CN105905178A - Multifunctional obstacle crossing robot - Google Patents
Multifunctional obstacle crossing robot Download PDFInfo
- Publication number
- CN105905178A CN105905178A CN201610297760.2A CN201610297760A CN105905178A CN 105905178 A CN105905178 A CN 105905178A CN 201610297760 A CN201610297760 A CN 201610297760A CN 105905178 A CN105905178 A CN 105905178A
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- CN
- China
- Prior art keywords
- planetary gear
- gear set
- vehicle frame
- motor
- driving
- Prior art date
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Classifications
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a multifunctional obstacle crossing robot which comprises a vehicle frame, a drive motor fixed to the vehicle frame and planet gear sets comprising the drive planet gear sets and the driven planet gear sets. The drive planet gear sets are symmetrically arranged on the two sides of the front end of the vehicle frame and driven by the drive motor. The driven planet gear sets are symmetrically installed on the two sides of the rear end of the vehicle frame and move along with the drive planet gear sets synchronously. Each drive planet gear set comprises an inner planet carrier, a sun gear, planet gears, a center chain wheel, multiple planet chain wheels, a chain and advancing wheels, and the power of the motor is transmitted to the advancing wheels. By the adoption of the obstacle crossing robot, the output torque of the drive motor can be intelligently adjusted according to different degrees of obstacle crossing resistance, so that smooth obstacle crossing of the obstacle crossing robot is guaranteed.
Description
Technical field
The present invention relates to a kind of barrier-surpassing robot.It is more particularly related to a kind of assembling planetary gear
The multifunctional obstacle-surmounting robot of system.
Background technology
Science and technology development in recent years, living standards of the people improve day by day, but the mankind are to natural disaster etc.
The investigation of special circumstances, rescue there is also a lot of problems.The natural disasters such as earthquake are prominent because of itself
The features such as the property sent out are difficult to predicted, therefore strengthen Post disaster relief dynamics and are just particularly important.Deposit at present
The land investigation with certain obstacle crossing function, detection class the commonly used crawler haulage of robot, but
Crawler haulage inefficiency, power consumption height.And the caterpillar drive on small scale robot is by volumetric constraint, nothing
Method crosses the barriers such as the rank, road, the stair that are widely present in urban environment.Make crawler detection robot
The field application such as anti-terrorism scouting, disaster assistance there is limitations.So at present in the urgent need to one
The small scale robot of novel transmission mode so that it is there is in urban environment certain obstacle climbing ability, and have
Higher transmission efficiency, and mobility flexibly.
Summary of the invention
It is an object of the present invention to provide a kind of multifunctional obstacle-surmounting robot, use motor-driven triangle planetary gear
Group drives advances, and when running into obstacle, travel wheel is switched to revolve round the sun around triangle planetary gear set by rotation, from
And smooth obstacle detouring.
A further object of the invention is to drive motor to be driven by differential mechanism to drive planetary gear set to deflect, from
And realize the front-wheel steer pattern of barrier-surpassing robot.
A further object of the invention is to utilize steer motor to drive bowing steering unit, and bowing turns to
Unit drives the deflection of driven planetary gear set, thus realizes the rear-axle steering pattern of barrier-surpassing robot.
It is a still further object of the present invention to provide a kind of multifunctional obstacle-surmounting robot, adjusted by electron speed regulator
Whole barrier-surpassing robot is advanced on level land or climbs the speed during building obstacle detouring, it is simple to transport goods.
It is a still further object of the present invention to provide a kind of multifunctional obstacle-surmounting robot, control system is according to difference
The obstacle detouring moment of resistance adjust the output moment of torsion driving motor, solve planetary gear set because skidding or stall causes
The failure of barrier-surpassing robot obstacle detouring.
