CN107640240A - Barrier-surpassing robot - Google Patents
Barrier-surpassing robot Download PDFInfo
- Publication number
- CN107640240A CN107640240A CN201711003353.7A CN201711003353A CN107640240A CN 107640240 A CN107640240 A CN 107640240A CN 201711003353 A CN201711003353 A CN 201711003353A CN 107640240 A CN107640240 A CN 107640240A
- Authority
- CN
- China
- Prior art keywords
- barrier
- clutch
- rotating shaft
- eccentric wheel
- shaft
- 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.)
- Pending
Links
Landscapes
- Toys (AREA)
Abstract
The present patent application belongs to robotic technology field, specifically discloses a kind of barrier-surpassing robot, including body, motor-driven mechanism, control module, barrier-crossing traveling mechanism, level walking mechanism and detection agency；Pacifically walking mechanism is connected the motor-driven mechanism with barrier-crossing traveling mechanism, while realizes the switching between both by clutch.The barrier-crossing traveling mechanism is eccentric wheel and its rotating shaft, and level walking mechanism is circle wheel and its rotating shaft.Detection agency includes probe claws, and probe claws are provided with elastic threads, and elastic threads are provided with strain inductor.Control module electrically connects with motor-driven mechanism and detection agency.It is an object of the invention to provide a kind of barrier-surpassing robot, the barrier-surpassing robot can climb up and over some barriers, and it is fast to climb up and over speed, and the present invention is simple in construction, is readily produced.
Description
Technical field
The invention belongs to robotic technology field, specifically discloses a kind of barrier-surpassing robot.
Background technology
Some city security protection fire-fighting fire extinguishings or detection robot (anti-probably Detecting Robot etc.) need to climb up and over some obstacles
Thing, some robots can also pass through some rubbles, muddy section.The robot first having all is from wheeled row when breaking the barriers
Walk mechanism and switch to legged walking mechanism, then pass through barrier using legged walking mechanism.And use legged walking mechanism
There are several defects, first is mechanism structure complexity, is unfavorable for producing, and cost is very high, and second is legged walking mechanism row
Walk that speed is slow, pass through the speed of obstacle with regard to slow, and legged walking mechanism is easily tripped, and tripped rear robot be difficult from
Dynamic erect is come.So need a kind of to pass through the robot that obstacle speed is fast, simple in construction now.
The content of the invention
It is an object of the invention to provide a kind of barrier-surpassing robot, the barrier-surpassing robot can climb up and over some barriers,
And it is fast to climb up and over speed, and the present invention is simple in construction, is readily produced.
In order to achieve the above object, base case of the invention is：
Barrier-surpassing robot, including body, motor-driven mechanism and control module, in addition to barrier-crossing traveling mechanism, level land row
Walk mechanism and detection agency；
The motor-driven mechanism is disposed longitudinally on body, and the motor-driven mechanism includes double output shaft electric machine, first
Clutch, second clutch, the first power transmission shaft and second driving shaft, double output shaft electric machines are defeated including the first output shaft and second
Shaft, first output shaft are provided with the first worm gear, and the first output the tip of the axis first clutch connects, and described first
The first driver, the output end connection of first power transmission shaft and first clutch, first transmission are additionally provided with clutch
Axle is provided with the second worm gear, and the second output the tip of the axis is connected with second clutch, and second clutch is provided with second and driven
Dynamic device, the output end connection of the second driving shaft and second clutch, the second driving shaft are provided with the 3rd worm gear；
The barrier-crossing traveling mechanism is symmetricly set at left and right sides of body, and the barrier-crossing traveling mechanism includes 4 identicals
Eccentric wheel, the first eccentric wheel rotating shaft and the second eccentric wheel rotating shaft being connected respectively with four eccentric wheels, in the first eccentric wheel rotating shaft
Provided with the second worm screw, second worm screw engages with the second worm gear, and the second eccentric wheel rotating shaft is provided with the 3rd worm screw, described
3rd worm screw engages with the 3rd worm gear；
The level walking mechanism is symmetricly set at left and right sides of body, and the level walking mechanism includes four identicals
Supporting roller, two identical circle wheels and the circle wheel rotating shaft with two circle wheel connections, the supporting roller are rotatably connected on first respectively
Eccentric wheel rotating shaft and the end of the second eccentric wheel rotating shaft, the circle wheel rotating shaft are provided with the first worm screw, first worm screw and the
One worm gear engages；
The detection agency is arranged on body front end, the detection agency include probe claws, elastic threads, strain inductor and
Cylinder, the probe claws are in Y types, and probe claws include first bar portion, second bar portion and straight-bar portion, first bar portion and
Roller is equipped with second bar portion, the straight-bar portion is hinged on body front end, and the both ends of the elastic threads are fixed on first
In bar portion and second bar portion, the strain inductor is arranged in elastic threads, and the cylinder is arranged on body and positioned at straight
The underface of bar portion, the telescopic end of the cylinder are connected in straight-bar portion；
The control module is arranged on body, the control module respectively with double output shaft electric machines, the first driver, second
Driver, cylinder and strain inductor electrical connection.
