CN105599818A - Obstacle-surmounting robot - Google Patents
Obstacle-surmounting robot Download PDFInfo
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- CN105599818A CN105599818A CN201610030592.0A CN201610030592A CN105599818A CN 105599818 A CN105599818 A CN 105599818A CN 201610030592 A CN201610030592 A CN 201610030592A CN 105599818 A CN105599818 A CN 105599818A
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- track assembly
- frame
- wheel
- component
- arm
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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
- B62D57/028—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 having wheels and mechanical legs
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an obstacle-surmounting robot. The obstacle-surmounting robot comprises a rack, a walking system, a carrying balance system and a control system, and the walking system, the carrying balance system and the control system are arranged on the rack. The walking system comprises a main caterpillar track assembly for driving the rack to move, an auxiliary caterpillar track assembly for assisting the main caterpillar track assembly to surmount an obstacle and an ant simulating mechanical arm mechanism, the auxiliary caterpillar track assembly is arranged on the rack in a turnover mode in the vertical direction, and the ant simulating mechanical arm mechanism is arranged at the outer side of the main caterpillar track assembly; the carrying balance system comprises a carrying plate arranged on the rack in a turnover mode, a supporting hydraulic cylinder used for supporting and adjusting the inclination of the carrying plate and a gravity pendulum for keeping the self-balance of the carrying plate; the control system comprises a driving motor used for driving the main caterpillar track assembly to work, a sensor and a controller, and the controller is electrically connected with the driving motor and the sensor. The obstacle-surmounting robot is high in adaptive capacity, high in efficiency, good in flexibility and mobility, capable of passing road segments with various complex road conditions, and good in balance performance.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of barrier-surpassing robot.
Background technology
Mobile barrier-surpassing robot environment of living in is mostly complicated destructuring environment, as by climb and fall section andThe complex road conditions such as stair, therefore need barrier-surpassing robot possess high maneuverability, powerful environment sensing ability andRespond fast.
At present main obstacle detouring mode has: wheeled, leg formula, crawler type. Wherein wheeled most effective, butAdaptive capacity is the poorest; And the adaptive capacity of leg formula is the strongest, but efficiency is the poorest; Have good although caterpillarGrade climbing performance and certain obstacle climbing ability, but efficiency is lower, and flexible property is poor.
Therefore, be badly in need of exploitation one not only adaptable, efficiency is high, flexible property is good, and canCross the section of various complex road conditions, the barrier-surpassing robot that balance is good.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of barrier-surpassing robot, not only adaptable, effectHigh, the flexible property of rate is good, and the section that can cross various complex road conditions, and balance is good.
Barrier-surpassing robot of the present invention, comprises frame and is arranged on running gear, the delivery equilibrium system in frameSystem, control system; Described running gear comprises main track assembly for driving gantry motion, for auxiliaryThe secondary track assembly of main track assembly leaping over obstacles and imitative ant mechanical arm mechanism, described secondary track assembly is along verticalDirection is turnover to be arranged in frame, and described imitative ant mechanical arm mechanism is arranged on main track assembly outside; InstituteState carry balancing system comprise be turnoverly arranged on support board in frame, for supporting with regulate support boardThe support hydraulic cylinder of gradient, for keeping the gravity bob of support board self-balancing; Described control system comprises useIn the drive motors, sensor, the controller that drive main track assembly work, described controller and drive motors,Sensor electrical connects.
Further, described main track assembly is two groups, and two groups of main track assemblies are symmetricly set on frame both sides,Every group of main track assembly includes front power wheel, rear power wheel, main crawler belt, bearing support, described front power wheelWith rear power wheel rotating being arranged in frame respectively, and front power wheel and rear power wheel and drive motors biographyBe dynamically connected, described main crawler belt is arranged on front power wheel and rear power wheel, and the two ends of described bearing support are solid respectivelyFix on front power wheel and rear power wheel.