In order to realize according to object of the present invention and further advantage, it is provided that a kind of multifunctional barrier-crossing machine
Device people, including:
Vehicle frame；
Driving motor, it is fixed on vehicle frame；
Driving planetary gear set and driven planetary gear set, described driving planetary gear set symmetry is laid in vehicle frame front end
Both sides, are driven by driving motor；Described driven planetary gear set is symmetrically mounted on both sides, vehicle frame rear end；Wherein,
Described planetary gear set includes:
Expert's carrier, it includes at least two outward extending legs, and towards described driving motor
Central gear and planetary gear are set on side, another side arranges center sprocket wheel and multiple planet sprocket；
And
Described central gear, it passes through, and the first axle is rotatable to be fixed in described expert's carrier, described motor
Output shaft connects described central gear；
Described planetary gear, it is fixed in described expert's carrier by the second axle is rotatable, and and institute
State central gear engagement；
Described center sprocket wheel, it is fixed on described second axle, described center sprocket wheel and described planetary gear
Common rotation；
The plurality of planet sprocket, it is rotatably arranged on the outer end of described leg one to one；
Chain, it is simultaneously engaged with described center sprocket wheel and the plurality of planet sprocket；
Travel wheel, it is coaxially fixed with the plurality of planet sprocket respectively, and and the plurality of planet chain
Wheel is common to be rotated.
Preferably, described vehicle frame also includes steering, and it is connected to vehicle frame rear portion, including turning to electricity
Machine and bowing steering unit, described steer motor drives bowing steering unit to tilt one relative to vehicle frame
Determine angle, thus realize turning to；Wherein, described driven planetary gear set is symmetrically mounted on steering both sides.
Preferably, described driving motor connected with differential, described differential mechanism exports two line shafts and connects
The driving planetary gear set of vehicle frame both sides.
Preferably, described bowing steering unit includes:
Guide rail, it is secured transverse on vehicle frame；
Slide block, it is set on guide rail and can be along slide；
Steering rack, it engages with steer motor, and fixing connection sliding block, and described steering rack is turning
Lower band movable slider is driven to move along guide rail to motor；
Linkage, including vertical pole, the first cross bar and the second cross bar, vertical pole front end is rotatably connected slide block,
It is flat that vertical pole rear end is respectively hinged at the first cross bar and the central point of the second cross bar, the first cross bar and the second cross bar
Row is arranged and its two ends relatively connect steering arm；
The front end of described steering arm is hinged on vehicle frame rear end；
Wherein, when vertical pole front end is moved along guide rail under slide block drives, it drives the first cross bar and the second horizontal stroke
Bar transverse shifting, thus drive steering arm to tilt certain angle with vehicle frame, it is achieved driven planetary gear set turns to.
Preferably, described vehicle frame also includes object stage, and it is fixed on vehicle frame, for bearing article.
Preferably, also include control system, comprising:
Torque sensor, its be arranged on driving motor output shaft on, described torque sensor measure drive electricity
The moment of torsion of machine；
Speed probe, it is separately mounted on two described line shafts of differential mechanism, for detection two
The rotating speed of line shaft；
Signal receiver/transmitter, it connects torque sensor and speed probe, the reception transmitting of described signal
Machine receives torque sensor and the signal of speed probe；
Controller, its connection signal receiver/transmitter, driving motor and steer motor, described controller connects
The signal of collection of letters receiver/transmitter also controls steer motor and drives motor；And
Electron speed regulator, it connects controller, the traveling of described electron speed regulator regulation driving planetary gear set
Speed.
Preferably, described driving motor is servomotor, and controller is received by signal receiver/transmitter
The signal of torque sensor, and control to drive the output moment of torsion of motor.
Preferably, described electron speed regulator connects the power supply driving motor, and it is regulated by regulation power supply
Drive the gait of march of planetary gear set.
Preferably, when described driving planetary gear set runs into obstacle travel wheel with ground skidding, for ensureing to drive
Dynamic planetary gear set revolution obstacle detouring, controller controls the real-time torque T ' of motor and meets:
Wherein, θ is angle between road wheel, and k is for driving planetary gear set gear ratio, and η is for driving planetary gear
The mechanical efficiency of group；M is the quality driving planetary gear set, and f is the coefficient of kinetic friction of travel wheel and ground,
R is the radius of turn of planet circular system.
