CN107323560A - A kind of wheel leg type movable rescue robot - Google Patents

A kind of wheel leg type movable rescue robot Download PDF

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Publication number
CN107323560A
CN107323560A CN201710495865.3A CN201710495865A CN107323560A CN 107323560 A CN107323560 A CN 107323560A CN 201710495865 A CN201710495865 A CN 201710495865A CN 107323560 A CN107323560 A CN 107323560A
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CN
China
Prior art keywords
vehicle body
wheel
stump
jump
assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201710495865.3A
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Chinese (zh)
Inventor
席姣
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Xuzhou Joy Electromechanical Technology Co Ltd
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Xuzhou Joy Electromechanical Technology Co Ltd
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Publication date
Application filed by Xuzhou Joy Electromechanical Technology Co Ltd filed Critical Xuzhou Joy Electromechanical Technology Co Ltd
Priority to CN201710495865.3A priority Critical patent/CN107323560A/en
Publication of CN107323560A publication Critical patent/CN107323560A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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

Abstract

The invention discloses a kind of wheel leg type movable rescue robot, including wheel undercarriage(1), vehicle body moving assembly(2), more barrier component(3), obstacle detouring wheel assembly(4), rotatable body component(5), gripper(6), mechanical arm(7)And visual information harvester(8);The present invention is a kind of wheel leg type movable rescue robot, and its mobile device combines that wheeled devices speed is fast and the strong advantage of leg formula device obstacle climbing ability, can rapidly enter danger zone, pass through vehicle body moving assembly(2), rotatable body component(5), mechanical arm(7)And gripper(6)The coordinated movement of various economic factors, perform complex task instead of staff, operating space is big, ability to work is strong, efficiency high.

Description

A kind of wheel leg type movable rescue robot
Technical field
The present invention relates to a kind of robot, specifically a kind of wheel leg type movable rescue robot belongs to robot technology neck Domain.
Background technology
Be not suitable for personnel's operation in many danger zones, at this moment usually require the machine that locomotivity is good and ability to work is strong Device people replaces manually performing task.
In existing technical scheme, wheeled mobile device speed is fast but obstacle climbing ability is poor, leg formula mobile device obstacle climbing ability It is strong but translational speed is slow;In addition, the existing usual operating space of robot is smaller, ability to work is poor, it is impossible to perform complex task.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of wheel leg type movable rescue robot, it is moved Device combines that wheeled devices speed is fast and the strong advantage of leg formula device obstacle climbing ability, can rapidly enter danger zone, pass through Vehicle body moving assembly, rotatable body component, the coordinated movement of various economic factors of mechanical arm and gripper, complicated appoint is performed instead of staff Business, operating space is big, and ability to work is strong, efficiency high.
To achieve these goals, the technical solution adopted by the present invention is:A kind of wheel leg type movable rescue robot, including Wheel undercarriage, vehicle body moving assembly, more barrier component, obstacle detouring wheel assembly, rotatable body component, gripper, mechanical arm and regard Feel information collecting device;Wheel undercarriage provides translational speed fast wheel type mobile mode for mobile robot, vehicle body moving assembly The position of centre of gravity of robot is adjusted, more barrier component and obstacle detouring wheel assembly provides obstacle climbing ability strong leg formula movement for mobile robot Mode, has fast and strong two advantages of obstacle climbing ability the telecontrol equipment of translational speed concurrently so as to be combined into, quickly reaches danger zone; Under the guidance for the visual information that visual information harvester is got, adjusted by vehicle body moving assembly and rotatable body component The plan-position of whole robot automobile body and posture, with reference to the coordinated movement of various economic factors of gripper and mechanical arm, instead of staff very big Working space in perform complicated operation task;
Described wheel undercarriage is identical with typical wheel undercarriage structure on the market, has only been adjusted in the fitted position of part;
Described gripper and mechanical arm choose suitable using the gripper and mechanical arm being molded on the market according to different demands Model;
Described visual information harvester can select corresponding resolution according to demand using binocular camera common on the market Rate, it has four groups, is separately mounted to the orientation of front, rear, left and right four of rotatable body component, constitutes robotic vision System, the peripheral vision information of robot present position is provided for operating personnel, in order to the remote control of robot;