The operation principle of this base case is：Probe claws are located at the front end of body, when the elastic threads in probe claws are met
To that can produce deformation during barrier, deformation can be detected by strain inductor, can detect the obstacle in front of body.Strain sense
When answering the device to send a signal to control module, control module can control the first driver and the second driver to make the first clutch
Device, second clutch are in bonding state, and now the power of double output shaft electric machines can be sent on eccentric wheel.Use eccentric wheel
Walking can just make during body and the when of rising and decline, the barrier in front can be passed through.Simultaneously when control module receives letter
Cylinder can be controlled after number, Telescopic-cylinder end is released and lifts probe claws, probe claws is passed through barrier.Work as elasticity
Restrict after restoring to the original state, strain inductor will not send signal to control module, and now first clutch, second clutch, which are in, divides
From state, robot is walked using level walking mechanism.
The beneficial effect of this base case is：Compared with prior art, come in the prior art using legged walking mechanism
Pass through barrier, and the present apparatus passes through barrier using barrier-crossing traveling mechanism, it is thus evident that using eccentric wheel come the speed of travel and
Stationarity is far faster than use legged walking mechanism.Walked using eccentric wheel, robot is not susceptible to the feelings tripped by barrier
Condition.The present apparatus can also whether there is barrier in front of automatic identification, moreover it is possible to carry out barrier-crossing traveling mechanism pacifically walking mechanism
Automatically switch, when front section is level road, walked using the circle wheel in level walking mechanism, speed is faster.Meanwhile we
The structure of case is simple, and required part is all common components, is readily produced and processes, cost is also lower compared with prior art.
Preferred scheme one：Based on scheme it is preferred, in addition to warning light, the warning light be electrically connected with control module
Connect.Using this programme, alarm can be sent when barrier-surpassing robot detects barrier, give people prompting has barrier herein.
Preferred scheme two：Preferably one it is preferred, the control module is SST89E single-chip microcomputers.At the single-chip microcomputer
Reason ability is strong, being capable of rapid processing data.
Preferred scheme three：Based on scheme it is preferred, the radius of the supporting roller is more than the least radius of eccentric wheel, small
In the circular normal radius of eccentric wheel, the radius of the circle wheel is more than or equal to the radius of supporting roller, the circle wheel and supporting roller
Touchdown point in same level.Using this programme, when barrier-surpassing robot is in level walking, control module is now utilized
Eccentric wheel is turned into its maximum radius upward phase state perpendicular to the ground, now circle wheel and supporting roller can with normal rotation,
And eccentric wheel does not touch ground now.
Preferred scheme four：Preferably four it is preferred, the eccentric wheel, circle wheel, supporting roller and roller are provided with convex
Rise.The earth-catching property of barrier-surpassing robot can be strengthened using this programme, strengthen barrier-surpassing robot climbs up and over performance.
Brief description of the drawings
Fig. 1 is the structural representation of barrier-surpassing robot embodiment of the present invention；
Fig. 2 is the upward view of barrier-surpassing robot of the present invention；
Fig. 3 is the side view of barrier-surpassing robot of the present invention.
Embodiment
Below by embodiment, the present invention is further detailed explanation：
Reference in Figure of description includes：Body 1, eccentric wheel 2, supporting roller 3, circle wheel 4, probe claws 5, elastic threads
6th, inductor 7, roller 8, double output shaft electric machines 9, the first output shaft 10, the second output shaft 11, the first worm gear 12, the first clutch are strained
Device 13, the first power transmission shaft 14, the second worm gear 15, second clutch 16, second driving shaft 17, the 3rd worm gear 18, the first eccentric wheel
Rotating shaft 19, the second eccentric wheel rotating shaft 20, the second worm screw 21, the 3rd worm screw 22, the rotating shaft 23 of circle wheel, the first worm screw 24, cylinder 25, police
Report lamp 26.