Preferably, described driving planetary gear set runs into obstacle and takes turns and do not have relative motion with ground, for driving
Dynamic planetary gear set revolution obstacle detouring, controller controls the real-time torque T ' of motor and meets；
Wherein, θ is angle between road wheel, and k is for driving planetary gear set gear ratio, and η is for driving planetary gear
The mechanical efficiency of group；M is the quality driving planetary gear set, and f is the coefficient of kinetic friction of travel wheel and ground,
R is the radius of turn of planet circular system.
The present invention at least includes following beneficial effect: 1, on it, object stage can install or carry various detection
Equipment, it is simple to investigation；2, under the state of level land, power-assisted goods can be delivered, it is also possible to help when stair climbing
Power delivery goods；3, barrier-surpassing robot utilizes differential mechanism to turn to, and driven planetary gear set utilizes bowing
Steering unit coordinates and turns to, it is adaptable to narrow or to Turning regions.4, gear drive and Chain conveyer knot are used
The mode closed makes operation workflow simple, easy and simple to handle, and performance improves, and increases the service life；5, torsion is installed
Square sensor, and measurement motor output torque value is transmitted to controller, controller is according to different situations meter
Calculate obstacle detouring moment of torsion, and regulate motor output torque higher than obstacle detouring moment of torsion, it is ensured that the smooth obstacle detouring of barrier getting over mechanism,
Reduce the output of motor, less energy consumption simultaneously.
Part is embodied by the further advantage of the present invention, target and feature by description below, and part also will
By the research of the present invention and practice are understood by the person skilled in the art.
Accompanying drawing explanation
Fig. 1 is the structure chart of the barrier-surpassing robot of the present invention.
Fig. 2 is advance system and the connection figure of steering of the barrier-surpassing robot of the present invention.
Fig. 3 is that the barrier-surpassing robot of the present invention turns to schematic diagram.
Fig. 4 is the planetary gear set structure chart of the barrier-surpassing robot of the present invention.
Fig. 5 is the planetary gear set structure chart of the barrier-surpassing robot of the present invention.
Fig. 6 is the planetary gear set structure chart of the barrier-surpassing robot of the present invention.
Fig. 7 is the control system schematic diagram of the barrier-surpassing robot of the present invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art's reference
Description word can be implemented according to this.
Should be appreciated that used herein such as " have ", " comprising " and " including " term not
Allot other element one or more or the existence of a combination thereof or interpolation.
Fig. 1-3 shows a kind of way of realization according to the present invention, and multifunctional power-assisted barrier-surpassing robot includes
Vehicle frame 100, advance system 200, steering 300 and control system, vehicle frame 100 is used for carrying detection
Equipment, described advance system 200, steering 300 and control system connecting vehicle frame 100, advance system
200 drive vehicle frame 100 to advance on level land or the obstacle detouring when running into obstacle, stair, and steering 300 is joined
Close advance system 200 and control system controls to turn to.
As in figure 2 it is shown, vehicle frame 100 includes car body 110 and object stage 120, car body 110 is identical by two pieces
And the many cross bar compositions that the stringer board of the stainless steel that is parallel to each other and two ends are fixed on stringer board, described car
Body 110 is used for supporting and connect advance system 200 and steering 300, and object stage 120 is fixed on car
Above body 110, it is corrosion resistant plate, is used for carrying detecting devices.