Described vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, vehicle body movement shaft coupling, vehicle body movement Drive block, vehicle body mobile link part, vehicle body movement linear slider, vehicle body movement ball-screw, vehicle body movement line slide rail, vehicle body Moving substrate, vehicle body movement lead screw shaft bearings, vehicle body movement leading screw bearing and vehicle body rotating basis;Vehicle body mobile motor seat, Vehicle body moves line slide rail and vehicle body movement lead screw shaft bearings are bolted on vehicle body moving substrate, vehicle body movement Motor and vehicle body movement leading screw bearing are bolted on vehicle body mobile motor seat and vehicle body movement lead screw shaft bearings respectively; Vehicle body movement shaft coupling two ends connect the output shaft of vehicle body movement ball-screw and vehicle body mobile motor, vehicle body movement ball respectively The other end of leading screw moves the inner ring tight fit of leading screw bearing with vehicle body;Vehicle body rotating basis both sides pass through bolt and four vehicle bodies Mobile linear slider is connected, and centre is fixed by bolt with two vehicle body mobile link parts, vehicle body mobile link part and and vehicle body Mobile drive block bolt is fixed;The inner ring of vehicle body movement drive block coordinates with vehicle body movement ball-screw screw thread, vehicle body movement electricity The rotation of machine output shaft, by ball-screw-transmission, is converted to vehicle body movement drive block and moves ball-screw axis side along vehicle body To movement, so as to realize horizontal linear motion of the vehicle body rotating basis on vehicle body moving substrate;The side of vehicle body moving assembly one Its position of centre of gravity is adjusted flexibly in face in the motion process of mobile robot, and precondition is provided for the work of getting over barrier component;Separately On the one hand after mobile robot reaches specified location, the plan-position of robot automobile body is adjusted by transverse movement, to increase The operating space of robot;
Described obstacle detouring wheel assembly includes wheel, axletree, wheel rotary drive sprocket wheel, axle sleeve one, axletree swivel bearing, car Wheel shaft swivel bearing keeper, axle sleeve two, fork-shaped vehicle wheel frame, wheel rotary-chain, wheel electric rotating machine fixture, wheel rotation Dual-axle motor and wheel rotation drive sprocket;Wheel is connected with axletree by spline, and axially fixed through the shaft shoulder and axle sleeve two Position;Wheel rotary drive sprocket wheel has two, is connected with wheel axle key, and one of them is through the shaft shoulder and the axially position of axle sleeve one, separately One warp beam sleeve two and the axially position of axle sleeve one;Axletree swivel bearing keeper has two, respectively with the two of fork-shaped vehicle wheel frame Terminal bolt is connected;Axletree swivel bearing has two, its inner ring and axletree end shaft part tight fit, outer ring and fork-shaped vehicle wheel frame The counterbore tight fit being combined into axletree swivel bearing keeper, and rotated by axle sleeve one and fork-shaped vehicle wheel frame with axletree The counterbore wall axially position that bearing keeper is combined into;Wheel rotation dual-axle motor passes through fork-shaped vehicle wheel frame and wheel electric rotating Machine fixture fixed position, two motor output shafts are fixed with wheel rotation drive sprocket bolt;Wheel rotary drive sprocket wheel, Wheel rotary-chain, wheel rotation dual-axle motor and wheel rotation drive sprocket are combined into silent chain synchronous transmission device, car The rotation of wheel rotation dual-axle motor output shaft, is converted into rotary motion of the axletree around its axis, so that with motor-car through Chain conveyer Wheel is rotatable around its axis;
Described more barrier component includes obstacle detouring sub-assembly, Stump-jump wheel telescopic hydraulic cylinder cylinder barrel, Stump-jump wheel telescopic hydraulic cylinder piston rod And the flexible holding rod of Stump-jump wheel;Stump-jump wheel telescopic hydraulic cylinder cylinder barrel, Stump-jump wheel telescopic hydraulic cylinder piston rod and Stump-jump wheel are stretched Contracting holding rod has two groups, respectively positioned at the both sides of obstacle detouring sub-assembly;Stump-jump wheel telescopic hydraulic cylinder cylinder barrel is welded with obstacle detouring sub-assembly It is connected together, Stump-jump wheel telescopic hydraulic cylinder piston rod welds together with the fork-shaped vehicle wheel frame in obstacle detouring wheel assembly;Stump-jump wheel is stretched Contracting holding rod one group two, one end is welded on fork-shaped vehicle wheel frame both sides, and the other end is passed through on Stump-jump wheel telescopic hydraulic cylinder cylinder barrel Correspondence through hole, to prevent Stump-jump wheel telescopic hydraulic cylinder piston rod relative to the rotation of Stump-jump wheel telescopic hydraulic cylinder cylinder barrel;So as to structure There is the more barrier component that scalable Stump-jump wheel and structure form an angle into both sides, on the premise of mobile robot centre of gravity adjustment, By the flexible motion of both sides Stump-jump wheel telescopic hydraulic cylinder and obstacle detouring wheel assembly, the adaptive obstacle crossing function of robot is realized;
Described rotatable body component include vehicle body swivel bearing, vehicle body, vehicle body rotary decelerator, vehicle body electric rotating machine and Car body top cover;Vehicle body swivel bearing Internal and external cycle respectively with vehicle body and vehicle body rotating basis bolt connection, vehicle body rotary decelerator lead to Cross and be bolted on vehicle body, its output shaft is connected with vehicle body rotating basis key and through catch axially position;Vehicle body electric rotating machine Output torque through vehicle body rotary decelerator amplify after, drive vehicle body relative to vehicle body rotating basis around vehicle body swivel bearing Axis direction is rotated, so as to realize being adjusted flexibly for robot automobile body posture, the planar operating space of mechanical arm is extended into 360 Degree;Car body top cover is bolted at the top of vehicle body, to protect the electrical equipment in vehicle body without damage.
