CN108189925B - Multi-terrain multifunctional fighter robot - Google Patents
Multi-terrain multifunctional fighter robot Download PDFInfo
- Publication number
- CN108189925B CN108189925B CN201810117021.XA CN201810117021A CN108189925B CN 108189925 B CN108189925 B CN 108189925B CN 201810117021 A CN201810117021 A CN 201810117021A CN 108189925 B CN108189925 B CN 108189925B
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- China
- Prior art keywords
- limb
- robot
- sliding groove
- connecting piece
- sliding block
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H7/00—Armoured or armed vehicles
- F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
Abstract
The invention provides a multi-terrain multifunctional combat robot, which comprises a robot main body 3, an expansion platform and a plurality of groups of mobile modules, wherein the robot main body 3 is provided with the expansion platform, the expansion platform is used for carrying equipment, the mobile modules are connected with the robot main body 3 and used for realizing the running of the robot, each mobile module comprises a connecting piece 4 connected with the robot main body 3, a limb 5 connected with the connecting piece 4, a limb bottom 7 with one end rotationally connected with the limb 5, and a loading wheel 8 and a crawler 6 which are arranged on one side of the limb bottom 7, the mobile modules can realize the conversion of the joint limb shape and the crawler shape.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-terrain multifunctional combat robot.
Background
Most of the military combat vehicles in the present day travel in a caterpillar manner and cannot adapt to an excessively complex environment. However, the current emerging articulated robot is insufficient in technical level, and referring to foreign bionic robots, we can find that the robot cannot travel at a very high speed, and the problem that the articulated robot cannot travel rapidly on a flat road surface is caused.
The common robots have the advantages of rapid and stable movement speed and simpler structure and control when running on relatively flat terrain by adopting a wheel type movement mode, but the application of the wheel type robots and the crawler type robots is limited in irregular or rugged terrain. When the vehicle runs on uneven ground, the energy consumption is greatly increased, and on soft ground or severely rugged terrain, the effect of the wheels is also greatly lost, so that the movement efficiency is greatly reduced. In order to improve the adaptability of the wheels to soft ground and uneven ground, the crawler type moving mode is generated, but the mobility of the crawler type robot on the uneven ground is still poor, and the body shakes seriously when the crawler type robot runs on the uneven ground.
The flexibility of movement is greatly enhanced by the multiple degrees of freedom of the legs of the articulated or multi-legged robot. The body level can be kept by adjusting the length of the legs, and the position of the gravity center can be adjusted by adjusting the stretching degree of the legs, so that the body is not easy to overturn and the stability is higher. Of course, the multi-legged walking robot has some disadvantages. For example, the algorithm from the mechanical structure design to the control system design is complex for the coordinated and stable movement of the legs, and compared with the mobility of the robot, namely the arthropod in nature, the robot has a great gap, and has the disadvantages of more energy consumption and slow speed in running on a flat ground.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-terrain multifunctional fighter robot, which combines the joint limb shape and the track shape of the robot so as to solve the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a multi-terrain multifunctional combat robot, includes robot main part, extension platform and multiunit mobile module, be provided with the extension platform in the robot main part, the extension platform is used for carrying on equipment, mobile module is connected with the robot main part and is used for realizing advancing of robot, multiunit mobile module distributes the both sides of robot main part are in the mobile module includes the connecting piece of being connected with the robot main part, with the limbs that the connecting piece is connected, one end with limb rotate the limb end of being connected, set up bogie wheel and the track on one side of the limb end, mobile module can realize the conversion of festival limb form and track form under the festival limb form, thereby the limb end is expanded the robot is supported in ground through the other end of limb end just the limb end around with the tie point rotation of limb drives the robot and advances under the track form, thereby the limb end is retrieved the robot is through bogie wheel and track on the limb end advance.
Further, the connector is rotatable about its position of connection with the robot body.
Further, a sliding groove is formed in one side, connected with the connecting piece, of the limb, and the connecting piece is connected with the sliding groove of the connecting piece through a sliding block structure matched with the sliding groove.
Further, a motor, a screw rod and a locking structure are arranged in the sliding groove of the limb so as to realize the sliding and locking of the sliding block in the sliding groove.
Further, a plurality of pairs of holes or grooves which are arranged along the sliding groove and communicated with the sliding groove are formed in the limb, a pair of clamping keys which can extend out of the sliding block and are matched with the holes or grooves are arranged on the sliding block structure, and the clamping locking structure is formed by the plurality of pairs of holes or grooves and the pair of clamping keys so as to lock the sliding block structure at different positions in the sliding groove.
Further, the extension platform is arranged on the upper portion of the robot main body and comprises a main extension platform and an auxiliary extension platform, and the extension platform carries at least one of weapons, cameras, detectors, supply materials, electromagnetic interference equipment and photovoltaic cells.
Further, an air cushion device is arranged at the bottom of the robot main body, the air cushion device is contained in the robot main body, and a propeller propelling device is arranged at the rear part of the robot main body.