Further, the centre position place between front power wheel and the rear power wheel of each main track assembly is provided with and isThe bogie wheel of arranging up and down, each bogie wheel contacts with main crawler belt respectively, and each bogie wheel is arranged on respectively in frameThe regulator solution cylinder pressure for driving bogie wheel to move up and down being provided with.
Further, described secondary track assembly is two groups, and is symmetricly set between two groups of main track assemblies, eachSecondary track assembly comprises driving wheel, drive, secondary crawler belt, retainer, and the diameter of described driving wheel is greater than biographyThe diameter of driving wheel, described driving wheel and drive be the rotating two ends that are arranged on retainer respectively, described pairCrawler belt is arranged on driving wheel and drive, and described retainer for one end that driving wheel is installed verticallyTurnover being arranged in frame, the other end is unsettled to be positioned at outside frame.
Further, the rotating aiding support wheel being provided with for supporting secondary crawler belt in the middle part of described retainer,Described aiding support wheel contacts with secondary crawler belt.
Further, described imitative ant mechanical arm mechanism comprise for the forearm component to stand angularly front motion,For the arm component to the motion of frame both sides with for the rear arm component to the motion of stand angularly rear, described inForearm component, middle arm component and rear arm component are two groups, respectively organize forearm component, middle arm component and postbrachium groupPart be symmetricly set on the outside of corresponding main track assembly, described forearm component, middle arm component and rear arm componentBe four-degree-of-freedom mechanical arm.
Further, each forearm component, middle arm component and rear arm component include base, large arm, middle arm and littleArm, described base is fixed on bearing support, and one end of described large arm is rotating is arranged on that base is provided withOn rotary joint, the large other end of arm and one end of middle arm are hinged, the other end of middle arm and one end of forearm hingeConnect.
Further, described support board is by the turnover central rack that is arranged on of cradle head, described supporting liquidCylinder pressure is four, four rectangular being distributed in frame of support hydraulic cylinder, and the piston rod of each support hydraulic cylinder dividesOther and support board is connected and fixed, and described gravity bob is fixed on cradle head place.
Further, described gravity bob comprises rocker, fork, swing ball and dial, and described rocker is fixed on and turnsMovable joint place, the bottom of this rocker is hollow structure, described fork upper end is rotating be arranged at rocker inIn cavity, fork lower end is stretched out outside rocker and is fixedly connected with described swing ball, and described dial is fixed on rocker.
Further, described drive motors is arranged in frame, and described sensor is multiple, and multiple sensors divideBe not positioned at frame front and both sides, described controller is fixed on frame rear portion, and is positioned at support board below.
Beneficial effect of the present invention: barrier-surpassing robot of the present invention, by main track assembly, secondary crawler belt are setAssembly and imitative ant mechanical arm mechanism, in the time that robot ambulation is under the more smooth and concavo-convex less road conditions in road surface,Secondary track assembly and imitative ant mechanical arm mechanism are not worked, and drive barrier-surpassing robot to move by main track assembly work;When robot ambulation concavo-convex large and while having compared with multi-obstacle avoidance on road surface, secondary track assembly and imitative ant mechanical armMain track assembly work is assisted by mechanism, to ensure that main track assembly can work stably, thereby makes obstacle detouring machineDevice people can cross the section of various complex road conditions smoothly and easily; Simultaneously by carry balancing system is set,While making barrier-surpassing robot occur tilting in obstacle detouring process, support board can carry out automatically adjusting with maintenance levelState. Therefore, the present invention not only adaptable, efficiency is high, flexible property is good, and can crossThe section of various complex road conditions, balance is good, and overall structure is simple, is easy to realize.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is perspective view of the present invention;
Fig. 2 is that the A of Fig. 1 is to schematic diagram (removing support board);
Fig. 3 is that the B of Fig. 1 is to schematic diagram;
Fig. 4 is the structural representation of gravity bob of the present invention.