Described obstacle detouring sub-assembly and fork-shaped vehicle wheel frame is made using casting technique.
Described Stump-jump wheel telescopic hydraulic cylinder cylinder barrel and Stump-jump wheel telescopic hydraulic cylinder piston rod are using liquid common on the market Press cylinder device, and end is carried out respective handling to meet requirement.
Obstacle detouring sub-assembly in described more barrier component is used between seriation size, two sets of Stump-jump wheel telescopic hydraulic cylinders Angle can be adjusted by the obstacle detouring sub-assembly from different size according to the actual requirements.
The present invention is a kind of wheel leg type movable rescue robot, and its mobile device combines that wheeled devices speed is fast and leg formula The strong advantage of device obstacle climbing ability, can rapidly enter danger zone, pass through vehicle body moving assembly, rotatable body component, machine The coordinated movement of various economic factors of tool arm and gripper, complex task is performed instead of staff, and operating space is big, and ability to work is strong, efficiency It is high.
Brief description of the drawings
Fig. 1 is wheel leg type movable rescue robot principle schematic provided in an embodiment of the present invention;
In figure:1st, wheel undercarriage, 2, vehicle body moving assembly, 3, more barrier component, 4, obstacle detouring wheel assembly, 5, rotatable body component, 6th, gripper, 7, mechanical arm, 8, visual information harvester.
Fig. 2 is wheel leg type movable rescue robot front view provided in an embodiment of the present invention;
Fig. 3 is wheel leg type movable rescue robot top view provided in an embodiment of the present invention;
Fig. 4 is wheel leg type movable rescue robot side view provided in an embodiment of the present invention;
Fig. 5 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention;
In figure:2.1st, vehicle body mobile motor, 2.2, vehicle body mobile motor seat, 2.3, vehicle body movement shaft coupling, 2.4, vehicle body movement Drive block, 2.5, vehicle body mobile link part, 2.6, vehicle body movement linear slider, 2.7, vehicle body movement ball-screw, 2.8, vehicle body Mobile line slide rail, 2.9, vehicle body moving substrate, 2.10, vehicle body movement lead screw shaft bearings, 2.11, vehicle body movement leading screw bearing, 2.12nd, vehicle body rotating basis.
Fig. 6 is Stump-jump wheel assembly principle schematic diagram provided in an embodiment of the present invention;
In figure:4.1st, wheel, 4.2, axletree, 4.3, wheel rotary drive sprocket wheel, 4.4, axle sleeve one, 4.5, axletree rotary shaft Hold, 4.6, axletree swivel bearing keeper, 4.7, axle sleeve two, 4.8, fork-shaped vehicle wheel frame, 4.9, wheel rotary-chain, 4.10, Wheel electric rotating machine fixture, 4.11, wheel rotation dual-axle motor, 4.12, wheel rotation drive sprocket.
Fig. 7 is obstacle detouring assembly principle schematic diagram provided in an embodiment of the present invention;
In figure:3.1st, obstacle detouring sub-assembly, 3.2, Stump-jump wheel telescopic hydraulic cylinder cylinder barrel, 3.3, Stump-jump wheel telescopic hydraulic cylinder piston rod, 3.4th, the flexible holding rod of Stump-jump wheel.