Advance system 200 includes driving motor 210, driving planetary gear set, driven planetary gear set and differential
Device 250, wherein, driving planetary gear set is by driving planet circular system 230 and travel wheel 220 to form, driven
Planetary gear set is made up of driven planet circular system 240 and travel wheel 220.Motor 210 is driven to be fixed on car body
On the cross bar of 110, it is adjusting torque formula motor, drives and installs torque sensing on motor 210 output shaft
Device, it is common sensor, is not shown.Described torque sensor is measured and is used foil gauge electricity
Survey technology, it pastes foil gauge composition measuring bridge, draws after output shaft is produced micro-strain by moment of torsion
Playing bridge resistance change, the change transitions of strain bridge resistance becomes the change of the signal of telecommunication thus realizes moment of torsion
Measure, thus realize measuring the moment of torsion of motor.Motor 210 output shaft is driven to engage differential by helical gear
Device 250, described differential mechanism 250 two ends export the first line shaft 251 and the second line shaft 252 respectively, its
In, the first line shaft 251 and the second line shaft 252 are respectively mounted speed probe, speed probe
Connect signal receiver/transmitter, the rotating speed of the first line shaft 251 and the second line shaft 252 is transmitted to letter
Number receiver/transmitter；Planetary gear set is driven to be symmetrically mounted on the anterior arranged on left and right sides of vehicle frame 100, described the
Driving planet circular system 230 on the left of one line shaft 251 connecting vehicle frame 100, the second line shaft 252 connects
Driving planet circular system 230 on the right side of vehicle frame 100；Described driving planet circular system 230 and driven planet circular system
240 is same mechanical assembly, only to driving planet circular system 230 structure to illustrate, by scheming in description
4-6 is visible, drive planet circular system 230 be gear, it include central gear 231, planetary gear 232,
Planetary gear cover plate 233, expert's carrier 234, layman's carrier 235, center sprocket wheel 236, planet sprocket
237, chain 238 and traveling wheel shaft 239.Central gear 231 is provided with cloth on central through hole, its excircle
Be provided with teeth, wherein, the size of central through hole and the first line shaft 251 and the second line shaft 252 to
Joining, for connecting the first line shaft 251 or the second line shaft 252, central gear 231 is rotatably connected
The center of expert's carrier 234.Planetary gear 232 is rotatably connected in expert's carrier 234 by its central shaft
On, its excircle is laid teeth.Wherein, described central gear 231 and planetary gear 232 are by row
Star gear cover plate 233 is fixed on the homonymy in expert's carrier 234, further, three planetary gears
232 angularly lay car equilateral triangle, and engage with central gear 231, central gear 231 carry
Dynamic three planetary gears 232 rotate.Center sprocket wheel 236 is arranged with planetary gear 232 concentric, and leads to
Crossing same central shaft and be fixed on the both sides of expert's carrier 234, the rotational band of planetary gear 232 moves center chain
Take turns 236 synchronous axial system.As seen from Figure 5, center sprocket wheel 236, chain 238 and planet sprocket 237 cloth
It is located at the same side of expert's carrier 234, further, with central gear 231 and planetary gear 232
Being arranged on the opposite side of expert's carrier 234, wherein, three planet sprockets 237 are by traveling wheel shaft 239
Being connected on three angles of expert's carrier 234, chain 238 is respectively at center sprocket wheel 236 and planet sprocket
237 engagements, i.e. center sprocket wheel 236 drive planet sprocket 237 to rotate by chain 238, thus drive
The traveling wheel shaft 239 that be connected fixing with planet sprocket 237 rotates.As seen from Figure 5, traveling wheel shaft 239
It is set in the expert's carrier 234 and layman's carrier 235 be arrangeding in parallel, expert's carrier 234 and outer planet
Frame 235 structure is identical, for sealene triangle structure, wherein, traveling wheel shaft 239 planet carrier 235 outside
Expenditure end connect travel wheel 220, three travel wheel 220 are connected by traveling wheel shaft 239 and drive planet
Train 230.
When barrier-surpassing robot is turned, motor 210 is driven to drive differential mechanism 250 to adjust the first line shaft 251
And the speed difference that second between line shaft 252, the first line shaft 251 and the second line shaft 252 are by speed
Difference transmission deflects to the driving planetary gear set homonymy of the left and right sides, and now, driven planetary gear set does not deflects,
Thus realize the front-wheel steer pattern of barrier-surpassing robot.