Detailed description of the invention
Fig. 1 is perspective view of the present invention, and the A that Fig. 2 is Fig. 1 is to schematic diagram (removing support board),Fig. 3 be the B of Fig. 1 to schematic diagram, the structural representation that Fig. 4 is gravity bob of the present invention, as shown in the figure: thisThe barrier-surpassing robot of embodiment, comprises frame 1 and is arranged on running gear, the delivery equilibrium system in frame 1System, control system; Described running gear comprises main track assembly for driving gantry motion, for auxiliaryThe secondary track assembly of main track assembly leaping over obstacles and imitative ant mechanical arm mechanism, described secondary track assembly is along verticalDirection is turnover to be arranged in frame, and described imitative ant mechanical arm mechanism is arranged on main track assembly outside, makesThe complex method that it can adopt crawler type to merge mutually with leg formula, coordinates to pass through stair, climb and fall road mutuallyAnd the section such as rough complex road surface; Described carry balancing system comprises the turnover frame 1 that is arranged onOn support board 2, for supporting and regulate the support hydraulic cylinder 3 of support board 2 gradients, for keeping loadingThe gravity bob 4 of plate 2 self-balancings, while making barrier-surpassing robot occur tilting in obstacle detouring process, support board 2 canCarry out automatically adjusting to keep level; Described control system comprises for driving main track assembly workDrive motors (not shown), sensor 5, controller 6, described controller 6 and drive motors, biographySensor 5 is electrically connected, by the work of the whole robot of controller control.
In the present embodiment, described main track assembly is two groups, and two groups of main track assemblies are symmetricly set on frame 1Both sides, every group of main track assembly includes front power wheel 7, rear power wheel 8, main crawler belt 9, bearing support 10,Described front power wheel 7 and rear power wheel 8 be rotating being arranged in frame 1 respectively, and front power wheel 7 HesRear power wheel 8 is in transmission connection with drive motors, and described main crawler belt 9 is arranged on front power wheel 7 and rear power wheel 8Upper, the two ends of described bearing support 10 are separately fixed on front power wheel 7 and rear power wheel 8, by front powerWheel 7 and rear power wheel 8 rotate and drive main crawler belt 9 to move, thereby drive frame 1 to move.
In the present embodiment, the centre position place between front power wheel 7 and the rear power wheel 8 of each main track assemblyBe provided with and be the bogie wheel 11 of arranging up and down, each bogie wheel 11 contacts with main crawler belt 9 respectively, to main crawler belt 9Form supporting, each bogie wheel 11 be arranged on respectively that frame 1 is provided with for driving bogie wheel 11 to transport up and downOn moving regulator solution cylinder pressure 12, the quantity of regulator solution cylinder pressure 12 is corresponding one by one with the quantity of bogie wheel 11, andThe working method of regulator solution cylinder pressure 12 is for moving both vertically, under the effect of regulator solution cylinder pressure 12, and main crawler belt 9Ground connection side can form fovea superior or lower protruding along with moving up and down of bogie wheel 11, so that main crawler belt 9 can be betterContact with ground, improve mobile efficiency and stability.
In the present embodiment, described secondary track assembly is two groups, and is symmetricly set between two groups of main track assemblies,Each secondary track assembly comprises driving wheel 13, drive 14, secondary crawler belt 15, retainer 16, described driving wheel13 diameter is greater than the diameter of drive 14, described driving wheel 13 and drive 14 rotating installations respectivelyAt the two ends of retainer 16, described secondary crawler belt 15 is arranged on driving wheel 13 and drive 14, makes secondary carrying outBe with 15 can rotate and mobile with driving wheel 13, and drive drive 14 to rotate, realize secondary track assemblyMotion; Described retainer 16 is for installing the vertically turnover machine that is arranged on of one end of driving wheel 13On frame 1, the other end is unsettled to be positioned at outside frame 1, makes secondary track assembly certain angle of can overturning, to joinClose main track assembly and cross over the section of complex road condition, improve adaptive capacity.