Fig. 8 is rotatable body component principle schematic provided in an embodiment of the present invention;
In figure:5.1st, vehicle body swivel bearing, 5.2, vehicle body, 5.3, vehicle body rotary decelerator, 5.4, vehicle body electric rotating machine, 5.5, car Body top cover.
Fig. 9 is that wheel leg type movable rescue robot provided in an embodiment of the present invention crosses over irrigation canals and ditches principle schematic.
Figure 10 is wheel leg type movable rescue robot crossing over blockage principle schematic provided in an embodiment of the present invention.
Figure 11 is wheel leg type movable rescue robot motion state schematic diagram provided in an embodiment of the present invention.
Figure 12 is wheel leg type movable rescue robot working state schematic representation provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to Fig. 4, is a kind of wheel leg type movable rescue robot principle schematic provided in an embodiment of the present invention And three-view diagram, it include wheel undercarriage 1, vehicle body moving assembly 2, more barrier component 3, obstacle detouring wheel assembly 4, rotatable body component 5, Gripper 6, mechanical arm 7 and visual information harvester 8;Wheel undercarriage 1 provides the wheel of translational speed soon for mobile robot Formula move mode, vehicle body moving assembly 2 adjusts the position of centre of gravity of robot, and more barrier component 3 and obstacle detouring wheel assembly 4 is mobile machine People provides obstacle climbing ability strong leg formula move mode, so as to be combined into, to have translational speed concurrently fast and strong two advantages of obstacle climbing ability Telecontrol equipment, quickly reaches danger zone;Under the guidance for the visual information that visual information harvester 8 is got, pass through car The plan-position and posture of body moving assembly 2 and the adjustment robot automobile body of rotatable body component 5, with reference to gripper 6 and machinery The coordinated movement of various economic factors of arm 7, the operation task of complexity is performed instead of staff in great working space;
Described wheel undercarriage 1 is identical with typical wheel undercarriage structure on the market, has only been adjusted in the fitted position of part;
Described gripper 6 and mechanical arm 7 are chosen according to different demands and closed using the gripper and mechanical arm being molded on the market Suitable model;
Described visual information harvester 8 can select corresponding point according to demand using binocular camera common on the market Resolution, it has four groups, is separately mounted to the orientation of front, rear, left and right four of rotatable body component 5, constitutes regarding for robot Feel system, the peripheral vision information of robot present position is provided for operating personnel, in order to the remote control of robot.
Referring to Fig. 5, being a kind of vehicle body moving assembly of wheel leg type movable rescue robot provided in an embodiment of the present invention Principle schematic, it includes vehicle body mobile motor 2.1, vehicle body mobile motor seat 2.2, vehicle body movement shaft coupling 2.3, vehicle body movement Drive block 2.4, vehicle body mobile link part 2.5, vehicle body movement linear slider 2.6, vehicle body movement ball-screw 2.7, vehicle body movement Line slide rail 2.8, vehicle body moving substrate 2.9, vehicle body movement lead screw shaft bearings 2.10, vehicle body movement leading screw bearing 2.11 and car Body rotating basis 2.12;Vehicle body mobile motor seat 2.2, vehicle body movement line slide rail 2.8 and vehicle body movement lead screw shaft bearings 2.10 are bolted on vehicle body moving substrate 2.9,2.11 points of vehicle body mobile motor 2.1 and vehicle body movement leading screw bearing It is not bolted on vehicle body mobile motor seat 2.2 and vehicle body movement lead screw shaft bearings 2.10;Vehicle body moves shaft coupling 2.3 Two ends connect the output shaft of vehicle body movement ball-screw 2.7 and vehicle body mobile motor 2.1, vehicle body movement ball-screw 2.7 respectively The other end and vehicle body move the inner ring tight fit of leading screw bearing 2.11;The both sides of vehicle body rotating basis 2.12 pass through bolt and four Vehicle body movement linear slider 2.6 is connected, and centre is fixed by bolt with two vehicle body mobile link parts 2.5, vehicle body mobile link Part 2.5 is fixed with the vehicle body movement bolt of drive block 2.4 again;The inner ring of vehicle body movement drive block 2.4 moves ball-screw with vehicle body 2.7 screw threads coordinate, the rotation of the output shaft of vehicle body mobile motor 2.1, by ball-screw-transmission, are converted to vehicle body movement drive block 2.4 move moving for the axis direction of ball-screw 2.7 along vehicle body, so as to realize vehicle body rotating basis 2.12 in vehicle body moving substrate Horizontal linear motion on 2.9;Its center of gravity is adjusted flexibly in the one side of vehicle body moving assembly 2 in the motion process of mobile robot Position, precondition is provided for the work of getting over barrier component 3;On the other hand after mobile robot reaches specified location, horizontal stroke is passed through To the plan-position of motion adjustment robot automobile body, to increase the operating space of robot.