As shown in Figures 2 and 3, steering 300 includes steer motor 310, steering rack 320, guide rail
330, linkage 340 and steering arm 350, steer motor 310 is fixed on the cross bar of car body 110,
Its output shaft engagement steering rack 320, thus drive steering rack 320 to move；On steering rack 320
Tooth bar is laid on surface, and the center of its lower surface is fixed on slide block 331；Guide rail 330 is parallel to cross bar,
Its two ends are fixed on car body 110, sheathed slide block 331 on it, and slide block 331 lower surface offers chute,
Vertical pole 341 upper surface is provided with boss, and described boss connection chute also can be along slide, slide block 331 energy
Enough sliding along guide rail 330, now, steer motor 310 drives steering rack 320 transverse shifting, thus
Band movable slider 331 is along guide rail 330 transverse shifting.Linkage 340 includes vertical pole the 341, first cross bar
342 and second cross bar 343, the hinged slide block in vertical pole 341 front end 331, drive vertical when slide block 331 moves
Bar 341 moves；First cross bar 342 two-end-point and steering arm 350 front end, the stringer board end of car body 110
Being connected through the hinge, its centerline is hinged with vertical pole 341；Second cross bar 343 two-end-point is hinged on and turns to
In the middle part of arm 350, the end of the point articulated vertical pole in its center 341；Steering arm 350 symmetry is hinged on vehicle frame 100
End, on it connect driven planetary gear set.
Being illustrated in figure 3 barrier-surpassing robot rear-axle steering pattern, open steer motor 310, it drives and turns
To tooth bar 320 along guide rail 330 transverse shifting, thus the vertical pole 341 hinged with slide block 331 is driven to move
And tilting certain angle, vertical pole 341 drives the first cross bar 342 and the second cross bar 343 traversing, so that
The steering arm 350 hinged with the first cross bar 342 and the second cross bar 343 tilts, its angle of inclination and vertical pole
341 is identical, thus drives driven planetary gear set to be angularly offset with vehicle frame 100, it is achieved driven planet
Wheels homonymy deflects, and now drives planetary gear set not deflect, thus realizes barrier-surpassing robot rear-axle steering mould
Formula.
As it is shown in fig. 7, control system includes that controller, electron speed regulator, speed probe, moment of torsion pass
Sensor and signal receiver/transmitter, control system is arranged in the middle part of vehicle frame 100, and the connection of described controller is driven
Galvanic electricity machine 210, electron speed regulator, electron speed regulator is had the effect of converter, is changed by controller
Motor working power frequency controls to drive the rotating speed of motor, thus controls the speed of barrier-surpassing robot.Institute
Stating controller and be also connected with speed probe, signal receiver/transmitter and steer motor 310, signal receives to be sent out
The machine of penetrating receives the first line shaft 251 and tach signal of the second line shaft 252, and transmits a signal to control
Device processed, controller compares the first line shaft 251 and rotating speed of the second line shaft 252, when controller judges
First line shaft 251 is different with the second line shaft 252 rotating speed, and controller controls steer motor 310 and opens,
Steer motor drives driven planetary gear set to turn to.Described torque sensor connects signal receiver/transmitter, turns round
Square sensor will drive the output torque value transmission of motor 210 to signal receiver/transmitter, and signal receives to be sent out
Machine of penetrating is by torque signal transmission to controller, and the driving that controller receives, storage torque sensor is measured is electric
The torque of machine 210, controller according to circumstances regulates the moment of torsion driving motor 240, it is achieved barrier-surpassing robot
Obstacle detouring smoothly.