As shown in Figure 1 and Figure 2, the present embodiment barrier-surpassing robot includes body 1, and the left and right sides of body 1 is symmetrically installed
4 eccentric wheels, 2,2 circle 4 and 4 supporting rollers 3 of wheel.Eccentric wheel 2 is connected to the first eccentric wheel rotating shaft 19 and the second eccentric wheel rotating shaft
On 20, circle wheel 4 is arranged in circle wheel rotating shaft 23.The radius of the supporting roller 3 is more than the least radius of eccentric wheel 2, less than bias
The circular normal radius of wheel 2, the radius of the circle wheel 4 are more than or equal to the radius of supporting roller 3, the circle wheel 4 and supporting roller 3
Touchdown point is in same level.The eccentric wheel 2, circle wheel 4 and supporting roller 3 are provided with projection.Supporting roller 3 is rotatably connected on
In one eccentric wheel rotating shaft 19 and the second eccentric wheel rotating shaft 20, and supporting roller 3 is located at the outside of eccentric wheel 2.In the circle wheel rotating shaft 23
Provided with the first worm screw 24, the first eccentric wheel rotating shaft 19 is provided with the second worm screw 21, is set in the second eccentric wheel rotating shaft 20
There is the 3rd worm screw 22.It is additionally provided with double output shaft electric machines 9 on the body 1, double output shaft electric machines 9 include the first output shaft 10 and the
Two output shafts 11, first output shaft 10 are provided with the first worm gear 12, and the first worm gear 12 engages with the first worm screw 24.First is defeated
The end of shaft 10 is connected with first clutch 13, and first clutch 13 is provided with the first driver, first clutch 13 it is defeated
Go out on end and be connected with the first power transmission shaft 14, the first power transmission shaft 14 is provided with the second worm gear 15, the second worm gear 15 and the second worm screw 21
Engagement.The end of second output shaft 11 is connected with second clutch 16, and second clutch 16 is provided with the second driver, second from
Be connected with second driving shaft 17 in the output end of clutch 16, second driving shaft 17 is provided with the 3rd worm gear 18, the 3rd worm gear 18 with
3rd worm screw 22 engages.The top of body 1 is additionally provided with warning light 26.As shown in figure 3, the front end of body 1 is also hinged with probe claws
5, probe claws 5 are in Y types, and probe claws 5 are provided with elastic threads 6, and elastic threads 6 are provided with strain inductor 7.The underface of probe claws 5
Provided with cylinder 25, the telescopic end of cylinder 25 is fixedly connected in probe claws 5.Roller 8 is additionally provided with probe claws 5, roller 8 is provided with
It is raised.Power module and SST89E single-chip microcomputers are additionally provided with body 1.SST89E single-chip microcomputers drive with double output shaft electric machines 9, first respectively
Dynamic device, the second driver, warning light 26, cylinder 25 and strain inductor 7 electrically connect.The barrier-surpassing robot also includes remote control
Device, remote control can be with the start and stop of remote control barrier-surpassing robot, speed, steerings etc..
When it is implemented, started by remote control control barrier-surpassing robot, when the probe claws 5 of barrier-surpassing robot front end run into
After barrier, elastic threads 6 can deform upon.Straining inductor 7 can sense that there occurs deformation, signal is passed for elastic threads 6 simultaneously
Be defeated by SST89E single-chip microcomputers, now SST89E single-chip microcomputers send instruction, control the first driver and the second driver make first from
Clutch 13 and second clutch 16 are in bonding state.Now the power can of double output shaft electric machines 9 passes through first clutch 13
It is delivered on the first power transmission shaft 14 and second driving shaft 17, and then is transferred power to again on eccentric wheel 2 with second clutch 16.
Now eccentric wheel 2 starts to rotate, and when ground is contacted at the maximum gauge of eccentric wheel 2, body 1 is lifted to obtain highest, it is possible to
Break the barriers.SST89E single-chip microcomputers send instruction simultaneously, the telescopic end of cylinder 25 is released to raise probe claws 5, make detection
Pawl 5 passes through barrier.SST89E single-chip microcomputers can also light warning light 26 simultaneously.After the front of probe claws 5 does not have obstacle,
Elastic threads 6 do not deform upon, and after strain inductor 7 is not detected by deformation 10 seconds, SST89E single-chip microcomputers control the first driver again
First clutch 13 and second clutch 16 is in released state with the second driver, now circle wheel 4 rotate, supporting roller 3 with
Rotation.SST89E single-chip microcomputers send instruction simultaneously, and withdrawing the telescopic end of cylinder 25 resets probe claws 5, and probe claws 5 can
Continue to detect barrier.SST89E single-chip microcomputers can also extinguish warning light 26 simultaneously.When using circle wheel 4 to walk, speed is fast,
But can not climbing barrier, using eccentric wheel 2 walk when, speed slows down, but slows down seldom, being capable of climbing barrier thing.