Referring to Fig. 6, being a kind of obstacle detouring wheel assembly original of wheel leg type movable rescue robot provided in an embodiment of the present invention Schematic diagram is managed, it includes wheel 4.1, axletree 4.2, wheel rotary drive sprocket wheel 4.3, axle sleeve 1, axletree swivel bearing 4.5th, axletree swivel bearing keeper 4.6, axle sleeve 2 4.7, fork-shaped vehicle wheel frame 4.8, wheel rotary-chain 4.9, wheel rotation Motor fixture 4.10, wheel rotation dual-axle motor 4.11 and wheel rotation drive sprocket 4.12;Wheel 4.1 and axletree 4.2 are connected by spline, and through the shaft shoulder and the axially position of axle sleeve 2 4.7;Wheel rotary drive sprocket wheel 4.3 has two, and car The key of wheel shaft 4.2 is connected, and one of them is through the shaft shoulder and the axially position of axle sleeve 1, another warp beam sleeve 2 4.7 and axle sleeve 1 Axially position;Axletree swivel bearing keeper 4.6 has two, and the bolts at two ends with fork-shaped vehicle wheel frame 4.8 is connected respectively;Wheel Axle swivel bearing 4.5 has two, its inner ring and the end shaft part tight fit of axletree 4.2, outer ring and fork-shaped vehicle wheel frame 4.8 and wheel The counterbore tight fit that axle swivel bearing keeper 4.6 is combined into, and pass through axle sleeve 1 and fork-shaped vehicle wheel frame 4.8 and axletree The counterbore wall axially position that swivel bearing keeper 4.6 is combined into;Wheel rotation dual-axle motor 4.11 passes through fork-shaped vehicle wheel frame 4.8 and the fixed position of wheel electric rotating machine fixture 4.10, two motor output shafts rotate the spiral shell of drive sprocket 4.12 with wheel Bolt is fixed;Wheel rotary drive sprocket wheel 4.3, wheel rotary-chain 4.9, wheel rotation dual-axle motor 4.11 and wheel rotation master Movable sprocket 4.12 is combined into silent chain synchronous transmission device, and wheel rotates the rotation of the output shaft of dual-axle motor 4.11, through Chain conveyer Rotary motion of the axletree 4.2 around its axis is converted into, so that rotatable around its axis with motor car wheel 4.1;
Described fork-shaped vehicle wheel frame 4.8 is made using casting technique.
Referring to Fig. 7, being a kind of obstacle detouring assembly principle of wheel leg type movable rescue robot provided in an embodiment of the present invention Schematic diagram, it includes obstacle detouring sub-assembly 3.1, Stump-jump wheel telescopic hydraulic cylinder cylinder barrel 3.2, Stump-jump wheel telescopic hydraulic cylinder piston rod 3.3 And the flexible holding rod 3.4 of Stump-jump wheel;Stump-jump wheel telescopic hydraulic cylinder cylinder barrel 3.2, Stump-jump wheel telescopic hydraulic cylinder piston rod 3.3 and The flexible holding rod 3.4 of Stump-jump wheel has two groups, respectively positioned at the both sides of obstacle detouring sub-assembly 3.1;Stump-jump wheel telescopic hydraulic cylinder cylinder barrel 3.2 weld together with obstacle detouring sub-assembly 3.1, Stump-jump wheel telescopic hydraulic cylinder piston rod 3.3 and the fork-shaped car in obstacle detouring wheel assembly 4 Wheel carrier 4.8 welds together;Stump-jump wheel stretches holding rod 3.4 1 group two, and one end is welded on the both sides of fork-shaped vehicle wheel frame 4.8, separately One end is through the corresponding through hole on Stump-jump wheel telescopic hydraulic cylinder cylinder barrel 3.2, to prevent the phase of Stump-jump wheel telescopic hydraulic cylinder piston rod 3.3 For the rotation of Stump-jump wheel telescopic hydraulic cylinder cylinder barrel 3.2;So as to constitute, there is scalable Stump-jump wheel both sides and structure forms an angle More barrier component 3, on the premise of mobile robot centre of gravity adjustment, pass through both sides Stump-jump wheel telescopic hydraulic cylinder and obstacle detouring wheel assembly 4 flexible motion, realizes the adaptive obstacle crossing function of robot;
Described obstacle detouring sub-assembly 3.1 is made using casting technique, and uses seriation size, the flexible liquid of two sets of Stump-jump wheels Angle between cylinder pressure can be adjusted by the obstacle detouring sub-assembly 3.1 from different size according to the actual requirements;
Described Stump-jump wheel telescopic hydraulic cylinder cylinder barrel 3.2 and Stump-jump wheel telescopic hydraulic cylinder piston rod 3.3 are using common on the market Hydraulic cylinder structure, and end is carried out respective handling to meet requirement.