Further, the sliding block structure can rotate in the sliding groove around an axis perpendicular to the contact surface of the sliding block and the sliding groove.
Further, the extremity is provided with a suction cup or a drill bit, or the inside of the extremity is accommodated with the suction cup or the drill bit, and the suction cup or the drill bit can extend out when in use.
The invention has the following beneficial effects: (1) The crawler belt and the joint are innovatively combined, so that the adaptability of the robot to the ground can be improved while the moving speed is ensured.
(2) The translational sliding groove is arranged on the limb, so that the limb can rotate and can stretch out and draw back.
(3) The translational chute can help to adjust the gravity center of the robot, so that the gravity center can be ensured to be in contact with the center of the ground part when the robot is in a mode of switching.
(4) The robot is provided with the expansion module, so that the robot has multiple functions and is suitable for various requirements of various occasions.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
Fig. 1 is an overall schematic view of a robot according to the present invention.
Fig. 2 is a schematic view of a robot joint according to the present invention.
Fig. 3 is a schematic view of the track configuration of the robot according to the present invention.
Fig. 4 is a schematic diagram of a sliding chute structure of a robot according to the present invention.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
As shown in fig. 1, a multi-terrain multi-functional combat robot comprises a robot main body 3, an extension platform and six groups of mobile modules, wherein the extension platform is arranged on the robot main body 3 and used for carrying equipment, the mobile modules are connected with the robot main body 3 and used for realizing the running of the robot, the groups of mobile modules are distributed on two sides of the robot main body 3, each group of mobile modules comprises a connecting piece 4 connected with the robot main body 3, a limb 5 with one end connected with the connecting piece 4, a limb bottom 7 with one end rotatably connected with the limb 5, a weight wheel 8 and a crawler 6, the conversion of a joint limb shape and the crawler shape can be realized by the mobile modules, in the joint limb shape, the limb bottom 7 is unfolded so that the robot is supported on the ground through the other end of the limb bottom 7 and is rotated around a connecting point with the limb 5 to drive the robot to move forward, in the crawler shape, and in the limb shape, the limb bottom 7 is retracted so that the robot moves forward through the weight wheels 8 and the crawler 6 on the limb bottom 7.
Preferably, the extension platform is disposed at an upper portion of the robot body 3, and includes a main extension platform 1 and a sub extension platform 2, and the extension platform carries at least one of a weapon, a camera, a detector, a supply material, an electromagnetic interference device, and a photovoltaic cell.
Preferably, the connection 4 is rotatable about its position of connection with the robot body 3.
Preferably, as shown in fig. 2-4, a sliding groove is arranged on the side, connected with the connecting piece 4, of the limb 5, and the connecting piece 4 is connected with the sliding groove of the connecting piece 4 through a sliding block structure matched with the sliding groove; a motor, a screw rod and a locking structure are arranged in the sliding groove of the limb 5 so as to realize the sliding and locking of the sliding block in the sliding groove; a plurality of pairs of grooves (or holes) which are arranged along the sliding groove and communicated with the sliding groove are arranged in the limb 5, a pair of clamping keys which can extend out of the sliding block and are matched with the holes or grooves are arranged on the sliding block structure, the clamping locking structure is formed by the plurality of pairs of holes or grooves and the pair of clamping keys so as to realize the locking of the sliding block structure at different positions in the sliding groove, and a plurality of groups of holes or grooves can realize the positioning locking at a plurality of positions; the sliding block structure can rotate in the sliding groove around an axis perpendicular to the contact surface of the sliding block and the sliding groove.
Preferably, an air cushion device is arranged at the bottom of the robot main body 3, the air cushion device is accommodated in the robot main body 3, and a propeller propulsion device is arranged at the rear part of the robot main body 3 so that the robot can pass through the terrain of a river or a lake; the end of the limb bottom 7 is provided with a sucking disc or a drill bit, or the inside of the end of the limb bottom 7 is accommodated with the sucking disc or the drill bit, and the sucking disc or the drill bit can extend out when in use, so that a robot can climb on some terrains which are convenient for sucking the sucking disc and some complex terrains can overcome the obstacle to open up a road through the drill bit.
The movement of the moving module of the robot can be realized through a steering engine, and a controller such as a singlechip is arranged in the robot to realize specific operation and control.