Above-described is only embodiments of the invention, and the general knowledge such as known concrete structure and characteristic is not made herein in scheme
Excessive description., without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these should also be considered as protection scope of the present invention, and these are implemented all without the influence present invention
Effect and practical applicability.
Claims (5)
1. barrier-surpassing robot, including body, motor-driven mechanism and control module, it is characterised in that also including obstacle detouring vehicle with walking machine
Structure, level walking mechanism and detection agency；
The motor-driven mechanism is disposed longitudinally on body, and the motor-driven mechanism includes double output shaft electric machine, the first clutches
Device, second clutch, the first power transmission shaft and second driving shaft, double output shaft electric machines include the first output shaft and the second output
Axle, first output shaft are provided with the first worm gear, the first output the tip of the axis first clutch connection, described first from
The first driver, the output end connection of first power transmission shaft and first clutch, first power transmission shaft are additionally provided with clutch
The second worm gear is provided with, the second output the tip of the axis is connected with second clutch, and second clutch is provided with the second driving
Device, the output end connection of the second driving shaft and second clutch, the second driving shaft are provided with the 3rd worm gear；
The barrier-crossing traveling mechanism is symmetricly set at left and right sides of body, and the barrier-crossing traveling mechanism includes 4 identical bias
Wheel, the first eccentric wheel rotating shaft and the second eccentric wheel rotating shaft being connected respectively with four eccentric wheels, the first eccentric wheel rotating shaft are provided with
Second worm screw, second worm screw engage with the second worm gear, and the second eccentric wheel rotating shaft is provided with the 3rd worm screw, and the described 3rd
Worm screw engages with the 3rd worm gear；
The level walking mechanism is symmetricly set at left and right sides of body, and the level walking mechanism is servo-actuated including four identicals
Wheel, two identical circle wheels and the circle wheel rotating shaft with two circle wheel connections, it is eccentric that the supporting roller is rotatably connected on first respectively
The end of rotating shaft and the second eccentric wheel rotating shaft is taken turns, the circle wheel rotating shaft is provided with the first worm screw, first worm screw and the first snail
Wheel engagement；
The detection agency is arranged on body front end, and it is gentle that the detection agency includes probe claws, elastic threads, strain inductor
Cylinder, the probe claws are in Y types, and probe claws include first bar portion, second bar portion and straight-bar portion, first bar portion and
Roller is equipped with two bar portions, the straight-bar portion is hinged on body front end, and the both ends of the elastic threads are fixed on the first pole
In portion and second bar portion, the strain inductor is arranged in elastic threads, and the cylinder is arranged on body and is located at straight-bar
The underface in portion, the telescopic end of the cylinder are connected in straight-bar portion；
The control module is arranged on body, and the control module drives with double output shaft electric machines, the first driver, second respectively
Device, cylinder and strain inductor electrical connection.
2. barrier-surpassing robot as claimed in claim 1, it is characterised in that also including warning light, the warning light and control mould
Block electrically connects.
3. barrier-surpassing robot as claimed in claim 2, it is characterised in that the control module is SST89E single-chip microcomputers.
4. barrier-surpassing robot as claimed in claim 1, it is characterised in that the radius of the supporting roller is more than the minimum of eccentric wheel
Radius, less than the circular normal radius of eccentric wheel, it is described circle wheel radius be more than or equal to supporting roller radius, it is described circle wheel and
The touchdown point of supporting roller is in same level.