Referring to Fig. 8, being a kind of rotatable vehicle body group of wheel leg type movable rescue robot provided in an embodiment of the present invention Part principle schematic, it includes vehicle body swivel bearing 5.1, vehicle body 5.2, vehicle body rotary decelerator 5.3, vehicle body electric rotating machine 5.4 And car body top cover 5.5;The Internal and external cycle of vehicle body swivel bearing 5.1 respectively with vehicle body 5.2 and the bolt connection of vehicle body rotating basis 2.12, Vehicle body rotary decelerator 5.3 is bolted on vehicle body 5.2, and its output shaft is connected and passed through with the key of vehicle body rotating basis 2.12 Catch axially position;After the output torque of vehicle body electric rotating machine 5.4 is amplified through vehicle body rotary decelerator 5.3, vehicle body 5.2 is driven Axis direction relative to vehicle body rotating basis 2.12 around vehicle body swivel bearing 5.1 rotates, so as to realize robot automobile body posture Be adjusted flexibly, the planar operating space of mechanical arm is extended to 360 degree;Car body top cover 5.5 is bolted on vehicle body 5.2 Top, to protect the electrical equipment in vehicle body 5.2 without damage.
Fig. 9 and Figure 10 are referred to, is a kind of leap ditch of wheel leg type movable rescue robot provided in an embodiment of the present invention Canal and crossing over blockage principle schematic.
Figure 11 and Figure 12 are referred to, is a kind of motion shape of wheel leg type movable rescue robot provided in an embodiment of the present invention State and working state schematic representation.Mechanical arm 7 collapses to the top of vehicle body 5.2 in motion process, in order to the centre of gravity adjustment of robot, And reduce its overall dimension;Mechanical arm 7 deploys during work, with reference to the motion spirit of vehicle body moving assembly 2 and rotatable body component 5 It is living to adjust its position and posture, perform task in sizable working space.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.

Claims (8)

1. a kind of wheel leg type movable rescue robot, including wheel undercarriage(1), vehicle body moving assembly(2), more barrier component(3), more Hinder wheel assembly(4), rotatable body component(5), gripper(6), mechanical arm(7)And visual information harvester(8);It is wheeled Chassis(1)There is provided translational speed fast wheel type mobile mode for mobile robot, vehicle body moving assembly(2)Adjust the weight of robot Heart position, more barrier component(3)With obstacle detouring wheel assembly(4)There is provided obstacle climbing ability strong leg formula move mode for mobile robot, Visual information harvester(8)Under the guidance of the visual information got, pass through vehicle body moving assembly(2)With rotatable vehicle body group Part(5)Plan-position and the posture of robot automobile body are adjusted, with reference to gripper(6)And mechanical arm(7)The coordinated movement of various economic factors,
Described visual information harvester(8)Using binocular camera common on the market, it can select corresponding according to demand Resolution ratio, it has four groups, is separately mounted to rotatable body component(5)The orientation of front, rear, left and right four, constitute robot Vision system.
2. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described vehicle body movement group Part(2)Including vehicle body mobile motor(2.1), vehicle body mobile motor seat(2.2), vehicle body movement shaft coupling(2.3), vehicle body movement drive Motion block(2.4), vehicle body mobile link part(2.5), vehicle body movement linear slider(2.6), vehicle body movement ball-screw(2.7), car Body moves line slide rail(2.8), vehicle body moving substrate(2.9), vehicle body movement lead screw shaft bearings(2.10), vehicle body movement lead screw shaft Hold(2.11)And vehicle body rotating basis(2.12);Vehicle body mobile motor seat(2.2), vehicle body movement line slide rail(2.8)And Vehicle body moves lead screw shaft bearings(2.10)It is bolted on vehicle body moving substrate(2.9)On, vehicle body mobile motor(2.1) Leading screw bearing is moved with vehicle body(2.11)Vehicle body mobile motor seat is bolted on respectively(2.2)Lead screw shaft is moved with vehicle body Bearing(2.10)On;Vehicle body moves shaft coupling(2.3)Two ends connect vehicle body movement ball-screw respectively(2.7)Electricity is moved with vehicle body Machine(2.1)Output shaft, vehicle body movement ball-screw(2.7)The other end and vehicle body move leading screw bearing(2.11)Inner ring it is tight Coordinate;Vehicle body rotating basis(2.12)Linear slider is moved by bolt and four vehicle bodies in both sides(2.6)It is connected, centre passes through spiral shell Bolt and two vehicle body mobile link parts(2.5)It is fixed, vehicle body mobile link part(2.5)Again drive block is moved with vehicle body(2.4)Spiral shell Bolt is fixed;Vehicle body moves drive block(2.4)Inner ring and vehicle body move ball-screw(2.7)Screw thread coordinates, vehicle body mobile motor (2.1)The rotation of output shaft, by ball-screw-transmission, is converted to vehicle body movement drive block(2.4)Ball wire is moved along vehicle body Thick stick(2.7)The movement of axis direction, so as to realize vehicle body rotating basis(2.12)In vehicle body moving substrate(2.9)On it is laterally straight Line is moved;Vehicle body moving assembly(2)On the one hand its position of centre of gravity is adjusted flexibly in the motion process of mobile robot, is obstacle detouring Component(3)Work provide precondition;On the other hand specific bit is reached in mobile robot.
3. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described obstacle detouring wheel assembly (4)Including wheel(4.1), axletree(4.2), wheel rotary drive sprocket wheel(4.3), axle sleeve one(4.4), axletree swivel bearing (4.5), axletree swivel bearing keeper(4.6), axle sleeve two(4.7), fork-shaped vehicle wheel frame(4.8), wheel rotary-chain (4.9), wheel electric rotating machine fixture(4.10), wheel rotation dual-axle motor(4.11)And wheel rotation drive sprocket (4.12);Wheel(4.1)With axletree(4.2)Connected by spline, and through the shaft shoulder and axle sleeve two(4.7)Axially position;Wheel Rotary drive sprocket wheel(4.3)There are two, and axletree(4.2)Key is connected, and one of them is through the shaft shoulder and axle sleeve one(4.4)Axially Positioning, another warp beam sleeve two(4.7)With axle sleeve one(4.4)Axially position;Axletree swivel bearing keeper(4.6)Have two It is individual, respectively with fork-shaped vehicle wheel frame(4.8)Bolts at two ends connection;Axletree swivel bearing(4.5)There are two, its inner ring and wheel Axle(4.2)End shaft part tight fit, outer ring and fork-shaped vehicle wheel frame(4.8)With axletree swivel bearing keeper(4.6)It is combined into Counterbore tight fit, and pass through axle sleeve one(4.4)With fork-shaped vehicle wheel frame(4.8)With axletree swivel bearing keeper(4.6)Group The counterbore wall axially position of synthesis;Wheel rotates dual-axle motor(4.11)Pass through fork-shaped vehicle wheel frame(4.8)With wheel electric rotating Machine fixture(4.10)Fixed position, two motor output shafts rotate drive sprocket with wheel(4.12)Bolt is fixed;Wheel Rotary drive sprocket wheel(4.3), wheel rotary-chain(4.9), wheel rotation dual-axle motor(4.11)And wheel rotation drive chain Wheel(4.12)It is combined into silent chain synchronous transmission device, wheel rotation dual-axle motor(4.11)The rotation of output shaft, through Chain conveyer It is converted into axletree(4.2)Around the rotary motion of its axis, so that with motor car wheel(4.1)It is rotatable around its axis.
4. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described more barrier component (3)Including obstacle detouring sub-assembly(3.1), Stump-jump wheel telescopic hydraulic cylinder cylinder barrel(3.2), Stump-jump wheel telescopic hydraulic cylinder piston rod(3.3) And the flexible holding rod of Stump-jump wheel(3.4);Stump-jump wheel telescopic hydraulic cylinder cylinder barrel(3.2), Stump-jump wheel telescopic hydraulic cylinder piston rod (3.3)And the flexible holding rod of Stump-jump wheel(3.4)There are two groups, respectively positioned at obstacle detouring sub-assembly(3.1)Both sides;Stump-jump wheel is stretched Contracting Barrel of Hydraulic Cylinders(3.2)With obstacle detouring sub-assembly(3.1)Weld together, Stump-jump wheel telescopic hydraulic cylinder piston rod(3.3)With getting over Hinder wheel assembly(4)In fork-shaped vehicle wheel frame(4.8)Weld together;Stump-jump wheel stretches holding rod(3.4)One group two, one end weldering It is connected on fork-shaped vehicle wheel frame(4.8)Both sides, the other end passes through Stump-jump wheel telescopic hydraulic cylinder cylinder barrel(3.2)On corresponding through hole, to prevent Only Stump-jump wheel telescopic hydraulic cylinder piston rod(3.3)Relative to Stump-jump wheel telescopic hydraulic cylinder cylinder barrel(3.2)Rotation;So as to constitute two There is the more barrier component that scalable Stump-jump wheel and structure form an angle side(3), on the premise of mobile robot centre of gravity adjustment, lead to Cross both sides Stump-jump wheel telescopic hydraulic cylinder and obstacle detouring wheel assembly(4)Flexible motion, realize the adaptive obstacle crossing function of robot.
5. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described rotatable vehicle body Component(5)Including vehicle body swivel bearing(5.1), vehicle body(5.2), vehicle body rotary decelerator(5.3), vehicle body electric rotating machine(5.4) And car body top cover(5.5);Vehicle body swivel bearing(5.1)Internal and external cycle respectively with vehicle body(5.2)With vehicle body rotating basis(2.12) Bolt connection, vehicle body rotary decelerator(5.3)It is bolted on vehicle body(5.2)On, its output shaft and vehicle body rotating basis (2.12)Key is connected and through catch axially position;Vehicle body electric rotating machine(5.4)Output torque through vehicle body rotary decelerator(5.3) After amplification, vehicle body is driven(5.2)Relative to vehicle body rotating basis(2.12)Around vehicle body swivel bearing(5.1)Axis direction rotation Turn, so as to realize being adjusted flexibly for robot automobile body posture, the planar operating space of mechanical arm is extended to 360 degree;Vehicle body top Lid(5.5)It is bolted on vehicle body(5.2)Top, to protect vehicle body(5.2)Interior electrical equipment is without damage.
6. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described obstacle detouring sub-assembly (3.1)With fork-shaped vehicle wheel frame(4.8)It is made using casting technique.
7. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described Stump-jump wheel stretches Barrel of Hydraulic Cylinders(3.2)With Stump-jump wheel telescopic hydraulic cylinder piston rod(3.3)Using hydraulic cylinder structure common on the market, and to end End carries out respective handling to meet requirement.
8. a kind of wheel leg type movable rescue robot according to claim 1, it is characterised in that described more barrier component (3)In obstacle detouring sub-assembly(3.1)Using seriation size, the angle between two sets of Stump-jump wheel telescopic hydraulic cylinders can be according to reality Demand, passes through the obstacle detouring sub-assembly from different size(3.1)To adjust.
CN201710495865.3A 2017-06-26 2017-06-26 A kind of wheel leg type movable rescue robot Withdrawn CN107323560A (en)

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CN109533051A (en) * 2018-11-29 2019-03-29 北京理工大学 A kind of convertible stair climbing robot with foldable swing arm
CN110215625A (en) * 2019-05-12 2019-09-10 陕西理工大学 A kind of structural fire protection robot based on the double sense processing of video
CN113750396A (en) * 2021-08-16 2021-12-07 中关村军民科技协同创新孵化中心(北京)有限公司 Barrier-breaking rescue robot for biochemical environment

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CN106585759A (en) * 2016-12-26 2017-04-26 徐州乐泰机电科技有限公司 Novel mobile type double-arm robot
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109533051A (en) * 2018-11-29 2019-03-29 北京理工大学 A kind of convertible stair climbing robot with foldable swing arm
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CN110215625A (en) * 2019-05-12 2019-09-10 陕西理工大学 A kind of structural fire protection robot based on the double sense processing of video
CN113750396A (en) * 2021-08-16 2021-12-07 中关村军民科技协同创新孵化中心(北京)有限公司 Barrier-breaking rescue robot for biochemical environment
CN113750396B (en) * 2021-08-16 2022-05-06 中关村军民科技协同创新孵化中心(北京)有限公司 Barrier-breaking rescue robot for biochemical environment

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