In the present embodiment, the middle part of described retainer 16 is rotating to be provided with for supporting secondary crawler belt 15Aiding support wheel 17, described aiding support wheel 17 contacts with secondary crawler belt 15, and the upper and lower end face of retainer 16 is dividedBe not provided with symmetrical aiding support wheel 17, to improve support effects, strengthen stability.
In the present embodiment, described imitative ant mechanical arm mechanism comprises for the forearm to frame 1 oblique front motionAssembly 18, for the arm component 19 to frame 1 both sides motion with for to frame 1 oblique rear motionRear arm component 20, described forearm component 18, middle arm component 19 and rear arm component 20 are two groups, before each groupArm component 18, middle arm component 19 and rear arm component 20 be symmetricly set on the outside of corresponding main track assembly,Described forearm component 18, middle arm component 19 and rear arm component 20 are four-degree-of-freedom mechanical arm.
In the present embodiment, it is (front that each forearm component 18, middle arm component 19 and rear arm component 20 include baseThe base 201 of the base 181 of arm component 18, the base 191 of middle arm component 19, rear arm component 20), largeArm (the large arm 202 of the large arm 182 of forearm component 18, the large arm 192 of middle arm component 19, rear arm component 20),Middle arm (the middle arm of the middle arm 183 of forearm component 18, the middle arm 193 of middle arm component 19, rear arm component 20203) and forearm (forearm 184 of forearm component 18, the forearm 194 of middle arm component 19, rear arm component 20Forearm 204), described base is fixed on bearing support 10 that (base 181 of forearm component 18 is fixed onThe base 191 of bolster 10 front portions, middle arm component 19 is fixed on bearing support 10 middle parts, rear arm component 20Base 201 is fixed on bearing support 10 rear portions), the rotating base that is arranged in one end of described large arm is provided withRotary joint on, the large other end of arm and one end of middle arm are hinged, the other end of middle arm and one end of forearmHinged (the rotating base 181 that is arranged on forearm component 18 in one end of the large arm 182 of forearm component 18On the rotary joint being provided with, the other end of the large arm 182 of forearm component 18 and the middle arm of forearm component 18One end of 183 is hinged, the other end of the middle arm 183 of forearm component 18 and the forearm 184 of forearm component 18One end is hinged; The rotating base that is arranged on middle arm component 19 in one end of the large arm 192 of middle arm component 19On 191 rotary joints that are provided with, in the other end of the large arm 192 of middle arm component 19 and middle arm component 19One end of arm 193 is hinged, the other end of the middle arm 193 of middle arm component 19 and the forearm 194 of middle arm component 19One end hinged; The rotating end that is arranged on rear arm component 20, one end of the large arm 2022 of rear arm component 20On seat 201 rotary joints that are provided with, the other end of the large arm 202 of rear arm component 20 and rear arm component 20One end of middle arm 203 hinged, the other end of the middle arm 203 of rear arm component 20 and rear arm component 20 littleOne end of arm 204 is hinged), make each forearm component 18, middle arm component 19 and rear arm component 20 can distinguish shapeBecome four-degree-of-freedom mechanical arm, to coordinate main track assembly and secondary track assembly to cross over the section of complex road condition, carryHigh flexibility.
In the present embodiment, described support board 2 is by turnover frame 1 middle part, the institute of being arranged on of cradle headStating support hydraulic cylinder 3 is four, and four rectangular being distributed in frame 1 of support hydraulic cylinder 3, respectively support liquidThe piston rod of cylinder pressure 3 is connected and fixed with support board 2 respectively, for supporting and regulate the gradient of support board 2,Described gravity bob 4 is fixed on cradle head place, makes support board 2 automatically keep balance by gravity bob 4.
In the present embodiment, described gravity bob 4 comprises rocker 41, fork 42, swing ball 43 and dial 44,Described rocker 41 is fixed on cradle head place, and the bottom of this rocker 41 is hollow structure, on described fork 42Hold in the rotating cavity that is arranged at rocker 41, fork 42 lower ends are stretched out outside rocker 41 and described swing ball43 are fixedly connected with, and described dial 44 is fixed on rocker 41, have realized loading by gravity bob 4 is setThe autobalance of plate 2.