When barrier-surpassing robot is at level walking, surface resistance square less than drive planetary gear set from torque,
Driving motor 210 to drive to central gear 231 by differential mechanism 250, central gear 231 drives planet
Gear 232 rotates, and center sprocket wheel 236 and planetary gear 232 synchronous axial system, center sprocket wheel 236 passes through
Chain 238 drives planet sprocket 237 to rotate, so that travel wheel 220 rotation, thus drive obstacle detouring machine
Device people advances.When barrier-surpassing robot runs into barrier or stair climbing, running resistance square moment increases to greatly
In driving planetary gear set from torque, motor 210 is driven to drive to central gear 231 by differential mechanism 250,
But resistance makes planetary gear 232 stagnate, central gear 231 drives expert's carrier 234 to rotate, thus real
Now drive planetary gear set revolution, drive planetary gear set to drive the smooth obstacle detouring of barrier-surpassing robot.But obstacle detouring machine
There will be two kinds of situations when obstacle detouring for device people: one is that travel wheel 220 is skidded with ground at barrier；Two
It is that travel wheel 220 and ground do not have relative motion at barrier, i.e. stops operating, discuss separately below
The condition of barrier-surpassing robot obstacle detouring in the case of two kinds.
When running into obstacle travel wheel 220 and skidding with ground, controller measures obstacle detouring by torque sensor
The real-time torque T ' of robot, the moment of torsion that controller calculates obstacle detouring according to formula (1) and needs is T1, controller
Control the real-time torque T ' of motor > T1, the planet circular system 230 in barrier-surpassing robot revolves round the sun thus obstacle detouring:
Wherein, λ is the first factor of influence, reflection angle, θ, gear ratio k, mechanical efficiency η and radius R pair
The impact of obstacle detouring moment of torsion, its computing formula (2) is:
Wherein, λ is the first factor of influence, zero dimension；θ be constitute equilateral triangle three road wheels it
Between angle, unit for degree；K is planet gear transmission ratio, and η is the mechanical efficiency of barrier-surpassing robot；M is for more
The quality of barrier robot, unit is g；F is the coefficient of kinetic friction of barrier-surpassing robot and ground, and R is obstacle detouring
The circumscribed radius of the equilateral triangle that three road wheels of robot are formed, unit is rice.
Relative motion is not had with ground when running into obstacle travel wheel 220, i.e. during travel wheel 220 stop motion,
The moment of torsion that controller calculates obstacle detouring according to formula (3) and needs is T2, controller controls the real-time moment of torsion of motor
T′>T2, the planet circular system 230 in barrier-surpassing robot thus obstacle detouring；
Wherein, λ is the first factor of influence, reflection angle, θ, gear ratio k, mechanical efficiency η and radius R
Impact on obstacle detouring moment of torsion, its computing formula (4) is:
Wherein, λ is the first factor of influence, zero dimension；θ be constitute equilateral triangle three road wheels it
Between angle, unit for degree；K is planet gear transmission ratio, and η is the mechanical efficiency of barrier-surpassing robot；M is for more
The quality of barrier robot, unit is g；F is the coefficient of kinetic friction of barrier-surpassing robot and ground, and R is obstacle detouring
The circumscribed radius of the equilateral triangle that three road wheels of robot are formed, unit is rice.
Although embodiment of the present invention are disclosed as above, but it is not restricted to description and embodiment party
Listed utilization in formula.It can be applied to various applicable the field of the invention completely.For being familiar with ability
For the personnel in territory, it is easily achieved other amendment.Therefore without departing substantially from claim and etc. homotype
Enclosing under limited general concept, the present invention is not limited to specific details and shown here as the figure with description
Example.