The robot can supply for the front line transportation of the my part. The demand for the supply of the personnel is large in dangerous places, and the supply of the personnel has a certain danger and is low in efficiency. The multi-terrain robot is suitable for variable battlefield environments, can quickly reach the front line and can convey combat materials to the my battlefield. Has good adaptability to severe cold and dry extreme environments, the method can reach the purpose of expanding the scope of the my combat through the difficult-to-pass areas of personnel. In addition, in civil aspects, the intelligent robot can move arbitrarily on almost all types of ground, can reach any destination, and when on a horizontal surface, the crawler belt of the robot can accelerate the travelling speed; when encountering complex terrains, the flexible joint limbs can be easily dealt with. Moreover, the device can be provided with a camera, a detector and other equipment to replace human beings to perform dangerous works (such as explosion elimination, chemical detection and the like), so that unnecessary casualties are reduced.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a multi-terrain multifunctional combat robot, includes robot main part (3), extension platform and multiunit mobile module, its characterized in that be provided with the extension platform on robot main part (3), the extension platform is used for carrying on equipment, mobile module is connected with robot main part (3) and is used for realizing advancing of robot, multiunit mobile module distributes in the both sides of robot main part (3), every group mobile module include with connecting piece (4) that robot main part (3) are connected, with limb (5) that connecting piece (4) are connected, one end with limb (5) rotates limb (7) be connected, set up bogie wheel (8) and track (6) on one side of limb (7), mobile module can realize the conversion of festival limb form and track form, in festival limb form, the limb form under the expansion of limb (7) thereby the robot is supported in ground through the other end of limb (7) and limb (7) are rotated around the tie point with limb (5) and drive the robot and advance, in limb form and the limb (7) are advanced from limb (8) to limb form and track form is advanced through the lower limb (8);
the connecting piece (4) can rotate around the position where the connecting piece is connected with the robot main body (3);
a sliding groove is formed in one side, connected with the connecting piece (4), of the limb (5), and the connecting piece (4) is connected with the sliding groove of the connecting piece (4) through a sliding block structure matched with the sliding groove;
a motor, a screw rod and a locking structure are arranged in the sliding groove of the limb (5) so as to realize the sliding and locking of the sliding block in the sliding groove;
the limb (5) is internally provided with a plurality of pairs of holes or grooves which are arranged along the sliding groove and communicated with the sliding groove, the sliding block structure is provided with a pair of clamping keys which can extend out of the sliding block and are matched with the holes or grooves, and the clamping structure is formed by the plurality of pairs of holes or grooves and the pair of clamping keys so as to realize the locking of the sliding block structure at different positions in the sliding groove.
2. The robot of claim 1, wherein the expansion platform is provided on an upper portion of the robot body (3), and comprises a main expansion platform (1) and a sub expansion platform (2), the expansion platform carrying at least one of a weapon, a camera, a detector, a supply, an electromagnetic interference device, and a photovoltaic cell.
3. The robot according to claim 1, characterized in that the bottom of the robot body (3) is provided with an air cushion device, which is accommodated inside the robot body (3), and the rear of the robot body (3) is provided with a propeller propulsion device.
4. The robot of claim 1 wherein the slide structure is rotatable in the chute about an axis perpendicular to the slide-to-chute interface.
5. Robot according to claim 1, characterized in that the extremity of the extremity (7) is provided with a suction cup or a drill bit, or that the extremity of the extremity (7) houses inside it a suction cup or drill bit which can be extended in use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810117021.XA CN108189925B (en) | 2018-02-06 | 2018-02-06 | Multi-terrain multifunctional fighter robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810117021.XA CN108189925B (en) | 2018-02-06 | 2018-02-06 | Multi-terrain multifunctional fighter robot |
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| Publication Number | Publication Date |
|---|---|
| CN108189925A CN108189925A (en) | 2018-06-22 |
| CN108189925B true CN108189925B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810117021.XA Active CN108189925B (en) | 2018-02-06 | 2018-02-06 | Multi-terrain multifunctional fighter robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116198703B (en) * | 2023-05-04 | 2023-08-08 | 国家深海基地管理中心 | Deep sea long residence type submarine environment mobile monitoring device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850792A (en) * | 2009-12-18 | 2010-10-06 | 武汉若比特机器人有限公司 | Universal tracked mobile platform for military robot |
| CN104703723A (en) * | 2012-10-09 | 2015-06-10 | 波音公司 | C frame structure configured to provide deflection compensation and associated method |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN106627830A (en) * | 2017-01-17 | 2017-05-10 | 吴逸帆 | Wheeled-leg hybrid mobile robot |
| CN206797517U (en) * | 2017-05-25 | 2017-12-26 | 西安誉博机器人系统技术有限公司 | A kind of robot moving platform |
-
2018
- 2018-02-06 CN CN201810117021.XA patent/CN108189925B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850792A (en) * | 2009-12-18 | 2010-10-06 | 武汉若比特机器人有限公司 | Universal tracked mobile platform for military robot |
| CN104703723A (en) * | 2012-10-09 | 2015-06-10 | 波音公司 | C frame structure configured to provide deflection compensation and associated method |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN106627830A (en) * | 2017-01-17 | 2017-05-10 | 吴逸帆 | Wheeled-leg hybrid mobile robot |
| CN206797517U (en) * | 2017-05-25 | 2017-12-26 | 西安誉博机器人系统技术有限公司 | A kind of robot moving platform |
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| Publication number | Publication date |
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| CN108189925A (en) | 2018-06-22 |
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