In the present embodiment, described drive motors is arranged in frame 1, and described sensor 5 is multiple, multipleSensor 5 lays respectively at frame 1 front portion and both sides, and described controller 6 is fixed on frame 1 rear portion, and positionIn support board 2 belows, the sensor 5 of the present embodiment is vision sensor, and the quantity of sensor 5 is five,One of them is positioned at frame 1 front portion, and all the other four are separately positioned on two bearing supports 10.
Finally explanation, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, althoughWith reference to preferred embodiment, the present invention is had been described in detail, those of ordinary skill in the art should be appreciated thatCan modify or be equal to replacement technical scheme of the present invention, and not depart from technical solution of the present inventionAim and scope, it all should be encompassed in the middle of claim scope of the present invention.
Claims (10)
1. a barrier-surpassing robot, is characterized in that: comprise frame and be arranged on running gear in frame,Carry balancing system, control system;
Described running gear comprises main track assembly for driving gantry motion, for auxiliary main track assemblyThe secondary track assembly of leaping over obstacles and imitative ant mechanical arm mechanism, described secondary track assembly is vertically turningBe arranged in frame, described imitative ant mechanical arm mechanism is arranged on main track assembly outside;
Described carry balancing system comprise be turnoverly arranged on support board in frame, for supporting with regulateThe support hydraulic cylinder of support board gradient, for keeping the gravity bob of support board self-balancing;
Described control system comprises drive motors, sensor, the controller for driving main track assembly work,Described controller is connected with drive motors, sensor electrical.
2. barrier-surpassing robot according to claim 1, is characterized in that: described main track assembly is twoGroup, two groups of main track assemblies are symmetricly set on frame both sides, every group of main track assembly include front power wheel,Rear power wheel, main crawler belt, bearing support, described front power wheel and rear power wheel be the rotating machine that is arranged on respectivelyOn frame, and front power wheel and rear power wheel and drive motors be in transmission connection, and described main crawler belt is arranged on front powerOn wheel and rear power wheel, the two ends of described bearing support are separately fixed on front power wheel and rear power wheel.
3. barrier-surpassing robot according to claim 2, is characterized in that: the front of each main track assembly movesCentre position place between wheels and rear power wheel is provided with and is the bogie wheel of arranging up and down, and each bogie wheel respectivelyContact with main crawler belt, each bogie wheel be arranged on respectively that frame is provided with for driving bogie wheel to move up and downOn regulator solution cylinder pressure.
4. barrier-surpassing robot according to claim 2, is characterized in that: described secondary track assembly is twoGroup, and being symmetricly set between two groups of main track assemblies, each secondary track assembly comprise driving wheel, drive,Secondary crawler belt, retainer, the diameter of described driving wheel is greater than the diameter of drive, described driving wheel and driveThe rotating two ends that are arranged on retainer respectively, described secondary crawler belt is arranged on driving wheel and drive, instituteState retainer for the vertically turnover frame that is arranged on of one end of driving wheel is installed, the other end is outstandingRoom is outside frame.
5. barrier-surpassing robot according to claim 4, is characterized in that: the middle part of described retainer canThe aiding support being provided with for supporting secondary crawler belt rotating is taken turns, and described aiding support wheel contacts with secondary crawler belt.
6. barrier-surpassing robot according to claim 2, is characterized in that: described imitative ant mechanical arm mechanismComprise for the forearm component to stand angularly front motion, for the arm component to the motion of frame both sides andFor the rear arm component to the motion of stand angularly rear, described forearm component, middle arm component and rear arm component are equalBe two groups, respectively organize forearm component, middle arm component and rear arm component be symmetricly set on corresponding main track assemblyOutside, described forearm component, middle arm component and rear arm component are four-degree-of-freedom mechanical arm.