Claims (10)
1. a multifunctional obstacle-surmounting robot, it is characterised in that including:
Vehicle frame；
Driving motor, it is fixed on vehicle frame；
Driving planetary gear set and driven planetary gear set, described driving planetary gear set symmetry is laid in vehicle frame front end
Both sides, are driven by driving motor；Described driven planetary gear set is symmetrically mounted on both sides, vehicle frame rear end；Wherein,
Described planetary gear set includes:
Expert's carrier, it includes at least two outward extending legs, and towards described driving motor
Central gear and planetary gear are set on side, another side arranges center sprocket wheel and multiple planet sprocket；
And
Described central gear, it passes through, and the first axle is rotatable to be fixed in described expert's carrier, described motor
Output shaft connects described central gear；
Described planetary gear, it is fixed in described expert's carrier by the second axle is rotatable, and and institute
State central gear engagement；
Described center sprocket wheel, it is fixed on described second axle, described center sprocket wheel and described planetary gear
Common rotation；
The plurality of planet sprocket, it is rotatably arranged on the outer end of described leg one to one；
Chain, it is simultaneously engaged with described center sprocket wheel and the plurality of planet sprocket；
Travel wheel, it is coaxially fixed with the plurality of planet sprocket respectively, and and the plurality of planet chain
Wheel is common to be rotated.
2. multifunctional obstacle-surmounting robot as claimed in claim 1, it is characterised in that described vehicle frame also wraps
Including steering, it is connected to vehicle frame rear portion, including steer motor and bowing steering unit, and described turn
Drive bowing steering unit to tilt certain angle relative to vehicle frame to motor, thus realize turning to；Wherein,
Described driven planetary gear set is symmetrically mounted on steering both sides.
3. multifunctional obstacle-surmounting robot as claimed in claim 2, it is characterised in that described driving motor
Connected with differential, the driving planetary gear set of two line shaft connecting vehicle frame both sides of described differential mechanism output.
4. multifunctional obstacle-surmounting robot as claimed in claim 2, it is characterised in that described bowing turns
Include to unit:
Guide rail, it is secured transverse on vehicle frame；
Slide block, it is set on guide rail and can be along slide；
Steering rack, it engages with steer motor, and fixing connection sliding block, and described steering rack is turning
Lower band movable slider is driven to move along guide rail to motor；
Linkage, including vertical pole, the first cross bar and the second cross bar, vertical pole front end is rotatably connected slide block,
It is flat that vertical pole rear end is respectively hinged at the first cross bar and the central point of the second cross bar, the first cross bar and the second cross bar
Row is arranged and its two ends relatively connect steering arm；
The front end of described steering arm is hinged on vehicle frame rear end；
Wherein, when vertical pole front end is moved along guide rail under slide block drives, it drives the first cross bar and the second horizontal stroke
Bar transverse shifting, thus drive steering arm to tilt certain angle with vehicle frame, it is achieved driven planetary gear set turns to.
5. the multifunctional obstacle-surmounting robot as described in claim 3 or 4, it is characterised in that described vehicle frame
Also including object stage, it is fixed on vehicle frame, for bearing article.
6. multifunctional obstacle-surmounting robot as claimed in claim 3, it is characterised in that also include controlling system
System, comprising:
Torque sensor, its be arranged on driving motor output shaft on, described torque sensor measure drive electricity
The moment of torsion of machine；
Speed probe, it is separately mounted on two described line shafts of differential mechanism, for detection two
The rotating speed of line shaft；
Signal receiver/transmitter, it connects torque sensor and speed probe, the reception transmitting of described signal
Machine receives torque sensor and the signal of speed probe；
Controller, its connection signal receiver/transmitter, driving motor and steer motor, described controller connects
The signal of collection of letters receiver/transmitter also controls steer motor and drives motor；And
Electron speed regulator, it connects controller, the traveling of described electron speed regulator regulation driving planetary gear set
Speed.
7. multifunctional obstacle-surmounting robot as claimed in claim 6, it is characterised in that described driving motor
For servomotor, controller receives the signal of torque sensor by signal receiver/transmitter, and controls to drive
The output moment of torsion of galvanic electricity machine.
8. multifunctional obstacle-surmounting robot as claimed in claim 6, it is characterised in that described electronic speed regulation
Device connects the power supply driving motor, and it drives the gait of march of planetary gear set by regulation power supply regulation.
9. multifunctional obstacle-surmounting robot as claimed in claim 7, it is characterised in that described driving planet
When wheels run into obstacle travel wheel with ground skidding, for ensureing to drive planetary gear set revolution obstacle detouring, controller
The real-time torque T ' controlling motor meets:
Wherein, θ is angle between road wheel, and k is for driving planetary gear set gear ratio, and η is for driving planetary gear
The mechanical efficiency of group；M is the quality driving planetary gear set, and f is the coefficient of kinetic friction of travel wheel and ground,
R is the radius of turn of planet circular system.
10. multifunctional obstacle-surmounting robot as claimed in claim 7, it is characterised in that described driving row
Star-wheel group runs into obstacle and takes turns and do not have relative motion with ground, for driving planetary gear set revolution obstacle detouring, controls
Device controls the real-time torque T ' of motor and meets；
Wherein, θ is angle between road wheel, and k is for driving planetary gear set gear ratio, and η is for driving planetary gear
The mechanical efficiency of group；M is the quality driving planetary gear set, and f is the coefficient of kinetic friction of travel wheel and ground,
R is the radius of turn of planet circular system.
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| CN201610297760.2A CN105905178B (en) | 2016-05-06 | 2016-05-06 | Multifunctional obstacle crossing robot |
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| CN201610297760.2A CN105905178B (en) | 2016-05-06 | 2016-05-06 | Multifunctional obstacle crossing robot |
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| CN106741297A (en) * | 2016-12-31 | 2017-05-31 | 河南城建学院 | One kind turns to flexible forerunner's intelligent carriage |
| CN106892014A (en) * | 2017-02-22 | 2017-06-27 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
| CN107298136A (en) * | 2017-06-23 | 2017-10-27 | 昆明理工大学 | A kind of caterpillar drive |
| CN108583727A (en) * | 2018-05-23 | 2018-09-28 | 江苏集萃智能制造技术研究所有限公司 | A kind of full landform rescue Disaster Relief Robot |
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| CN106741297A (en) * | 2016-12-31 | 2017-05-31 | 河南城建学院 | One kind turns to flexible forerunner's intelligent carriage |
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| CN106892014B (en) * | 2017-02-22 | 2019-08-13 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
| CN107298136A (en) * | 2017-06-23 | 2017-10-27 | 昆明理工大学 | A kind of caterpillar drive |
| CN108583727A (en) * | 2018-05-23 | 2018-09-28 | 江苏集萃智能制造技术研究所有限公司 | A kind of full landform rescue Disaster Relief Robot |
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| CN110200556B (en) * | 2019-05-28 | 2022-04-19 | 广州科语机器人有限公司 | Obstacle-crossing driving wheel and mobile equipment |
| CN110200556A (en) * | 2019-05-28 | 2019-09-06 | 广州科语机器人有限公司 | Obstacle detouring driving wheel and mobile device |
| CN110434826A (en) * | 2019-08-12 | 2019-11-12 | 东北大学 | A kind of drive lacking stair climbing robot based on differential mechanism and inverted pendulum |
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| CN110606136A (en) * | 2019-10-22 | 2019-12-24 | 吉林大学 | Logistics robot with omnidirectional movement and obstacle crossing capability and control method thereof |
| CN110606136B (en) * | 2019-10-22 | 2023-12-29 | 吉林大学 | Logistics robot with omnidirectional movement and obstacle surmounting capability and control method thereof |
| CN111504691A (en) * | 2020-05-10 | 2020-08-07 | 淮阴师范学院 | Portable geographic information acquisition device |
| CN111504691B (en) * | 2020-05-10 | 2023-03-10 | 淮阴师范学院 | Portable geographic information acquisition device |
| CN112298393A (en) * | 2020-11-03 | 2021-02-02 | 温州简杰机械科技有限公司 | Intelligent robot for security patrol |
| CN113815701A (en) * | 2021-10-13 | 2021-12-21 | 浙江精功机器人智能装备有限公司 | Stair climbing trolley |
| CN114278809A (en) * | 2021-12-30 | 2022-04-05 | 杭州电子科技大学 | Pipeline detection robot capable of avoiding obstacles |
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