motor drives counterweight to be moved rearwards by setting
Determine angle, then under the active force moved after center of gravity, two air bags rotate backward walking around the centre of sphere.If counterweight motor drive counterweight to
Set angle is moved left, then under the active force that center of gravity is moved to left, two air bags turn left around the centre of sphere.Match somebody with somebody if counterweight motor drives
Move right set angle again, then under the active force that center of gravity is moved to right, and two air bags turn right around the centre of sphere.Wherein, counterweight becomes
The angle of change is unsuitable excessive, otherwise causes complex road condition walking robot to overturn.
In this way, complex road condition walking robot can realize straight line, circular motion under control of the control system 5, moreover it is possible to
15 degree of slope is climbed up, and original place rotation can be realized.Complex road condition walking robot is real by the position of change counterweight center of gravity
The motion of any direction is showed.
Loading data acquisition module on carrier 1, is mitigated by air bag and conducted oneself with dignity, can also further adapted to by traveling crawler 2
The adverse circumstances such as wetland, waters, and carry out Various types of data collection.Carrier 1, center of gravity driving machine when complex road condition walking robot
Structure, data acquisition module 4 and control system 5 use good encapsulant, can also realize amphibious data acquisition.
Above-described embodiment and accompanying drawing and non-limiting product form of the invention and style, any art it is common
Appropriate change or modification that technical staff is done to it, all should be regarded as not departing from the patent category of the present invention.
Claims (7)
1. a kind of complex road condition walking robot of amphibious data acquisition, including carrier, the carrier are carried out provided with walking
Band and control system, control system control traveling crawler walking, it is characterised in that：The carrier is provided with center of gravity drive mechanism,
Control system controls the gravity motion of center of gravity drive mechanism, so as to drive traveling crawler to walk；The carrier includes two relatively
The air bag of setting, the air bag respectively in hemispherical, two air bags be joined together to form by rotating shaft it is spherical, the rotating shaft
Two ends are separately mounted at the centre of sphere of the air bag, and two air bags can be rotated around its centre of sphere and walked, two air bag apposition positions
Traveling crawler described in winding is distinguished on outer surface.
2. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, it is characterised in that：It is described heavy
Heart drive mechanism includes counterweight and counterweight motor, and the rotating shaft drive connection counterweight of counterweight motor, counterweight is supported on it by support
In an air bag involutory surface on.
3. the complex road condition walking robot of amphibious data acquisition as claimed in claim 2, it is characterised in that：It is described to match somebody with somebody
It is clipped in again between two air bags.
4. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, it is characterised in that：The gas
Capsule 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, it is characterised in that：The gas
Intracapsular filling mitigates the gas of gravity.
6. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, it is characterised in that：It is described to carry
The data acquisition module for the ambient parameter that can gather carrier local environment is additionally provided with body, the data acquisition module includes taking liquid
Unit, takes liquid unit to include the syringe for picking and placeing sampling liquid, drives syringe to pick and place the injector motor of sampling liquid, storage
The liquid storing tube of sampling liquid in syringe, lays the pipe support of liquid storing tube, and drive the pipe support motor of pipe support rotation.
7. the complex road condition walking robot of amphibious data acquisition as claimed in claim 1, it is characterised in that：The row
Walking crawler belt includes multiple small abrading blocks 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 CN105438299A (en) | 2016-03-30 |
| CN105438299B true CN105438299B (en) | 2017-10-03 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410649856.1A Active CN104385259B (en) | 2014-11-14 | 2014-11-14 | Complex road condition walking robot |
| CN201510918712.6A Active CN105438299B (en) | 2014-11-14 | 2014-11-14 | The complex road condition walking robot of amphibious data acquisition |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410649856.1A Active CN104385259B (en) | 2014-11-14 | 2014-11-14 | Complex road condition walking robot |
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| Country | Link |
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| CN (2) | CN104385259B (en) |
Families Citing this family (10)
| 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 |
| CN107117217B (en) * | 2017-05-10 | 2019-02-22 | 广州隆控机电设备有限公司 | A kind of global wheel for the internal drive that robot uses |
| GB2567898B (en) * | 2017-10-31 | 2019-11-13 | Crover Ltd | Propulsion in granular media |
| CN108908401B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Casing and robot |
| 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 |
| CN109945924B (en) * | 2019-03-26 | 2021-03-30 | 焦作大学 | Adjustable spherical machine body structure for pipeline robot |
| CN110843439B (en) * | 2019-11-28 | 2023-04-28 | 北京邮电大学 | Amphibious double-ball robot |
| CN111391932B (en) * | 2020-04-09 | 2021-04-06 | 合肥工业大学 | Deformable crawler-type spherical pipeline robot |
| 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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Also Published As
| Publication number | Publication date |
|---|---|
| CN104385259A (en) | 2015-03-04 |
| CN104385259B (en) | 2016-08-24 |
| CN105438299A (en) | 2016-03-30 |
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