7. barrier-surpassing robot according to claim 6, is characterized in that: each forearm component, middle arm groupPart and rear arm component include base, large arm, middle arm and forearm, and described base is fixed on bearing support, instituteState that one end of large arm is rotating to be arranged on the rotary joint that base is provided with, the other end and the middle arm of large armOne end hinged, the other end of middle arm and one end of forearm are hinged.
8. barrier-surpassing robot according to claim 1, is characterized in that: described support board is by rotatingThe turnover central rack that is arranged in joint, described support hydraulic cylinder is four, four support hydraulic cylinders are squareShape is distributed in frame, and the piston rod of each support hydraulic cylinder is connected and fixed with support board respectively, described gravity bobBe fixed on cradle head place.
9. barrier-surpassing robot according to claim 8, is characterized in that: described gravity bob comprise rocker,Fork, swing ball and dial, described rocker is fixed on cradle head place, and the bottom of this rocker is hollow structure,In the rotating cavity that is arranged at rocker in described fork upper end, fork lower end is stretched out outside rocker and described pendulumBall is fixedly connected with, and described dial is fixed on rocker.
10. barrier-surpassing robot according to claim 1, is characterized in that: described drive motors is arranged atIn frame, described sensor is multiple, and multiple sensors lay respectively at frame front and both sides, described controlDevice is fixed on frame rear portion, and is positioned at support board below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610030592.0A CN105599818B (en) | 2015-09-30 | 2016-01-18 | Barrier-surpassing robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015106445018 | 2015-09-30 | ||
| CN201510644501.8A CN105216899A (en) | 2015-09-30 | 2015-09-30 | Barrier-surpassing robot |
| CN201610030592.0A CN105599818B (en) | 2015-09-30 | 2016-01-18 | Barrier-surpassing robot |
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| Publication Number | Publication Date |
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| CN105599818A true CN105599818A (en) | 2016-05-25 |
| CN105599818B CN105599818B (en) | 2018-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510644501.8A Pending CN105216899A (en) | 2015-09-30 | 2015-09-30 | Barrier-surpassing robot |
| CN201610030592.0A Active CN105599818B (en) | 2015-09-30 | 2016-01-18 | Barrier-surpassing robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510644501.8A Pending CN105216899A (en) | 2015-09-30 | 2015-09-30 | Barrier-surpassing robot |
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| CN (2) | CN105216899A (en) |
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| CN109677506A (en) * | 2018-12-29 | 2019-04-26 | 镇江高等职业技术学校 | A kind of chassis walking overturning vice mechanism |
| CN110641567A (en) * | 2019-10-17 | 2020-01-03 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
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| CN105857435B (en) * | 2016-04-27 | 2018-05-15 | 浙江腾荣环保科技有限公司 | The sufficient walking robot of one kind eight |
| CN105857434B (en) * | 2016-04-27 | 2018-04-03 | 浙江腾荣环保科技有限公司 | A kind of four-footed walking robot |
| CN106428284B (en) | 2016-08-30 | 2018-11-02 | 陆任行 | Polypody independently moves toter |
| CN106828832B (en) * | 2017-01-23 | 2018-12-04 | 西北工业大学 | The bionical knife edge leg and crawler belt combination walking underwater robot and its control method of a kind of migration mixing |
| CN106903689A (en) * | 2017-02-28 | 2017-06-30 | 深圳市笨笨机器人有限公司 | The method and a kind of robot of a kind of robot self-adaptative adjustment |
| CN110089220A (en) * | 2019-05-23 | 2019-08-06 | 田艺江 | A kind of moveable equipment for being used for soil improvement |
| CN112429111B (en) * | 2020-11-23 | 2021-09-03 | 佳木斯大学 | Robot based on computer control |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
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| CN110641567A (en) * | 2019-10-17 | 2020-01-03 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105599818B (en) | 2018-07-10 |
| CN105216899A (en) | 2016-01-06 |
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