5. barrier-surpassing robot as claimed in claim 5, it is characterised in that set on the eccentric wheel, circle wheel, supporting roller and roller
There is projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003353.7A CN107640240A (en) | 2017-10-24 | 2017-10-24 | Barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711003353.7A CN107640240A (en) | 2017-10-24 | 2017-10-24 | Barrier-surpassing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107640240A true CN107640240A (en) | 2018-01-30 |
Family
ID=61123219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711003353.7A Pending CN107640240A (en) | 2017-10-24 | 2017-10-24 | Barrier-surpassing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107640240A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959627A (en) * | 2020-07-07 | 2020-11-20 | 张铭元 | High-stability underground coal mine inspection robot |
| CN114594711A (en) * | 2022-03-07 | 2022-06-07 | 南京理工大学 | Integrated circuit and test vehicle for driving and controlling multiple motors with composite functions |
| WO2022151753A1 (en) * | 2021-01-15 | 2022-07-21 | 北京石头世纪科技股份有限公司 | Obstacle detection apparatus of cleaning robot and cleaning robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0787801A (en) * | 1993-09-27 | 1995-04-04 | New Delta Ind Co | Structure of time shaft of very small-sized tending machine |
| CN202345806U (en) * | 2011-11-01 | 2012-07-25 | 北京航空航天大学 | Six-legged ant robot system |
| CN104553777A (en) * | 2013-10-22 | 2015-04-29 | 上海双杰科技有限公司 | Low-cost timely four-drive transfer case |
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
| CN204488926U (en) * | 2015-03-20 | 2015-07-22 | 西南大学 | Diagonal angle differential steering four-wheeled |
| CN205524557U (en) * | 2016-04-26 | 2016-08-31 | 西南大学 | Combination wheel actuating mechanism |
| CN207450059U (en) * | 2017-10-24 | 2018-06-05 | 遵义师范学院 | Barrier-surpassing robot |
-
2017
- 2017-10-24 CN CN201711003353.7A patent/CN107640240A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0787801A (en) * | 1993-09-27 | 1995-04-04 | New Delta Ind Co | Structure of time shaft of very small-sized tending machine |
| CN202345806U (en) * | 2011-11-01 | 2012-07-25 | 北京航空航天大学 | Six-legged ant robot system |
| CN104553777A (en) * | 2013-10-22 | 2015-04-29 | 上海双杰科技有限公司 | Low-cost timely four-drive transfer case |
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| CN204488926U (en) * | 2015-03-20 | 2015-07-22 | 西南大学 | Diagonal angle differential steering four-wheeled |
| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
| CN205524557U (en) * | 2016-04-26 | 2016-08-31 | 西南大学 | Combination wheel actuating mechanism |
| CN207450059U (en) * | 2017-10-24 | 2018-06-05 | 遵义师范学院 | Barrier-surpassing robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959627A (en) * | 2020-07-07 | 2020-11-20 | 张铭元 | High-stability underground coal mine inspection robot |
| WO2022151753A1 (en) * | 2021-01-15 | 2022-07-21 | 北京石头世纪科技股份有限公司 | Obstacle detection apparatus of cleaning robot and cleaning robot |
| CN114594711A (en) * | 2022-03-07 | 2022-06-07 | 南京理工大学 | Integrated circuit and test vehicle for driving and controlling multiple motors with composite functions |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107640240A (en) | Barrier-surpassing robot | |
| CN207000726U (en) | A kind of double managing devices that test the speed on electric bicycle | |
| CN105121266A (en) | Method and device for detecting a maintenance situation in a two-wheeled vehicle | |
| CN104649183A (en) | Pallet truck | |
| CN207450059U (en) | Barrier-surpassing robot | |
| KR101902369B1 (en) | Parking management robot and parking management system using thereof | |
| CN105747688A (en) | Baby walker with intelligent danger-avoiding function | |
| US9126568B1 (en) | Integrated jacking system | |
| WO2009036644A1 (en) | Robot mower system | |
| CN205930855U (en) | Steering wheel with safety prompt function | |
| JPH11139335A (en) | Vehicular traveling support device | |
| CN109733471A (en) | A kind of intelligent steering system | |
| CN204508544U (en) | A kind of escalator that comb can be prevented to hurt sb.'s feelings | |
| CN207284229U (en) | New energy intelligent grass-removing | |
| CN201390614Y (en) | Automatic reverser for slewing and traveling of caterpillar crane | |
| CN102591334B (en) | Facing control system and facing control method for glass wiping robot | |
| CN206352269U (en) | Crossing red light restricted driving portal frame system | |
| CN110804965B (en) | Intelligent road administration bayonet device capable of automatically detecting vehicle overload | |
| CN209581609U (en) | A kind of intelligent steering system | |
| CN103465847B (en) | The control method of a kind of quiescing mobile unit and system | |
| CN102874310A (en) | Method and system for controlling differential steering of soil shifter | |
| CN205604787U (en) | Stereo garage circulates perpendicularly | |
| CN104527636A (en) | Parking brake safety prompting system and prompting method for car | |
| JPH03230711A (en) | Running device on overhead electric wire | |
| CN107515603A (en) | Automatic running device and its in domatic traveling method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |